45 lines
1.2 KiB
C++
45 lines
1.2 KiB
C++
//
|
||
// Created by linbo on 2025/10/23.
|
||
//
|
||
|
||
#pragma once
|
||
|
||
#include <curl/curl.h>
|
||
|
||
#include "rapidxml/xml_parser.h"
|
||
#include "jsoncpp/json/json.h"
|
||
namespace cmvr::device
|
||
{
|
||
enum ControllerState
|
||
{
|
||
ControllerState_Idle, //默认
|
||
ControllerState_Executing, //正在执行命令
|
||
ControllerState_Switching //命令被中断，正在切换
|
||
};
|
||
class AbstractController
|
||
{
|
||
public:
|
||
explicit AbstractController(const XmlNode& cfg){}
|
||
virtual ~AbstractController(){}
|
||
|
||
[[nodiscard]] ControllerState getState() const {return state_;}
|
||
|
||
//此处的Json中应该包含目标电机信息，电机id，canGroupId等其他必要参数，用以确定是调用哪个can实例发送消息
|
||
// 还要包含操作内容，比如要执行的是直接控制每个电机位置，还是指定末端关节位置
|
||
/*
|
||
"params":{“canGroupId”:"",motors:[{"joint_name":"","id":""},{"joint_name":"","id":""}]},
|
||
"operate":{}
|
||
**/
|
||
virtual void call(const Json::Value& json) = 0;
|
||
|
||
virtual void interrupt() = 0;
|
||
|
||
virtual void stop() = 0;
|
||
|
||
protected:
|
||
ControllerState state_;
|
||
double defaultSpeed_;
|
||
double defaultAcc_;
|
||
};
|
||
}
|