58 lines
1.6 KiB
C
58 lines
1.6 KiB
C
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//
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// Created by lgv on 2025/8/1.
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//
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#pragma once
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#include "devices/abstract_motor.h"
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#include <unordered_map>
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#include <memory>
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#include <string>
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#include <mutex>
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namespace cmvr {
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namespace device {
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class MotorManager {
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public:
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void addMotor(uint8_t node_id, std::shared_ptr<AbstractMotor> motor) {
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std::lock_guard<std::mutex> lock(mutex_);
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motors_[node_id] = std::move(motor);
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}
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void addMotor(std::shared_ptr<AbstractMotor> motor) {
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std::lock_guard<std::mutex> lock(mutex_);
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motors_map_[motor->jointName()] = std::move(motor);
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}
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std::shared_ptr<AbstractMotor> getMotor(uint8_t node_id) const {
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auto it = motors_.find(node_id);
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if (it != motors_.end()) {
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return it->second;
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}
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return nullptr;
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}
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std::shared_ptr<AbstractMotor> getMotor(const std::string& joint_name) const {
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auto it = motors_map_.find(joint_name);
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if (it != motors_map_.end()) {
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return it->second;
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}
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return nullptr;
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}
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const std::unordered_map<std::string, std::shared_ptr<AbstractMotor>>& motorsMap() const {
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return motors_map_;
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}
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private:
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mutable std::mutex mutex_;
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std::unordered_map<uint8_t, std::shared_ptr<AbstractMotor>> motors_;
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std::unordered_map<std::string, std::shared_ptr<AbstractMotor>> motors_map_;
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};
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} // namespace device
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} // namespace cmvr
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