Dev/zlq 7 27

[zlq04222]

摘要

• 重构云台航向偏置与世界坐标到云台坐标的转换逻辑，新增航向采样计数及延迟攀爬方向处理。
• 新增敌方据点、基地血量数据的上下文与 Lua 黑板字段。
• 增加超级电容助推控制及哨兵事件上报、统计机制。
• 扩展机器人状态监测，根据血量、攀爬方向和自动瞄准状态触发姿态切换事件。
• 调整训练流程中的超级电容控制、导航重启等待逻辑及训练地图关键航点坐标。
• 增加测试端点对导航重启和双方血量信息的监测输出。

[coderabbitai]

Walkthrough

本次变更扩展导航的偏航转换、攀爬控制、超级电容控制和哨兵事件输出，并在 Lua 黑板与状态任务中加入敌方血量和姿态事件处理，同时调整训练地图航点及流程时序。

Changes

导航与机器人状态控制

Layer / File(s)	Summary
云台偏航状态与坐标转换 src/cxx/controller/motion.*, src/cxx/context.*	MotionFsm 新增偏航采样与云台偏置状态，重命名世界到云台坐标转换接口；上下文注册敌方据点和基地血量输入。
导航 Lua 接口与输出状态 src/cxx/component.cc, src/lua/action.lua, src/lua/api.lua	新增超级电容和哨兵事件接口，延迟转换攀爬世界偏航，并注册对应导航输出。
血量黑板与姿态事件上报 src/lua/blackboard.lua, src/lua/task/robot_status.lua, src/lua/endpoint/test.lua	黑板新增血量、临界阈值和 power_move 状态；状态任务根据运行条件选择姿态并发送变化事件，测试端点增加重启后血量日志任务。
训练流程与超级电容控制 src/lua/endpoint/train.lua, src/lua/map/train.lua	训练流程关闭或延迟超级电容控制，调整多个航点，并在横跨步骤前后切换超级电容状态。

Estimated code review effort: 4 (Complex) | ~45 minutes

Possibly related PRs

• Alliance-Algorithm/rmcs-navigation#5：同样涉及导航 Lua API 与 src/cxx/component.cc 接口调整。

Suggested reviewers: creeper5820

Poem

小兔挥耳朵，导航换新装，
云台偏航稳稳量。
攀爬、哨兵报声响，
超电助力越过墙。
血量黑板记得忙，
训练路线向前闯！

🚥 Pre-merge checks | ✅ 3 | ❌ 2

❌ Failed checks (1 warning, 1 inconclusive)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 0.00% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.
Title check	❓ Inconclusive	标题仅包含分支/日期信息，无法体现本次改动的核心内容。	请改为一句简短且具体的标题，直接概括主要变更，例如新增的导航、哨兵事件或攀爬状态相关功能。

✅ Passed checks (3 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

✨ Finishing Touches

📝 Generate docstrings

• Create stacked PR
• Commit on current branch

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch dev/zlq-7-27

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[coderabbitai]

Actionable comments posted: 1

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@src/lua/task/robot_status.lua`:
- Around line 33-37: 更新攀爬状态判断中的 climbing 表达式，使其覆盖 -1 与 1 之间除 0 外的双向中间状态：使用非零且大于
-1、小于 1 的条件。保留 power_defense 和 defense 对 climbing 结果的现有使用方式。

🪄 Autofix (Beta)

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

---

ℹ️ Review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro Plus

Run ID: 1cbe11e2-55f8-4594-a7d7-0db253f27a24

📥 Commits

Reviewing files that changed from the base of the PR and between 2877c2c and 2a1d677.

📒 Files selected for processing (12)

• src/cxx/component.cc
• src/cxx/context.cc
• src/cxx/context.hh
• src/cxx/controller/motion.cc
• src/cxx/controller/motion.hh
• src/lua/action.lua
• src/lua/api.lua
• src/lua/blackboard.lua
• src/lua/endpoint/test.lua
• src/lua/endpoint/train.lua
• src/lua/map/train.lua
• src/lua/task/robot_status.lua

[coderabbitai]

🎯 Functional Correctness | 🟠 Major | ⚡ Quick win

🧩 Analysis chain

🏁 Script executed:

#!/bin/bash
rg -n 'climber_status|climb.*status' -C4 --type=cpp
rg -n 'get_climb_status' -C4

Repository: Alliance-Algorithm/rmcs-navigation

Length of output: 203

---

🏁 Script executed:

#!/bin/bash
set -euo pipefail

echo "== git files matching robot_status.lua/action.lua =="
git ls-files | rg '(^|/)robot_status\.lua$|(^|/)action\.lua$|climb|robot' || true

echo
echo "== locate relevant files =="
fd -a 'robot_status\.lua$|action\.lua$' . 2>/dev/null || find . -type f \( -name 'robot_status.lua' -o -name 'action.lua' \) -print

echo
echo "== search all files for climbing/action.climb status =="
rg -n 'climbing|climb|blocking_cross_step|get_climb_status|climber_status|crawling|SentryEvent|robot_status|action\.climb|last_posture|kPoseEvent' . -C 3 || true

Repository: Alliance-Algorithm/rmcs-navigation

Length of output: 17513

---

将攀爬进行中判断覆盖负值区间。

blocking_cross_step() 在 status == 1.0 或 status == -1.0 时才结束，说明 get_climb_status() 的中间值范围是 (-1, 1)，当前 (0, 1) 的判断会漏掉 action.climb.up == false 对应的负方向攀爬；此时即使暴露也不满足 defense = ... or (climbing and not action.climb.up)。把 climbing 改为 s ~= 0 and s > -1 and s < 1 即可匹配现有的双向完成语义。

🤖 Prompt for AI Agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

In `@src/lua/task/robot_status.lua` around lines 33 - 37, 更新攀爬状态判断中的 climbing
表达式，使其覆盖 -1 与 1 之间除 0 外的双向中间状态：使用非零且大于 -1、小于 1 的条件。保留 power_defense 和 defense 对
climbing 结果的现有使用方式。