//
// 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::hardware
{
    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