Alliance-Algorithm · AlrayQiu · Nov 1, 2025 · Sep 1, 2025 · Sep 2, 2025 · Sep 2, 2025
diff --git a/.github/workflows/test-single-platform.yml b/.github/workflows/test-single-platform.yml
@@ -12,7 +12,8 @@ jobs:
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
-
+        with:
+          submodules: recursive
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3

diff --git a/.gitignore b/.gitignore
@@ -3,4 +3,7 @@ build
 install
 log
 .cache
-.devcontainer
+.devcontainer
+docker-compose.yml
+Dockerfile
+.env
diff --git a/.vscode/extensions.json b/.vscode/extensions.json
@@ -0,0 +1,5 @@
+{
+    "recommendations": [
+        "gruntfuggly.todo-tree"
+    ]
+}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -39,6 +39,7 @@ target_link_libraries(alliance_auto_aim PUBLIC
   TBB::tbb
   openvino::runtime
   Ceres::ceres
+  yaml-cpp
 )
 
 # 安装规则

diff --git a/configs/example.yaml b/configs/example.yaml
@@ -0,0 +1,44 @@
+#####-----classfier parameters-----#####
+# classify_model:
+# model_image_width:
+# model_image_height:
+#
+#####-----identifier parameters-----#####
+threshold: 150
+max_angle_error: 45 #degree
+min_lightbar_ratio: 1.5
+max_lightbar_ratio: 20
+min_lightbar_length: 8
+max_armor_ratio: 5
+min_armor_ratio: 1
+max_side_ratio: 1.5
+min_confidence: 0.8
+max_rectangular_error: 25 #degree
+
+#####-----target_snapshot_manager parameters-----#####
+decision_speed: 7 # rad/s
+high_speed_delay_time: 0.050 # s
+low_speed_delay_time: 0.015 # s
+
+#####-----fire_decision parameters-----#####
+auto_fire: true
+first_tolerance: 100 # 近距离射击容差，degree
+second_tolerance: 100 # 远距离射击容差，degree
+judge_distance: 2 #距离判断阈值
+
+#####-----fire_controller parameters-----#####
+control_delay_s: 0.1
+
+#####-----aiming_solver parameters-----#####
+yaw_offset: 1.5 # degree
+pitch_offset: -0.5 # degree
+bullet_speed: 26
+
+#####-----aime_point_chooser parameters-----#####
+comming_angle: 60 # degree
+leaving_angle: 20 # degree
+
+#####-----solver parameters-----#####
+R_muzzle2camera:
+t_muzzle2camera:
+
diff --git a/env/ubuntu22.04.sh b/env/ubuntu22.04.sh
@@ -13,7 +13,7 @@ rm GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB
 echo "deb https://apt.repos.intel.com/openvino ubuntu22 main" | sudo tee /etc/apt/sources.list.d/intel-openvino.list
 sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys BAC6F0C353D04109
 sudo apt-get update
-sudo apt-get install -y libtbb-dev  libeigen3-dev libopencv-dev openvino gcc-13 g++-13 libceres-dev libdwarf-dev libbackward-cpp-dev  binutils-dev libdw-dev  libunwind-dev libfmt-dev libspdlog-dev
+sudo apt-get install -y libtbb-dev  libeigen3-dev libopencv-dev openvino gcc-13 g++-13 libceres-dev libdwarf-dev libbackward-cpp-dev  binutils-dev libdw-dev  libunwind-dev libfmt-dev libspdlog-dev libyaml-cpp-dev
 
 sudo ln -s /usr/include/libdwarf/libdwarf.h /usr/include/libdwarf.h 
 sudo ln -s /usr/include/libdwarf/dwarf.h /usr/include/dwarf.h

diff --git a/include/data/fire_control.hpp b/include/data/fire_control.hpp
@@ -1,12 +1,14 @@
 #pragma once
 
+#include "data/time_stamped.hpp"
+
 #include <Eigen/Eigen>
 #include <ctime>
 #include <opencv2/core/core.hpp>
 
 namespace world_exe::data {
 struct FireControl {
-    time_t time_stamp;
+    data::TimeStamp time_stamp;
     /// 以ROS系，光轴方向为x, 上为z,
     /// 四个点为： 1->左上 2->右上 3->右下 4->左下,
     /// 点实际坐标为opencv系下的像素坐标

diff --git a/include/data/predictor_update_package.hpp b/include/data/predictor_update_package.hpp
@@ -0,0 +1,44 @@
+#pragma once
+
+#include "data/sync_data.hpp"
+#include "interfaces/armor_in_camera.hpp"
+
+#include "data/time_stamped.hpp"
+#include <memory>
+
+namespace world_exe::data {
+
+struct PredictorUpdatePackage final{
+public:
+
+    /**
+     * @brief 传感器数据获取时的时间戳
+     */
+    const data::TimeStamp& GetTimeStamp() const{ return data1_.camera_capture_begin_time_stamp; };
+
+    /**
+     * @brief 求解好的装甲板三维信息
+     *
+     * @return std::shared_ptr<IArmorInCamera>
+     */
+    std::shared_ptr<world_exe::interfaces::IArmorInCamera> GetArmors() const{return data2_;};
+
+    /**
+     * @brief 相机坐标系到世界坐标系的仿射变换
+     *
+     * @return Eigen::Affine3d
+     */
+    Eigen::Affine3d GetCameraToWorld() const {return data1_.camera_to_gimbal;};
+
+    // but why?
+    PredictorUpdatePackage(const data::CameraGimbalMuzzleSyncData& data1, std::shared_ptr<world_exe::interfaces::IArmorInCamera> data2)
+        : data1_(data1)
+        , data2_(data2){
+    }
+    PredictorUpdatePackage()  = delete;
+    ~PredictorUpdatePackage() = default;
+private:
+    const data::CameraGimbalMuzzleSyncData& data1_;
+    const std::shared_ptr<world_exe::interfaces::IArmorInCamera> data2_;
+};
+}
diff --git a/include/data/sync_data.hpp b/include/data/sync_data.hpp
@@ -1,10 +1,11 @@
 #pragma once
 
+#include "data/time_stamped.hpp"
 #include <Eigen/Eigen>
 #include <ctime>
 namespace world_exe::data {
 struct CameraGimbalMuzzleSyncData {
-    std::time_t camera_capture_begin_time_stamp;
+    data::TimeStamp camera_capture_begin_time_stamp;
     Eigen::Affine3d camera_to_gimbal;
     Eigen::Affine3d gimbal_to_muzzle;
 };

diff --git a/include/data/time_stamped.hpp b/include/data/time_stamped.hpp
@@ -0,0 +1,36 @@
+#pragma once
+
+#include <chrono>
+#include <ctime>
+namespace world_exe::data {
+/**
+ * @brief 时间戳，通常是SteadyClock
+ */
+struct TimeStamp {
+
+public:
+
+    inline TimeStamp() : stamp_(){}
+    inline TimeStamp(const TimeStamp& stamp): stamp_(stamp.stamp_) {}
+    inline TimeStamp(const std::chrono::nanoseconds& stamp): stamp_(stamp) {}
+    inline TimeStamp(const std::chrono::seconds& stamp): stamp_(std::chrono::duration_cast<std::chrono::nanoseconds>(stamp)) {}
+
+    inline constexpr double to_seconds() const{return stamp_.count() * 1e-9;}
+    inline constexpr double to_nanosec() const{return stamp_.count();}
+
+    auto operator<=>(const TimeStamp& other) const noexcept = default;
+    inline TimeStamp operator- (const TimeStamp& other) const noexcept {return TimeStamp{stamp_ - other.stamp_};}
+    inline TimeStamp operator+ (const TimeStamp& other) const noexcept {return TimeStamp{stamp_ + other.stamp_};}
+    inline TimeStamp operator* (const double&    ratio) const noexcept {return from_nanosec(stamp_.count() * ratio);}
+    inline TimeStamp operator/ (const double&    ratio) const noexcept {return from_nanosec(stamp_.count() / ratio);}
+
+    template<typename T>
+    static inline TimeStamp from_seconds(const T time){return TimeStamp{std::chrono::nanoseconds(static_cast<long int>(time * 1e9))};}
+    template<typename T>
+    static inline TimeStamp from_nanosec(const T time){return TimeStamp{std::chrono::nanoseconds(static_cast<long int>(time))};}
+
+private:
+    std::chrono::nanoseconds stamp_;
+
+};
+}
diff --git a/include/interfaces/armor_in_camera.hpp b/include/interfaces/armor_in_camera.hpp
@@ -1,10 +1,12 @@
 #pragma once
 
 #include "data/armor_camera_spacing.hpp"
+#include "data/time_stamped.hpp"
 #include "enum/armor_id.hpp"
-#include "interfaces/time_stamped.hpp"
+#include "data/time_stamped.hpp"
 #include <opencv2/core/mat.hpp>
 
+
 namespace world_exe::interfaces {
 
 /**
@@ -16,7 +18,7 @@ namespace world_exe::interfaces {
 class IArmorInCamera {
 public:
     /// 获取时间戳，标志其内容装甲板的准确时间点
-    COMBINE_TIME_STAMPED;
+    virtual const data::TimeStamp& GetTimeStamp() const = 0;
 
     /// 获取某个车辆ID的装甲板集合
     virtual const std::vector<data::ArmorCameraSpacing>& GetArmors(

diff --git a/include/interfaces/armor_in_gimbal_control.hpp b/include/interfaces/armor_in_gimbal_control.hpp
@@ -2,7 +2,7 @@
 
 #include "data/armor_gimbal_control_spacing.hpp"
 #include "enum/armor_id.hpp"
-#include "time_stamped.hpp"
+#include "data/time_stamped.hpp"
 #include <opencv2/core/mat.hpp>
 
 namespace world_exe::interfaces {
@@ -17,7 +17,7 @@ class IArmorInGimbalControl {
 
 public:
     /// 获取时间戳，标志其内容装甲板的准确时间点
-    COMBINE_TIME_STAMPED;
+    virtual const data::TimeStamp& GetTimeStamp() const = 0;
 
     /// 获取某个车辆ID的装甲板集合
     virtual const std::vector<data::ArmorGimbalControlSpacing>& GetArmors(

diff --git a/include/interfaces/armor_in_image.hpp b/include/interfaces/armor_in_image.hpp
@@ -2,7 +2,7 @@
 
 #include "data/armor_image_spaceing.hpp"
 #include "enum/armor_id.hpp"
-#include "time_stamped.hpp"
+#include "data/time_stamped.hpp"
 #include <opencv2/core/core.hpp>
 #include <vector>
 
@@ -21,7 +21,7 @@ class IArmorInImage {
 
 public:
     /// 获取时间戳，标志其内容装甲板的准确时间点
-    COMBINE_TIME_STAMPED;
+    virtual const data::TimeStamp& GetTimeStamp() const = 0;
 
     /**
      * @brief 获取某个车辆ID的装甲板集合

diff --git a/include/interfaces/fire_controller.hpp b/include/interfaces/fire_controller.hpp
@@ -2,6 +2,7 @@
 
 #include "data/fire_control.hpp"
 #include "enum/car_id.hpp"
+#include <chrono>
 #include <ctime>
 
 namespace world_exe::interfaces {
@@ -17,7 +18,7 @@ class IFireControl {
      * @param time_duration 额外时间差 典型值：当前时刻到当前帧传感器传入内容的时间差
      * @return const data::FireControl
      */
-    virtual const data::FireControl CalculateTarget(const std::time_t& time_duration) const = 0;
+    virtual const data::FireControl CalculateTarget(const std::chrono::seconds& time_duration) const = 0;
 
     /**
      * @brief 获取当前火控系统锁定的车辆ID

diff --git a/include/interfaces/predictor.hpp b/include/interfaces/predictor.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include "armor_in_gimbal_control.hpp"
+#include "data/time_stamped.hpp"
 #include "enum/armor_id.hpp"
 #include <ctime>
 
@@ -24,7 +25,7 @@ class IPredictor {
      * @return const IArmorInGimbalControl&
      */
     virtual std::shared_ptr<IArmorInGimbalControl> Predictor(
-        const std::time_t& time_stamp) const = 0;
+        const data::TimeStamp& time_stamp) const = 0;
 
     virtual ~IPredictor() = default;
 };

diff --git a/include/interfaces/predictor_update_package.hpp b/include/interfaces/predictor_update_package.hpp
diff --git a/include/interfaces/sync_block.hpp b/include/interfaces/sync_block.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <opencv2/core/mat.hpp>
+#include "data/time_stamped.hpp"
 
 namespace world_exe::interfaces {
 /**
@@ -12,9 +12,9 @@ template <class T> class ISyncBlock {
 
 public:
 
-    virtual void set_data(const T& camera_data);
+    virtual void set_data(const T& camera_data) = 0;
 
-    virtual std::tuple<T, bool> get_data(time_t timestamp);
+    virtual std::tuple<T, bool> get_data(const data::TimeStamp& timestamp) = 0;
 
     virtual ~ISyncBlock() = default;
 };

diff --git a/include/interfaces/target_predictor.hpp b/include/interfaces/target_predictor.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include "armor_in_gimbal_control.hpp"
+#include "data/time_stamped.hpp"
 #include "enum/armor_id.hpp"
 #include "interfaces/predictor.hpp"
 #include <ctime>
@@ -22,7 +23,7 @@ class ITargetPredictor {
      * @return std::shared_ptr<interfaces::IArmorInGimbalControl>
      */
     virtual std::shared_ptr<interfaces::IArmorInGimbalControl> Predict(
-        const enumeration::ArmorIdFlag& id, const std::time_t& time_stamp) = 0;
+        const enumeration::ArmorIdFlag& id, const data::TimeStamp& time_stamp) = 0;
 
     /**
      * @brief 按照传入的id生成IPredictor

diff --git a/include/interfaces/time_stamped.hpp b/include/interfaces/time_stamped.hpp