Refactor omni-b and add omni-c hardware

.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
 

.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"
         ;;