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#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
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import abc
from dataclasses import dataclass

import draccus


@dataclass
class MotorsBusConfig(draccus.ChoiceRegistry, abc.ABC):
    @property
    def type(self) -> str:
        return self.get_choice_name(self.__class__)


@MotorsBusConfig.register_subclass("dynamixel")
@dataclass
class DynamixelMotorsBusConfig(MotorsBusConfig):
    port: str
    motors: dict[str, tuple[int, str]]
    mock: bool = False


@MotorsBusConfig.register_subclass("feetech")
@dataclass
class FeetechMotorsBusConfig(MotorsBusConfig):
    port: str
    motors: dict[str, tuple[int, str]]
    mock: bool = False