From 1e4e5c39431d572958f5c403bc952a40118d6c8c Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Mon, 22 Sep 2025 14:30:59 +0800
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当获取服务列表时，系统现在会自动打印每个服务的状态信息到日志中，包括服务名称、当前状态(ACTIVE/INACTIVE)和保护状态(YES/NO)
---
 README.md            | 6 ++++++
 src/custom_robot.cpp | 9 ++++++++-
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 4120705..da02954 100644
--- a/README.md
+++ b/README.md
@@ -14,6 +14,7 @@ A high-performance C++ implementation for controlling Unitree GO2 robot with rea
 - **🎭 Special Actions**: Support for dances, tricks, and custom motions
 - **🚀 High Performance**: Optimized for real-time control with configurable frequencies
 - **🔧 Development Tools**: Built-in scripts and utilities for easy deployment
+- **🔍 Service Status Monitoring**: Automatic printing of all robot service statuses
 
 ## Architecture
 
@@ -329,6 +330,11 @@ Supported system commands:
 - `list`: Get list of available services
 - `switch`: Enable/disable a service
 
+When the service list is retrieved (either through the `list` command or internally), the system automatically prints the status of each service to the logs. Each service entry includes:
+- Service name
+- Current status (ACTIVE/INACTIVE)
+- Protection status (YES/NO)
+
 ## Supported Actions
 
 ### Basic Motions
diff --git a/src/custom_robot.cpp b/src/custom_robot.cpp
index 64f4aad..1635ffe 100644
--- a/src/custom_robot.cpp
+++ b/src/custom_robot.cpp
@@ -132,7 +132,14 @@ bool CustomRobot::GetServiceList(std::vector<unitree::robot::go2::ServiceState>&
             LOG_ERROR("Failed to get service list, error code: " + std::to_string(ret));
             return false;
         }
-        // LOG_INFO("Successfully retrieved service list with " + std::to_string(serviceList.size()) + " services");
+        
+        LOG_INFO("Successfully retrieved service list with " + std::to_string(serviceList.size()) + " services");
+        for (const auto& service : serviceList) {
+            std::string statusStr = (service.status == 1) ? "ACTIVE" : "INACTIVE";
+            LOG_INFO("Service: " + service.name + " | Status: " + statusStr + " | Protect: " + 
+                    (service.protect ? "YES" : "NO"));
+        }
+        
         return true;
     } catch (const std::exception& e) {
         LOG_ERROR("Exception in getServiceList: " + std::string(e.what()));