From 59944d6c0d26e19c37f7ecdf7d43d80efaabc976 Mon Sep 17 00:00:00 2001
From: linbo <1034003879@qq.com>
Date: Wed, 17 Jun 2026 14:15:49 +0800
Subject: [PATCH] update

---
 cmvr-es/data_center/src/motors_info.cpp          | 10 ++++++++--
 .../robot/humanoid_robot/src/humanoid_robot.cpp  |  2 +-
 cmvr-es/main.cpp                                 |  3 ++-
 cmvr-es/service/grpc/include/server_runner.h     |  7 ++++---
 cmvr-es/service/grpc/src/server_runner.cpp       | 16 ++++++++++------
 5 files changed, 25 insertions(+), 13 deletions(-)

diff --git a/cmvr-es/data_center/src/motors_info.cpp b/cmvr-es/data_center/src/motors_info.cpp
index 0a5af0b2..7cfa7855 100644
--- a/cmvr-es/data_center/src/motors_info.cpp
+++ b/cmvr-es/data_center/src/motors_info.cpp
@@ -96,7 +96,10 @@ void MotorsInfo::init(const XmlNode &cfg) {
     };
 
     // 创建 MotorManager
-    motor_manager_ = std::make_shared<MotorManager>();
+    if (!motor_manager_)
+    {
+        motor_manager_ = std::make_shared<MotorManager>();
+    }
 
     std::vector<std::future<void> > tasks;
 
@@ -234,7 +237,10 @@ void MotorsInfo::init(const cmvr::config::HumanRobotConfig& config) {
         {"HEAD", head_enabled_, head_can_client_, head_can_sender_, head_can_receiver_, head_message_manager_, head_motors_cfg}
     };
 
-    motor_manager_ = std::make_shared<MotorManager>();
+    if (!motor_manager_)
+    {
+        motor_manager_ = std::make_shared<MotorManager>();
+    }
     std::vector<std::future<void>> tasks;
 
     for (auto &limb : limbs) {
diff --git a/cmvr-es/devices/robot/humanoid_robot/src/humanoid_robot.cpp b/cmvr-es/devices/robot/humanoid_robot/src/humanoid_robot.cpp
index 601125cc..9cc52666 100644
--- a/cmvr-es/devices/robot/humanoid_robot/src/humanoid_robot.cpp
+++ b/cmvr-es/devices/robot/humanoid_robot/src/humanoid_robot.cpp
@@ -140,7 +140,7 @@ void HumanoidRobot<DOF>::init() {
                                              std::vector<double>(7, 1.0));
 
 
-    ik_solver_ = std::make_shared<PinocchioDlsIKSolver>("/home/lgv/cmvr/cmvr-es/model/xiaoyan_description/dual_arm.urdf",
+    ik_solver_ = std::make_shared<PinocchioDlsIKSolver>("/home/cmvr/Projects/cmvr-es/model/xiaoyan_description/dual_arm.urdf",
     "PELVIS_S",
     "R_WRIST_R_S",
     "R_FINGER_TIP_FIXED");
diff --git a/cmvr-es/main.cpp b/cmvr-es/main.cpp
index b659f177..24f189a5 100644
--- a/cmvr-es/main.cpp
+++ b/cmvr-es/main.cpp
@@ -29,7 +29,8 @@ int main(int argc, char* argv[]) {
     }
 
     ServerRunner runner;
-    runner.start();
+    const XmlNode config(config_path);
+    runner.start(config);
     runner.join();
     google::ShutdownGoogleLogging();
     return 0;
diff --git a/cmvr-es/service/grpc/include/server_runner.h b/cmvr-es/service/grpc/include/server_runner.h
index e148c811..7ad0706e 100644
--- a/cmvr-es/service/grpc/include/server_runner.h
+++ b/cmvr-es/service/grpc/include/server_runner.h
@@ -18,7 +18,7 @@ namespace cmvr::service {
     class ServerRunner {
     public:
         ServerRunner();
-        ServerRunner(const cmvr::config::ServerConfig& config);
+        explicit ServerRunner(XmlNode cfg);
         ~ServerRunner();
 
         ServerRunner(const ServerRunner&) = delete;
@@ -26,7 +26,7 @@ namespace cmvr::service {
         ServerRunner(ServerRunner&&) = delete;
         ServerRunner& operator=(ServerRunner&&) = delete;
 
-        void start();
+        void start(XmlNode cfg);
         void stop();
         void join();
 
@@ -41,7 +41,8 @@ namespace cmvr::service {
         std::condition_variable cv_;
         std::thread worker_;
 
-        cmvr::config::ServerConfig cfg_;
+        XmlNode cfg_;
+        cmvr::config::ServerConfig servercfg_;
         std::unique_ptr<grpc::Server> server_;
 
         std::string address_;
diff --git a/cmvr-es/service/grpc/src/server_runner.cpp b/cmvr-es/service/grpc/src/server_runner.cpp
index ec04091a..ba3d0ce1 100644
--- a/cmvr-es/service/grpc/src/server_runner.cpp
+++ b/cmvr-es/service/grpc/src/server_runner.cpp
@@ -25,21 +25,23 @@
 using namespace  cmvr::service;
 ServerRunner::ServerRunner() = default;
 
-ServerRunner::ServerRunner(const cmvr::config::ServerConfig& config):cfg_(config)
-{
-    // start();
+ServerRunner::ServerRunner(XmlNode cfg) {
+    start(std::move(cfg));
 }
+
 ServerRunner::~ServerRunner() {
     stop();
     join();
 }
 
-void ServerRunner::start() {
+void ServerRunner::start(XmlNode cfg) {
     std::unique_lock<std::mutex> lk(mtx_);
 
     if (worker_.joinable()) {
         throw std::runtime_error("ServerRunner already started");
     }
+
+    cfg_ = std::move(cfg);
     stop_requested_ = false;
     started_ = false;
     start_failed_ = false;
@@ -101,9 +103,11 @@ void ServerRunner::threadMain() {
         std::call_once(reflection_once, []() {
             grpc::reflection::InitProtoReflectionServerBuilderPlugin();
         });
-        DeviceManager::getInstance();
 
-        std::string port = cfg_.grpc_server().port();
+        auto dmgr_cfg = cfg_.getChild("DeviceManager");
+        DeviceManager::getInstance(dmgr_cfg);
+
+        std::string port = servercfg_.grpc_server().port();
         std::string local_address = "0.0.0.0:" + port;
 
         auto camera_service = std::make_unique<gRPCCameraServiceImpl>();