Add MobileBasePresenceService.

Author: glannuzel

Packages/ReachySimulator/Scripts/JointServiceServer.cs

@@ -9,6 +9,7 @@
 using Reachy.Sdk.Joint;
 using Reachy.Sdk.Fan;
 using Reachy.Sdk.Kinematics;
+using Reachy.Sdk.Mobility;
 using System.Collections;
 using System.Collections.Generic;
 using System;
@@ -67,6 +68,7 @@ public static void gRPCServer()
                 SensorService.BindService(new SensorServiceImpl()),
                 FanControllerService.BindService(new FanControllerServiceImpl()), 
                 ArmKinematics.BindService(new ArmKinematicsImpl()),
+                MobileBasePresenceService.BindService(new MobileBasePresenceServiceImpl()),
                 },
             Ports = { new ServerPort("0.0.0.0", PortJoint, ServerCredentials.Insecure) },
         };
@@ -683,4 +685,16 @@ public override Task<FansCommandAck> SendFansCommands(FansCommand fansCommand, S
             }
         }
     }
+
+    public class MobileBasePresenceServiceImpl : MobileBasePresenceService.MobileBasePresenceServiceBase
+    {
+        public override Task<MobileBasePresence> GetMobileBasePresence(Google.Protobuf.WellKnownTypes.Empty empty, ServerCallContext context)
+        {
+            MobileBasePresence mobility = new MobileBasePresence {
+                Presence = false,
+            };
+
+            return Task.FromResult(mobility);
+        }
+    }
 }