Sucan126
4a06204645
- Added methods for trajectory control: trajControl, startTraj, and stopTraj. - Integrated trajectory control into command processing for starting and stopping dynamic trajectories. - Introduced a recurrent thread for continuous trajectory updates at a frequency of 50Hz. - Initialized trajectory control state management with atomic flags.
72 lines
2.4 KiB
C++
72 lines
2.4 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 "mqtt_client.hpp"
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#include "recharge.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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#include <unitree/common/thread/recurrent_thread.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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bool processRechargeCmd(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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void trajControl();
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bool startTraj();
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void stopTraj();
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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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std::unique_ptr<Recharge> recharge_;
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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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unitree::common::ThreadPtr traj_th_;
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std::atomic<bool> traj_running_;
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};
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} // namespace custom
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