feat: add omni-b variant, unify calibration and CAN across deformable infantry

.devcontainer/scripts/bootstrap-tools.sh

@@ -6,6 +6,71 @@ installed_tools=""
 skipped_tools=""
 manifest_path="/workspaces/RMCS/.devcontainer/.generated/host-tools.manifest"
 
+ensure_mvsusb3core_cmake_package() {
+    if [ -f /opt/mvs-usb3-core/lib/cmake/MVSUSB3Core/MVSUSB3CoreConfig.cmake ]; then
+        return 0
+    fi
+
+    case "$(uname -m)" in
+    x86_64)
+        arch_dir=64
+        ;;
+    aarch64)
+        arch_dir=aarch64
+        ;;
+    *)
+        printf 'Warning: unsupported architecture for MVSUSB3Core bootstrap: %s\n' "$(uname -m)" >&2
+        return 0
+        ;;
+    esac
+
+    sudo mkdir -p /opt/mvs-usb3-core/lib/cmake/MVSUSB3Core
+    sudo tee /opt/mvs-usb3-core/lib/cmake/MVSUSB3Core/MVSUSB3CoreConfig.cmake >/dev/null <<EOF
+get_filename_component(MVSUSB3Core_ROOT "\${CMAKE_CURRENT_LIST_DIR}/../../.." ABSOLUTE)
+
+set(MVSUSB3Core_INCLUDE_DIR "\${MVSUSB3Core_ROOT}/include")
+set(MVSUSB3Core_INCLUDE_DIRS "\${MVSUSB3Core_INCLUDE_DIR}")
+set(MVSUSB3Core_LIBRARY_DIR "\${MVSUSB3Core_ROOT}/lib/${arch_dir}")
+set(MVSUSB3Core_LIBRARY "\${MVSUSB3Core_LIBRARY_DIR}/libMvCameraControl.so")
+set(MVSUSB3Core_LIBRARIES "\${MVSUSB3Core_LIBRARY}")
+
+if(NOT EXISTS "\${MVSUSB3Core_INCLUDE_DIR}/MvCameraControl.h")
+  set(MVSUSB3Core_FOUND FALSE)
+  message(FATAL_ERROR "MVSUSB3Core headers not found under \${MVSUSB3Core_INCLUDE_DIR}")
+endif()
+
+if(NOT EXISTS "\${MVSUSB3Core_LIBRARY}")
+  set(MVSUSB3Core_FOUND FALSE)
+  message(FATAL_ERROR "MVSUSB3Core library libMvCameraControl.so not found under \${MVSUSB3Core_LIBRARY_DIR}")
+endif()
+
+if(NOT TARGET MVSUSB3Core::MVSUSB3Core)
+  add_library(MVSUSB3Core::MVSUSB3Core SHARED IMPORTED GLOBAL)
+  set_target_properties(MVSUSB3Core::MVSUSB3Core PROPERTIES
+    IMPORTED_LOCATION "\${MVSUSB3Core_LIBRARY}"
+    INTERFACE_INCLUDE_DIRECTORIES "\${MVSUSB3Core_INCLUDE_DIR}"
+  )
+endif()
+
+set(MVSUSB3Core_FOUND TRUE)
+EOF
+}
+
+ensure_ros_mavlink_headers() {
+    if [ -f /opt/ros/jazzy/include/mavlink/v2.0/common/mavlink.h ]; then
+        return 0
+    fi
+
+    printf 'Installing ros-jazzy-mavlink for rmcs_core...\n'
+    sudo apt-get update
+    sudo apt-get install -y --no-install-recommends ros-jazzy-mavlink
+    sudo apt-get clean
+    sudo rm -rf /var/lib/apt/lists/*
+}
+
+ensure_mvsusb3core_cmake_package
+ensure_ros_mavlink_headers
+
 if [ ! -f "$manifest_path" ]; then
     printf 'Warning: host tools manifest not found at %s\n' "$manifest_path" >&2
 fi

.github/workflows/update-image.yml

@@ -8,6 +8,7 @@ on:
     paths:
       - Dockerfile
       - .github/workflows/update-image.yml
+      - .script/template/
       - .script/build-rmcs-cross
       - rmcs_ws/toolchain.cmake
 

.gitignore

@@ -42,10 +42,6 @@ srv/_*.py
 qtcreator-*
 *.user
 
-/planning/cfg
-/planning/docs
-/planning/src
-
 *~
 
 # Emacs
@@ -71,5 +67,15 @@ id_rsa.pub
 # Recording files
 record/
 
+# Docker Compose override (personal config)
+docker-compose.override.yml
+
 # For temperary development
 develop_ws
+
+# For Agent Development
+.opencode/
+.claude/
+.codex/
+.mimo/
+CLAUDE.md

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "rmcs_ws/src/fast_tf"]
 	path = rmcs_ws/src/fast_tf
 	url = https://github.com/qzhhhi/FastTF.git
+[submodule "rmcs_ws/src/rmcs_auto_aim_v2"]
+	path = rmcs_ws/src/rmcs_auto_aim_v2
+	url = https://github.com/Alliance-Algorithm/rmcs_auto_aim_v2.git

.script/autoaim-debug

@@ -0,0 +1,71 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+SESSION="autoaim-debug"
+
+usage() {
+    cat <<'EOF'
+Usage: autoaim-debug <local|remote>
+
+  local   Start autoaim debug tmux session locally.
+  remote  Start autoaim debug tmux session on ssh remote.
+EOF
+}
+
+write_start_script() {
+    local path="$1"
+    cat >"${path}" <<'SCRIPT'
+set -euo pipefail
+
+SESSION="autoaim-debug"
+
+if [[ -f "${HOME}/env_setup.bash" ]]; then
+    ENV_SETUP="${HOME}/env_setup.bash"
+elif [[ -f "/root/env_setup.bash" ]]; then
+    ENV_SETUP="/root/env_setup.bash"
+else
+    echo "env_setup.bash not found in \$HOME or /root" >&2
+    exit 1
+fi
+
+tmux kill-session -t "${SESSION}" 2>/dev/null || true
+
+tmux new-session -d -s "${SESSION}" -n "foxglove" \
+    "bash -lc 'source \"${ENV_SETUP}\" && ros2 launch foxglove_bridge foxglove_bridge_launch.xml'"
+
+tmux new-window -t "${SESSION}" -n "streamer" \
+    "bash -lc '/opt/autoaim/bin/start-streamer'"
+SCRIPT
+    chmod +x "${path}"
+}
+
+if [[ $# -ne 1 ]]; then
+    usage
+    exit 1
+fi
+
+case "$1" in
+local)
+    tmp=$(mktemp)
+    trap 'rm -f "${tmp}"' EXIT
+    write_start_script "${tmp}"
+    bash "${tmp}"
+    tmux has-session -t "${SESSION}"
+    echo "autoaim-debug local started in tmux session: ${SESSION}"
+    echo "Attach with: tmux attach -t ${SESSION}"
+    ;;
+remote)
+    tmp=$(mktemp)
+    trap 'rm -f "${tmp}"' EXIT
+    write_start_script "${tmp}"
+    scp -q "${tmp}" remote:/tmp/autoaim-debug-start.sh
+    ssh-remote "bash /tmp/autoaim-debug-start.sh && rm -f /tmp/autoaim-debug-start.sh && tmux has-session -t ${SESSION}"
+    echo "autoaim-debug remote started in tmux session: ${SESSION}"
+    echo "Attach with: ssh-remote \"tmux attach -t ${SESSION}\""
+    ;;
+*)
+    usage
+    exit 1
+    ;;
+esac

.script/complete/_local-context

@@ -0,0 +1,22 @@
+#compdef local-context
+
+_arguments \
+  '1:key:(game_stage robot_health robot_bullet)' \
+  '2:value:->value'
+
+case "$state" in
+  value)
+    case "${words[2]}" in
+      game_stage)
+        _values 'game stage' \
+          not_start \
+          preparation \
+          referee_check \
+          countdown \
+          started \
+          settling \
+          unknown
+        ;;
+    esac
+    ;;
+esac

.script/complete/_remote-context

@@ -0,0 +1,22 @@
+#compdef remote-context
+
+_arguments \
+  '1:key:(game_stage robot_health robot_bullet)' \
+  '2:value:->value'
+
+case "$state" in
+  value)
+    case "${words[2]}" in
+      game_stage)
+        _values 'game stage' \
+          not_start \
+          preparation \
+          referee_check \
+          countdown \
+          started \
+          settling \
+          unknown
+        ;;
+    esac
+    ;;
+esac

.script/host/rmcs

@@ -6,19 +6,24 @@ readonly DEVELOPER_NAME="ubuntu"
 readonly NVIM_PATH="/opt/nvim/bin/nvim"
 readonly NVIM_PORT=6666
 readonly NVIM_HOST="localhost"
+readonly RMCS_PATH="/workspaces/RMCS/"
 
 function show_help() {
     local project_dir="$1"
     local service="$2"
-    echo "Usage: $(basename "$0") [path] [zsh|n|nvim|neovide|vim|ide]"
+    echo "Usage: $(basename "$0") [path] [zsh|recreate|n|nvim|neovide|vim|ide|ai]"
     echo "  Project dir: $project_dir"
     echo "  Service: $service"
 }
 
+function setup_container() {
+    docker compose up -d --no-recreate
+}
+
 function rmcs_zsh() {
     local service="$1"
     echo "Starting and entering container..."
-    docker compose up -d
+    setup_container
     docker compose exec "$service" zsh
 }
 
@@ -29,7 +34,7 @@ function rmcs_nvim() {
     local port=$NVIM_PORT
 
     echo "Starting container..."
-    docker compose up -d
+    setup_container
 
     echo "Checking available port and starting nvim headless server..."
     while nc -z "$NVIM_HOST" "$port" 2>/dev/null; do
@@ -38,7 +43,7 @@ function rmcs_nvim() {
     done
 
     echo "Starting nvim server on port $port..."
-    docker compose exec -u "$DEVELOPER_NAME" -d "$service" \
+    docker compose exec -u "$DEVELOPER_NAME" -w "$RMCS_PATH" -d "$service" \
         "$NVIM_PATH" --headless --listen "$NVIM_HOST:$port"
 
     for i in $(seq 1 $timeout); do
@@ -60,6 +65,20 @@ function rmcs_nvim() {
     fi
 }
 
+function rmcs_recreate() {
+    echo "Recreating container..."
+    docker compose up -d --force-recreate
+}
+
+function rmcs_ai() {
+    local service="$1"
+    local agent="${RMCS_AGENT:-opencode}"
+    echo "Starting container and launching Agent ($agent)..."
+    setup_container
+    docker compose exec -u "$DEVELOPER_NAME" -w "$RMCS_PATH" "$service" \
+        zsh -ic "exec ${agent}"
+}
+
 function main() {
     local project_dir command
 
@@ -84,9 +103,15 @@ function main() {
     zsh)
         rmcs_zsh "$service"
         ;;
+    recreate)
+        rmcs_recreate
+        ;;
     n | nvim | neovide | vim | ide)
         rmcs_nvim "$service"
         ;;
+    ai)
+        rmcs_ai "$service"
+        ;;
     *)
         show_help "$project_dir" "$service"
         ;;