refactor(config): 重构配置系统和MQTT相关功能

移除状态发布功能，简化配置系统更新MQTT配置和主题设置调整README文档以反映最新变更
2025-09-20 19:54:04 +08:00
parent f7acf6ff51
commit f30590033b
6 changed files with 113 additions and 107 deletions
--- a/README.md
+++ b/README.md
@@ -11,7 +11,6 @@ A high-performance C++ implementation for controlling Unitree GO2 robot with rea
 - **📝 Comprehensive Logging**: Multi-level logging with file and console output
 - **⚙️ Configuration Management**: JSON-based configuration with runtime presets
 - **🧭 Navigation Support**: SLAM and navigation capabilities
- **📊 State Publishing**: Real-time robot state broadcasting
 - **🎭 Special Actions**: Support for dances, tricks, and custom motions
 - **🚀 High Performance**: Optimized for real-time control with configurable frequencies
 - **🔧 Development Tools**: Built-in scripts and utilities for easy deployment
@@ -79,31 +78,7 @@ The system supports flexible configuration through compile-time defaults. Config

 The default configuration is defined in `include/config.hpp`:

-```cpp
-// Network settings
-constexpr std::string_view NETWORK_INTERFACE = "eth0";

-// MQTT settings
-constexpr std::string_view MQTT_BROKER = "192.168.2.236";
-constexpr int MQTT_PORT = 1883;
-constexpr std::string_view MQTT_CLIENT_ID = "unitree_go2_client";
-constexpr std::string_view MQTT_USERNAME = "lzwc";
-constexpr std::string_view MQTT_PASSWORD = "Lzwc@4187.";
-
-// Topic settings
-constexpr std::string_view TOPIC_PREFIX = "unitree/go2";
-constexpr std::string_view TOPIC_CMD = "cmd";
-constexpr std::string_view TOPIC_STATE = "state";
-
-// Robot control settings
-constexpr double CONTROL_FREQUENCY = 200.0;       // Hz
-constexpr double STATE_PUBLISH_FREQUENCY = 50.0;  // Hz
-
-// Safety settings
-constexpr double MAX_LINEAR_VELOCITY = 1.5;       // m/s
-constexpr double MAX_ANGULAR_VELOCITY = 2.0;      // rad/s
-constexpr double EMERGENCY_STOP_TIMEOUT = 5.0;    // seconds
-```

 To customize these settings, modify the values in `include/config.hpp` and rebuild the project.

@@ -123,13 +98,9 @@ To customize these settings, modify the values in `include/config.hpp` and rebui

 The robot runs with sensible defaults out of the box:

- **Network Interface**: `eth0`
- **MQTT Broker**: `192.168.2.236:1883`
- **MQTT Credentials**: Username `lzwc`, Password `Lzwc@4187.`
- **Control Frequency**: 200Hz
- **Safety Limits**: Conservative settings for safe operation
- **Logging**: INFO level to console

+
+Configuration is done at compile time by modifying values in `include/config.hpp`.
 No configuration files or command-line arguments needed!

 ## MQTT API
@@ -138,24 +109,23 @@ The robot communicates via MQTT using the following topic structure:

 ### Command Topics

- `unitree/go2/cmd/oac`: Obstacle avoidance commands
- `unitree/go2/cmd/sport`: Sport mode commands
- `unitree/go2/cmd/rsc`: Robot state commands
- `unitree/go2/cmd/nav`: Navigation commands
+- `unitree/go2/cmd`: All commands (sport, navigation, robot state, obstacle avoidance)
+
+Commands are sent to the command topic with a JSON payload specifying the command type and parameters.

-### State Topics

- `unitree/go2/state/robot`: Robot state (position, IMU, motors, etc.)
- `unitree/go2/state/heartbeat`: System status and statistics
- `unitree/go2/state/response`: Command execution responses
- `unitree/go2/state/error`: Error messages

 ### Sport Commands

+Sport commands are sent with a JSON payload containing the command type and optional parameters:
+
 ```json
 {
-  "request_id": "unique_id",
-  "cmd": "StandUp"
+  "type": "sport",
+  "cmd": "StandUp",
+  "param": {
+    // Optional parameters depending on the command
+  }
 }
 ```

@@ -170,36 +140,65 @@ Supported sport commands:
 - `Dance1`: Dance routine 1
 - `Dance2`: Dance routine 2
 - `Hello`: Greeting gesture
+- `Move`: Move with specified velocities (vx, vy, vyaw)
+- `Euler`: Set body orientation (roll, pitch, yaw)
+- And many more...

 ### Navigation Commands

+Navigation commands are sent with a JSON payload containing the command type and parameters:
+
 ```json
 {
-  "request_id": "unique_id",
+  "type": "nav",
  "cmd": "startMapping"
 }
 ```

 Supported navigation commands:
- `startMapping`: Start SLAM mapping
- `endMapping`: End SLAM mapping
- `pauseNavigation`: Pause navigation
- `resumeNavigation`: Resume navigation
- `closeSlam`: Close SLAM service
+- `start_mapping`: Start SLAM mapping
+- `end_mapping`: End SLAM mapping with map address parameter
+- `initialize_pose`: Set initial pose with position and orientation
+- `pose_navigation`: Navigate to a specific pose
+- `pause_navigation`: Pause navigation
+- `resume_navigation`: Resume navigation
+- `close_slam`: Close SLAM service

-### System Commands
+### Obstacle Avoidance Commands
+
+Obstacle avoidance commands are sent with a JSON payload containing the command type and parameters:

 ```json
 {
-  "request_id": "unique_id",
+  "type": "oac",
+  "cmd": "SwitchSet",
+  "param": {
+    "enable": true
+  }
+}
+```
+
+Supported obstacle avoidance commands:
+- `SwitchSet`: Enable/disable obstacle avoidance
+- `SwitchGet`: Get obstacle avoidance status
+- `UseRemoteCommandFromApi`: Configure remote command source
+- `MoveToAbsolutePosition`: Move to absolute position
+- `MoveToIncrementPosition`: Move to increment position
+
+### System Commands
+
+System commands are sent with a JSON payload containing the command type and parameters:
+
+```json
+{
+  "type": "rsc",
  "cmd": "GetServiceList"
 }
 ```

 Supported system commands:
- `GetServiceList`: Get list of available services
- `SwitchService`: Enable/disable a service
- `SetReportFreq`: Set state reporting frequency
+- `list`: Get list of available services
+- `switch`: Enable/disable a service

 ## Supported Actions

@@ -218,11 +217,11 @@ Supported system commands:
 - `Hello`: Greeting gesture

 ### Navigation Actions
- `startMapping`: Start SLAM mapping
- `endMapping`: End SLAM mapping and save map
- `pauseNavigation`: Pause navigation
- `resumeNavigation`: Resume navigation
- `closeSlam`: Close SLAM service
+- `start_mapping`: Start SLAM mapping
+- `end_mapping`: End SLAM mapping and save map
+- `pause_navigation`: Pause navigation
+- `resume_navigation`: Resume navigation
+- `close_slam`: Close SLAM service

 ## Safety Features

@@ -247,21 +246,21 @@ Supported system commands:

 ### Custom Configurations

-To customize the configuration, modify the values in `include/config.hpp`:
+The robot's configuration is defined at compile time in `include/config.hpp`. To customize the configuration:

-```cpp
-// Example: Change MQTT broker address
-constexpr std::string_view MQTT_BROKER = "192.168.1.100";
+1. Edit the constants in `include/config.hpp` to change default values
+2. Rebuild the project:
+   ```bash
+   cd build
+   make -j$(nproc)
+   ```

-// Example: Change control frequency
-constexpr double CONTROL_FREQUENCY = 400.0;  // Hz
-```
-
-After making changes, rebuild the project:
-```bash
-cd build
-make -j$(nproc)
-```
+Common configuration options include:
+- Network interface
+- MQTT broker settings
+- Topic prefixes
+- Control frequencies
+- Safety limits

 ## Quick Start Scripts

@@ -282,6 +281,7 @@ unitree-go2/
 ├── CMakeLists.txt          # Build configuration
 ├── README.md               # This file
 ├── LICENSE                 # License information
+├── .gitignore              # Git ignore file
 ├── config/                 # Configuration files (optional)
 ├── include/                # Header files
 │   ├── config.hpp          # Configuration management
@@ -292,13 +292,13 @@ unitree-go2/
 │   ├── navigation.hpp      # Navigation and SLAM
 │   └── nlohmann/           # JSON library
 ├── src/                    # Source files
-│   ├── config.cpp
-│   ├── controller.cpp
-│   ├── custom_robot.cpp
-│   ├── logger.cpp
-│   ├── main.cpp
-│   ├── mqtt.cpp
-│   └── navigation.cpp
+│   ├── config.cpp          # Configuration implementation
+│   ├── controller.cpp      # Robot controller implementation
+│   ├── custom_robot.cpp    # Main orchestrator implementation
+│   ├── logger.cpp          # Logging system implementation
+│   ├── main.cpp            # Entry point
+│   ├── mqtt.cpp            # MQTT client implementation
+│   └── navigation.cpp      # Navigation and SLAM implementation
 ├── scripts/                # Utility scripts
 │   ├── install_deps.sh     # Install dependencies
 │   └── run_robot.sh        # Run with optimal settings
@@ -348,9 +348,8 @@ This project is licensed under the MIT License - see the LICENSE file for detail
 ## Performance Notes

 - **Control Frequency**: Default 200Hz, configurable up to 400Hz for high-performance applications
- **State Publishing**: Default 50Hz, can be adjusted based on network bandwidth
 - **Memory Usage**: Optimized for minimal heap allocations during runtime
- **CPU Usage**: Multi-threaded design with separate threads for control, MQTT, and state publishing
+- **CPU Usage**: Multi-threaded design with separate threads for control and MQTT

 ## Contributing

--- a/include/config.hpp
+++ b/include/config.hpp
@@ -25,14 +25,13 @@ constexpr std::string_view MQTT_CLIENT_ID = "unitree_go2_client";
 constexpr std::string_view MQTT_USERNAME = "lzwc";
 constexpr std::string_view MQTT_PASSWORD = "Lzwc@4187.";

-// Topic settings
-constexpr std::string_view TOPIC_PREFIX = "unitree/go2";
-constexpr std::string_view TOPIC_CMD = "cmd";
-constexpr std::string_view TOPIC_STATE = "state";
-
-// Robot control settings
-constexpr double CONTROL_FREQUENCY = 200.0;       // Hz
-constexpr double STATE_PUBLISH_FREQUENCY = 50.0;  // Hz
+// MQTT Topics
+    constexpr const char* TOPIC_PREFIX = "unitree/go2";
+    constexpr const char* TOPIC_CMD = "cmd";
+    constexpr const char* TOPIC_STATE = "state";
+    constexpr const char* TOPIC_HEARTBEAT = "heartbeat";
+    constexpr const char* TOPIC_RESPONSE = "response";
+    constexpr const char* TOPIC_ERROR = "error";

 // Safety settings
 constexpr double MAX_LINEAR_VELOCITY = 1.5;       // m/s
@@ -58,7 +57,6 @@ public:
    std::string topic_state;
    
    double control_frequency;
-    double state_publish_frequency;
    double max_linear_velocity;
    double max_angular_velocity;
    double emergency_stop_timeout;
--- a/include/custom_robot.hpp
+++ b/include/custom_robot.hpp
@@ -33,7 +33,6 @@ public:
    bool initializeMqtt();
    void onMqttMessage(const std::string& topic, const std::string& payload);
    void onMqttConnection(bool connected);
-    void publishStatus();
    
    void processCmd(const nlohmann::json& message);
    bool processOacCmd(const std::string& cmd, const nlohmann::json& message);
--- a/scripts/run_robot.sh
+++ b/scripts/run_robot.sh
@@ -105,8 +105,10 @@ if [ ! -f "$CONFIG_FILE" ]; then
    "interface": "eth0"
  },
  "mqtt": {
-    "broker": "localhost",
+    "broker": "192.168.2.236",
    "port": 1883,
+    "username": "lzwc",
+    "password": "Lzwc@4187.",
    "client_id": "unitree_go2_client"
  },
  "topics": {
@@ -115,8 +117,7 @@ if [ ! -f "$CONFIG_FILE" ]; then
    "state": "state"
  },
  "robot": {
-    "control_frequency": 200.0,
-    "state_publish_frequency": 50.0
+    "control_frequency": 200.0
  },
  "safety": {
    "max_linear_velocity": 1.5,
--- a/src/config.cpp
+++ b/src/config.cpp
@@ -3,25 +3,29 @@
 namespace custom {

 void CustomConfig::loadDefaults() {
-    network_interface = std::string(NETWORK_INTERFACE);
-    mqtt_broker = std::string(MQTT_BROKER);
+    // Network settings
+    network_interface = NETWORK_INTERFACE;
+    mqtt_broker = MQTT_BROKER;
    mqtt_port = MQTT_PORT;
-    mqtt_username = std::string(MQTT_USERNAME);
-    mqtt_password = std::string(MQTT_PASSWORD);
-    mqtt_client_id = std::string(MQTT_CLIENT_ID);
+    mqtt_username = MQTT_USERNAME;
+    mqtt_password = MQTT_PASSWORD;
    
-    topic_prefix = std::string(TOPIC_PREFIX);
-    topic_cmd = std::string(TOPIC_CMD);
-    topic_state = std::string(TOPIC_STATE);
+    // Topic settings
+    topic_prefix = TOPIC_PREFIX;
+    topic_cmd = TOPIC_CMD;
+    topic_state = TOPIC_STATE;
+    topic_heartbeat = TOPIC_HEARTBEAT;
+    topic_response = TOPIC_RESPONSE;
+    topic_error = TOPIC_ERROR;
    
+    // Robot control settings
    control_frequency = CONTROL_FREQUENCY;
-    state_publish_frequency = STATE_PUBLISH_FREQUENCY;
+    
+    // Safety settings
+    command_timeout = COMMAND_TIMEOUT;
    max_linear_velocity = MAX_LINEAR_VELOCITY;
    max_angular_velocity = MAX_ANGULAR_VELOCITY;
    emergency_stop_timeout = EMERGENCY_STOP_TIMEOUT;
-    stand_height = STAND_HEIGHT;
-    default_gait = static_cast<int>(DEFAULT_GAIT);
-    
 }

 } // namespace custom
--- a/src/custom_robot.cpp
+++ b/src/custom_robot.cpp
@@ -12,7 +12,13 @@
 namespace custom {

 CustomRobot::CustomRobot()
-    : initialized_(false), running_(false), controller_(nullptr), navigation_(nullptr), rsc_(nullptr), mqttClient_(nullptr) {
+    : controller_(nullptr)
+    , navigation_(nullptr)
+    , rsc_(nullptr)
+    , mqttClient_(nullptr)
+    , running_(false)
+    , initialized_(false) {
+}
    config_.loadDefaults();
    
    try {
@@ -224,7 +230,6 @@ void CustomRobot::onMqttMessage(const std::string& topic, const std::string& pay
 void CustomRobot::onMqttConnection(bool connected) {
    if (connected) {
        LOG_INFO("MQTT client connected to broker");
-        
    } else {
        LOG_WARN("MQTT client disconnected from broker");
    }