47 lines
1.7 KiB
C++
47 lines
1.7 KiB
C++
#include <iostream>
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#include <memory>
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#include <string>
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#include <grpcpp/grpcpp.h>
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// 包含刚才手动翻译出的头文件
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#include "agv_calib_control.grpc.pb.h"
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using namespace agv::calibration::control;
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// 继承并实现定义在 .proto 里的服务契约
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class AgvCalibServiceImpl final : public AgvCalibControlService::Service {
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// 覆盖接管控制权的方法
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grpc::Status SetControlMode(grpc::ServerContext* context,
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const ModeRequest* request,
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StandardResponse* reply) override {
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if (request->target_mode() == ModeRequest::OPEN_LOOP_MODE) {
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std::cout << "\n[Windows底层] 收到 Linux 指令: 进入开环提线木偶模式" << std::endl;
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// TODO: 在这里调用 Windows 原有的底盘驱动 DLL 或 CAN 接口，切断避障算法
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reply->set_success(true);
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reply->set_message("Windows 已交出控制权，避障与运动学逆解已关闭");
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}
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return grpc::Status::OK;
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}
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// TODO: 接着 override 实现 ExecuteOpenLoopCmd 等其他函数...
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};
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void RunServer() {
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// 🚨 关键排雷：必须绑定 0.0.0.0，千万不要写 localhost 或 127.0.0.1，否则 ROS2 连不上！
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std::string server_address("0.0.0.0:50051");
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AgvCalibServiceImpl service;
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grpc::ServerBuilder builder;
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builder.AddListeningPort(server_address, grpc::InsecureServerCredentials());
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builder.RegisterService(&service);
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std::unique_ptr<grpc::Server> server(builder.BuildAndStart());
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std::cout << "🚀 Windows 车端 gRPC 代理已启动，监听外部请求: " << server_address << std::endl;
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server->Wait();
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}
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int main() {
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RunServer();
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return 0;
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} |