tanjianbin/lzwc-terminal-unitreeGo2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Refactor MQTT configuration access in CustomRobot class. Updated member variable access from pointer dereferencing to direct access for improved clarity and consistency in the codebase.

Browse Source
This commit is contained in:
Sucan126
2025-09-08 19:55:56 +08:00
parent 7a9a31afd4
commit e3c214ee1c
1 changed files with 10 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
src/custom_robot.cpp
View File

@@ -176,8 +176,8 @@ bool CustomRobot::SetReportFreq(int32_t interval, int32_t duration) {
bool CustomRobot::initializeMqtt() { bool CustomRobot::initializeMqtt() {
try { try {
std::string broker = config_->mqtt_broker; std::string broker = config_.mqtt_broker;
int port = config_->mqtt_port; int port = config_.mqtt_port;
std::string clientId = generateRandomClientId(); std::string clientId = generateRandomClientId();
mqttClient_ = std::make_unique<MqttClient>(broker, port, clientId); mqttClient_ = std::make_unique<MqttClient>(broker, port, clientId);
@@ -192,7 +192,7 @@ bool CustomRobot::initializeMqtt() {
return false; return false;
} }
std::string controlTopic = config_->topic_prefix + "/" + config_->topic_cmd; std::string controlTopic = config_.topic_prefix + "/" + config_.topic_cmd;
mqttClient_->subscribe(controlTopic, 1); mqttClient_->subscribe(controlTopic, 1);
@@ -211,7 +211,7 @@ void CustomRobot::onMqttMessage(const std::string& topic, const std::string& pay
// nlohmann::json message = nlohmann::json::parse(payload); // nlohmann::json message = nlohmann::json::parse(payload);
// std::string controlTopic = config_->topic_prefix + "/" + config_->topic_cmd; // std::string controlTopic = config_.topic_prefix + "/" + config_.topic_cmd;
// if (topic == controlTopic) { // if (topic == controlTopic) {
// if (message.contains("command")) { // if (message.contains("command")) {
@@ -225,7 +225,7 @@ void CustomRobot::onMqttMessage(const std::string& topic, const std::string& pay
// response["status"] = "executed"; // response["status"] = "executed";
// response["command"] = command; // response["command"] = command;
// response["timestamp"] = std::time(nullptr); // response["timestamp"] = std::time(nullptr);
// std::string statusTopic = config_->topic_prefix + "/" + config_->topic_state; // std::string statusTopic = config_.topic_prefix + "/" + config_.topic_state;
// mqttClient_->publishJson(statusTopic, response); // mqttClient_->publishJson(statusTopic, response);
// // Publish updated status // // Publish updated status
@@ -238,7 +238,7 @@ void CustomRobot::onMqttMessage(const std::string& topic, const std::string& pay
// response["status"] = "executed"; // response["status"] = "executed";
// response["command"] = command; // response["command"] = command;
// response["timestamp"] = std::time(nullptr); // response["timestamp"] = std::time(nullptr);
// std::string statusTopic = config_->topic_prefix + "/" + config_->topic_state; // std::string statusTopic = config_.topic_prefix + "/" + config_.topic_state;
// mqttClient_->publishJson(statusTopic, response); // mqttClient_->publishJson(statusTopic, response);
// // Publish updated status // // Publish updated status
@@ -250,7 +250,7 @@ void CustomRobot::onMqttMessage(const std::string& topic, const std::string& pay
// response["status"] = "error"; // response["status"] = "error";
// response["message"] = "Unknown command: " + command; // response["message"] = "Unknown command: " + command;
// response["timestamp"] = std::time(nullptr); // response["timestamp"] = std::time(nullptr);
// std::string statusTopic = config_->topic_prefix + "/" + config_->topic_state; // std::string statusTopic = config_.topic_prefix + "/" + config_.topic_state;
// mqttClient_->publishJson(statusTopic, response); // mqttClient_->publishJson(statusTopic, response);
// // Publish updated status // // Publish updated status
@@ -270,7 +270,7 @@ void CustomRobot::onMqttConnection(bool connected) {
nlohmann::json status; nlohmann::json status;
status["status"] = "online"; status["status"] = "online";
status["timestamp"] = std::time(nullptr); status["timestamp"] = std::time(nullptr);
std::string statusTopic = config_->topic_prefix + "/" + config_->topic_state; std::string statusTopic = config_.topic_prefix + "/" + config_.topic_state;
mqttClient_->publishJson(statusTopic, status, 1, true); mqttClient_->publishJson(statusTopic, status, 1, true);
publishStatus(); publishStatus();
@@ -296,7 +296,7 @@ void CustomRobot::publishStatus() {
status["controller_connected"] = controller_->isConnected(); status["controller_connected"] = controller_->isConnected();
} }
std::string statusTopic = config_->topic_prefix + "/" + config_->topic_state; std::string statusTopic = config_.topic_prefix + "/" + config_.topic_state;
mqttClient_->publishJson(statusTopic, status, 1, true); mqttClient_->publishJson(statusTopic, status, 1, true);
LOG_DEBUG("Published status to topic: " + statusTopic); LOG_DEBUG("Published status to topic: " + statusTopic);
@@ -307,7 +307,7 @@ void CustomRobot::publishStatus() {
} }
std::string CustomRobot::generateRandomClientId() const { std::string CustomRobot::generateRandomClientId() const {
std::string baseId = config_->mqtt_client_id; std::string baseId = config_.mqtt_client_id;
std::random_device rd; std::random_device rd;
std::mt19937 gen(rd()); std::mt19937 gen(rd());