54 lines
1.9 KiB
C++
54 lines
1.9 KiB
C++
//
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// Created by linbo on 2025/10/22.
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//
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#ifndef CMVR_ES_MOTORPROTOCOLMANAGER_H
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#define CMVR_ES_MOTORPROTOCOLMANAGER_H
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#include <unordered_map>
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#include <memory>
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#include "abstractmotorprotocol.h"
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#include "devices/abstract_canbus.h"
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#include "canbus/can_comm/can_sender.h"
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#include "canbus/can_comm/can_receiver.h"
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#include "canbus/can_comm/message_manager.h"
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#include "cmvr/msgs/robot_detail.pb.h"
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namespace cmvr::hardware
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{
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class MotorProtocolManager
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{
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public:
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struct MotorInfo
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{
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uint8_t node_id; //电机ID
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std::string jointName; //关节名称
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double limitQLb; //逆时针限位
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double limitQUb; //顺时针限位
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double limitQd; //加速度限制
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std::shared_ptr<AbstractMotorProtocol> motorProtocol;
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};
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public:
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explicit MotorProtocolManager(const XmlNode &cfg,std::shared_ptr<device::CanSender<msgs::RobotDetail>> sender,
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std::shared_ptr<device::MessageManager<msgs::RobotDetail>> manager);
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~MotorProtocolManager() = default;
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uint8_t getNodeId(const std::string& joint_name);
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//根据协议类型获取协议实例对象
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std::shared_ptr<AbstractMotorProtocol> getMotorProtocol(const std::string &protocolType);
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const MotorInfo& getMotorInfo(const std::string& joint_name);
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private:
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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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std::shared_ptr<AbstractMotorProtocol> ti5Protocol_{nullptr};
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//协议类型，协议实例对象
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std::unordered_map<std::string, std::shared_ptr<AbstractMotorProtocol>> motor_protocols_;
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//协议类型，电机参数
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std::unordered_map<std::string, std::vector<MotorInfo>> motors_;
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};
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}
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#endif //CMVR_ES_MOTORPROTOCOLMANAGER_H
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