#include "stdafx.h"
#include "ServoDriveManager.h"
#include "IServoDrive.h"
#include "IServoDriveFactory.h"
#include "ConfigurerServoDrive.h"


using namespace DIOS::Dev::Detail::MachineryECOM;

ServoDriveManager *ServoDriveManager::m_instance = nullptr;

ServoDriveManager::ServoDriveManager()
{
}


ServoDriveManager::~ServoDriveManager()
{
}

ServoDriveManager *ServoDriveManager::Instance()
{
	if (m_instance == nullptr)
	{
		m_instance = new ServoDriveManager();
	}

	return m_instance;
}

void ServoDriveManager::Initialize(IServoDriveFactory *factory,const std::vector<std::string> &servoDriveNameList)
{
	//根据配置装载伺服驱动类型
	for (size_t i = 0; i < servoDriveNameList.size();++i)
	{
		auto servoName = servoDriveNameList[i];
		auto sevoType = ConfigurerServoDrive::GetServoDriveType(servoName);
		auto sevoNumber = ConfigurerServoDrive::GetServoDriveNumber(servoName);
		if (sevoType != "")
		{
			auto servo = factory->Create(sevoType);
			if (servo)
			{
				servo->Initialize(sevoNumber);
				m_servoDrives[servoName] = servo;
			}
		}
	}
}

IServoDrive *ServoDriveManager::Resove(const std::string &servoDriveName)
{
	if (m_servoDrives.find(servoDriveName) != m_servoDrives.end())
	{
		return m_servoDrives[servoDriveName];
	}

	return nullptr;
}