//
// Created by linbo on 2025/10/22.
//

#ifndef CMVR_ES_ABSTRACTMOTORPROTOCOL_H
#define CMVR_ES_ABSTRACTMOTORPROTOCOL_H
#include "rapidxml/xml_parser.h"

namespace cmvr::hardware
{
    class AbstractMotorProtocol
    {
    public:
        explicit AbstractMotorProtocol(const XmlNode &cfg)
        {
            cfg_ = cfg;
            id_ = cfg.getAttrString("id");
            joint_name_ = cfg.getAttrString("joint_name");
            limitQLb_ = cfg.getAttrDefault("limitQLb_",3.14f);
            limitQUb_ = cfg.getAttrDefault("limitQUb_",3.14f);
            limitQd = cfg.getAttrDefault("limitQd",3.0f);
        }
        ~AbstractMotorProtocol() = default;

    private:
        XmlNode cfg_;
        std::string id_;
        std::string joint_name_;
        double limitQLb_;
        double limitQUb_;
        double limitQd;
    };
}

#endif //CMVR_ES_ABSTRACTMOTORPROTOCOL_H