Sucan126
c5cff9fbdb
- Added LowController class to manage low-level commands and communication. - Updated CustomRobot to initialize and manage LowController, including methods for processing low-level commands. - Enhanced logger functionality with variadic template methods for formatted logging. - Updated CMakeLists.txt to include the new low_controller.cpp source file and low_controller.hpp header.
61 lines
2.0 KiB
C++
61 lines
2.0 KiB
C++
#pragma once
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#include "controller.hpp"
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#include "config.hpp"
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#include "logger.hpp"
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#include "mqtt.hpp"
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#include "navigation.hpp"
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#include "low_controller.hpp"
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#include <memory>
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#include <atomic>
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#include <string>
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#include <vector>
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#include <nlohmann/json.hpp>
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#include <unitree/robot/go2/robot_state/robot_state_client.hpp>
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namespace custom {
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class CustomRobot {
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public:
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explicit CustomRobot();
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~CustomRobot();
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bool initialize();
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bool start();
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Controller* getController() const { return controller_.get(); }
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Navigation* getNavigation() const { return navigation_.get(); }
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bool GetServiceList(std::vector<unitree::robot::go2::ServiceState>& serviceList);
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bool SwitchService(const std::string& serviceName, bool enable);
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bool SetReportFreq(int32_t interval, int32_t duration);
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bool initializeMqtt();
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void onMqttMessage(const std::string& topic, const std::string& payload);
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void onMqttConnection(bool connected);
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void processCmd(const nlohmann::json& message);
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bool processOacCmd(const std::string& cmd, const nlohmann::json& message);
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bool processSportCmd(const std::string& cmd, const nlohmann::json& message);
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bool processRscCmd(const std::string& cmd, const nlohmann::json& message);
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bool processNavCmd(const std::string& cmd, const nlohmann::json& message);
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bool processMscCmd(const std::string& cmd, const nlohmann::json& message);
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bool processLowCmd(const std::string& cmd, const nlohmann::json& message);
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void printServiceList(const std::vector<unitree::robot::go2::ServiceState>& serviceList, int filterStatus = -1);
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private:
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std::string generateRandomClientId() const;
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std::unique_ptr<Controller> controller_;
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std::unique_ptr<LowController> low_controller_;
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std::unique_ptr<Navigation> navigation_;
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std::unique_ptr<unitree::robot::go2::RobotStateClient> rsc_;
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std::unique_ptr<MqttClient> mqttClient_;
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CustomConfig config_;
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std::atomic<bool> running_;
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std::atomic<bool> initialized_;
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};
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} // namespace custom
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