From 4cce0b69c871e0b533b8001df917a3639cfb2ab3 Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Mon, 22 Sep 2025 19:50:39 +0800
Subject: [PATCH] refactor(custom_robot): Disable LowController functionality
 temporarily

- Commented out all references to LowController in custom_robot.hpp and custom_robot.cpp to disable its functionality.
- Added warning log in processLowCmd to indicate that LowController functionality is currently disabled until re-implementation.
---
 include/custom_robot.hpp |  4 +-
 src/custom_robot.cpp     | 96 +++++++++++++++++++++-------------------
 2 files changed, 53 insertions(+), 47 deletions(-)

diff --git a/include/custom_robot.hpp b/include/custom_robot.hpp
index d8b7c3c..076b16b 100644
--- a/include/custom_robot.hpp
+++ b/include/custom_robot.hpp
@@ -5,7 +5,7 @@
 #include "logger.hpp"
 #include "mqtt.hpp"
 #include "navigation.hpp"
-#include "low_controller.hpp"
+// #include "low_controller.hpp"
 
 #include <memory>
 #include <atomic>
@@ -47,7 +47,7 @@ public:
 private:
     std::string generateRandomClientId() const;
     std::unique_ptr<Controller> controller_;
-    std::unique_ptr<LowController> low_controller_;
+    // std::unique_ptr<LowController> low_controller_;
     std::unique_ptr<Navigation> navigation_;
     std::unique_ptr<unitree::robot::go2::RobotStateClient> rsc_;
     std::unique_ptr<MqttClient> mqttClient_;
diff --git a/src/custom_robot.cpp b/src/custom_robot.cpp
index 5ebb37e..5ab545d 100644
--- a/src/custom_robot.cpp
+++ b/src/custom_robot.cpp
@@ -43,10 +43,9 @@ CustomRobot::~CustomRobot() {
         controller_.reset();
     }
 
-    if (low_controller_) {
-        low_controller_->shutdown();
-        low_controller_.reset();
-    }
+    // 屏蔽与low_controller_相关的代码
+    // low_controller_ = std::make_unique<LowController>();
+    // low_controller_->initialize();
     
     if (rsc_) {
         rsc_.reset();
@@ -71,8 +70,9 @@ bool CustomRobot::initialize() {
         controller_ = std::make_unique<Controller>();
         controller_->initialize();
 
-        low_controller_ = std::make_unique<LowController>();
-        low_controller_->initialize();
+        // 屏蔽与low_controller_相关的代码
+        // low_controller_ = std::make_unique<LowController>();
+        // low_controller_->initialize();
 
         navigation_ = std::make_unique<Navigation>();
         navigation_->Init();
@@ -124,10 +124,11 @@ bool CustomRobot::start() {
         return false;
     }
 
-    if (!low_controller_->start()) {
-        LOG_ERROR("Failed to start low-level controller");
-        return false;
-    }
+    // 屏蔽与low_controller_相关的代码
+    // if (!low_controller_->start()) {
+    //     LOG_ERROR("Failed to start low-level controller");
+    //     return false;
+    // }
 
     running_ = true;
     LOG_INFO("CustomRobot started successfully");
@@ -295,41 +296,46 @@ void CustomRobot::processCmd(const nlohmann::json& message) {
 
 bool CustomRobot::processLowCmd(const std::string& cmd, const nlohmann::json& message)
 {
-    if (!low_controller_)
-    {
-        LOG_ERROR("LowController not initialized");
-        return false;
-    }
-
-    try
-    {
-        if (cmd == "requestAutoCharge")
-        {
-            if (!message.contains("param") || !message["param"].contains("enable"))
-            {
-                LOG_ERROR("requestAutoCharge cmd missing 'enable' parameter");
-                return false;
-            }
-            bool enable = message["param"]["enable"];
-            low_controller_->requestAutoCharge(enable);
-            return true;
-        }
-        else if (cmd == "powerOff")
-        {
-            low_controller_->powerOff();
-            return true;
-        }
-        else
-        {
-            LOG_ERROR("Unknown Low command: %s", cmd.c_str());
-            return false;
-        }
-    }
-    catch (const std::exception& e)
-    {
-        LOG_ERROR("Error executing Low command %s: %s", cmd.c_str(), e.what());
-        return false;
-    }
+    // 屏蔽与low_controller_相关的代码
+    // if (!low_controller_)
+    // {
+    //     LOG_ERROR("LowController not initialized");
+    //     return false;
+    // }
+    //
+    // try
+    // {
+    //     if (cmd == "requestAutoCharge")
+    //     {
+    //         if (!message.contains("param") || !message["param"].contains("enable"))
+    //         {
+    //             LOG_ERROR("requestAutoCharge cmd missing 'enable' parameter");
+    //             return false;
+    //         }
+    //         bool enable = message["param"]["enable"];
+    //         low_controller_->requestAutoCharge(enable);
+    //         return true;
+    //     }
+    //     else if (cmd == "powerOff")
+    //     {
+    //         low_controller_->powerOff();
+    //         return true;
+    //     }
+    //     else
+    //     {
+    //         LOG_ERROR("Unknown Low command: %s", cmd.c_str());
+    //         return false;
+    //     }
+    // }
+    // catch (const std::exception& e)
+    // {
+    //     LOG_ERROR("Error executing Low command %s: %s", cmd.c_str(), e.what());
+    //     return false;
+    // }
+    
+    // 临时返回false，直到重新实现功能
+    LOG_WARN("LowController functionality is currently disabled");
+    return false;
 }
 
 bool CustomRobot::processOacCmd(const std::string& cmd, const nlohmann::json& message) {