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+/**
+ * @file user_command_interface.h
+ * @brief this file is used for robot's user command input
+ * @author DeepRobotics
+ * @version 1.0
+ * @date 2025-11-07
+ * 
+ * @copyright Copyright (c) 2025  DeepRobotics
+ * 
+ */
+#pragma once
+
+#include "common_types.h"
+#include "custom_types.h"
+#include "motion_state_feedback.hpp"
+
+using namespace types;
+
+namespace interface{
+
+class UserCommandInterface{
+private:
+    /* data */
+public:
+    UserCommandInterface(RobotName robot_name){
+        robot_name_ = robot_name;
+        usr_cmd_ = new UserCommand();
+        std::memset(usr_cmd_, 0, sizeof(UserCommand));
+    }
+    virtual ~UserCommandInterface(){
+        delete usr_cmd_;
+    }
+
+    /**
+     * @brief start the thread to process user command
+     */
+    virtual void Start() = 0;
+
+    /**
+     * @brief stop the thread 
+     */
+    virtual void Stop() = 0;
+
+    /**
+     * @brief return your user command
+     * @return UserCommand ptr
+     */
+    virtual UserCommand* GetUserCommand() = 0; 
+
+    /**
+     * @brief set the motion state feedback 
+     * @param  msfb         motion state feedback
+     */
+    virtual void SetMotionStateFeedback(MotionStateFeedback* msfb){
+        msfb_ = msfb;
+    }
+
+    MotionStateFeedback *msfb_;
+    RobotName robot_name_;
+    UserCommand *usr_cmd_;
+};
+};