Add initial project structure with CMake configuration, source files, and README documentation for Unitree GO2 Custom Controller

include/config.hpp

@@ -0,0 +1,192 @@
+#pragma once
+
+#include <string>
+#include <nlohmann/json.hpp>
+
+namespace custom {
+
+// Compile-time configuration flag
+constexpr bool USE_COMPILE_TIME_CONFIG = true;
+
+// Network settings
+constexpr const char* NETWORK_INTERFACE = "eth0";
+
+// MQTT settings
+constexpr const char* MQTT_BROKER = "localhost";
+constexpr int MQTT_PORT = 1883;
+constexpr const char* MQTT_USERNAME = "";
+constexpr const char* MQTT_PASSWORD = "";
+constexpr const char* MQTT_CLIENT_ID = "unitree_go2_client";
+
+// Topic settings
+constexpr const char* TOPIC_PREFIX = "unitree/go2";
+constexpr const char* TOPIC_CMD = "cmd";
+constexpr const char* TOPIC_STATE = "state";
+constexpr const char* TOPIC_VIDEO = "video";
+constexpr const char* TOPIC_AUDIO = "audio";
+
+// Robot control settings
+constexpr double CONTROL_FREQUENCY = 200.0; // Hz
+constexpr double STATE_PUBLISH_FREQUENCY = 50.0; // Hz
+constexpr bool ENABLE_VIDEO = true;
+constexpr bool ENABLE_AUDIO = true;
+
+// Safety settings
+constexpr double MAX_LINEAR_VELOCITY = 1.5; // m/s
+constexpr double MAX_ANGULAR_VELOCITY = 2.0; // rad/s
+constexpr double EMERGENCY_STOP_TIMEOUT = 5.0; // seconds
+
+// Motion settings
+constexpr double STAND_HEIGHT = 0.0; // relative height
+constexpr int GAIT = 0; // 0:idle, 1:trot, 2:trot_running
+
+// Video settings
+constexpr int VIDEO_WIDTH = 1280;
+constexpr int VIDEO_HEIGHT = 720;
+constexpr int VIDEO_FPS = 30;
+constexpr const char* VIDEO_FORMAT = "h264";
+
+// Audio settings
+constexpr int AUDIO_SAMPLE_RATE = 16000;
+constexpr int AUDIO_CHANNELS = 1;
+constexpr const char* AUDIO_FORMAT = "pcm";
+
+// Configuration presets
+struct HighPerformancePreset {
+    static constexpr double CONTROL_FREQUENCY = 500.0;
+    static constexpr double STATE_PUBLISH_FREQUENCY = 100.0;
+    static constexpr double MAX_LINEAR_VELOCITY = 2.5;
+    static constexpr double MAX_ANGULAR_VELOCITY = 3.0;
+    static constexpr bool ENABLE_VIDEO = false; // Disable for performance
+    static constexpr bool ENABLE_AUDIO = false; // Disable for performance
+};
+
+struct DevelopmentPreset {
+    static constexpr double CONTROL_FREQUENCY = 100.0;
+    static constexpr double STATE_PUBLISH_FREQUENCY = 20.0;
+    static constexpr double MAX_LINEAR_VELOCITY = 0.8;
+    static constexpr double MAX_ANGULAR_VELOCITY = 1.0;
+    static constexpr bool ENABLE_VIDEO = true;
+    static constexpr bool ENABLE_AUDIO = true;
+};
+
+struct SafetyPreset {
+    static constexpr double CONTROL_FREQUENCY = 50.0;
+    static constexpr double STATE_PUBLISH_FREQUENCY = 10.0;
+    static constexpr double MAX_LINEAR_VELOCITY = 0.5;
+    static constexpr double MAX_ANGULAR_VELOCITY = 0.5;
+    static constexpr double EMERGENCY_STOP_TIMEOUT = 2.0;
+    static constexpr bool ENABLE_VIDEO = true;
+    static constexpr bool ENABLE_AUDIO = true;
+};
+
+// Runtime configuration structure - uses compile-time defaults
+struct RobotConfig {
+    // Network settings
+    std::string network_interface = NETWORK_INTERFACE;
+    
+    // MQTT settings
+    std::string mqtt_broker = MQTT_BROKER;
+    int mqtt_port = MQTT_PORT;
+    std::string mqtt_username = MQTT_USERNAME;
+    std::string mqtt_password = MQTT_PASSWORD;
+    std::string mqtt_client_id = MQTT_CLIENT_ID;
+    
+    // Topics
+    std::string topic_prefix = TOPIC_PREFIX;
+    std::string cmd_topic = TOPIC_CMD;
+    std::string state_topic = TOPIC_STATE;
+    std::string video_topic = TOPIC_VIDEO;
+    std::string audio_topic = TOPIC_AUDIO;
+    
+    // Robot settings
+    double control_frequency = CONTROL_FREQUENCY;
+    double state_publish_frequency = STATE_PUBLISH_FREQUENCY;
+    bool enable_video = ENABLE_VIDEO;
+    bool enable_audio = ENABLE_AUDIO;
+    
+    // Safety settings
+    double max_linear_velocity = MAX_LINEAR_VELOCITY;
+    double max_angular_velocity = MAX_ANGULAR_VELOCITY;
+    double emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT;
+    
+    // Motion settings
+    double stand_height = STAND_HEIGHT;
+    double default_gait = GAIT;
+    
+    // Video settings
+    int video_width = VIDEO_WIDTH;
+    int video_height = VIDEO_HEIGHT;
+    int video_fps = VIDEO_FPS;
+    std::string video_format = VIDEO_FORMAT;
+    
+    // Audio settings
+    int audio_sample_rate = AUDIO_SAMPLE_RATE;
+    int audio_channels = AUDIO_CHANNELS;
+    std::string audio_format = AUDIO_FORMAT;
+};
+
+class Config {
+public:
+    static Config& getInstance();
+    
+    /**
+     * Load configuration from JSON file
+     */
+    bool loadConfig(const std::string& configPath);
+    
+    /**
+     * Save current configuration to JSON file
+     */
+    bool saveConfig(const std::string& configPath);
+    
+    /**
+     * Load configuration from compile-time defaults
+     */
+    void loadDefaults();
+    
+    /**
+     * Load high-performance preset
+     */
+    void loadHighPerformancePreset();
+    
+    /**
+     * Load development preset
+     */
+    void loadDevelopmentPreset();
+    
+    /**
+     * Load safety preset
+     */
+    void loadSafetyPreset();
+    
+    /**
+     * Validate configuration values
+     */
+    bool validateConfig();
+    
+    /**
+     * Get current configuration
+     */
+    const RobotConfig& getConfig() const { return config_; }
+    
+    /**
+     * Get mutable reference to configuration
+     */
+    RobotConfig& getConfig() { return config_; }
+    
+    /**
+     * Convenience getters
+     */
+    std::string getFullTopic(const std::string& topic) const;
+
+private:
+    Config();
+    ~Config() = default;
+    Config(const Config&) = delete;
+    Config& operator=(const Config&) = delete;
+    
+    RobotConfig config_;
+};
+
+} // namespace custom