35 lines
1.0 KiB
C++
35 lines
1.0 KiB
C++
//
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// Created by linbo on 2025/10/22.
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//
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#pragma once
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#include "motor_protocol/motorprotocolmanager.h"
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namespace cmvr::hardware
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{
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class CanGroup
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{
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public:
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explicit CanGroup(const XmlNode &cfg);
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~CanGroup() = default;
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void init();
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std::shared_ptr<AbstractMotorProtocol> getMotorProtocol(const std::string &protocolType);
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uint8_t getNodeId(const std::string& joint_name);
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const MotorProtocolManager::MotorInfo& getMotorInfo(const std::string& joint_name);
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private:
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XmlNode cfg_;
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std::string id_;
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unsigned int channelId_;
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bool enable_;
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std::shared_ptr<MotorProtocolManager> motor_protocol_manager;
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std::shared_ptr<device::AbstractCanbus> can_client_{nullptr};
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std::shared_ptr<device::CanReceiver<msgs::RobotDetail>> can_receiver_{nullptr};
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std::shared_ptr<device::CanSender<msgs::RobotDetail>> can_sender_{nullptr};
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std::shared_ptr<device::MessageManager<msgs::RobotDetail>> message_manager_{nullptr};
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};
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} |