From 73ce74ab04fc364095916173d23770d511e467cd Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Thu, 9 Oct 2025 19:32:44 +0800
Subject: [PATCH] =?UTF-8?q?fix(custom=5Frobot):=20=E4=BF=AE=E5=A4=8DContin?=
 =?UTF-8?q?uousMove=E5=91=BD=E4=BB=A4=E5=8F=82=E6=95=B0=E6=A3=80=E6=9F=A5?=
 =?UTF-8?q?=E9=80=BB=E8=BE=91?=
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重构ContinuousMove命令处理逻辑，合并Start/Stop功能
添加对'on'参数的检查，根据其值决定启动或停止连续移动
修复参数缺失时的错误处理逻辑
---
 src/custom_robot.cpp | 26 +++++++++++++++-----------
 1 file changed, 15 insertions(+), 11 deletions(-)

diff --git a/src/custom_robot.cpp b/src/custom_robot.cpp
index a688632..7f28608 100644
--- a/src/custom_robot.cpp
+++ b/src/custom_robot.cpp
@@ -704,22 +704,26 @@ bool CustomRobot::processSportCmd(const std::string& cmd, const nlohmann::json&
             return controller_->WalkUpright(message["param"]["flag"]);
         } else if (cmd == "CrossStep") {
             return controller_->CrossStep(message["param"]["flag"]);
-        } else if (cmd == "StartContinuousMove") {
+        } else if (cmd == "ContinuousMove") {
             if (!message.contains("param")) {
-                LOG_ERROR("StartContinuousMove cmd missing 'param'");
+                LOG_ERROR("ContinuousMove cmd missing 'param'");
                 return false;
             }
             auto param = message["param"];
-            if (!param.contains("vx") || !param.contains("vy") || !param.contains("vyaw")) {
-                LOG_ERROR("StartContinuousMove missing vx, vy, or vyaw parameters");
-                return false;
+            if(param.contains("on")){
+                if(param["on"]){
+                    if (!param.contains("vx") || !param.contains("vy") || !param.contains("vyaw")) {
+                    LOG_ERROR("ContinuousMove missing vx, vy, or vyaw parameters");
+                    return false;
+                    }
+                    float vx = param["vx"];
+                    float vy = param["vy"];
+                    float vyaw = param["vyaw"];
+                    return startContinuousMove(vx, vy, vyaw);
+                }else if(!param["on"]){
+                    return stopContinuousMove();
+                }
             }
-            float vx = param["vx"];
-            float vy = param["vy"];
-            float vyaw = param["vyaw"];
-            return startContinuousMove(vx, vy, vyaw);
-        } else if (cmd == "StopContinuousMove") {
-            return stopContinuousMove();
         } 
         else {
             LOG_ERROR("Unknown Sport command: " + cmd);