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| 1 | +#include <memory> |
| 2 | + |
| 3 | +#include <grpcpp/support/status.h> |
| 4 | + |
| 5 | +#include <viam/sdk/common/pose.hpp> |
| 6 | +#include <viam/sdk/common/proto_value.hpp> |
| 7 | +#include <viam/sdk/common/service_helper.hpp> |
| 8 | +#include <viam/sdk/common/utils.hpp> |
| 9 | +#include <viam/sdk/services/motion.hpp> |
| 10 | +#include <viam/sdk/services/private/navigation_server.hpp> |
| 11 | +#include <viam/sdk/spatialmath/geometry.hpp> |
| 12 | + |
| 13 | +namespace viam { |
| 14 | +namespace sdk { |
| 15 | +namespace impl { |
| 16 | + |
| 17 | +using namespace service::navigation::v1; |
| 18 | + |
| 19 | +::grpc::Status NavigationServer::GetMode(::grpc::ServerContext* context, |
| 20 | + const GetModeRequest* request, |
| 21 | + GetModeResponse* response) noexcept { |
| 22 | + return make_service_helper<Navigation>( |
| 23 | + "NavigationServer::GetMode", this, request)([&](auto& helper, auto& nav) { |
| 24 | + response->set_mode(Mode(nav->get_mode(request->name(), struct_to_map(request->extra())))); |
| 25 | + }); |
| 26 | +} |
| 27 | + |
| 28 | +::grpc::Status NavigationServer::SetMode(::grpc::ServerContext* context, |
| 29 | + const SetModeRequest* request, |
| 30 | + SetModeResponse* response) noexcept { |
| 31 | + return make_service_helper<Navigation>( |
| 32 | + "NavigationServer::SetMode", this, request)([&](auto& helper, auto& nav) { |
| 33 | + nav->set_mode( |
| 34 | + request->name(), Navigation::Mode(request->mode()), struct_to_map(request->extra())); |
| 35 | + }); |
| 36 | +} |
| 37 | + |
| 38 | +::grpc::Status NavigationServer::GetLocation(::grpc::ServerContext* context, |
| 39 | + const GetLocationRequest* request, |
| 40 | + GetLocationResponse* response) noexcept { |
| 41 | + return make_service_helper<Navigation>( |
| 42 | + "NavigationServer::GetLocation", this, request)([&](auto& helper, auto& nav) { |
| 43 | + const auto& loc = nav->get_location(request->name(), struct_to_map(request->extra())); |
| 44 | + *response->mutable_location() = loc.location; |
| 45 | + response->set_compass_heading(loc.compass_heading); |
| 46 | + }); |
| 47 | +} |
| 48 | + |
| 49 | +// helper; copies vec<Src> into RepeatedPtrField<Dst>. |
| 50 | +template <typename Src, typename Dst> |
| 51 | +void vecToRepeatedPtr(std::vector<Src>& vec, google::protobuf::RepeatedPtrField<Dst>* dest) { |
| 52 | + dest->Reserve(vec.size()); |
| 53 | + for (auto& x : vec) { |
| 54 | + *dest->Add() = x; |
| 55 | + } |
| 56 | +} |
| 57 | + |
| 58 | +::grpc::Status NavigationServer::GetWaypoints(::grpc::ServerContext* context, |
| 59 | + const GetWaypointsRequest* request, |
| 60 | + GetWaypointsResponse* response) noexcept { |
| 61 | + return make_service_helper<Navigation>( |
| 62 | + "NavigationServer::GetWaypoints", this, request)([&](auto& helper, auto& nav) { |
| 63 | + const auto& waypoints = |
| 64 | + nav->get_waypoints(request->name(), struct_to_map(request->extra())); |
| 65 | + vecToRepeatedPtr(*waypoints, response->mutable_waypoints()); |
| 66 | + }); |
| 67 | +} |
| 68 | + |
| 69 | +::grpc::Status NavigationServer::AddWaypoint(::grpc::ServerContext* context, |
| 70 | + const AddWaypointRequest* request, |
| 71 | + AddWaypointResponse* response) noexcept { |
| 72 | + return make_service_helper<Navigation>( |
| 73 | + "NavigationServer::AddWaypoint", this, request)([&](auto& helper, auto& nav) { |
| 74 | + nav->add_waypoint(request->name(), request->location(), struct_to_map(request->extra())); |
| 75 | + }); |
| 76 | +} |
| 77 | + |
| 78 | +::grpc::Status NavigationServer::RemoveWaypoint(::grpc::ServerContext* context, |
| 79 | + const RemoveWaypointRequest* request, |
| 80 | + RemoveWaypointResponse* response) noexcept { |
| 81 | + return make_service_helper<Navigation>( |
| 82 | + "NavigationServer::RemoveWaypoint", this, request)([&](auto& helper, auto& nav) { |
| 83 | + nav->remove_waypoint(request->name(), request->id(), struct_to_map(request->extra())); |
| 84 | + }); |
| 85 | +} |
| 86 | + |
| 87 | +::grpc::Status NavigationServer::GetObstacles(::grpc::ServerContext* context, |
| 88 | + const GetObstaclesRequest* request, |
| 89 | + GetObstaclesResponse* response) noexcept { |
| 90 | + return make_service_helper<Navigation>( |
| 91 | + "NavigationServer::GetObstacles", this, request)([&](auto& helper, auto& nav) { |
| 92 | + const auto& obstacles = |
| 93 | + nav->get_obstacles(request->name(), struct_to_map(request->extra())); |
| 94 | + vecToRepeatedPtr(*obstacles, response->mutable_obstacles()); |
| 95 | + }); |
| 96 | +} |
| 97 | + |
| 98 | +::grpc::Status NavigationServer::GetPaths(::grpc::ServerContext* context, |
| 99 | + const GetPathsRequest* request, |
| 100 | + GetPathsResponse* response) noexcept { |
| 101 | + return make_service_helper<Navigation>( |
| 102 | + "NavigationServer::GetPaths", this, request)([&](auto& helper, auto& nav) { |
| 103 | + const auto& paths = nav->get_paths(request->name(), struct_to_map(request->extra())); |
| 104 | + vecToRepeatedPtr(*paths, response->mutable_paths()); |
| 105 | + }); |
| 106 | +} |
| 107 | + |
| 108 | +::grpc::Status NavigationServer::GetProperties(::grpc::ServerContext* context, |
| 109 | + const GetPropertiesRequest* request, |
| 110 | + GetPropertiesResponse* response) noexcept { |
| 111 | + return make_service_helper<Navigation>( |
| 112 | + "NavigationServer::GetProperties", this, request)([&](auto& helper, auto& nav) { |
| 113 | + response->set_map_type( |
| 114 | + viam::service::navigation::v1::MapType(nav->get_properties(request->name()))); |
| 115 | + }); |
| 116 | +} |
| 117 | + |
| 118 | +::grpc::Status NavigationServer::DoCommand( |
| 119 | + ::grpc::ServerContext*, |
| 120 | + const ::viam::common::v1::DoCommandRequest* request, |
| 121 | + ::viam::common::v1::DoCommandResponse* response) noexcept { |
| 122 | + return make_service_helper<Motion>( |
| 123 | + "NavigationServer::DoCommand", this, request)([&](auto&, auto& motion) { |
| 124 | + const ProtoStruct result = motion->do_command(struct_to_map(request->command())); |
| 125 | + *response->mutable_result() = map_to_struct(result); |
| 126 | + }); |
| 127 | +}; |
| 128 | + |
| 129 | +} // namespace impl |
| 130 | +} // namespace sdk |
| 131 | +} // namespace viam |
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