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update robot config

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This commit is contained in:
linbo 2026-06-17 16:02:02 +08:00
parent 3edbd1dc34
commit 2e01a6035a
1 changed files with 18 additions and 0 deletions
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18
cmvr-es/device_manager/src/device_manager.cpp
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@ -312,6 +312,24 @@ void DeviceManager::init_devices_() {
LOG(INFO) << "[DeviceManager]: Init Robot " << id << " Success";
}
// EYOU的先用新版的
config::RobotConfig robot_config;
ConfigHelper::getRobotConfig(robot_config);
for (int i = 0; i < robot_config.ethercat_robots().size(); i++) {
auto robot = robot_config.ethercat_robots(i);
if (!robot.enable())
continue;
auto id = robot.id();
if (devices_.count(id)) {
LOG(ERROR) << "[DeviceManager]: Duplicate Robot Device ID" << id;
throw runtime_error("[DeviceManager]: Duplicate Robot Device ID" + id);
}
std::cout << "DexHand[" << i << "]: " << id << std::endl;
auto device = dev_factory_->createFromConfig<AbstractRobot,config::EthercatRobotConfig>(robot);
devices_[id] = device;
std::get<std::shared_ptr<AbstractRobot>>(devices_[id])->init();
}
config::MicroPhoneConfig micro_phone_config;
ConfigHelper::getMicroPhonesConfig(micro_phone_config);
for (int i = 0; i < micro_phone_config.ffmpeg_microphones().size(); i++) {