cmvr-es/include/hardware/can/can_group.h

//
// Created by linbo on 2025/10/22.
//

#pragma once

#include "motor_protocol/motorprotocolmanager.h"

namespace cmvr::hardware
{
    class CanGroup
    {
    public:
        explicit CanGroup(const XmlNode &cfg);
        ~CanGroup() = default;

        void init();

        std::shared_ptr<AbstractMotorProtocol> getMotorProtocol(const std::string &protocolType);
        uint8_t getNodeId(const std::string& joint_name);

        const MotorProtocolManager::MotorInfo& getMotorInfo(const std::string& joint_name);
    private:
        XmlNode cfg_;
        std::string id_;
        unsigned int channelId_;
        bool enable_;
        std::shared_ptr<MotorProtocolManager> motor_protocol_manager;

        std::shared_ptr<device::AbstractCanbus> can_client_{nullptr};
        std::shared_ptr<device::CanReceiver<msgs::RobotDetail>> can_receiver_{nullptr};
        std::shared_ptr<device::CanSender<msgs::RobotDetail>> can_sender_{nullptr};
        std::shared_ptr<device::MessageManager<msgs::RobotDetail>> message_manager_{nullptr};
    };
}