Merge pull request #5 from linker-bot/dev

Add API interface can parameter

Author: liangshaoteng

docs/API-Reference.md

@@ -76,6 +76,26 @@ LinkerHandApi(const LINKER_HAND &handModel, const HAND_TYPE &handType, const COM
 **返回值**
 无
 
+```cpp
+LinkerHandApi(const LINKER_HAND &handModel, const HAND_TYPE &handType,
+	             const std::string canChannel, const int baudrate);
+```
+
+**功能描述**
+创建并初始化 LinkerHand API 实例。
+
+**参数说明**
+- `handModel` (LINKER_HAND): 机械手型号
+  - 可选值: `LINKER_HAND::O6`, `LINKER_HAND::L6`, `LINKER_HAND::L7`, `LINKER_HAND::L10`, `LINKER_HAND::L20`, `LINKER_HAND::L21`, `LINKER_HAND::L25`
+- `handType` (HAND_TYPE): 机械手类型
+  - `HAND_TYPE::LEFT` - 左手
+  - `HAND_TYPE::RIGHT` - 右手
+- `canChannel` (std::string): can 通道名称
+- `baudrate` (int): can 波特率
+
+**返回值**
+无
+
 **使用示例**
 ```cpp
 #include "LinkerHandApi.h"
@@ -91,6 +111,31 @@ int main() {
 }
 ```
 
+```cpp
+#include "LinkerHandApi.h"
+
+int main() {
+
+    // 调用API接口
+    LinkerHandApi hand(LINKER_HAND::O6, HAND_TYPE::LEFT, "can0", 115200);
+
+    // 获取版本信息
+    std::cout << hand.getVersion() << std::endl;
+
+    // 四指握拳
+    std::vector<uint8_t> fist_pose = {255, 255, 0, 0, 0, 0};
+    hand.fingerMove(fist_pose);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // 四指张开
+    std::vector<uint8_t> open_pose = {255, 255, 255, 255, 255, 255};
+    hand.fingerMove(open_pose);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    return 0;
+}
+```
+
 **注意事项**
 - 构造函数会自动初始化通信接口
 - 确保在创建实例前，通信接口已正确配置（如 CAN 总线已启动、ModBus 端口已配置、EtherCAT 网络已初始化）

docs/FAQ.md

@@ -173,7 +173,7 @@ sudo modprobe can_raw
 sudo modprobe vcan  # 虚拟 CAN（用于测试）
 
 # 配置 CAN 接口
-sudo ip link set can0 type can bitrate 500000
+sudo ip link set can0 type can bitrate 1000000
 sudo ip link set can0 up
 
 # 查看 CAN 接口状态

include/CanBusFactory.h

@@ -1,3 +1,11 @@
+/*
+ * @Author: liangshaoteng liangshaoteng2012@163.com
+ * @Date: 2026-01-29 17:01:44
+ * @LastEditors: liangshaoteng liangshaoteng2012@163.com
+ * @LastEditTime: 2026-03-09 13:19:16
+ * @FilePath: /linkerhand/include/CanBusFactory.h
+ * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
+ */
 #ifndef LINKERHAND_CAN_BUS_FACTORY_H
 #define LINKERHAND_CAN_BUS_FACTORY_H
 
@@ -34,10 +42,7 @@ namespace communication {
                 return std::make_unique<linkerhand::communication::PCANBus>(channel, baudrate, linkerHand);
 
             #else
-                // Linux/Unix 平台
-                if (interfaceOrChannel == "can0" || interfaceOrChannel == "can1") {
-                    return std::make_unique<linkerhand::communication::CanBus>(interfaceOrChannel, bitrate, linkerHand);
-                } 
+                return std::make_unique<linkerhand::communication::CanBus>(interfaceOrChannel, bitrate, linkerHand);
 
                 #if USE_ETHERCAT
                 else if (interfaceOrChannel == "ethercat") {

include/HandFactory.h

@@ -1,6 +1,11 @@
 #ifndef LINKERHAND_HAND_FACTORY_H
 #define LINKERHAND_HAND_FACTORY_H
 
+#include <iostream>
+#include <string>
+#include <algorithm>
+#include <cctype>
+
 #include "IHand.h"
 #include "LinkerHandL6.h"
 #include "LinkerHandL7.h"
@@ -10,6 +15,8 @@
 #include "ModbusLinkerHandL10.h"
 #include "Common.h"
 
+
+
 namespace linkerhand {
 namespace factory {
 
@@ -100,6 +107,70 @@ class HandFactory {
 
         return nullptr;
     }
+    
+    
+    static std::unique_ptr<hand::IHand> createHand(LINKER_HAND type, uint32_t handId, const std::string canChannel, const int baudrate) {
+
+        if (handId != static_cast<uint32_t>(LEFT) && 
+            handId != static_cast<uint32_t>(RIGHT))
+        {
+            throw std::invalid_argument("Unsupported hand type");
+        }
+
+        if (containsIgnoreCase(canChannel, "can")) {
+            switch (type) {
+                case O6:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L6Hand>(handId, canChannel, baudrate));
+                    break;
+                case L6:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L6Hand>(handId, canChannel, baudrate));
+                    break;
+                case L7:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L7Hand>(handId, canChannel, baudrate));
+                    break;
+                case L10:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L10Hand>(handId, canChannel, baudrate));
+                    break;
+                case L20:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L20Hand>(handId, canChannel, baudrate));
+                    break;
+                case L21:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L25Hand>(handId, canChannel, baudrate, 1));
+                    break;
+                case L25:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::L25Hand>(handId, canChannel, baudrate, 0));
+                    break;
+                default:
+                    throw std::invalid_argument("Unknown hand type");
+            }
+        } else if (canChannel == "modbus") {
+        	#if USE_RMAN
+            switch (type) {
+                case L10:
+                    return std::unique_ptr<hand::IHand>(std::make_unique<hand::ModbusL10Hand>(handId));
+                default:
+                    throw std::invalid_argument("Unknown hand type");
+                    break;
+            }
+            #else
+            	throw std::runtime_error("ModBus support is disabled (USE_RMAN=0)");
+			#endif
+        }
+
+        return nullptr;
+    }
+    
+private:
+
+    static std::string toLower(const std::string& str) {
+        std::string result = str;
+        std::transform(result.begin(), result.end(), result.begin(), ::tolower);
+        return result;
+    }
+
+    static bool containsIgnoreCase(const std::string& str, const std::string& target) {
+        return toLower(str).find(toLower(target)) != std::string::npos;
+    }
 };
 
 } // namespace factory

include/LinkerHandApi.h

@@ -27,6 +27,8 @@ class LinkerHandApi
 	 */
 	LinkerHandApi(const LINKER_HAND &handModel, const HAND_TYPE &handType,
 	              const COMM_TYPE commType = COMM_CAN_0);
+	LinkerHandApi(const LINKER_HAND &handModel, const HAND_TYPE &handType,
+	             const std::string canChannel, const int baudrate);
 	~LinkerHandApi();
 
 	// 设置关节位置

lib/aarch64/liblinkerhand_cpp_sdk.so.1.5.8

@@ -3,18 +3,18 @@
 int main() {
 
     // 调用API接口
-    LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::LEFT);
+    LinkerHandApi hand(LINKER_HAND::O6, HAND_TYPE::LEFT, "can0", 115200);
 
     // 获取版本信息
     std::cout << hand.getVersion() << std::endl;
 
     // 握拳
-    std::vector<uint8_t> fist_pose = {101, 60, 0, 0, 0, 0, 255, 255, 255, 51};
+    std::vector<uint8_t> fist_pose = {255, 255, 0, 0, 0, 0};
     hand.fingerMove(fist_pose);
     std::this_thread::sleep_for(std::chrono::seconds(1));
 
     // 张开
-    std::vector<uint8_t> open_pose = {255, 104, 255, 255, 255, 255, 255, 255, 255, 71};
+    std::vector<uint8_t> open_pose = {255, 255, 255, 255, 255, 255};
     hand.fingerMove(open_pose);
     std::this_thread::sleep_for(std::chrono::seconds(1));