34 lines
789 B
C++
34 lines
789 B
C++
//
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// Created by lgv on 2025/8/13.
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//
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#include <iostream>
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#include <vector>
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#include <string>
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#include <cstdlib> // for std::atof
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#include <glog/logging.h>
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#include "device_manager/device_manager.h"
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#include <libgen.h>
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using namespace cmvr::device;
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int main(int argc, char* argv[]) {
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// 这里按你的原代码结构获取 robot
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std::string config_path = "/home/lgv/cmvr/cmvr-es/config/cabin_robot.xml";
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const XmlNode config(config_path);
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if (!config.hasChild("DeviceManager")) {
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LOG(ERROR) << "Device Manager node not found";
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return 1;
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}
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auto dmgr_cfg = config.getChild("DeviceManager");
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auto &dmgr = DeviceManager::getInstance(dmgr_cfg);
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auto robot = dmgr.getDevice<AbstractRobot>("hc01");
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robot->torqueOff();
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return 0;
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} |