//
// Created by linbo on 2025/11/11.
//

#ifndef CMVR_ES_SOVLER_INTERFACE_H
#define CMVR_ES_SOVLER_INTERFACE_H
#include <mutex>
#include "rapidxml/xml_parser.h"
#include "utils/solver/qp_solver.h"
#include "utils/base/os.h"
#include "utils/base/timer.h"
#include "utils/base/ring_buffer.h"
namespace cmvr::device
{
    template<int DOF>
    class SolverInterface
    {
    public:
        SolverInterface(const SolverInterface&) = delete;
        SolverInterface& operator=(const SolverInterface&) = delete;
        static SolverInterface& getInstance(const XmlNode& cfg);
        static SolverInterface& getInstance();
        static void destroyInstance();
    private:
        explicit SolverInterface(const XmlNode &cfg);
    private:
        XmlNode cfg_;
        static std::once_flag init_flag_;
        static std::shared_ptr<SolverInterface> instance_;

        std::vector<std::string> joint_names_;
        std::vector<std::string> link_names_;
        std::shared_ptr<cmvr::dyn::State<DOF>> m_state_;
        std::shared_ptr<cmvr::dyn::Robot<DOF>> m_robot_;
        std::shared_ptr<cmvr::ctrl::QPSolver<DOF>> m_cctrl_;
    };
}




#endif //CMVR_ES_SOVLER_INTERFACE_H