//
// 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"
#include "devices/abstract_canbus.h"
#include "canbus/can_comm/can_sender.h"
#include "canbus/can_comm/can_receiver.h"
#include "canbus/can_comm/message_manager.h"
#include "cmvr/msgs/robot_detail.pb.h"

namespace cmvr::hardware
{
    class MotorProtocolManager
    {
    public:
        struct MotorInfo
        {
            uint8_t node_id;        //电机ID
            std::string jointName;  //关节名称
            double limitQLb;        //逆时针限位
            double limitQUb;        //顺时针限位
            double limitQd;         //加速度限制
            std::shared_ptr<AbstractMotorProtocol> motorProtocol;
        };
    public:
        explicit MotorProtocolManager(const XmlNode &cfg,std::shared_ptr<device::CanSender<msgs::RobotDetail>> sender,
                                std::shared_ptr<device::MessageManager<msgs::RobotDetail>> manager);
        ~MotorProtocolManager() = default;

        uint8_t getNodeId(const std::string& joint_name);
        //根据协议类型获取协议实例对象
        std::shared_ptr<AbstractMotorProtocol> getMotorProtocol(const std::string &protocolType);

        const MotorInfo& getMotorInfo(const std::string& joint_name);
    private:
        std::shared_ptr<device::CanSender<msgs::RobotDetail> > can_sender_{nullptr};
        std::shared_ptr<device::MessageManager<msgs::RobotDetail> > message_manager_{nullptr};

        std::shared_ptr<AbstractMotorProtocol> ti5Protocol_{nullptr};
        //协议类型，协议实例对象
        std::unordered_map<std::string, std::shared_ptr<AbstractMotorProtocol>> motor_protocols_;
        //协议类型，电机参数
        std::unordered_map<std::string, std::vector<MotorInfo>> motors_;
    };
}


#endif //CMVR_ES_MOTORPROTOCOLMANAGER_H