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.

src/config.cpp

@@ -3,7 +3,6 @@
 namespace custom {
 
 void CustomConfig::loadDefaults() {
-    // 网络和MQTT连接
     network_interface = std::string(NETWORK_INTERFACE);
     mqtt_broker = std::string(MQTT_BROKER);
     mqtt_port = MQTT_PORT;
@@ -11,14 +10,10 @@ void CustomConfig::loadDefaults() {
     mqtt_password = std::string(MQTT_PASSWORD);
     mqtt_client_id = std::string(MQTT_CLIENT_ID);
     
-    // MQTT话题
     topic_prefix = std::string(TOPIC_PREFIX);
     topic_cmd = std::string(TOPIC_CMD);
     topic_state = std::string(TOPIC_STATE);
-    topic_video = std::string(TOPIC_VIDEO);
-    topic_audio = std::string(TOPIC_AUDIO);
     
-    // 机器人控制和安全
     control_frequency = CONTROL_FREQUENCY;
     state_publish_frequency = STATE_PUBLISH_FREQUENCY;
     max_linear_velocity = MAX_LINEAR_VELOCITY;
@@ -27,16 +22,6 @@ void CustomConfig::loadDefaults() {
     stand_height = STAND_HEIGHT;
     default_gait = static_cast<int>(DEFAULT_GAIT);
     
-    // 多媒体
-    enable_video = VIDEO_ENABLED;
-    enable_audio = AUDIO_ENABLED;
-    video_width = VIDEO_WIDTH;
-    video_height = VIDEO_HEIGHT;
-    video_fps = VIDEO_FPS;
-    video_format = std::string(VIDEO_FORMAT);
-    audio_sample_rate = AUDIO_SAMPLE_RATE;
-    audio_channels = AUDIO_CHANNELS;
-    audio_format = std::string(AUDIO_FORMAT);
 }
 
 } // namespace custom