cmvr-es/example/torqueOn.cpp

//
// Created by lgv on 2025/8/13.
//

#include <iostream>
#include <vector>
#include <string>
#include <cstdlib> // for std::atof

#include <glog/logging.h>
#include "../src/device_manager/include/device_manager.h"
#include <libgen.h>

using namespace cmvr::device;
int main(int argc, char* argv[]) {

    // 这里按你的原代码结构获取 robot
    std::string config_path = "/home/lgv/cmvr/cmvr-es/config/cabin_robot.xml";
    const XmlNode config(config_path);

    if (!config.hasChild("DeviceManager")) {
        LOG(ERROR) << "Device Manager node not found";
        return 1;
    }

    auto dmgr_cfg = config.getChild("DeviceManager");
    auto &dmgr = DeviceManager::getInstance(dmgr_cfg);

    auto robot = dmgr.getDevice<AbstractRobot>("hc01");

    robot->eStop();

    std::this_thread::sleep_for(std::chrono::milliseconds(500));

    return 0;
}