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Merged
creeper5820 merged 1 commit into from
May 3, 2026
Merged

refactor: update AutoAimState with center position, adapt Adapter and… #44

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10 changes: 5 additions & 5 deletions config/config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ capturer:
# float
gain: 16.9807

invert_image: true
invert_image: false
software_sync: false
trigger_mode: false
fixed_framerate: false
Expand Down Expand Up @@ -76,17 +76,17 @@ pose_estimator:
[-0.064232403853946, -0.087667493884102, 0, 0, 0.792381808294582]

fire_control:
initial_bullet_speed: 21.0 # m/s
initial_bullet_speed: 24.2 # m/s
shoot_delay: 0.1 # s
mpc_enable: true
yaw_offset: +2.5 # degree
yaw_offset: 0.0 # degree
pitch_offset: 0.0 # degree

aim_point_chooser:
coming_angle: 60.0 # degree
leaving_angle: 20.0 # degree
outpost_coming_angle: 70.0 # degree
outpost_leaving_angle: 50.0 # degree
outpost_leaving_angle: 30.0 # degree

mpc:
mpc_max_yaw_acc: 50.0
Expand All @@ -99,7 +99,7 @@ fire_control:
mpc_pitch_r_acc: 1.0

shoot_evaluator:
is_lazy_gimbal: true
is_lazy_gimbal: false
near_angle_tolerance: 3 # degree
far_angle_tolerance: 2 # degree
split_distance: 2 # m
Expand Down
29 changes: 29 additions & 0 deletions src/adapter/adapter.hpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,29 @@
#pragma once

#include <eigen3/Eigen/Geometry>
#include <rmcs_description/tf_description.hpp>
#include <rmcs_executor/component.hpp>

namespace rmcs {

class Adapter {
public:
explicit Adapter(rmcs_executor::Component& component) { component.register_input("/tf", tf_); }

[[nodiscard]] auto ready() const -> bool { return tf_.ready(); }

[[nodiscard]] auto camera_transform() const -> Eigen::Isometry3d {
return fast_tf::lookup_transform<rmcs_description::OdomImu, rmcs_description::CameraLink>(
*tf_);
}

[[nodiscard]] auto barrel_direction() const -> Eigen::Vector3d {
return *fast_tf::cast<rmcs_description::OdomImu>(
rmcs_description::PitchLink::DirectionVector { Eigen::Vector3d::UnitX() }, *tf_);
}

private:
rmcs_executor::Component::InputInterface<rmcs_description::Tf> tf_;
};

} // namespace rmcs
50 changes: 35 additions & 15 deletions src/component.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
#include "adapter/sentry.hpp"
#include "adapter/adapter.hpp"
#include "kernel/feishu.hpp"
#include "module/debug/action_throttler.hpp"
#include "utility/rclcpp/node.hpp"
Expand All @@ -24,6 +24,7 @@ class AutoAimComponent final : public rmcs_executor::Component {

register_output("/auto_aim/should_control", should_control, false);
register_output("/auto_aim/control_direction", target_direction, Eigen::Vector3d::Zero());
register_output("/auto_aim/robot_center", robot_center, kVectorNaN);
register_output("/auto_aim/should_shoot", should_shoot, false);
register_output("/auto_aim/yaw_rate", yaw_rate, 0.0);
register_output("/auto_aim/pitch_rate", pitch_rate, 0.0);
Expand All @@ -38,12 +39,11 @@ class AutoAimComponent final : public rmcs_executor::Component {
}

auto update() -> void override {
set_default_command();

if (!adapter.ready()) [[unlikely]] {
action_throttler.dispatch("adapter", [&] { rclcpp.warn("adapter is not ready"); });

*should_control = false;
*should_shoot = false;

feishu.send(SystemContext::kInvalid());
return;
}
Expand All @@ -54,19 +54,29 @@ class AutoAimComponent final : public rmcs_executor::Component {

if (!feishu.heartbeat()) return;

*target_direction = kVectorNaN;

// 超时检测
auto command = *feishu.latest();
const auto latest = feishu.latest();
if (!latest.has_value()) return;

const auto& command = *latest;
if (Clock::now() - command.timestamp > kAutoAimTimeout) {
*should_control = false;
*should_shoot = false;
return;
}

// 业务开关
*should_control = command.should_control;
*should_shoot = command.should_shoot;
*robot_center = Eigen::Vector3d {
command.robot_center.x,
command.robot_center.y,
command.robot_center.z,
};

*yaw_rate = command.yaw_rate;
*pitch_rate = command.pitch_rate;
*yaw_acc = command.yaw_acc;
*pitch_acc = command.pitch_acc;
*feedforward_valid = command.feedforward_valid;

if (!*should_control) return;

Expand All @@ -81,11 +91,8 @@ class AutoAimComponent final : public rmcs_executor::Component {

private:
static constexpr auto kAutoAimTimeout = std::chrono::milliseconds { 100 };
static inline const auto kVectorNaN = Eigen::Vector3d {
std::numeric_limits<double>::quiet_NaN(),
std::numeric_limits<double>::quiet_NaN(),
std::numeric_limits<double>::quiet_NaN(),
};
static constexpr auto kNaN = std::numeric_limits<double>::quiet_NaN();
static inline const auto kVectorNaN = Eigen::Vector3d { kNaN, kNaN, kNaN };

Adapter adapter;
RclcppNode rclcpp;
Expand All @@ -95,6 +102,7 @@ class AutoAimComponent final : public rmcs_executor::Component {
OutputInterface<bool> should_control;
OutputInterface<bool> should_shoot;
OutputInterface<Eigen::Vector3d> target_direction;
OutputInterface<Eigen::Vector3d> robot_center;
OutputInterface<double> yaw_rate;
OutputInterface<double> pitch_rate;
OutputInterface<double> yaw_acc;
Expand All @@ -103,8 +111,20 @@ class AutoAimComponent final : public rmcs_executor::Component {

InputInterface<rmcs_msgs::Switch> right_switch;

auto set_default_command() -> void {
*should_control = false;
*should_shoot = false;
*target_direction = kVectorNaN;
*robot_center = kVectorNaN;
*yaw_rate = kNaN;
*pitch_rate = kNaN;
*yaw_acc = kNaN;
*pitch_acc = kNaN;
*feedforward_valid = false;
};

auto make_context() -> SystemContext {
auto context = SystemContext { };
auto context = SystemContext {};

context.timestamp = Clock::now();

Expand Down
25 changes: 15 additions & 10 deletions src/runtime.cpp
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Expand Up @@ -9,15 +9,18 @@
#include "module/debug/framerate.hpp"
#include "utility/image/armor.hpp"
#include "utility/logging_util.hpp"
#include "utility/math/linear.hpp"
#include "utility/panic.hpp"
#include "utility/rclcpp/configuration.hpp"
#include "utility/rclcpp/node.hpp"
#include "utility/rclcpp/parameters.hpp"
#include "utility/shared/context.hpp"
#include "utility/singleton/running.hpp"

#include <chrono>
#include <csignal>
#include <experimental/scope>
#include <filesystem>
#include <string>
#include <yaml-cpp/yaml.h>

Expand All @@ -37,13 +40,13 @@ auto main() -> int {
logging.reset("detection", 5);

/// Runtime
auto feishu = kernel::Feishu<AutoAimState, SystemContext> { };
auto capturer = kernel::Capturer { };
auto identifier = kernel::Identifier { };
auto tracker = kernel::Tracker { };
auto pose_estimator = kernel::PoseEstimator { };
auto fire_control = kernel::FireControl { };
auto visualization = kernel::Visualization { };
auto feishu = kernel::Feishu<AutoAimState, SystemContext> {};
auto capturer = kernel::Capturer {};
auto identifier = kernel::Identifier {};
auto tracker = kernel::Tracker {};
auto pose_estimator = kernel::PoseEstimator {};
auto fire_control = kernel::FireControl {};
auto visualization = kernel::Visualization {};

/// Configure
auto configuration = util::configuration();
Expand Down Expand Up @@ -101,7 +104,7 @@ auto main() -> int {
handle_result("visualization", result);
}

auto framerate = FramerateCounter { };
auto framerate = FramerateCounter {};
framerate.set_interval(std::chrono::seconds { 5 });

while (util::get_running()) {
Expand Down Expand Up @@ -132,7 +135,7 @@ auto main() -> int {

/// 1. Identify Armor
///
auto armors_2d = Armor2Ds { };
auto armors_2d = Armor2Ds {};
{
auto result = identifier.sync_identify(*image);
if (!result.has_value()) {
Expand All @@ -153,7 +156,7 @@ auto main() -> int {

/// 2. Transform 2d to 3d
///
auto armors_3d = Armor3Ds { };
auto armors_3d = Armor3Ds {};
{
pose_estimator.update_camera_transform(context.camera_transform);
auto result = pose_estimator.estimate_armor(armors_2d);
Expand Down Expand Up @@ -187,6 +190,8 @@ auto main() -> int {
}
auto armors = snapshot->predicted_armors(Clock::now());
visualization.update_visible_robot(armors);
visualization.update_mpc_plan(command.yaw, command.pitch, command.yaw_rate,
command.pitch_rate, command.yaw_acc, command.pitch_acc);
}

/// 4. Transmit State
Expand Down
28 changes: 13 additions & 15 deletions src/utility/shared/context.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,25 +12,22 @@ concept context_trait = std::is_trivially_copyable_v<T>;
struct AutoAimState {
static constexpr auto kLabel = "/shm_autoaim_state";
static constexpr auto kLength = 512;
static constexpr auto kNaN = std::numeric_limits<double>::quiet_NaN();
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TimePoint timestamp { };
TimePoint timestamp {};

bool should_control { false };
bool should_shoot = { false };

double yaw { std::numeric_limits<double>::quiet_NaN() };
double pitch { std::numeric_limits<double>::quiet_NaN() };
double yaw_rate { std::numeric_limits<double>::quiet_NaN() };
double pitch_rate { std::numeric_limits<double>::quiet_NaN() };
double yaw_acc { std::numeric_limits<double>::quiet_NaN() };
double pitch_acc { std::numeric_limits<double>::quiet_NaN() };
double yaw { kNaN };
double pitch { kNaN };
double yaw_rate { kNaN };
double pitch_rate { kNaN };
double yaw_acc { kNaN };
double pitch_acc { kNaN };
bool feedforward_valid { false };

Translation robot_center {
std::numeric_limits<double>::quiet_NaN(),
std::numeric_limits<double>::quiet_NaN(),
std::numeric_limits<double>::quiet_NaN(),
};
Translation robot_center { kNaN, kNaN, kNaN };

DeviceId target { DeviceId::UNKNOWN };

Expand All @@ -45,15 +42,16 @@ static_assert(context_trait<AutoAimState>);
struct SystemContext {
static constexpr auto kLabel = "/shm_control_state";
static constexpr auto kLength = 512;
static constexpr auto kNaN = std::numeric_limits<double>::quiet_NaN();

/// Dynamic Context
///
TimePoint timestamp { };
TimePoint timestamp {};

bool enable_autoaim = false;

double yaw { std::numeric_limits<double>::quiet_NaN() };
double pitch { std::numeric_limits<double>::quiet_NaN() };
double yaw { kNaN };
double pitch { kNaN };

Transform camera_transform = Transform::kNaN(); // Imu Odom Link

Expand Down
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