update HardWareManager

CMakeLists.txt

@@ -94,5 +94,5 @@ target_link_libraries(cmvr_es PRIVATE
         cmvr_es::httpclient
         cmvr_es::device::canbus
         cmvr_es::device::ti5motor
-        cmvr_es::ctrl::controller
+        #cmvr_es::ctrl::controller
 )

config/dev_config.xml

@@ -5,39 +5,39 @@
     <HardwareManager>
         <CanManager>
             <CanGroup id="LeftArmCAN" channelId="0" enable="true">
-                <MotorManager>
+                <MotorProtocolManager>
-                    <Ti5Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                    <Ti5Motor id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                    <Ti5Motor id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                    <Ti5Motor id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                    <Ti5Motor id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                    <Ti5Motor id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                    <Ti5Motor id="1" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="1" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                </MotorManager>
+                </MotorProtocolManager>
             </CanGroup>
             <CanGroup id="RightArmCAN" channelId="1" enable="true">
-                <MotorManager>
+                <MotorProtocolManager>
-                    <Ti5Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                    <Ti5Motor id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                    <Ti5Motor id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                    <Ti5Motor id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                    <Ti5Motor id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>
-                    <Ti5Motor id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>
-                    <Ti5Motor id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>
-                </MotorManager>
+                </MotorProtocolManager>
             </CanGroup>
             <CanGroup id="NeckCAN" channelId ="2" enable="true">
-                <MotorManager>
+                <MotorProtocolManager>
-                    <Ti5Motor id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                    <Ti5Motor id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                    <Ti5Motor id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                </MotorManager>
+                </MotorProtocolManager>
             </CanGroup>
             <CanGroup id = "WaistCAN" channelId ="3" enable="false">
-                <MotorManager>
+                <MotorProtocolManager>
-                    <Ti5Motor id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                    <Ti5Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
+                    <Ti5MotorProtocol id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
-                </MotorManager>
+                </MotorProtocolManager>
             </CanGroup>
         </CanManager>
 

include/hardware/can/can_group.h

@@ -5,7 +5,7 @@
 #ifndef CMVR_ES_CAN_GROUP_H
 #define CMVR_ES_CAN_GROUP_H
 
-#include "motormanager.h"
+#include "motor_protocol/motorprotocolmanager.h"
 namespace cmvr::device
 {
     class CanGroup
@@ -15,7 +15,11 @@ namespace cmvr::device
         ~CanGroup() = default;
     private:
 
-        std::shared_ptr<MotorManager> motor_;
+        std::string id_;
+        unsigned int channelId_;
+        bool enable_;
+        std::shared_ptr<MotorProtocolManager> motor_protocol_manager;
+
     };
 }
 

include/hardware/can/can_manager.h

@@ -16,7 +16,9 @@ namespace cmvr::device
 
     public:
         explicit CanManager(const XmlNode &cfg);
-        ~CanManager();
+        ~CanManager() = default;
+
+        std::shared_ptr<CanGroup> getCanGroup(const std::string &canGroupID);
     private:
         //CanGroup
         std::unordered_map<std::string,std::shared_ptr<CanGroup>> canGroups_;

include/hardware/can/motor_protocol/abstractmotorprotocol.h

@@ -2,16 +2,16 @@
 // Created by linbo on 2025/10/22.
 //
 
-#ifndef CMVR_ES_ABSTRACTMOTOR_H
+#ifndef CMVR_ES_ABSTRACTMOTORPROTOCOL_H
-#define CMVR_ES_ABSTRACTMOTOR_H
+#define CMVR_ES_ABSTRACTMOTORPROTOCOL_H
 #include "rapidxml/xml_parser.h"
 
 namespace cmvr::device
 {
-    class AbstractMotor
+    class AbstractMotorProtocol
     {
     public:
-        explicit AbstractMotor(const XmlNode &cfg)
+        explicit AbstractMotorProtocol(const XmlNode &cfg)
         {
             cfg_ = cfg;
             id_ = cfg.getAttrString("id");
@@ -20,7 +20,7 @@ namespace cmvr::device
             limitQUb_ = cfg.getAttrDefault("limitQUb_",(float)3.14);
             limitQd = cfg.getAttrDefault("limitQd",(float)3.0);
         }
-        ~AbstractMotor() = default;
+        ~AbstractMotorProtocol() = default;
 
     private:
         XmlNode cfg_;
@@ -32,4 +32,4 @@ namespace cmvr::device
     };
 }
 
-#endif //CMVR_ES_ABSTRACTMOTOR_H
+#endif //CMVR_ES_ABSTRACTMOTORPROTOCOL_H

include/hardware/can/motor_protocol/motorprotocolmanager.h

@@ -0,0 +1,27 @@
+//
+// Created by linbo on 2025/10/22.
+//
+
+#ifndef CMVR_ES_MOTORPROTOCOLMANAGER_H
+#define CMVR_ES_MOTORPROTOCOLMANAGER_H
+
+#include <unordered_map>
+#include <memory>
+#include "abstractmotorprotocol.h"
+
+namespace cmvr::device
+{
+    class MotorProtocolManager
+    {
+    public:
+        explicit MotorProtocolManager(const XmlNode &cfg);
+        ~MotorProtocolManager() = default;
+
+        std::shared_ptr<AbstractMotorProtocol> getMotorProtocol(const std::string &joint_name);
+    private:
+        std::unordered_map<std::string, std::shared_ptr<AbstractMotorProtocol>> motor_protocols_;
+    };
+}
+
+
+#endif //CMVR_ES_MOTORPROTOCOLMANAGER_H

include/hardware/can/motor_protocol/ti5motorprotocol.h

@@ -6,12 +6,11 @@
 #define CMVR_ES_TI5MOTOR_H
 
 #include "rapidxml/xml_parser.h"
-
+#include "abstractmotorprotocol.h"
 namespace cmvr::device{
-    class Ti5Motor
+    class Ti5MotorProtocol final : public AbstractMotorProtocol {
-    {
     public:
-        explicit Ti5Motor(const XmlNode &cfg);
+        explicit Ti5MotorProtocol(const XmlNode &cfg);
 
     private:
 

include/hardware/can/motormanager.h

@@ -1,25 +0,0 @@
-//
-// 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_interface.h

@@ -1,16 +0,0 @@
-//
-// Created by xtkuang on 2025/5/6.
-//
-
-#ifndef CMVR_ES_CAN_INTERFACE_H
-#define CMVR_ES_CAN_INTERFACE_H
-
-namespace cmvr {
-
-    class can_interface {
-
-    };
-
-} // cmvr
-
-#endif //CMVR_ES_CAN_INTERFACE_H

include/hardware/io_interface.h

@@ -1,14 +0,0 @@
-//
-// Created by linbo on 2025/9/24.
-//
-
-#ifndef CMVR_ES_IO_INTERFACE_H
-#define CMVR_ES_IO_INTERFACE_H
-
-
-class io_interface
-{
-};
-
-
-#endif //CMVR_ES_IO_INTERFACE_H

include/hardware/serial/serial_manager.h

@@ -4,11 +4,17 @@
 
 #ifndef CMVR_ES_SERIAL_MANAGER_H
 #define CMVR_ES_SERIAL_MANAGER_H
-
+#include "rapidxml/xml_parser.h"
 namespace cmvr::device
 {
-    class serial_manager
+    class SerialManager
     {
+    public:
+        explicit SerialManager(const XmlNode &cfg);
+        ~SerialManager() = default;
+
+    private:
+
     };
 }
 

include/hardware_manager/hardware_manager.h

@@ -7,7 +7,8 @@
 #include "rapidxml/xml_parser.h"
 #include <glog/logging.h>
 #include <mutex>
-
+#include "hardware_factory.h"
+#include "hardware/can/can_manager.h"
 namespace cmvr::device
 {
     class HardWareManager
@@ -20,14 +21,19 @@ namespace cmvr::device
         static HardWareManager& getInstance();
         static void destroyInstance();
 
+        void initHardWare();
+
+        std::shared_ptr<CanGroup> getCanGroup(const std::string& canGroupID);
 
 
-
+    private:
+        explicit HardWareManager(const XmlNode &cfg);
     private:
         XmlNode cfg_;
         static std::once_flag init_flag_;
         static std::shared_ptr<HardWareManager> instance_;
-        explicit HardWareManager(const XmlNode &cfg);
+        std::shared_ptr<HardwareFactory> hardware_factory_;
+        std::shared_ptr<CanManager> can_manager_;
     };
 }
 

src/CMakeLists.txt

@@ -5,4 +5,4 @@ add_subdirectory(devices)
 add_subdirectory(monitor)
 add_subdirectory(device_manager)
 add_subdirectory(service)
-add_subdirectory(controller)
+#add_subdirectory(controller)

src/devices/robot/CMakeLists.txt

@@ -1,3 +1,4 @@
 #add_subdirectory(ti5_robot)
 add_subdirectory(humanoid_robot)
 #add_subdirectory(c701)
+add_subdirectory(controller)

src/devices/robot/controller/CMakeLists.txt

@@ -0,0 +1,6 @@
+
+add_library(controller SHARED controller_manager.cpp)
+
+target_include_directories(controller PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
+add_library(cmvr_es::device::controller ALIAS controller)

src/devices/robot/controller/abstractcontroller.h

@@ -0,0 +1,21 @@
+//
+// Created by linbo on 2025/10/23.
+//
+
+#ifndef CMVR_ES_ABSTRACTCONTROLLER_H
+#define CMVR_ES_ABSTRACTCONTROLLER_H
+
+#include <curl/curl.h>
+
+#include "rapidxml/xml_parser.h"
+
+namespace cmvr::device
+{
+    class AbstractController
+    {
+    public:
+        explicit AbstractController();
+    };
+}
+
+#endif //CMVR_ES_ABSTRACTCONTROLLER_H

src/devices/robot/controller/controller_manager.cpp

@@ -0,0 +1,8 @@
+//
+// Created by linbo on 2025/10/23.
+//
+
+#include "controller_manager.h"
+
+using namespace std;
+using namespace cmvr::device;

src/devices/robot/controller/controller_manager.h

@@ -0,0 +1,25 @@
+//
+// Created by linbo on 2025/10/23.
+//
+
+#ifndef CMVR_ES_CONTROLLER_MANAGER_H
+#define CMVR_ES_CONTROLLER_MANAGER_H
+
+#include "abstractcontroller.h"
+
+namespace cmvr::device
+{
+    class ControllerManager
+    {
+    public:
+        explicit ControllerManager();
+        ~ControllerManager() = default;
+
+    private:
+    };
+}
+
+
+
+
+#endif //CMVR_ES_CONTROLLER_MANAGER_H

src/hardware/CMakeLists.txt

@@ -1,15 +1,18 @@
+add_subdirectory(can)
+add_subdirectory(serial)
+
 add_library(hardware SHARED
-        can_interface.cpp
-        serial_interface.cpp
         esp32_serial_port.cpp
-        io_interface.cpp
+        serial_interface.cpp
 )
 
 target_include_directories(hardware PUBLIC
         ${PROJECT_SOURCE_DIR}/include
 )
 
+target_link_libraries(hardware PRIVATE
+        cmvr_es::can
+        cmvr_es::serial
+)
 add_library(cmvr_es::hardware ALIAS hardware)
 
-add_subdirectory(can)
-add_subdirectory(serial)

src/hardware/can/CMakeLists.txt

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

src/hardware/can/can_group.cpp

@@ -3,11 +3,23 @@
 //
 
 #include "hardware/can/can_group.h"
-
+#include <glog/logging.h>
 using namespace std;
 using namespace cmvr::device;
 
 CanGroup::CanGroup(const XmlNode &cfg)
 {
-    motor_ = std::make_shared<MotorManager>(cfg);
+    try {
+        id_ = cfg.getAttrString("id");
+        channelId_ = cfg.getAttrDefault("channelId",0);
+        enable_ = cfg.getAttrDefault("enable", false);
+        motor_protocol_manager = std::make_shared<MotorProtocolManager>(cfg);
     }
+    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()));
+    }
+
+}
+
+

src/hardware/can/can_manager.cpp

@@ -3,19 +3,34 @@
 //
 
 #include "hardware/can/can_manager.h"
+#include <glog/logging.h>
 
 using namespace std;
 using namespace cmvr::device;
 
 CanManager::CanManager(const XmlNode& cfg)
+{
+    try
     {
         for (auto &node: cfg.getChildren()){
             if (node.getNodeName() == "CanGroup")
             {
                 string id = node.getAttrString("id");
-
+                if (canGroups_.count(id))
-
+                    throw runtime_error("[CanManager](CanManager): duplicate CanGroup id:" + id);
                 canGroups_[id] = std::make_shared<CanGroup>(cfg);
             }
         }
     }
+    catch (const exception &e) {
+        LOG(FATAL) << "[CanManager] (CanManager): CanManager initialization failed: " << e.what();
+        throw std::runtime_error("[CanManager] (DeviceManager): CanManager create failed" + string(e.what()));
+    }
+}
+
+std::shared_ptr<CanGroup> CanManager::getCanGroup(const std::string &canGroupID)
+{
+    if (canGroups_.count(canGroupID))
+        return canGroups_[canGroupID];
+    return nullptr;
+}

src/hardware/can/motor_protocol/CMakeLists.txt

@@ -0,0 +1,12 @@
+add_library(motor_protocol
+        motorprotocolmanager.cpp
+        ti5motorprotocol.cpp
+)
+
+target_include_directories(motor_protocol PUBLIC ${PROJECT_SOURCE_DIR}/include)
+
+target_link_libraries(motor_protocol PRIVATE
+        protobuf::libprotobuf
+)
+
+add_library(cmvr_es::motor_protocol ALIAS motor_protocol)

src/hardware/can/motor_protocol/motorprotocolmanager.cpp

@@ -0,0 +1,41 @@
+//
+// Created by linbo on 2025/10/22.
+//
+
+#include "hardware/can/motor_protocol/motorprotocolmanager.h"
+#include "hardware/can/motor_protocol/ti5motorprotocol.h"
+#include <glog/logging.h>
+
+using namespace std;
+using namespace cmvr::device;
+
+
+
+MotorProtocolManager::MotorProtocolManager(const XmlNode &cfg)
+{
+    try {
+        for (auto &node: cfg.getChildren()){
+            if (node.getNodeName() == "Ti5MotorProtocol")
+            {
+                std::string id = node.getAttrString("id");
+                std::string joint_name = node.getAttrString("joint_name");
+                if (motor_protocols_.count(joint_name))
+                    throw runtime_error("[MotorProtocolManager] (MotorProtocolManager): duplicate motorProtocol joint name:" + joint_name);
+
+                motor_protocols_[joint_name] = std::make_shared<Ti5MotorProtocol>(cfg);
+            }
+        }
+    }
+    catch (const exception &e) {
+        LOG(FATAL) << "[MotorProtocolManager] (MotorProtocolManager): MotorProtocolManager initialization failed: " << e.what();
+        throw std::runtime_error("[MotorProtocolManager] (MotorProtocolManager): MotorProtocolManager create failed" + string(e.what()));
+    }
+}
+
+
+std::shared_ptr<AbstractMotorProtocol> MotorProtocolManager::getMotorProtocol(const std::string &joint_name)
+{
+    if (motor_protocols_.count(joint_name))
+        return motor_protocols_[joint_name];
+    return nullptr;
+}

src/hardware/can/motor_protocol/ti5motorprotocol.cpp

@@ -0,0 +1,11 @@
+//
+// Created by linbo on 2025/10/22.
+//
+
+#include "hardware/can/motor_protocol/ti5motorprotocol.h"
+using namespace cmvr::device;
+
+Ti5MotorProtocol::Ti5MotorProtocol(const XmlNode &cfg):AbstractMotorProtocol(cfg)
+{
+
+}

src/hardware/can/motormanager.cpp

@@ -1,23 +0,0 @@
-//
-// 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

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

src/hardware/can_interface.cpp

@@ -1,8 +0,0 @@
-//
-// Created by xtkuang on 2025/5/6.
-//
-
-#include "../../include/hardware/can_interface.h"
-
-namespace cmvr {
-} // cmvr

src/hardware/io_interface.cpp

@@ -1,5 +0,0 @@
-//
-// Created by linbo on 2025/9/24.
-//
-
-#include "../../include/hardware/io_interface.h"

src/hardware/serial/serial_manager.cpp

@@ -3,3 +3,11 @@
 //
 
 #include "hardware/serial/serial_manager.h"
+
+using namespace std;
+using namespace cmvr::device;
+
+SerialManager::SerialManager(const XmlNode &cfg)
+{
+
+}

src/hardware_manager/hardware_factory.cpp

@@ -23,5 +23,5 @@ std::shared_ptr<HardwareType> HardwareFactory::create(const XmlNode& cfg) {
 
 
 std::shared_ptr<CanManager> HardwareFactory::create_can_(const XmlNode& cfg) {
-    return nullptr;
+    return std::make_shared<CanManager>(cfg);
 }

src/hardware_manager/hardware_manager.cpp

@@ -10,6 +10,12 @@ std::shared_ptr<HardWareManager> HardWareManager::instance_ = nullptr;
 HardWareManager::HardWareManager(const XmlNode& cfg) {
     try {
         cfg_ = cfg;
+
+        hardware_factory_ = std::make_shared<HardwareFactory>();
+
+
+
+        initHardWare();
     }
     catch (const exception &e) {
         LOG(FATAL) << "[HardWareManager] (HardWareManager): Device manager initialization failed: " << e.what();
@@ -34,3 +40,25 @@ HardWareManager& HardWareManager::getInstance() {
 void HardWareManager::destroyInstance() {
     instance_.reset();
 }
+
+void HardWareManager::initHardWare()
+{
+    //解析xml节点
+    try{
+        auto can_node = cfg_.getChild("CanManager");
+        can_manager_ = hardware_factory_->create<CanManager>(can_node);
+    }
+    catch (const exception& e) {
+        LOG(ERROR) << e.what();
+        throw runtime_error(e.what());
+    }
+
+    //检查can和串口的可用性
+}
+std::shared_ptr<CanGroup> HardWareManager::getCanGroup(const std::string& canGroupID)
+{
+    auto canGroup = can_manager_->getCanGroup(canGroupID);
+    if (canGroup == nullptr)
+        throw runtime_error("can't find canGroup, canGroupID:" + canGroupID);
+    return canGroup;
+}

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)

src/service/grpc_service/grpc_hlc_service.cpp

@@ -3,7 +3,7 @@
 //
 
 
-#include "../../../include/service/grpc_service/grpc_hlc_service.h"
+#include "service/grpc_service/grpc_hlc_service.h"
 #include <google/protobuf/util/time_util.h>
 #include "robot/humanoid_robot/humanoid_robot.h"
 #include "controller/touch_controller.h"
@@ -25,7 +25,7 @@ grpc::Status gRPCHlcServiceImpl::touch(grpc::ServerContext *context, const cmvr:
         auto cam = dmgr_.getDevice<AbstractCamera>("cam4");
         auto hand = dmgr_.getDevice<AbstractDexHand>("hand1");
         ctrl::TouchController touch_controller(robot,hand,cam);;
-        touch_controller.touch(request->u(),request->v(),request->max_force());
+        // touch_controller.touch(request->u(),request->v(),request->max_force());
         response->mutable_header()->set_success(true);
         response->mutable_header()->set_error_message("");
     }catch (const std::exception& e) {