feat(low_controller): Integrate LowController for low-level command handling

- Added LowController class to manage low-level commands and communication.
- Updated CustomRobot to initialize and manage LowController, including methods for processing low-level commands.
- Enhanced logger functionality with variadic template methods for formatted logging.
- Updated CMakeLists.txt to include the new low_controller.cpp source file and low_controller.hpp header.

src/custom_robot.cpp

@@ -42,6 +42,11 @@ CustomRobot::~CustomRobot() {
         controller_->shutdown();
         controller_.reset();
     }
+
+    if (low_controller_) {
+        low_controller_->shutdown();
+        low_controller_.reset();
+    }
     
     if (rsc_) {
         rsc_.reset();
@@ -66,6 +71,9 @@ bool CustomRobot::initialize() {
         controller_ = std::make_unique<Controller>();
         controller_->initialize();
 
+        low_controller_ = std::make_unique<LowController>();
+        low_controller_->initialize();
+
         navigation_ = std::make_unique<Navigation>();
         navigation_->Init();
 
@@ -115,6 +123,12 @@ bool CustomRobot::start() {
         LOG_ERROR("Failed to start robot controller");
         return false;
     }
+
+    if (!low_controller_->start()) {
+        LOG_ERROR("Failed to start low-level controller");
+        return false;
+    }
+
     running_ = true;
     LOG_INFO("CustomRobot started successfully");
     return true;
@@ -266,6 +280,8 @@ void CustomRobot::processCmd(const nlohmann::json& message) {
             success = processNavCmd(cmd, message);
         } else if (type == "msc") {
             success = processMscCmd(cmd, message);
+        } else if (type == "low") {
+            success = processLowCmd(cmd, message);
         } else {
             LOG_ERROR("Unknown command type: " + type);
             return;
@@ -277,6 +293,45 @@ void CustomRobot::processCmd(const nlohmann::json& message) {
     }
 }
 
+bool CustomRobot::processLowCmd(const std::string& cmd, const nlohmann::json& message)
+{
+    if (!low_controller_)
+    {
+        LOG_ERROR("LowController not initialized");
+        return false;
+    }
+
+    try
+    {
+        if (cmd == "requestAutoCharge")
+        {
+            if (!message.contains("param") || !message["param"].contains("enable"))
+            {
+                LOG_ERROR("requestAutoCharge cmd missing 'enable' parameter");
+                return false;
+            }
+            bool enable = message["param"]["enable"];
+            low_controller_->requestAutoCharge(enable);
+            return true;
+        }
+        else if (cmd == "powerOff")
+        {
+            low_controller_->powerOff();
+            return true;
+        }
+        else
+        {
+            LOG_ERROR("Unknown Low command: " + cmd);
+            return false;
+        }
+    }
+    catch (const std::exception& e)
+    {
+        LOG_ERROR("Error executing Low command " + cmd + ": " + std::string(e.what()));
+        return false;
+    }
+}
+
 bool CustomRobot::processOacCmd(const std::string& cmd, const nlohmann::json& message) {
     if (!controller_) {
         LOG_ERROR("Controller not initialized");