From 5247295521b4503643c39908cf999868f16bbc0b Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Mon, 22 Sep 2025 19:29:17 +0800
Subject: [PATCH] =?UTF-8?q?refactor(low=5Fcontroller):=20=E7=A7=BB?=
 =?UTF-8?q?=E5=8A=A8UT=5FCPU=5FID=5FNONE=E5=AE=9A=E4=B9=89=E5=B9=B6?=
 =?UTF-8?q?=E6=9B=B4=E6=96=B0=E5=BC=95=E7=94=A8?=
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将UT_CPU_ID_NONE宏定义移动到头文件顶部常量定义区域
在cpp文件中使用新的宏定义位置替代完整命名空间引用
---
 include/low_controller.hpp | 2 +-
 src/low_controller.cpp     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/low_controller.hpp b/include/low_controller.hpp
index 3b6314d..2438d75 100644
--- a/include/low_controller.hpp
+++ b/include/low_controller.hpp
@@ -7,10 +7,10 @@
 #include <atomic>
 
 #define TOPIC_LOWCMD "rt/lowcmd"
+#define UT_CPU_ID_NONE  -1
 
 constexpr double PosStopF = (2.146E+9f);
 constexpr double VelStopF = (16000.0f);
-#define UT_CPU_ID_NONE  -1
 namespace custom {
 
 class LowController {
diff --git a/src/low_controller.cpp b/src/low_controller.cpp
index f4ba816..b1feafe 100644
--- a/src/low_controller.cpp
+++ b/src/low_controller.cpp
@@ -28,7 +28,7 @@ bool LowController::start()
         return true;
     }
     running_ = true;
-    publish_thread_ = unitree::common::CreateRecurrentThreadEx("low_cmd_pub", unitree::common::UT_CPU_ID_NONE, 2000, &LowController::publishLoop, this);
+    publish_thread_ = unitree::common::CreateRecurrentThreadEx("low_cmd_pub", UT_CPU_ID_NONE, 2000, &LowController::publishLoop, this);
     return true;
 }