add balance_infantry
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59a7072002
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9adee3edec
@ -111,4 +111,10 @@ target_link_libraries(uav ${OpenCV_LIBS} fmt::fmt yaml-cpp auto_aim auto_buff co
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add_executable(uav_debug src/task/uav_debug.cpp)
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target_link_libraries(uav_debug ${OpenCV_LIBS} fmt::fmt yaml-cpp nlohmann_json::nlohmann_json auto_aim auto_buff component device)
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add_executable(balance_infantry src/task/balance_infantry.cpp)
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target_link_libraries(balance_infantry ${OpenCV_LIBS} fmt::fmt yaml-cpp nlohmann_json::nlohmann_json auto_aim auto_buff component device)
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add_executable(balance_infantry_mpc src/task/balance_infantry_mpc.cpp)
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target_link_libraries(balance_infantry_mpc ${OpenCV_LIBS} fmt::fmt yaml-cpp nlohmann_json::nlohmann_json auto_aim auto_buff component device)
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70
src/task/README.md
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70
src/task/README.md
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@ -0,0 +1,70 @@
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# Task 目录说明
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本目录存放各兵种的主程序，`test/` 子目录存放测试用例。
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## 主程序
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### 步兵（Standard）
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| 文件 | 设备 | 线程 | 说明 |
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|------|------|------|------|
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| `standard.cpp` | CBoard (CAN) | 单线程 | 基础步兵自瞄，仅发送 yaw/pitch 位置指令 |
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| `standard_mpc.cpp` | Gimbal (串口) | 多线程 | MPC 规划步兵，发送 pos/vel/acc，支持自瞄 + 打符 |
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| `mt_standard.cpp` | CBoard (CAN) | 多线程 | 多线程步兵，检测与主循环分离，支持自瞄 + 打符 |
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```bash
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./build/standard configs/standard3.yaml
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./build/standard_mpc configs/standard4.yaml
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./build/mt_standard configs/standard3.yaml
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```
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### 无人机（UAV）
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| 文件 | 设备 | 线程 | 说明 |
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|------|------|------|------|
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| `uav.cpp` | CBoard (CAN) | 单线程 | 无人机自瞄 + 打符，按模式切换 |
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| `uav_debug.cpp` | CBoard (CAN) | 单线程 | 无人机调试版，含重投影可视化和 PlotJuggler 数据输出 |
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```bash
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./build/uav configs/uav.yaml
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./build/uav_debug configs/uav.yaml
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```
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### 哨兵（Sentry）
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| 文件 | 设备 | 线程 | 说明 |
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|------|------|------|------|
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| `sentry.cpp` | CBoard (CAN) | 单线程 | 哨兵基础版，全向感知 + ROS2 通信 |
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| `sentry_multithread.cpp` | CBoard (CAN) | 多线程 | 哨兵多线程版，全向感知 + ROS2 |
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| `sentry_bp.cpp` | CBoard (CAN) | 单线程 | 哨兵 + 后置摄像头，全向感知 + ROS2 |
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| `sentry_debug.cpp` | CBoard (CAN) | 单线程 | 哨兵调试版，含可视化 + ROS2 |
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```bash
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./build/sentry configs/sentry.yaml
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./build/sentry_multithread configs/sentry.yaml
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```
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### 调试程序（Debug）
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| 文件 | 设备 | 线程 | 说明 |
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|------|------|------|------|
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| `auto_aim_debug_mpc.cpp` | Gimbal (串口) | 多线程 | 自瞄 MPC 调试，含重投影可视化和 PlotJuggler 数据 |
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| `mt_auto_aim_debug.cpp` | CBoard (CAN) | 多线程 | 多线程自瞄调试，含可视化，支持自瞄 + 打符 |
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| `auto_buff_debug.cpp` | CBoard (CAN) | 单线程 | 打符调试，含可视化和 PlotJuggler 数据 |
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| `auto_buff_debug_mpc.cpp` | Gimbal (串口) | 单线程 | 打符 MPC 调试，含可视化和 PlotJuggler 数据 |
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```bash
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./build/auto_aim_debug_mpc configs/sentry.yaml
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./build/mt_auto_aim_debug configs/sentry.yaml
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./build/auto_buff_debug configs/uav.yaml
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./build/auto_buff_debug_mpc configs/uav.yaml
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```
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## 设备对比
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- CBoard (CAN)：通过 CAN 总线通信，发送 `Command{control, shoot, yaw, pitch}`，适用于 C 板下位机
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- Gimbal (串口)：通过 USB 串口通信，发送 `pos/vel/acc`，配合 MPC 规划器使用，适用于达妙 MC02
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## 测试用例
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测试用例位于 `test/` 子目录，用于单独验证各模块功能，详见 [test/](test/) 目录。
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120
src/task/balance_infantry.cpp
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120
src/task/balance_infantry.cpp
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#include <fmt/core.h>
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#include <chrono>
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#include <nlohmann/json.hpp>
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#include <opencv2/opencv.hpp>
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#include "src/device/camera.hpp"
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#include "src/device/cboard.hpp"
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#include "src/module/auto_aim/aimer.hpp"
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#include "src/module/auto_aim/shooter.hpp"
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#include "src/module/auto_aim/solver.hpp"
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#include "src/module/auto_aim/tracker.hpp"
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#include "src/module/auto_aim/yolo.hpp"
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#include "src/module/auto_buff/buff_aimer.hpp"
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#include "src/module/auto_buff/buff_detector.hpp"
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#include "src/module/auto_buff/buff_solver.hpp"
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#include "src/module/auto_buff/buff_target.hpp"
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#include "src/module/auto_buff/buff_type.hpp"
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#include "src/component/exiter.hpp"
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#include "src/component/img_tools.hpp"
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#include "src/component/logger.hpp"
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#include "src/component/math_tools.hpp"
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#include "src/component/plotter.hpp"
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#include "src/component/recorder.hpp"
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using namespace std::chrono;
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const std::string keys =
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"{help h usage ? | | 输出命令行参数说明}"
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"{@config-path | configs/standard4.yaml | 位置参数，yaml配置文件路径 }";
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int main(int argc, char * argv[])
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{
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cv::CommandLineParser cli(argc, argv, keys);
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auto config_path = cli.get<std::string>(0);
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if (cli.has("help") || config_path.empty()) {
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cli.printMessage();
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return 0;
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}
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component::Exiter exiter;
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component::Plotter plotter;
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component::Recorder recorder;
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device::CBoard cboard(config_path);
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device::Camera camera(config_path);
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auto_aim::YOLO detector(config_path, false);
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auto_aim::Solver solver(config_path);
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auto_aim::Tracker tracker(config_path, solver);
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auto_aim::Aimer aimer(config_path);
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auto_aim::Shooter shooter(config_path);
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auto_buff::Buff_Detector buff_detector(config_path);
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auto_buff::Solver buff_solver(config_path);
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auto_buff::SmallTarget buff_small_target;
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auto_buff::BigTarget buff_big_target;
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auto_buff::Aimer buff_aimer(config_path);
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cv::Mat img;
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Eigen::Quaterniond q;
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std::chrono::steady_clock::time_point t;
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auto mode = device::Mode::idle;
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auto last_mode = device::Mode::idle;
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while (!exiter.exit()) {
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camera.read(img, t);
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q = cboard.imu_at(t - 1ms);
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mode = cboard.mode;
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if (last_mode != mode) {
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component::logger()->info("Switch to {}", device::MODES[mode]);
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last_mode = mode;
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}
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solver.set_R_gimbal2world(q);
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Eigen::Vector3d ypr = component::eulers(solver.R_gimbal2world(), 2, 1, 0);
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/// 自瞄
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if (mode == device::Mode::auto_aim || mode == device::Mode::outpost) {
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auto armors = detector.detect(img);
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auto targets = tracker.track(armors, t);
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auto command = aimer.aim(targets, t, cboard.bullet_speed);
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command.shoot = shooter.shoot(command, aimer, targets, ypr);
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cboard.send(command);
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}
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/// 打符
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else if (mode == device::Mode::small_buff || mode == device::Mode::big_buff) {
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buff_solver.set_R_gimbal2world(q);
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auto power_runes = buff_detector.detect(img);
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buff_solver.solve(power_runes);
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device::Command buff_command;
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if (mode == device::Mode::small_buff) {
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buff_small_target.get_target(power_runes, t);
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auto target_copy = buff_small_target;
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buff_command = buff_aimer.aim(target_copy, t, cboard.bullet_speed, true);
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} else if (mode == device::Mode::big_buff) {
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buff_big_target.get_target(power_runes, t);
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auto target_copy = buff_big_target;
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buff_command = buff_aimer.aim(target_copy, t, cboard.bullet_speed, true);
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}
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cboard.send(buff_command);
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}
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else
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continue;
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}
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return 0;
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}
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142
src/task/balance_infantry_mpc.cpp
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142
src/task/balance_infantry_mpc.cpp
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#include <chrono>
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#include <opencv2/opencv.hpp>
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#include <thread>
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#include "src/device/camera.hpp"
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#include "src/device/dm_imu/dm_imu.hpp"
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#include "src/module/auto_aim/aimer.hpp"
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#include "src/module/auto_aim/multithread/commandgener.hpp"
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#include "src/module/auto_aim/multithread/mt_detector.hpp"
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#include "src/module/auto_aim/shooter.hpp"
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#include "src/module/auto_aim/solver.hpp"
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#include "src/module/auto_aim/tracker.hpp"
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#include "src/module/auto_buff/buff_aimer.hpp"
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#include "src/module/auto_buff/buff_detector.hpp"
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#include "src/module/auto_buff/buff_solver.hpp"
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#include "src/module/auto_buff/buff_target.hpp"
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#include "src/module/auto_buff/buff_type.hpp"
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#include "src/component/exiter.hpp"
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#include "src/component/img_tools.hpp"
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#include "src/component/logger.hpp"
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#include "src/component/math_tools.hpp"
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#include "src/component/plotter.hpp"
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#include "src/component/recorder.hpp"
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const std::string keys =
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"{help h usage ? | | 输出命令行参数说明}"
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"{@config-path | configs/standard4.yaml | yaml配置文件路径 }";
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using namespace std::chrono_literals;
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int main(int argc, char * argv[])
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{
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cv::CommandLineParser cli(argc, argv, keys);
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auto config_path = cli.get<std::string>("@config-path");
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if (cli.has("help") || !cli.has("@config-path")) {
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cli.printMessage();
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return 0;
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}
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component::Exiter exiter;
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component::Plotter plotter;
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component::Recorder recorder;
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device::Gimbal gimbal(config_path);
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device::Camera camera(config_path);
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auto_aim::YOLO yolo(config_path, true);
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auto_aim::Solver solver(config_path);
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auto_aim::Tracker tracker(config_path, solver);
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auto_aim::Planner planner(config_path);
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component::ThreadSafeQueue<std::optional<auto_aim::Target>, true> target_queue(1);
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target_queue.push(std::nullopt);
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auto_buff::Buff_Detector buff_detector(config_path);
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auto_buff::Solver buff_solver(config_path);
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auto_buff::SmallTarget buff_small_target;
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auto_buff::BigTarget buff_big_target;
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auto_buff::Aimer buff_aimer(config_path);
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cv::Mat img;
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Eigen::Quaterniond q;
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std::chrono::steady_clock::time_point t;
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std::atomic<bool> quit = false;
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std::atomic<device::GimbalMode> mode{device::GimbalMode::IDLE};
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auto last_mode{device::GimbalMode::IDLE};
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auto plan_thread = std::thread([&]() {
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while (!quit) {
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if (!target_queue.empty() && mode == device::GimbalMode::AUTO_AIM) {
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auto target = target_queue.front();
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auto gs = gimbal.state();
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auto plan = planner.plan(target, gs.bullet_speed);
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gimbal.send(
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plan.control, plan.fire, plan.yaw, plan.yaw_vel, plan.yaw_acc, plan.pitch, plan.pitch_vel,
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plan.pitch_acc);
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std::this_thread::sleep_for(10ms);
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} else
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std::this_thread::sleep_for(200ms);
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}
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});
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while (!exiter.exit()) {
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mode = gimbal.mode();
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if (last_mode != mode) {
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component::logger()->info("Switch to {}", gimbal.str(mode));
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last_mode = mode.load();
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}
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camera.read(img, t);
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auto q = gimbal.q(t);
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auto gs = gimbal.state();
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recorder.record(img, q, t);
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solver.set_R_gimbal2world(q);
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/// 自瞄
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if (mode.load() == device::GimbalMode::AUTO_AIM) {
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auto armors = yolo.detect(img);
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auto targets = tracker.track(armors, t);
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if (!targets.empty())
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target_queue.push(targets.front());
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else
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target_queue.push(std::nullopt);
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}
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/// 打符
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else if (mode.load() == device::GimbalMode::SMALL_BUFF || mode.load() == device::GimbalMode::BIG_BUFF) {
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buff_solver.set_R_gimbal2world(q);
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auto power_runes = buff_detector.detect(img);
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buff_solver.solve(power_runes);
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auto_aim::Plan buff_plan;
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if (mode.load() == device::GimbalMode::SMALL_BUFF) {
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buff_small_target.get_target(power_runes, t);
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auto target_copy = buff_small_target;
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buff_plan = buff_aimer.mpc_aim(target_copy, t, gs, true);
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} else if (mode.load() == device::GimbalMode::BIG_BUFF) {
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buff_big_target.get_target(power_runes, t);
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auto target_copy = buff_big_target;
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buff_plan = buff_aimer.mpc_aim(target_copy, t, gs, true);
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}
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gimbal.send(
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buff_plan.control, buff_plan.fire, buff_plan.yaw, buff_plan.yaw_vel, buff_plan.yaw_acc,
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buff_plan.pitch, buff_plan.pitch_vel, buff_plan.pitch_acc);
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} else
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gimbal.send(false, false, 0, 0, 0, 0, 0, 0);
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}
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quit = true;
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if (plan_thread.joinable()) plan_thread.join();
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gimbal.send(false, false, 0, 0, 0, 0, 0, 0);
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return 0;
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}
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