74 lines
1.8 KiB
C++
74 lines
1.8 KiB
C++
#pragma once
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#include <string>
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#include <string_view>
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namespace custom {
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/**
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* @brief Robot motion gait types
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*/
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enum class Gait : int {
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IDLE = 0, // Standing still
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TROT = 1, // Normal walking
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TROT_RUNNING = 2 // Fast running
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};
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// Network settings
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constexpr std::string_view NETWORK_INTERFACE = "eth0";
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// MQTT settings
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constexpr std::string_view MQTT_BROKER = "192.168.2.236";
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constexpr int MQTT_PORT = 1883;
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constexpr std::string_view MQTT_CLIENT_ID = "unitree_go2_client";
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constexpr std::string_view MQTT_USERNAME = "lzwc";
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constexpr std::string_view MQTT_PASSWORD = "Lzwc@4187.";
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// Topic settings
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constexpr std::string_view TOPIC_PREFIX = "unitree/go2";
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constexpr std::string_view TOPIC_CMD = "cmd";
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constexpr std::string_view TOPIC_STATE = "state";
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// Robot control settings
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constexpr double CONTROL_FREQUENCY = 200.0; // Hz
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constexpr double STATE_PUBLISH_FREQUENCY = 50.0; // Hz
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// Safety settings
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constexpr double MAX_LINEAR_VELOCITY = 1.5; // m/s
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constexpr double MAX_ANGULAR_VELOCITY = 2.0; // rad/s
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constexpr double EMERGENCY_STOP_TIMEOUT = 5.0; // seconds
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// Motion settings
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constexpr double STAND_HEIGHT = 0.0; // relative height
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constexpr Gait DEFAULT_GAIT = Gait::IDLE;
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class CustomConfig {
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public:
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std::string network_interface;
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std::string mqtt_broker;
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int mqtt_port;
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std::string mqtt_username;
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std::string mqtt_password;
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std::string mqtt_client_id;
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std::string topic_prefix;
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std::string topic_cmd;
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std::string topic_state;
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double control_frequency;
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double state_publish_frequency;
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double max_linear_velocity;
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double max_angular_velocity;
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double emergency_stop_timeout;
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double stand_height;
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int default_gait;
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void loadDefaults();
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};
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} // namespace custom
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