From 1a9fc5f7e1df4869194749d3459fdbe09643e53d Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Sun, 21 Sep 2025 15:15:09 +0800
Subject: [PATCH] =?UTF-8?q?refactor(navigation):=20=E9=87=8D=E6=9E=84Navig?=
 =?UTF-8?q?ation=E7=B1=BB=E7=BB=A7=E6=89=BFunitree::robot::Client?=
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移除不必要的client_成员变量，直接继承unitree::robot::Client类
简化初始化逻辑，更新相关文档说明
---
 README.md              |  4 ++--
 include/navigation.hpp |  3 +--
 src/navigation.cpp     | 12 +++---------
 3 files changed, 6 insertions(+), 13 deletions(-)

diff --git a/README.md b/README.md
index 965dce7..16fe266 100644
--- a/README.md
+++ b/README.md
@@ -429,7 +429,7 @@ unitree-go2/
 │   ├── custom_robot.hpp    # Main orchestrator
 │   ├── logger.hpp          # Logging system
 │   ├── mqtt.hpp            # MQTT client
-│   ├── navigation.hpp      # Navigation and SLAM
+│   ├── navigation.hpp      # Navigation and SLAM (inherits from unitree::robot::Client)
 │   └── nlohmann/           # JSON library
 ├── src/                    # Source files
 │   ├── config.cpp          # Configuration implementation
@@ -438,7 +438,7 @@ unitree-go2/
 │   ├── logger.cpp          # Logging system implementation
 │   ├── main.cpp            # Entry point
 │   ├── mqtt.cpp            # MQTT client implementation
-│   └── navigation.cpp      # Navigation and SLAM implementation
+│   └── navigation.cpp      # Navigation and SLAM implementation (inherits from unitree::robot::Client)
 ├── scripts/                # Utility scripts
 │   ├── install_deps.sh     # Install dependencies
 │   └── run_robot.sh        # Run with optimal settings
diff --git a/include/navigation.hpp b/include/navigation.hpp
index 7cbec67..feb5f6f 100644
--- a/include/navigation.hpp
+++ b/include/navigation.hpp
@@ -8,7 +8,7 @@
 
 namespace custom {
 
-class Navigation {
+class Navigation : public unitree::robot::Client {
 public:
     Navigation();
     ~Navigation();
@@ -24,7 +24,6 @@ public:
     bool closeSlam();
 
 private:
-    std::unique_ptr<unitree::robot::Client> client_;
     bool callSlamService(int api_id, const nlohmann::json& data);
 };
 
diff --git a/src/navigation.cpp b/src/navigation.cpp
index 38f8ff1..ea57524 100644
--- a/src/navigation.cpp
+++ b/src/navigation.cpp
@@ -7,14 +7,13 @@ const std::string SLAM_SERVICE_NAME = "slam_operate";
 
 namespace custom {
 
-Navigation::Navigation() : client_(nullptr) {}
+Navigation::Navigation() : unitree::robot::Client(SLAM_SERVICE_NAME) {}
 
 Navigation::~Navigation() {}
 
 void Navigation::Init() {
     try {
-        client_ = std::make_unique<unitree::robot::Client>(SLAM_SERVICE_NAME);
-        client_->Init();
+        unitree::robot::Client::Init();
         LOG_INFO("Navigation client for service '" + SLAM_SERVICE_NAME + "' initialized.");
     } catch (const std::exception& e) {
         LOG_ERROR("Failed to initialize navigation client: " + std::string(e.what()));
@@ -22,11 +21,6 @@ void Navigation::Init() {
 }
 
 bool Navigation::callSlamService(int api_id, const nlohmann::json& data) {
-    if (!client_) {
-        LOG_ERROR("Navigation client not initialized.");
-        return false;
-    }
-
     nlohmann::json request_json;
     request_json["data"] = data;
     std::string request_str = request_json.dump();
@@ -34,7 +28,7 @@ bool Navigation::callSlamService(int api_id, const nlohmann::json& data) {
 
     LOG_INFO("Calling slam service api_id: " + std::to_string(api_id) + ", request: " + request_str);
     
-    int ret = client_->Call(api_id, request_str, response_str);
+    int ret = this->Call(api_id, request_str, response_str);
 
     if (ret != 0) {
         LOG_ERROR("Slam service request failed with SDK error code: " + std::to_string(ret));