Refactor configuration management by introducing CustomConfig class. Updated config.hpp to streamline settings and removed legacy configuration presets. Adjusted controller and custom_robot classes to utilize the new configuration structure. Enhanced error handling and logging during initialization processes.

include/controller.hpp

@@ -17,19 +17,19 @@ namespace custom {
 
 class Controller {
 public:
-    explicit Controller(const std::string& networkInterface);
+    Controller();
     ~Controller();
 
     bool initialize();
     bool start();
     bool stop();
+    void shutdown() { stop(); }
     bool isRunning() const { return running_; }
     
     // Sport
     bool StandUp();
     bool StandDown();
     bool Sit();
-    bool Lie();
     bool Damp();
     bool RecoveryStand();
     bool StopMove();
@@ -47,12 +47,11 @@ public:
 
 
 private:
-    std::unique_ptr<unitree::robot::go2::SportClient> sportClient_;
-    std::unique_ptr<unitree::robot::go2::ObstaclesAvoidClient> obstacleClient_;
+    std::unique_ptr<unitree::robot::go2::SportClient> sc_;
+    std::unique_ptr<unitree::robot::go2::ObstaclesAvoidClient> oac_;
     
     std::atomic<bool> running_;
     std::atomic<bool> initialized_;
-    std::string networkInterface_;
 };
 
 } // namespace custom