tanjianbin/lzwc-terminal-unitreeGo2
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refactor(custom_robot): Disable LowController functionality temporarily

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- 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.
This commit is contained in:
Sucan126
2025-09-22 19:50:39 +08:00
parent 20d75ca377
commit 4cce0b69c8
2 changed files with 53 additions and 47 deletions
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4
include/custom_robot.hpp
View File

@@ -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_;

96
src/custom_robot.cpp
View File

@@ -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) {