From e3ba6f722596b09fdbcff7fb7a9607801e2c6f95 Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Tue, 23 Sep 2025 19:09:13 +0800
Subject: [PATCH] refactor(custom_robot): Simplify SwitchSet command processing

- Removed redundant state retrieval for the SwitchSet command.
- Added error handling for missing 'enable' parameter in the command message.
- Streamlined the logic for setting the switch state based on the provided parameter.
---
 src/custom_robot.cpp | 19 +++----------------
 1 file changed, 3 insertions(+), 16 deletions(-)

diff --git a/src/custom_robot.cpp b/src/custom_robot.cpp
index 5426ab7..b651f81 100644
--- a/src/custom_robot.cpp
+++ b/src/custom_robot.cpp
@@ -525,25 +525,12 @@ bool CustomRobot::processOacCmd(const std::string& cmd, const nlohmann::json& me
     
     try {
         if (cmd == "SwitchSet") {
-            // get current state
-            bool currentEnable = false;
-            if (!controller_->SwitchGet(currentEnable)) {
-                LOG_ERROR("Failed to get current switch state");
+            if (message.find("param") == message.end() || message["param"].find("enable") == message["param"].end()) {
+                LOG_ERROR("Missing 'enable' parameter for Switch command");
                 return false;
             }
-            LOG_INFO("Current switch state: " + std::string(currentEnable ? "true" : "false"));
-            // switch to opposite state
-            bool enable = !currentEnable;
+            bool enable = message["param"]["enable"];
             return controller_->SwitchSet(enable);
-            
-        } else if (cmd == "SwitchGet") {
-            bool enable = false;
-            bool result = controller_->SwitchGet(enable);
-            if (result) {
-                LOG_INFO("SwitchGet result: enable=" + std::string(enable ? "true" : "false"));
-            }
-            return result;
-            
         } else if (cmd == "Move") {
             if (!message.contains("param")) {
                 LOG_ERROR("Move cmd missing 'param'");