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How do I build Google smart home action that only need to communicate with my IoT Gateway?

As I looked into Google's references about smart home, I got to know that Google Home connects directly with the end device. But I wanted to specifically connects it with my gateway and sync with it so Google Assistant would only need to send command to the gateway to fulfill a user's request like "Turn on the light". Is this possible or Google need to connect to every end devices for it to work?

If you want, you can create a Hub device that talks to the Cloud and acts as a gateway to smaller, low-powered devices. In that case, you would still return all of your devices in the SYNC response but then handle all of the EXECUTE requests in your Cloud by forwarding to the Hub. From there the Hub can handle it however is needed.

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