78 lines
2.2 KiB
C++
78 lines
2.2 KiB
C++
//
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// Created by xtkuang on 2025/5/6.
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//
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#ifndef CMVR_ES_DEVICE_MANAGER_H
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#define CMVR_ES_DEVICE_MANAGER_H
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#include <list>
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#include <variant>
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#include <sys/utsname.h>
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#include <unordered_map>
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#include "device_factory.h"
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#include "system_monitor.h"
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#include "../utils/base/thread_pool.h"
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namespace cmvr::device {
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using DeviceVariant = std::variant<
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std::shared_ptr<AbstractAGV>,
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std::shared_ptr<AbstractBattery>,
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std::shared_ptr<AbstractCamera>,
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std::shared_ptr<AbstractDexHand>,
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std::shared_ptr<AbstractGripper>,
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std::shared_ptr<AbstractMicrophone>,
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std::shared_ptr<AbstractRobot>,
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std::shared_ptr<AbstractSpeaker>,
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std::shared_ptr<AbstractBiohead>
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>;
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typedef struct {
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std::string version;
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std::string name;
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std::string description;
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std::string os;
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std::string kernel_version;
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std::string architecture;
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} SystemInfo;
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class DeviceManager {
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public:
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DeviceManager(const DeviceManager&) = delete;
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DeviceManager& operator=(const DeviceManager&) = delete;
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static DeviceManager& getInstance(const XmlNode &cfg);
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static DeviceManager& getInstance();
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static void destroyInstance();
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void start();
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void restart();
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void stop();
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void updateParam(const std::string& id, const std::pair<std::string, std::string> ¶m);
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void getDeviceList(std::list<std::pair<std::string, std::string>> &device_list);
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void getSystemInfo(SystemInfo &info) const;
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void getSystemStatus(device::SystemStatus &status) const;
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template <class DeviceType>
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std::shared_ptr<DeviceType> getDevice(const std::string &device_id);
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private:
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static std::once_flag init_flag_;
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static std::shared_ptr<DeviceManager> instance_;
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XmlNode cfg_;
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SystemInfo info_;
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std::unordered_map<std::string, DeviceVariant> devices_;
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std::unique_ptr<DeviceFactory> dev_factory_;
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std::unique_ptr<device::SystemMonitor> sys_monitor_;
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explicit DeviceManager(const XmlNode &cfg);
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void init_devices_();
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void get_os_info_();
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};
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} // cmvr
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#endif //CMVR_ES_DEVICE_MANAGER_H
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