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

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`: All commands (sport, navigation, robot state, obstacle avoidance)
-- `unitree/go2/cmd/sport`: Sport mode commands
+
-- `unitree/go2/cmd/rsc`: Robot state commands
+Commands are sent to the command topic with a JSON payload specifying the command type and parameters.
-- `unitree/go2/cmd/nav`: Navigation commands
 
-### 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",
+  "type": "sport",
-  "cmd": "StandUp"
+  "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
+- `start_mapping`: Start SLAM mapping
-- `endMapping`: End SLAM mapping
+- `end_mapping`: End SLAM mapping with map address parameter
-- `pauseNavigation`: Pause navigation
+- `initialize_pose`: Set initial pose with position and orientation
-- `resumeNavigation`: Resume navigation
+- `pose_navigation`: Navigate to a specific pose
-- `closeSlam`: Close SLAM service
+- `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
+- `list`: Get list of available services
-- `SwitchService`: Enable/disable a service
+- `switch`: Enable/disable a service
-- `SetReportFreq`: Set state reporting frequency
 
 ## Supported Actions
 
@@ -218,11 +217,11 @@ Supported system commands:
 - `Hello`: Greeting gesture
 
 ### Navigation Actions
-- `startMapping`: Start SLAM mapping
+- `start_mapping`: Start SLAM mapping
-- `endMapping`: End SLAM mapping and save map
+- `end_mapping`: End SLAM mapping and save map
-- `pauseNavigation`: Pause navigation
+- `pause_navigation`: Pause navigation
-- `resumeNavigation`: Resume navigation
+- `resume_navigation`: Resume navigation
-- `closeSlam`: Close SLAM service
+- `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
+1. Edit the constants in `include/config.hpp` to change default values
-// Example: Change MQTT broker address
+2. Rebuild the project:
-constexpr std::string_view MQTT_BROKER = "192.168.1.100";
+   ```bash
+   cd build
+   make -j$(nproc)
+   ```
 
-// Example: Change control frequency
+Common configuration options include:
-constexpr double CONTROL_FREQUENCY = 400.0;  // Hz
+- Network interface
-```
+- MQTT broker settings
-
+- Topic prefixes
-After making changes, rebuild the project:
+- Control frequencies
-```bash
+- Safety limits
-cd build
-make -j$(nproc)
-```
 
 ## 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
+│   ├── config.cpp          # Configuration implementation
-│   ├── controller.cpp
+│   ├── controller.cpp      # Robot controller implementation
-│   ├── custom_robot.cpp
+│   ├── custom_robot.cpp    # Main orchestrator implementation
-│   ├── logger.cpp
+│   ├── logger.cpp          # Logging system implementation
-│   ├── main.cpp
+│   ├── main.cpp            # Entry point
-│   ├── mqtt.cpp
+│   ├── mqtt.cpp            # MQTT client implementation
-│   └── navigation.cpp
+│   └── 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
 

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

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);

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,
+    "control_frequency": 200.0
-    "state_publish_frequency": 50.0
   },
   "safety": {
     "max_linear_velocity": 1.5,

src/config.cpp

@@ -3,25 +3,29 @@
 namespace custom {
 
 void CustomConfig::loadDefaults() {
-    network_interface = std::string(NETWORK_INTERFACE);
+    // Network settings
-    mqtt_broker = std::string(MQTT_BROKER);
+    network_interface = NETWORK_INTERFACE;
+    mqtt_broker = MQTT_BROKER;
     mqtt_port = MQTT_PORT;
-    mqtt_username = std::string(MQTT_USERNAME);
+    mqtt_username = MQTT_USERNAME;
-    mqtt_password = std::string(MQTT_PASSWORD);
+    mqtt_password = MQTT_PASSWORD;
-    mqtt_client_id = std::string(MQTT_CLIENT_ID);
     
-    topic_prefix = std::string(TOPIC_PREFIX);
+    // Topic settings
-    topic_cmd = std::string(TOPIC_CMD);
+    topic_prefix = TOPIC_PREFIX;
-    topic_state = std::string(TOPIC_STATE);
+    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

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");
     }