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update HardWareManager

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This commit is contained in:
linbo 2025-10-24 09:51:14 +08:00
parent 53fb1f1d6d
commit f9521a72e7
34 changed files with 304 additions and 171 deletions
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2
CMakeLists.txt
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@ -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
)

54
config/dev_config.xml
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@ -5,39 +5,39 @@
<HardwareManager>
<CanManager>
<CanGroup id="LeftArmCAN" channelId="0" enable="true">
<MotorManager>
<Ti5Motor 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"/>
<Ti5Motor 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"/>
<Ti5Motor 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"/>
<Ti5Motor id="1" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</MotorManager>
<MotorProtocolManager>
<Ti5MotorProtocol id="23" jointName="L_SHOULDER_P" 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"/>
<Ti5MotorProtocol id="25" jointName="L_SHOULDER_Y" 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"/>
<Ti5MotorProtocol id="27" jointName="L_WRIST_P" 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"/>
<Ti5MotorProtocol id="1" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</MotorProtocolManager>
</CanGroup>
<CanGroup id="RightArmCAN" channelId="1" enable="true">
<MotorManager>
<Ti5Motor 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"/>
<Ti5Motor 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"/>
<Ti5Motor 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"/>
<Ti5Motor id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>
</MotorManager>
<MotorProtocolManager>
<Ti5MotorProtocol id="16" jointName="R_SHOULDER_P" 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"/>
<Ti5MotorProtocol id="18" jointName="R_SHOULDER_Y" 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"/>
<Ti5MotorProtocol id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>
<Ti5MotorProtocol id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>
<Ti5MotorProtocol id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>
</MotorProtocolManager>
</CanGroup>
<CanGroup id="NeckCAN" channelId ="2" enable="true">
<MotorManager>
<Ti5Motor 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"/>
<Ti5Motor id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</MotorManager>
<MotorProtocolManager>
<Ti5MotorProtocol id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Ti5MotorProtocol id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Ti5MotorProtocol id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</MotorProtocolManager>
</CanGroup>
<CanGroup id = "WaistCAN" channelId ="3" enable="false">
<MotorManager>
<Ti5Motor 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"/>
</MotorManager>
<MotorProtocolManager>
<Ti5MotorProtocol id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Ti5MotorProtocol id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</MotorProtocolManager>
</CanGroup>
</CanManager>

8
include/hardware/can/can_group.h
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@ -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;
};
}

4
include/hardware/can/can_manager.h
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@ -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_;

12
include/hardware/can/abstractmotor.h → include/hardware/can/motor_protocol/abstractmotorprotocol.h
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@ -2,16 +2,16 @@
// Created by linbo on 2025/10/22.
//
#ifndef CMVR_ES_ABSTRACTMOTOR_H
#define CMVR_ES_ABSTRACTMOTOR_H
#ifndef CMVR_ES_ABSTRACTMOTORPROTOCOL_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

27
include/hardware/can/motor_protocol/motorprotocolmanager.h Normal file
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@ -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

7
include/hardware/can/ti5motor.h → include/hardware/can/motor_protocol/ti5motorprotocol.h
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@ -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:

25
include/hardware/can/motormanager.h
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@ -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

16
include/hardware/can_interface.h
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@ -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

14
include/hardware/io_interface.h
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@ -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

10
include/hardware/serial/serial_manager.h
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@ -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:
};
}

12
include/hardware_manager/hardware_manager.h
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@ -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_;
};
}

2
src/CMakeLists.txt
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@ -5,4 +5,4 @@ add_subdirectory(devices)
add_subdirectory(monitor)
add_subdirectory(device_manager)
add_subdirectory(service)
add_subdirectory(controller)
#add_subdirectory(controller)

3
src/devices/robot/CMakeLists.txt
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@ -1,3 +1,4 @@
#add_subdirectory(ti5_robot)
add_subdirectory(humanoid_robot)
#add_subdirectory(c701)
#add_subdirectory(c701)
add_subdirectory(controller)

6
src/devices/robot/controller/CMakeLists.txt Normal file
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@ -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)

21
src/devices/robot/controller/abstractcontroller.h Normal file
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@ -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

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

25
src/devices/robot/controller/controller_manager.h Normal file
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@ -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

13
src/hardware/CMakeLists.txt
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@ -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)

4
src/hardware/can/CMakeLists.txt
View File

@ -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)

18
src/hardware/can/can_group.cpp
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@ -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()));
}
}

29
src/hardware/can/can_manager.cpp
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@ -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)
{
for (auto &node: cfg.getChildren()){
if (node.getNodeName() == "CanGroup")
{
string id = node.getAttrString("id");
canGroups_[id] = std::make_shared<CanGroup>(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;
}

12
src/hardware/can/motor_protocol/CMakeLists.txt Normal file
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@ -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)

41
src/hardware/can/motor_protocol/motorprotocolmanager.cpp Normal file
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@ -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;
}

11
src/hardware/can/motor_protocol/ti5motorprotocol.cpp Normal file
View File

@ -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)
{
}

23
src/hardware/can/motormanager.cpp
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@ -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);
}
}
}

11
src/hardware/can/ti5motor.cpp
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@ -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)
{
}

8
src/hardware/can_interface.cpp
View File

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

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

8
src/hardware/serial/serial_manager.cpp
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@ -3,3 +3,11 @@
//
#include "hardware/serial/serial_manager.h"
using namespace std;
using namespace cmvr::device;
SerialManager::SerialManager(const XmlNode &cfg)
{
}

2
src/hardware_manager/hardware_factory.cpp
View File

@ -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);
}

28
src/hardware_manager/hardware_manager.cpp
View File

@ -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();
@ -33,4 +39,26 @@ 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;
}

2
src/service/grpc_service/CMakeLists.txt
View File

@ -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)

4
src/service/grpc_service/grpc_hlc_service.cpp
View File

@ -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) {