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refactor(deformable-infantry): merge refactored chassis implementation and add pitch HUD #74

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2fdab68
refactor(deformable-chassis): merge refactored implementation and cle…
Yukikaze2233 May 8, 2026
e33df49
feat(ui): integrate pitch HUD into deformable infantry referee display
Yukikaze2233 May 10, 2026
91449f5
feat: add omni-b variant, unify calibration and CAN strategy across 3…
May 10, 2026
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42 changes: 41 additions & 1 deletion .script/build-rmcs-cross
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Original file line numberDiff line numberDiff line change
Expand Up@@ -7,15 +7,17 @@ set -euo pipefail
usage() {
cat <<'EOF'
Usage:
build-rmcs-cross --target-arch <arm64|amd64> [colcon build args...]
build-rmcs-cross --target-arch <arm64|amd64> [--link-default] [colcon build args...]

Examples:
build-rmcs-cross --target-arch arm64
build-rmcs-cross --target-arch arm64 --link-default
build-rmcs-cross --target-arch amd64 --packages-up-to rmcs_executor
EOF
}

target_arch=""
link_default=0
colcon_args=()

while (($# > 0)); do
Expand All@@ -33,6 +35,10 @@ while (($# > 0)); do
target_arch="${1#*=}"
shift
;;
--link-default)
link_default=1
shift
;;
-h | --help)
usage
exit 0
Expand DownExpand Up@@ -150,6 +156,30 @@ build_base="build-cross-${RMCS_TARGET_ARCH}"
install_base="install-cross-${RMCS_TARGET_ARCH}"
log_base="log-cross-${RMCS_TARGET_ARCH}"

check_default_linkable() {
local target="$1"
local link_name="$2"

if [[ ! -d "${target}" ]]; then
echo "> ERROR: Cross build output not found: ${workspace}/${target}"
exit 1
fi

if [[ -e "${link_name}" && ! -L "${link_name}" ]]; then
echo "> ERROR: Cannot link ${workspace}/${link_name} -> ${target}."
echo "> ${workspace}/${link_name} exists and is not a symlink. Move or remove it first."
exit 1
fi
}

link_default_base() {
local target="$1"
local link_name="$2"

ln -sfnT "${target}" "${link_name}"
echo "> Linked ${workspace}/${link_name} -> ${target}"
}

CLICOLOR_FORCE=1 NINJA_STATUS="" \
colcon \
--log-base "${log_base}" \
Expand All@@ -163,3 +193,13 @@ CLICOLOR_FORCE=1 NINJA_STATUS="" \
-DRMCS_TARGET_ARCH="${RMCS_TARGET_ARCH}" \
-DRMCS_SYSROOT="${RMCS_SYSROOT}" \
-DRMCS_TARGET_TRIPLET="${RMCS_TARGET_TRIPLET}"

if ((link_default)); then
check_default_linkable "${build_base}" build
check_default_linkable "${install_base}" install
check_default_linkable "${log_base}" log

link_default_base "${build_base}" build
link_default_base "${install_base}" install
link_default_base "${log_base}" log
fi
1 change: 1 addition & 0 deletions .script/complete/_build-rmcs-cross
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Expand Up@@ -2,4 +2,5 @@

_arguments \
'--target-arch=[Cross compile target architecture]:target:(arm64 amd64)' \
'--link-default[Link build/install/log to cross build output directories]' \
'*:colcon build args:'
28 changes: 26 additions & 2 deletions docs/zh-cn/cross_build.md
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Expand Up@@ -31,20 +31,44 @@
build-rmcs-cross --target-arch arm64
```

适用于 `linux/amd64` 的 `latest-full` 变体。
适用于 `linux/arm64` 的 `latest-full` 变体。

```bash
build-rmcs-cross --target-arch amd64
```

适用于 `linux/arm64` 的 `latest-full` 变体。
适用于 `linux/amd64` 的 `latest-full` 变体。

例如，可追加常见 `colcon build` 参数：

```bash
build-rmcs-cross --target-arch arm64 --packages-up-to rmcs_executor
```

若需要让现有 `sync-remote`、`env_setup` 等继续使用默认目录，可在 cross 构建成功后自动链接默认目录：

```bash
build-rmcs-cross --target-arch arm64 --link-default
```

链接方向等价于在 `rmcs_ws` 下执行：

```bash
ln -sfn build-cross-arm64 build
ln -sfn install-cross-arm64 install
ln -sfn log-cross-arm64 log
```

也就是创建或更新默认目录名，让 `build`、`install`、`log` 这三个软链接分别指向对应的 `*-cross-arm64` 目录。

切回 native 构建时，直接运行：

```bash
build-rmcs
```

`build-rmcs` 会自动识别上述 cross 默认软链接，删除软链接并恢复成普通目录。

## 4. 构建环境隔离约束

`build-rmcs-cross` 会显式清理并重建以下环境，避免 host/target 串用：
Expand Down
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