cmvr-es/src/devices/robot/controller/abstractcontroller.h

//
// Created by linbo on 2025/10/23.
//

#pragma once

#include <curl/curl.h>

#include "rapidxml/xml_parser.h"
#include "jsoncpp/json/json.h"
namespace cmvr::device
{
    enum ControllerState
    {
        ControllerState_Idle,           //默认
        ControllerState_Executing,        //正在执行命令
        ControllerState_Switching       //命令被中断，正在切换
    };
    class AbstractController
    {
    public:
        explicit AbstractController(const XmlNode& cfg);
        virtual ~AbstractController();

        [[nodiscard]] ControllerState getState() const {return state_;}

        //此处的Json中应该包含目标电机信息，电机id，canGroupId等其他必要参数，用以确定是调用哪个can实例发送消息
        // 还要包含操作内容，比如要执行的是直接控制每个电机位置，还是指定末端关节位置
        /*
         {“canGroupId”:"",motors:[{"joint_name":"","id":""},{"joint_name":"","id":""}]}
         **/
        virtual void call(const Json::Value& json) = 0;

        virtual void interrupt() = 0;

        virtual void stop() = 0;

    protected:
        ControllerState state_;
        double defaultSpeed_;
        double defaultAcc_;
    };
}