cmvr-es/src/hardware/can/can_group.cpp

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

#include "hardware/can/can_group.h"
#include <glog/logging.h>
using namespace std;
using namespace cmvr::hardware;

CanGroup::CanGroup(const XmlNode &cfg):cfg_(cfg)
{
    try {
        id_ = cfg.getAttrString("id");
        channelId_ = cfg.getAttrDefault("channelId",0);
        enable_ = cfg.getAttrDefault("enable", false);

    }
    catch (const exception &e) {
        LOG(FATAL) << "[CanGroup] (CanGroup): CanGroup initialization failed: " << e.what();
        throw std::runtime_error("[CanGroup] (CanGroup): CanGroup create failed" + string(e.what()));
    }
}


void CanGroup::init()
{
    can_client_ = std::make_shared<device::SocketCanClientRaw>(cfg_);
    can_sender_ = std::make_shared<device::CanSender<msgs::RobotDetail> >();
    can_receiver_ = std::make_shared<device::CanReceiver<msgs::RobotDetail> >();
    message_manager_ = std::make_shared<device::MessageManager<msgs::RobotDetail> >();

    //初始化protocol协议实例
    can_client_->init();
    auto ret = can_sender_->Init(can_client_.get(), false);
    if (ret != device::ErrorCode::OK)
        LOG(ERROR) << "Failed to init " << id_ << " CAN sender.";
    ret = can_receiver_->Init(can_client_.get(), message_manager_.get(), false);
    if (ret != device::ErrorCode::OK)
        LOG(ERROR) << "Failed to init " << id_ << " CAN receiver.";
    can_client_->start();
    ret = can_sender_->Start();
    if (ret != device::ErrorCode::OK)
        LOG(ERROR) << "Failed to start " << id_ << " CAN sender.";

    ret = can_receiver_->Start();
    if (ret != device::ErrorCode::OK)
        LOG(ERROR) << "Failed to start " << id_ << " CAN receiver.";


    motor_protocol_manager = std::make_shared<MotorProtocolManager>(cfg_,can_sender_,message_manager_);

}

std::shared_ptr<AbstractMotorProtocol> CanGroup::getMotorProtocol(const std::string &protocolType)
{
    return motor_protocol_manager->getMotorProtocol(protocolType);
}

uint8_t CanGroup::getNodeId(const std::string& joint_name)
{
    return motor_protocol_manager->getNodeId(joint_name);
}

const MotorProtocolManager::MotorInfo& CanGroup::getMotorInfo(const std::string& joint_name)
{
    return motor_protocol_manager->getMotorInfo(joint_name);
}