From 1a0618f50f9b84952afacd45622309dac9863f8d Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Mon, 22 Sep 2025 16:03:43 +0800
Subject: [PATCH] refactor(controller): Remove unused motion control methods
 and update CMake configuration

- Removed several unused methods from the Controller class, including HandStand, ClassicWalk, AutoRecoverSet, StaticWalk, TrotRun, EconomicGait, and SwitchAvoidMode.
- Updated CMakeLists.txt to remove the hardcoded include path for unitree SDK, streamlining the include directories for the main target.
---
 CMakeLists.txt         |  3 ---
 include/controller.hpp |  7 -------
 src/controller.cpp     | 42 ------------------------------------------
 src/custom_robot.cpp   | 14 --------------
 4 files changed, 66 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e677276..e7c2e80 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,7 +23,6 @@ message(STATUS "Found unitree_sdk2 in: ${unitree_sdk2_DIR}")
 # Include directories
 include_directories(
     include
-    /usr/local/include/unitree/
     ${CMAKE_CURRENT_SOURCE_DIR}/include
     ${CMAKE_CURRENT_SOURCE_DIR}/include/nlohmann
     $<$<NOT:$<BOOL:${PahoMqttC_FOUND}>>:${PAHO_MQTT_C_INCLUDE_DIR}>
@@ -42,8 +41,6 @@ set(SOURCES
 
 add_executable(main ${SOURCES})
 
-target_include_directories(main PRIVATE /usr/local/include)
-
 # Link libraries
 target_link_libraries(main
     PRIVATE
diff --git a/include/controller.hpp b/include/controller.hpp
index b9a24e3..a65d325 100644
--- a/include/controller.hpp
+++ b/include/controller.hpp
@@ -54,19 +54,12 @@ public:
     bool Dance2();
     bool LeftFlip();
     bool BackFlip();
-    bool HandStand(bool flag);
     bool FreeWalk();
     bool FreeBound(bool flag);
     bool FreeJump(bool flag);
     bool FreeAvoid(bool flag);
-    bool ClassicWalk(bool flag);
     bool WalkUpright(bool flag);
     bool CrossStep(bool flag);
-    bool AutoRecoverSet(bool flag);
-    bool StaticWalk();
-    bool TrotRun();
-    bool EconomicGait();
-    bool SwitchAvoidMode();
     bool TrajectoryFollow(const std::vector<std::array<float, 6>>& path);
     bool FootRaiseHeight(float height);
     
diff --git a/src/controller.cpp b/src/controller.cpp
index 336bc3d..1fafb47 100644
--- a/src/controller.cpp
+++ b/src/controller.cpp
@@ -297,12 +297,6 @@ bool Controller::BackFlip() {
     });
 }
 
-bool Controller::HandStand(bool flag) {
-    return ExecuteSportCmd([flag](auto* sc) {
-        return sc->HandStand(flag);
-    });
-}
-
 bool Controller::FreeWalk() {
     return ExecuteSportCmd([](auto* sc) {
         return sc->FreeWalk();
@@ -327,12 +321,6 @@ bool Controller::FreeAvoid(bool flag) {
     });
 }
 
-bool Controller::ClassicWalk(bool flag) {
-    return ExecuteSportCmd([flag](auto* sc) {
-        return sc->ClassicWalk(flag);
-    });
-}
-
 bool Controller::WalkUpright(bool flag) {
     return ExecuteSportCmd([flag](auto* sc) {
         return sc->WalkUpright(flag);
@@ -345,36 +333,6 @@ bool Controller::CrossStep(bool flag) {
     });
 }
 
-bool Controller::AutoRecoverSet(bool flag) {
-    return ExecuteSportCmd([flag](auto* sc) {
-        return sc->AutoRecoverSet(flag);
-    });
-}
-
-bool Controller::StaticWalk() {
-    return ExecuteSportCmd([](auto* sc) {
-        return sc->StaticWalk();
-    });
-}
-
-bool Controller::TrotRun() {
-    return ExecuteSportCmd([](auto* sc) {
-        return sc->TrotRun();
-    });
-}
-
-bool Controller::EconomicGait() {
-    return ExecuteSportCmd([](auto* sc) {
-        return sc->EconomicGait();
-    });
-}
-
-bool Controller::SwitchAvoidMode() {
-    return ExecuteSportCmd([](auto* sc) {
-        return sc->SwitchAvoidMode();
-    });
-}
-
 bool Controller::TrajectoryFollow(const std::vector<std::array<float, 6>>& path) {
     // This function requires special handling as it needs to convert the path format
     // For now, we'll provide a basic implementation
diff --git a/src/custom_robot.cpp b/src/custom_robot.cpp
index 1635ffe..040c866 100644
--- a/src/custom_robot.cpp
+++ b/src/custom_robot.cpp
@@ -587,8 +587,6 @@ bool CustomRobot::processSportCmd(const std::string& cmd, const nlohmann::json&
             return controller_->LeftFlip();
         } else if (cmd == "BackFlip") {
             return controller_->BackFlip();
-        } else if (cmd == "HandStand") {
-            return controller_->HandStand(message["param"]["flag"]);
         } else if (cmd == "FreeWalk") {
             return controller_->FreeWalk();
         } else if (cmd == "FreeBound") {
@@ -597,22 +595,10 @@ bool CustomRobot::processSportCmd(const std::string& cmd, const nlohmann::json&
             return controller_->FreeJump(message["param"]["flag"]);
         } else if (cmd == "FreeAvoid") {
             return controller_->FreeAvoid(message["param"]["flag"]);
-        } else if (cmd == "ClassicWalk") {
-            return controller_->ClassicWalk(message["param"]["flag"]);
         } else if (cmd == "WalkUpright") {
             return controller_->WalkUpright(message["param"]["flag"]);
         } else if (cmd == "CrossStep") {
             return controller_->CrossStep(message["param"]["flag"]);
-        } else if (cmd == "AutoRecoverSet") {
-            return controller_->AutoRecoverSet(message["param"]["flag"]);
-        } else if (cmd == "StaticWalk") {
-            return controller_->StaticWalk();
-        } else if (cmd == "TrotRun") {
-            return controller_->TrotRun();
-        } else if (cmd == "EconomicGait") {
-            return controller_->EconomicGait();
-        } else if (cmd == "SwitchAvoidMode") {
-            return controller_->SwitchAvoidMode();
         } else if (cmd == "TrajectoryFollow") {
             return controller_->TrajectoryFollow(message["param"]["path"]);
         } else if (cmd == "FootRaiseHeight") {