86 lines
3.0 KiB
C++
86 lines
3.0 KiB
C++
//
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// Created by lgv on 11/10/25.
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//
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#ifndef CMVR_ES_MOTORS_INFO_H
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#define CMVR_ES_MOTORS_INFO_H
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#include "../../devices/canbus/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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#include "motor/motor_manager.h"
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namespace cmvr {
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class MotorsInfo {
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private:
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MotorsInfo();
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MotorsInfo(const MotorsInfo &) = delete;
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MotorsInfo &operator=(const MotorsInfo &) = delete;
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public:
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~MotorsInfo(){};
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void init(const XmlNode &cfg);
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static MotorsInfo *getInstance() {
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static MotorsInfo instance;
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return &instance;
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}
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bool getJointsQ(const std::vector<std::string> &joints_name,std::unordered_map<std::string, double> &joint_qs) const;
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bool getJointsQ(const std::vector<std::string> &joints_name,std::vector<double> &joint_qs) const;
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bool getJointsQ(std::unordered_map<std::string, double> &joint_qs) const;
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std::shared_ptr<device::MotorManager> getMotorManager() const {
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return motor_manager_;
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}
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private:
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std::vector<XmlNode> l_motors_cfg_{};
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std::vector<XmlNode> r_motors_cfg_{};
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std::vector<XmlNode> waist_motors_cfg_{};
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std::vector<XmlNode> head_motors_cfg_{};
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std::shared_ptr<device::AbstractCanbus> l_can_client_{nullptr};
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std::shared_ptr<device::AbstractCanbus> r_can_client_{nullptr};
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std::shared_ptr<device::AbstractCanbus> waist_can_client_{nullptr};
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std::shared_ptr<device::AbstractCanbus> head_can_client_{nullptr};
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std::shared_ptr<device::CanReceiver<msgs::RobotDetail>> l_can_receiver_{nullptr};
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std::shared_ptr<device::CanReceiver<msgs::RobotDetail>> r_can_receiver_{nullptr};
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std::shared_ptr<device::CanReceiver<msgs::RobotDetail>> waist_can_receiver_{nullptr};
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std::shared_ptr<device::CanReceiver<msgs::RobotDetail>> head_can_receiver_{nullptr};
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std::shared_ptr<device::CanSender<msgs::RobotDetail>> l_can_sender_{nullptr};
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std::shared_ptr<device::CanSender<msgs::RobotDetail>> r_can_sender_{nullptr};
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std::shared_ptr<device::CanSender<msgs::RobotDetail>> waist_can_sender_{nullptr};
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std::shared_ptr<device::CanSender<msgs::RobotDetail>> head_can_sender_{nullptr};
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std::shared_ptr<device::MessageManager<msgs::RobotDetail>> l_message_manager_{nullptr};
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std::shared_ptr<device::MessageManager<msgs::RobotDetail>> r_message_manager_{nullptr};
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std::shared_ptr<device::MessageManager<msgs::RobotDetail>> waist_message_manager_{nullptr};
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std::shared_ptr<device::MessageManager<msgs::RobotDetail>> head_message_manager_{nullptr};
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bool waist_enabled_{false};
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bool right_arm_enabled_{false};
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bool left_arm_enabled_{false};
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bool head_enabled_{false};
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std::shared_ptr<device::MotorManager> motor_manager_{nullptr};
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};
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}
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#endif //CMVR_ES_MOTORS_INFO_H
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