//
// Created by linbo on 2025/10/24.
//

#include "jointpositioncontroller.h"
#include "hardware/can/can_manager.h"
#include "hardware_manager/hardware_manager.h"
using namespace std;
using namespace cmvr::device;
using namespace cmvr::hardware;

JointPositionController::JointPositionController(const XmlNode& cfg):AbstractController(cfg)
{

}

void JointPositionController::call(const Json::Value& json)
{
    if (state_ != ControllerState_Idle)
        return;


    //解析jason，执行算法



    //调用canmanager执行电机指令
    HardWareManager::getInstance();
}

void JointPositionController::interrupt()
{
    state_ = ControllerState_Switching;


    state_ = ControllerState_Idle;
}

void JointPositionController::stop()
{
    state_ = ControllerState_Idle;
}