refactor: 根据新的sdk接口，修改部分实现

saturn_controller/src/saturn_controller.cpp

@@ -183,24 +183,14 @@ void SaturnController::robotCommandCallback(
         robot_control::common::CONTROL_SOURCE_MODE::nav_control, rc_direct,
         robot_heartbeat_);
   } else if ("StandUpDown" == request->comamnd_name) {
-    // fangyong 后续站立趴下，可以直接判断BODY_POSTURE_STATE ROBOT_COMMON_STATUS里的belie_or_stand; 
-    SPDLOG_INFO("cur_scene {}", common_status_data_.cur_scene);
-    if ((common_status_data_.cur_scene ==
-         robot_control::common::SCENE_TYPE::WALKING) ||
-        (common_status_data_.cur_scene ==
-         robot_control::common::SCENE_TYPE::STAIRS) ||
-        (common_status_data_.cur_scene ==
-         robot_control::common::SCENE_TYPE::STONE) ||
-         //fangyong 斜坡
-        (common_status_data_.cur_scene ==
-          robot_control::common::SCENE_TYPE::ROUGH) ||
-        (common_status_data_.cur_scene ==
-            robot_control::common::SCENE_TYPE::RL)) {
+    SPDLOG_INFO("stand or lie {}", common_status_data_.belie_or_stand);
+    if (common_status_data_.belie_or_stand ==
+        robot_control::common::BODY_POSTURE_STATE::STANDUP) {
       result = rcClientInterfaceSetScene(
           robot_control::common::CONTROL_SOURCE_MODE::nav_control,
           common::SCENE_TYPE::LIE_DOWN);
-      }
-    else if (common_status_data_.cur_scene == robot_control::common::LIE_DOWN) {
+    } else if (common_status_data_.belie_or_stand ==
+               robot_control::common::BODY_POSTURE_STATE::LIEDOWN) {
       result = rcClientInterfaceSetScene(
           robot_control::common::CONTROL_SOURCE_MODE::nav_control,
           common::SCENE_TYPE::WALKING);
@@ -253,7 +243,7 @@ void SaturnController::robotCommandCallback(
     SPDLOG_INFO("SlopeGait is called");
     result = rcClientInterfaceSetScene(
         robot_control::common::CONTROL_SOURCE_MODE::nav_control,
-        common::SCENE_TYPE::STONE); //fangyong 斜坡步态改为调用 common::SCENE_TYPE::ROUGH
+        common::SCENE_TYPE::ROUGH);
   } else if ("VstairsGait" == request->comamnd_name) {
     SPDLOG_WARN("VstairsGait is not supported yet.");
     result = false;
@@ -480,7 +470,7 @@ void SaturnController::publishRobotState() {  // todo 这里逻辑还不完善
       break;
     }
     case SDK_SCENE_TYPE::WALKING:
-    case SDK_SCENE_TYPE::STONE:
+    case SDK_SCENE_TYPE::ROUGH:
     case SDK_SCENE_TYPE::PERCEIVE_STAIRS:
     case SDK_SCENE_TYPE::SNOW:
     case SDK_SCENE_TYPE::SLIPPY:
@@ -548,7 +538,7 @@ void SaturnController::publishControlMode() {
   using SDK_CONTROL_MODE = robot_control::common::CONTROL_SOURCE_MODE;
   auto curr_mode = CONTROL_MODE::NULL_MODE;
 
-  switch (common_status_data_.joy_mode) {
+  switch (common_status_data_.control_source) {
     case SDK_CONTROL_MODE::nav_control: {
       curr_mode = CONTROL_MODE::NAVI_CONTROL;
       break;
@@ -591,7 +581,7 @@ void SaturnController::publishGait() {
       curr_scene = Robot_Gait::TROT;
       break;
     }
-    case SDK_SCENE_TYPE::STONE: {
+    case SDK_SCENE_TYPE::ROUGH: {
       curr_scene = Robot_Gait::SLOPE;
       break;
     }
@@ -643,14 +633,14 @@ void SaturnController::publishRobotMode() {
   auto robot_mode_state = std_msgs::msg::Int32();
 
   if ((is_robot_in_idle_state_ == true) &&
-      (common_status_data_.joy_mode ==
+      (common_status_data_.control_source ==
        robot_control::common::CONTROL_SOURCE_MODE::nav_control)) {
     robot_mode_state.data = 0;
-  } else if (common_status_data_.joy_mode ==
+  } else if (common_status_data_.control_source ==
              robot_control::common::CONTROL_SOURCE_MODE::joy_control) {
     robot_mode_state.data = 1;
   } else if ((is_robot_in_idle_state_ == false) &&
-             (common_status_data_.joy_mode ==
+             (common_status_data_.control_source ==
               robot_control::common::CONTROL_SOURCE_MODE::nav_control)) {
     robot_mode_state.data = 2;
   } else if (common_status_data_.cur_scene ==