Implement MQTT functionality in CustomRobot class. Added methods for MQTT initialization, message handling, and connection management. Updated configuration to remove multimedia settings and streamline MQTT-related parameters. Enhanced logging for MQTT operations and ensured proper cleanup during shutdown.

include/config.hpp

@@ -29,8 +29,6 @@ constexpr std::string_view MQTT_PASSWORD = "";
 constexpr std::string_view TOPIC_PREFIX = "unitree/go2";
 constexpr std::string_view TOPIC_CMD = "cmd";
 constexpr std::string_view TOPIC_STATE = "state";
-constexpr std::string_view TOPIC_VIDEO = "video";
-constexpr std::string_view TOPIC_AUDIO = "audio";
 
 // Robot control settings
 constexpr double CONTROL_FREQUENCY = 200.0;       // Hz
@@ -45,18 +43,6 @@ constexpr double EMERGENCY_STOP_TIMEOUT = 5.0;    // seconds
 constexpr double STAND_HEIGHT = 0.0;              // relative height
 constexpr Gait DEFAULT_GAIT = Gait::IDLE;
 
-// Video settings
-constexpr int VIDEO_WIDTH = 1280;
-constexpr int VIDEO_HEIGHT = 720;
-constexpr int VIDEO_FPS = 30;
-constexpr std::string_view VIDEO_FORMAT = "h264";
-constexpr bool VIDEO_ENABLED = true;
-
-// Audio settings
-constexpr int AUDIO_SAMPLE_RATE = 16000;
-constexpr int AUDIO_CHANNELS = 1;
-constexpr std::string_view AUDIO_FORMAT = "pcm";
-constexpr bool AUDIO_ENABLED = true;
 
 class CustomConfig {
 public:
@@ -72,8 +58,6 @@ public:
     std::string topic_prefix;
     std::string topic_cmd;
     std::string topic_state;
-    std::string topic_video;
-    std::string topic_audio;
     
     // 机器人控制和安全
     double control_frequency;
@@ -84,16 +68,6 @@ public:
     double stand_height;
     int default_gait;
     
-    // 多媒体
-    bool enable_video;
-    bool enable_audio;
-    int video_width;
-    int video_height;
-    int video_fps;
-    std::string video_format;
-    int audio_sample_rate;
-    int audio_channels;
-    std::string audio_format;
     
     void loadDefaults();
 

include/custom_robot.hpp

@@ -3,6 +3,7 @@
 #include "controller.hpp"
 #include "config.hpp"
 #include "logger.hpp"
+#include "mqtt.hpp"
 
 #include <memory>
 #include <atomic>
@@ -22,14 +23,21 @@ public:
     
     Controller* getController() const { return controller_.get(); }
     
-    // Robot state methods
     bool GetServiceList(std::vector<unitree::robot::go2::ServiceState>& serviceList);
     bool SwitchService(const std::string& serviceName, bool enable);
     bool SetReportFreq(int32_t interval, int32_t duration);
+    
+    // MQTT related methods
+    bool initializeMqtt();
+    void onMqttMessage(const std::string& topic, const std::string& payload);
+    void onMqttConnection(bool connected);
+    void publishStatus();
 
 private:
+    std::string generateRandomClientId() const;
     std::unique_ptr<Controller> controller_;
     std::unique_ptr<unitree::robot::go2::RobotStateClient> rsc_;
+    std::unique_ptr<MqttClient> mqttClient_;
     
     CustomConfig config_;  
     std::atomic<bool> running_;