From 3a209734de8d9bde0c6fbeb0c41c5a7bec882050 Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Tue, 30 Sep 2025 16:38:00 +0800
Subject: [PATCH] =?UTF-8?q?feat(robot):=20=E6=B7=BB=E5=8A=A0=E7=9B=91?=
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在自定义机器人中添加Monitor模块，用于监控机器人状态。包括在头文件中添加Monitor成员变量声明，在实现文件中添加初始化和资源释放逻辑。
---
 include/custom_robot.hpp | 2 ++
 src/custom_robot.cpp     | 7 +++++++
 2 files changed, 9 insertions(+)

diff --git a/include/custom_robot.hpp b/include/custom_robot.hpp
index 47c823e..ed31a91 100644
--- a/include/custom_robot.hpp
+++ b/include/custom_robot.hpp
@@ -6,6 +6,7 @@
 #include "mqtt.hpp"
 #include "navigation.hpp"
 #include "recharge.hpp"
+#include "monitor.hpp"
 // #include "low_controller.hpp"
 
 #include <memory>
@@ -59,6 +60,7 @@ private:
     std::unique_ptr<unitree::robot::go2::RobotStateClient> rsc_;
     std::unique_ptr<MqttClient> mqttClient_;
     std::unique_ptr<Recharge> recharge_;
+    std::unique_ptr<Monitor> monitor_;
     
     CustomConfig config_;  
     std::atomic<bool> running_;
diff --git a/src/custom_robot.cpp b/src/custom_robot.cpp
index 6961330..50e6910 100644
--- a/src/custom_robot.cpp
+++ b/src/custom_robot.cpp
@@ -66,6 +66,10 @@ CustomRobot::~CustomRobot() {
         recharge_.reset();
     }
     
+    if (monitor_) {
+        monitor_.reset();
+    }
+    
     try {
         unitree::robot::ChannelFactory::Instance()->Release();
         LOG_INFO("ChannelFactory released");
@@ -94,6 +98,9 @@ bool CustomRobot::initialize() {
         recharge_ = std::make_unique<Recharge>();
         recharge_->Init();
 
+        monitor_ = std::make_unique<Monitor>();
+        monitor_->initialize();
+
         if (!initializeMqtt()) {
             LOG_ERROR("Failed to initialize MQTT client");
             return false;