2026-04-23 09:53:17 +08:00
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//
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// Created by Administrator on 2025/12/24.
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//
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#ifndef RTTHREAD_HEAD_SERVICE_IMPL_H
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#define RTTHREAD_HEAD_SERVICE_IMPL_H
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#include <stdint.h>
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#include <vector>
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#include "erpc/proto/generated/servo_service_server.hpp"
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#include "servo_manager/include/servo_manager.h"
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extern "C" {
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#include <rtthread.h>
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}
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class ServoServiceImpl : public erpcShim::servo_service_interface
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{
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public:
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ServoServiceImpl();
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~ServoServiceImpl() override;
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bool setConstraints(const char* id,
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float max_velocity_rad,
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float max_acceleration_rad,
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float max_jerk_rad) override;
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2026-04-27 10:33:16 +08:00
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bool setPositionGain(const char* id,
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float position_gain) override;
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2026-04-23 09:53:17 +08:00
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bool setMode(RpcMotionMode mode) override;
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bool setUpdatePeriodMs(uint32_t ms) override;
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int32_t move(const list_ServoCmd_1_t* cmds) override;
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int32_t moveJ(const list_float_1_t* angles_rad) override;
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private:
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ServoManager manager_;
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rt_err_t init_err_;
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MotionMode mode_;
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rt_mutex_t mutex_;
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static const std::vector<ServoDriver::Config> kServoCfg;
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};
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#endif // RTTHREAD_HEAD_SERVICE_IMPL_H
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