From 06bf2fa2088aabce20ba4a30d4b99615335d2a3a Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Thu, 9 Oct 2025 18:26:07 +0800
Subject: [PATCH] =?UTF-8?q?feat(=E8=BD=A8=E8=BF=B9=E6=8E=A7=E5=88=B6):=20?=
 =?UTF-8?q?=E4=B8=BAstart=5Ftraj=E5=91=BD=E4=BB=A4=E6=B7=BB=E5=8A=A0?=
 =?UTF-8?q?=E5=8F=82=E6=95=B0=E8=A7=A3=E6=9E=90=E5=8A=9F=E8=83=BD?=
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扩展start_traj命令以支持从消息中解析轨迹参数，包括模式、比例、速度等配置项。这使得轨迹控制更加灵活可配置。
---
 src/custom_robot.cpp | 37 ++++++++++++++++++++++++++++++++++++-
 1 file changed, 36 insertions(+), 1 deletion(-)

diff --git a/src/custom_robot.cpp b/src/custom_robot.cpp
index 9c92ba4..33ea928 100644
--- a/src/custom_robot.cpp
+++ b/src/custom_robot.cpp
@@ -772,7 +772,42 @@ bool CustomRobot::processSportCmd(const std::string& cmd, const nlohmann::json&
         } else if (cmd == "CrossStep") {
             return controller_->CrossStep(message["param"]["flag"]);
         } else if (cmd == "start_traj") {
-            return startTraj();
+            TrajectoryParams params;
+            
+            // 从消息中解析参数（如果有的话）
+            if (message.contains("param")) {
+                const auto& param = message["param"];
+                
+                // 解析轨迹模式
+                if (param.contains("pattern")) {
+                    int pattern_int = param["pattern"];
+                    if (pattern_int >= 0 && pattern_int <= 4) {
+                        params.pattern = static_cast<TrajectoryPattern>(pattern_int);
+                    }
+                }
+                
+                // 解析其他参数
+                if (param.contains("scale")) {
+                    params.scale = param["scale"];
+                }
+                if (param.contains("speed")) {
+                    params.speed = param["speed"];
+                }
+                if (param.contains("frequency")) {
+                    params.frequency = param["frequency"];
+                }
+                if (param.contains("amplitude")) {
+                    params.amplitude = param["amplitude"];
+                }
+                if (param.contains("points_count")) {
+                    params.points_count = param["points_count"];
+                }
+                if (param.contains("time_step")) {
+                    params.time_step = param["time_step"];
+                }
+            }
+            
+            return startTraj(params);
         } else if (cmd == "stop_traj") {
             stopTraj();
             return true;