update HardWareManager

example/CMakeLists.txt

@@ -78,11 +78,3 @@ target_link_libraries(robot_wrapper PRIVATE
         fcl
         cmvr_es::device_manager
         ${OpenCV_LIBS})
-
-
-add_executable(moveL moveL.cpp)
-target_link_libraries(moveL PRIVATE cmvr_es::utils)
-
-add_executable(speedL speedL.cpp)
-target_include_directories(speedL PRIVATE ${GLOG_INCLUDE_DIRS})
-target_link_libraries(speedL PRIVATE cmvr_es::utils ${GLOG_LIBRARIES})

include/hardware/can/abstractmotor.h

@@ -0,0 +1,35 @@
+//
+// Created by linbo on 2025/10/22.
+//
+
+#ifndef CMVR_ES_ABSTRACTMOTOR_H
+#define CMVR_ES_ABSTRACTMOTOR_H
+#include "rapidxml/xml_parser.h"
+
+namespace cmvr::device
+{
+    class AbstractMotor
+    {
+    public:
+        explicit AbstractMotor(const XmlNode &cfg)
+        {
+            cfg_ = cfg;
+            id_ = cfg.getAttrString("id");
+            joint_name_ = cfg.getAttrString("joint_name");
+            limitQLb_ = cfg.getAttrDefault("limitQLb_",(float)3.14);
+            limitQUb_ = cfg.getAttrDefault("limitQUb_",(float)3.14);
+            limitQd = cfg.getAttrDefault("limitQd",(float)3.0);
+        }
+        ~AbstractMotor() = default;
+
+    private:
+        XmlNode cfg_;
+        std::string id_;
+        std::string joint_name_;
+        double limitQLb_;
+        double limitQUb_;
+        double limitQd;
+    };
+}
+
+#endif //CMVR_ES_ABSTRACTMOTOR_H

include/hardware/can/can_group.h

@@ -0,0 +1,23 @@
+//
+// Created by linbo on 2025/10/22.
+//
+
+#ifndef CMVR_ES_CAN_GROUP_H
+#define CMVR_ES_CAN_GROUP_H
+
+#include "motormanager.h"
+namespace cmvr::device
+{
+    class CanGroup
+    {
+    public:
+        explicit CanGroup(const XmlNode &cfg);
+        ~CanGroup() = default;
+    private:
+
+        std::shared_ptr<MotorManager> motor_;
+    };
+}
+
+
+#endif //CMVR_ES_CAN_GROUP_H

include/hardware/can/can_manager.h

@@ -0,0 +1,26 @@
+//
+// Created by linbo on 2025/10/22.
+//
+
+#ifndef CMVR_ES_CAN_MANAGER_H
+#define CMVR_ES_CAN_MANAGER_H
+#include <unordered_map>
+#include <string>
+
+#include "rapidxml/rapidxml.hpp"
+#include "can_group.h"
+namespace cmvr::device
+{
+    class CanManager
+    {
+
+    public:
+        explicit CanManager(const XmlNode &cfg);
+        ~CanManager();
+    private:
+        //CanGroup
+        std::unordered_map<std::string,std::shared_ptr<CanGroup>> canGroups_;
+    };
+}
+
+#endif //CMVR_ES_CAN_MANAGER_H

include/hardware/can/motormanager.h

@@ -0,0 +1,25 @@
+//
+// Created by linbo on 2025/10/22.
+//
+
+#ifndef CMVR_ES_MOTORMANAGER_H
+#define CMVR_ES_MOTORMANAGER_H
+
+#include <unordered_map>
+#include <memory>
+#include "abstractmotor.h"
+
+namespace cmvr::device
+{
+    class MotorManager
+    {
+    public:
+        explicit MotorManager(const XmlNode &cfg);
+        ~MotorManager();
+    private:
+        std::unordered_map<int, std::shared_ptr<AbstractMotor>> m_motors;//以id区分电机？
+    };
+}
+
+
+#endif //CMVR_ES_MOTORMANAGER_H

include/hardware/can/ti5motor.h

@@ -0,0 +1,21 @@
+//
+// Created by linbo on 2025/10/22.
+//
+
+#ifndef CMVR_ES_TI5MOTOR_H
+#define CMVR_ES_TI5MOTOR_H
+
+#include "rapidxml/xml_parser.h"
+
+namespace cmvr::device{
+    class Ti5Motor
+    {
+    public:
+        explicit Ti5Motor(const XmlNode &cfg);
+
+    private:
+
+    };
+}
+
+#endif //CMVR_ES_TI5MOTOR_H

include/hardware/serial/serial_manager.h

@@ -0,0 +1,15 @@
+//
+// Created by linbo on 2025/10/22.
+//
+
+#ifndef CMVR_ES_SERIAL_MANAGER_H
+#define CMVR_ES_SERIAL_MANAGER_H
+
+namespace cmvr::device
+{
+    class serial_manager
+    {
+    };
+}
+
+#endif //CMVR_ES_SERIAL_MANAGER_H

include/hardware_manager/hardware_factory.h

@@ -5,10 +5,21 @@
 #ifndef CMVR_ES_HARDWARE_FACTORY_H
 #define CMVR_ES_HARDWARE_FACTORY_H
 
+#include "rapidxml/xml_parser.h"
+#include "hardware/can/can_manager.h"
+namespace cmvr::device {
 
-class hardware_factory
+    class HardwareFactory {
-{
-};
 
 
+    public:
+        HardwareFactory() = default;
+
+        template<typename HardwareType>
+        std::shared_ptr<HardwareType> create(const XmlNode& cfg);
+    private:
+        std::shared_ptr<CanManager> create_can_(const XmlNode& cfg);
+    };
+}
+
 #endif //CMVR_ES_HARDWARE_FACTORY_H

include/hardware_manager/hardware_manager.h

@@ -4,11 +4,31 @@
 
 #ifndef CMVR_ES_HARDWARE_MANAGER_H
 #define CMVR_ES_HARDWARE_MANAGER_H
+#include "rapidxml/xml_parser.h"
+#include <glog/logging.h>
+#include <mutex>
 
-
+namespace cmvr::device
-class hardware_manager
 {
-};
+    class HardWareManager
+    {
+    public:
+        HardWareManager(const HardWareManager&) = delete;
+        HardWareManager& operator=(const HardWareManager&) = delete;
 
+        static HardWareManager& getInstance(const XmlNode &cfg);
+        static HardWareManager& getInstance();
+        static void destroyInstance();
+
+
+
+
+    private:
+        XmlNode cfg_;
+        static std::once_flag init_flag_;
+        static std::shared_ptr<HardWareManager> instance_;
+        explicit HardWareManager(const XmlNode &cfg);
+    };
+}
 
 #endif //CMVR_ES_HARDWARE_MANAGER_H

src/device_manager/device_manager.cpp

@@ -6,7 +6,6 @@
 
 using namespace std;
 using namespace cmvr::device;
-using namespace cmvr::device;
 
 template std::shared_ptr<AbstractAGV> DeviceManager::getDevice(const std::string& device_id);
 template std::shared_ptr<AbstractBattery> DeviceManager::getDevice(const std::string& device_id);

src/hardware/CMakeLists.txt

@@ -10,3 +10,6 @@ target_include_directories(hardware PUBLIC
 )
 
 add_library(cmvr_es::hardware ALIAS hardware)
+
+add_subdirectory(can)
+add_subdirectory(serial)

src/hardware/can/CMakeLists.txt

@@ -0,0 +1,14 @@
+add_library(can
+        motormanager.cpp
+        can_group.cpp
+        can_manager.cpp
+        ti5motor.cpp
+)
+
+target_include_directories(can PUBLIC ${PROJECT_SOURCE_DIR}/include)
+
+target_link_libraries(can PRIVATE
+        protobuf::libprotobuf
+)
+
+add_library(cmvr_es::can ALIAS can)

src/hardware/can/can_group.cpp

@@ -0,0 +1,13 @@
+//
+// Created by linbo on 2025/10/22.
+//
+
+#include "hardware/can/can_group.h"
+
+using namespace std;
+using namespace cmvr::device;
+
+CanGroup::CanGroup(const XmlNode &cfg)
+{
+    motor_ = std::make_shared<MotorManager>(cfg);
+}

src/hardware/can/can_manager.cpp

@@ -0,0 +1,21 @@
+//
+// Created by linbo on 2025/10/22.
+//
+
+#include "hardware/can/can_manager.h"
+
+using namespace std;
+using namespace cmvr::device;
+
+CanManager::CanManager(const XmlNode& cfg)
+{
+    for (auto &node: cfg.getChildren()){
+        if (node.getNodeName() == "CanGroup")
+        {
+            string id = node.getAttrString("id");
+
+
+            canGroups_[id] = std::make_shared<CanGroup>(cfg);
+        }
+    }
+}

src/hardware/can/motormanager.cpp

@@ -0,0 +1,23 @@
+//
+// Created by linbo on 2025/10/22.
+//
+
+#include "hardware/can/motormanager.h"
+#include "hardware/can/ti5motor.h"
+
+using namespace std;
+using namespace cmvr::device;
+
+
+
+MotorManager::MotorManager(const XmlNode &cfg)
+{
+    for (auto &node: cfg.getChildren()){
+        if (node.getNodeName() == "Ti5Motor")
+        {
+            string id = node.getAttrString("id");
+
+            std::make_shared<Ti5Motor>(cfg);
+        }
+    }
+}

src/hardware/can/ti5motor.cpp

@@ -0,0 +1,11 @@
+//
+// Created by linbo on 2025/10/22.
+//
+
+#include "hardware/can/ti5motor.h"
+using namespace cmvr::device;
+
+Ti5Motor::Ti5Motor(const XmlNode &cfg)
+{
+
+}

src/hardware/serial/CMakeLists.txt

@@ -0,0 +1,11 @@
+add_library(serial
+        serial_manager.cpp
+)
+
+target_include_directories(serial PUBLIC ${PROJECT_SOURCE_DIR}/include)
+
+target_link_libraries(serial PRIVATE
+        protobuf::libprotobuf
+)
+
+add_library(cmvr_es::serial ALIAS serial)

src/hardware/serial/serial_manager.cpp

@@ -0,0 +1,5 @@
+//
+// Created by linbo on 2025/10/22.
+//
+
+#include "hardware/serial/serial_manager.h"

src/hardware_manager/CMakeLists.txt

@@ -1,7 +1,8 @@
 add_library(hardware_manager SHARED
         hardware_factory.cpp
         hardware_manager.cpp
-
+        ../hardware/can/can_manager.cpp
+        ../hardware/serial/serial_manager.cpp
 )
 
 target_include_directories(hardware_manager PUBLIC

src/hardware_manager/hardware_factory.cpp

@@ -3,3 +3,25 @@
 //
 
 #include "hardware_manager/hardware_factory.h"
+#include <glog/logging.h>
+
+using namespace std;
+using namespace cmvr::device;
+
+template std::shared_ptr<CanManager> HardwareFactory::create<CanManager>(const XmlNode&);
+
+template <typename HardwareType>
+std::shared_ptr<HardwareType> HardwareFactory::create(const XmlNode& cfg) {
+    if constexpr (std::is_same_v<HardwareType, CanManager>) {
+        return create_can_(cfg);
+    }
+    else {
+        LOG(ERROR) << "[DeviceFactory]: Unsupported device type";
+        throw runtime_error("[DeviceFactory]: Unsupported device type");
+    }
+}
+
+
+std::shared_ptr<CanManager> HardwareFactory::create_can_(const XmlNode& cfg) {
+    return nullptr;
+}

src/hardware_manager/hardware_manager.cpp

@@ -3,3 +3,34 @@
 //
 
 #include "hardware_manager/hardware_manager.h"
+using namespace std;
+using namespace cmvr::device;
+std::shared_ptr<HardWareManager> HardWareManager::instance_ = nullptr;
+
+HardWareManager::HardWareManager(const XmlNode& cfg) {
+    try {
+        cfg_ = cfg;
+    }
+    catch (const exception &e) {
+        LOG(FATAL) << "[HardWareManager] (HardWareManager): Device manager initialization failed: " << e.what();
+        throw std::runtime_error("[HardWareManager] (HardWareManager): Device manager create failed" + string(e.what()));
+    }
+}
+
+HardWareManager& HardWareManager::getInstance(const XmlNode& cfg) {
+    std::call_once(init_flag_, [&cfg] {
+        instance_.reset(new HardWareManager(cfg));
+    });
+    return *instance_;
+}
+
+HardWareManager& HardWareManager::getInstance() {
+    if (!instance_) {
+        throw std::runtime_error("[HardWareManager] (getInstance): HardWareManager not initialized. Call getInstance(const XmlNode&) first.");
+    }
+    return *instance_;
+}
+
+void HardWareManager::destroyInstance() {
+    instance_.reset();
+}

src/service/grpc_service/CMakeLists.txt

@@ -16,7 +16,7 @@ target_link_libraries(service PRIVATE
     gRPC::grpc++
     protobuf::libprotobuf
     cmvr_es::device_manager
-        cmvr_es::ctrl::controller
+    cmvr_es::ctrl::controller
 )
 
 add_library(cmvr_es::service ALIAS service)