feat: Fold climbable-infantry into maintained steering-infantry

[qzhhhi]

• Convert the active climbable-infantry line into the maintained steering-infantry variant. Remove the stair-climbing control chain and dedicated climber motors, revert the temporary VT13 / merged-remote stack back to pure DR16, and rename the cleaned result back to steering-infantry because the historical steering-infantry is no longer maintained.
• Update SteeringInfantry to the rmcs-board-lite split top/bottom board path and refresh its bringup config for the current robot. Also restore the original /gimbal/calibrate and /steers/calibrate semantics, remove the temporary yaw watchdog path, make pitch control explicitly use LK velocity commands, and recover accidentally removed mainline content while keeping only the required steering-infantry merge delta.

Update librmcs from v3.2.0b0 to v3.2.0 for the required board-lite SDK.

变更概览

本 PR 将活跃的 climbable-infantry 行合并为维护分支 steering-infantry，保留 steering-infantry 的实现路径并折叠 climbable-infantry 的改动。目标是简化硬件/控制栈、恢复主线遥控栈并迁移到 board-lite SDK。主要变更包括配置、依赖与硬件实现重构，并恢复若干控制语义。

核心目标（来自 PR 描述）

• 将 climbable-infantry 的改动折叠入 maintained steering-infantry。
• 移除爬梯（stair-climbing）控制链与专用爬梯电机。
• 将临时 VT13/merged-remote 堆栈还原为纯 DR16。
• 将清理后的结果命名回 steering-infantry（原历史 steering-infantry 已不再维护）。
• 使 SteeringInfantry 采用 rmcs-board-lite 的 top/bottom 分离板路径，并刷新当前机器的 bringup 配置。
• 恢复原始 /gimbal/calibrate 与 /steers/calibrate 语义。
• 移除临时的 yaw 看门狗路径。
• 使 pitch 控制明确使用 LK 速度命令。
• 恢复意外被移除的主线内容，仅保留 steering-infantry 合并的差异。
• 将 librmcs 从 v3.2.0b0 升级到 v3.2.0，以获得 board-lite SDK。

主要文件变更摘要

1. rmcs_ws/src/rmcs_bringup/config/steering-infantry.yaml

• 组件别名与 rmcs_executor 映射调整：将 SteeringInfantry 硬件别名改为 infantry_hardware；启用 referee_ui_infantry 的映射等。
• 云台/舵机 PID 与话题路径调整：更新 pitch_angle_pid_controller、yaw_angle_pid_controller 的测量/控制/设定话题与 PID 参数，新增并启用 yaw_velocity_pid_controller（用于偏航速度控制）。
• 硬件序列号、电机零点、gimbal_controller 限值更新；摩擦轮目标速度从 600.0 调整为 590.0，软启动/停止时间从 1.0 调为 0.3。
• 射击子系统参数调整：bullet_feeder_controller 的 bullets_per_feeder_turn 与 shot_frequency 变更；shooting_recorder 的 friction_wheel_count 与 log_mode 更新；bullet_feeder_velocity_pid_controller、steering_wheel_controller 的若干参数（kp/ki/kd、mess、moment_of_inertia、vehicle_radius）被修改。
• 恢复并重组交互/裁判相关映射（Interaction/Ui/Command 等）。

2. rmcs_ws/src/rmcs_core/CMakeLists.txt

• 将 FetchContent 中的 librmcs 版本从 v3.2.0-beta.0 切换到 v3.2.0，并更新对应的下载哈希（SHA256），以获取 board-lite SDK 支持。

3. rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp

• 将板基类从 CBoard 切换为 RmcsBoardLite，重构 TopBoard/BottomBoard 的实现以匹配 board-lite 分离式上/下板设计。
• TopBoard 调整：
  • 统一使用 imu_ 命名并更新 IMU 输出引用（仍使用 device::Bmi088 作为 IMU）。
  • 修改 CAN 命令/接收映射：俯仰相关 CAN ID 切换到 0x143，摩擦舵机接收 ID 从 0x203/0x204 改为 0x201/0x202。
  • command_update 中的 CAN 打包/发送顺序与速度命令生成逻辑被重写。
  • 校准回调中 steers 零点日志改为引用 BottomBoard 重组后的前/后舵机分组结构。
• BottomBoard 调整：
  • 移除基于 can_transmission_mode_ 的分支发送逻辑，改为固定多 CAN 通道发送：can0（后轮/后舵机/超容）、can1（前轮/前舵机）、can2（云台 yaw 扭矩，ID 0x142）、can3（弹丸供弹，ID 0x1FF）。
  • 接收回调按 can0/can1/can2/can3 映射回填对应电机/供电/云台状态；uart0 收到数据写入 referee_ring_buffer_receive_，DBus 数据写入 dr16_。
  • 成员结构重组：移除外层模式/功率计输出成员，电机数组由较大数组收敛为前/后分组的更小数组，yaw 速度从 imu_.gy() 改为 imu_.gz() 写入 chassis_yaw_velocity_imu_，并将 dr16_ 与相关回调内聚到 BottomBoard。
• 整体上对 CAN ID、发送/接收映射、成员命名与数据流做了广泛重构以适配 board-lite 与 DR16 恢复。

风险与审查要点（从改动体量与性质推断）

• 大量 CAN ID 与发送/接收路径变更，需在实际硬件上验证电机/云台/供电的 CAN 映射与方向是否正确。
• board-lite 基类切换与成员重组可能影响原先其它模块对 SteeringInfantry 成员或话题的假设（注意外部接口兼容性）。
• PID 与控制器话题的变更需要在闭环下进行调参验证，尤其 yaw_velocity_pid 的新增与 friction wheel、feeder 的参数修改。
• 依赖版本变更（librmcs v3.2.0）需在 CI/构建环境中验证下载校验与编译兼容性。

其他元信息

• 作者：qzhhhi 请求 @coderabbitai 审核；CodeRabbit 机器人触发了自动回复，当前无人工审阅评论。
• 提交信息较简短（单条 commit message："fix naming"），PR 描述提供了意图和要点。

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No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro

Run ID: 27343a95-35d1-4539-acf3-f766142e22d7

📥 Commits

Reviewing files that changed from the base of the PR and between 78d0ed2 and 841eda7.

📒 Files selected for processing (2)

• rmcs_ws/src/rmcs_bringup/config/steering-infantry.yaml
• rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp

🚧 Files skipped from review as they are similar to previous changes (2)

• rmcs_ws/src/rmcs_bringup/config/steering-infantry.yaml
• rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp

---

Walkthrough

更新 bringup 配置（组件别名、PID 路由与参数、射击与摩擦轮参数）、升级 librmcs 依赖；将 SteeringInfantry 的 TopBoard 迁移到 RmcsBoardLite 并重写 CAN 收发；BottomBoard 重构为多 CAN 通道与前/后电机分组，状态封装与接收路径迁移。

变更清单

硬件架构迁移与配置更新

Layer / File(s)	Summary
配置与依赖更新 rmcs_ws/src/rmcs_bringup/config/steering-infantry.yaml, rmcs_ws/src/rmcs_core/CMakeLists.txt	更新 rmcs_executor 组件别名（steeringInfantry_hardware -> infantry_hardware）、启用 referee_ui_infantry、新增/调整 yaw_velocity_pid_controller 的映射与 PID 参数；调整 friction wheel、bullet feeder 与 shooting_recorder 参数；将 librmcs SDK 版本由 v3.2.0-beta.0 -> v3.2.0 并更新 URL_HASH。
TopBoard 基类迁移与收发逻辑重写 rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp (头部、构造与 TopBoard 相关段落)	TopBoard 基类从 CBoard 改为 RmcsBoardLite，IMU 状态变量统一为 imu_，重写 command_update() 以更改 can1 打包顺序与 can2 俯仰命令 CAN ID（0x143），并修改接收回调以使用新 CAN ID 集合；校准回调读取 BottomBoard 前/后舵机分组成员。
BottomBoard 重构：多 CAN 通道与成员重组 rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp (BottomBoard 构造、update、command_update、成员声明段落)	移除基于 can_transmission_mode_ 的分支，固定使用 can0/can1/can2/can3 发送（后/前轮、后/前舵机、yaw 扭矩 (0x142)、弹丸供弹器 (0x1FF)）；接收按 can0..can3 分派回填电机与电源、将 uart0 的 referee 数据写入 referee_ring_buffer_receive_，dbus 数据写入 dr16_；将 imu_、dr16_ 等状态封装进 BottomBoard，电机数组按前/后各 [2] 重组，yaw 速度来源改为 imu_.gz()。

Sequence Diagram(s)

sequenceDiagram
participant SteeringInfantry
participant TopBoard
participant CAN0
participant CAN1
participant CAN2
participant CAN3
participant BottomBoard
participant IMU
SteeringInfantry->>TopBoard: call command_update()
TopBoard->>CAN1: send friction motor cmds (packed order)
TopBoard->>CAN2: send pitch motor cmd (CAN ID 0x143)
CAN1->>BottomBoard: motor status frames (0x201/0x202)
CAN2->>BottomBoard: pitch status frames (0x143)
BottomBoard->>IMU: read imu_ (accel/gyro -> imu_.gz())
BottomBoard->>CAN0: send rear wheel & rear steering cmds
BottomBoard->>CAN3: send bullet feeder cmds (0x1FF)
BottomBoard->>SteeringInfantry: update dr16_/state outputs

Loading

估计代码审查工作量

🎯 4 (Complex) | ⏱️ ~45 minutes

诗·兔语祝福

舵板换新装，线缆轻声唱，
CAN 路径分明，前后列队忙；
imu 细声数，电机步伐稳，
兔儿跳一跃，硬件焕新光。 🐇

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

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.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	PR标题清晰准确地总结了主要变更内容：将climbable-infantry功能整合到maintained steering-infantry中，这与所有文件修改（配置更新、CMakeLists.txt依赖升级、硬件实现重构）的核心目标相符。
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.

_{✏️ Tip: You can configure your own custom pre-merge checks in the settings.}

✨ 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/steering-infantry

Warning

There were issues while running some tools. Please review the errors and either fix the tool's configuration or disable the tool if it's a critical failure.

🔧 Infer (1.2.0)

rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp

rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp:10:10: fatal error: 'eigen3/Eigen/Dense' file not found
10 | #include <eigen3/Eigen/Dense>
| ^~~~~~~~~~~~~~~~~~~~
1 error generated.
rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp:177:31-196:9: ERROR translating statement 'CompoundStmt'
Aborting translation of method 'rmcs_core::hardware::SteeringInfantry::TopBoard::command_update' in file 'rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp': "Assert_failure src/clang/cAst_utils.ml:249:53"
Uncaught Internal Error: "Assert_failure src/clang/cAst_utils.ml:249:53"
Error backtrace:
Raised at ClangFrontend__CAst_utils.get_decl_from_typ_ptr in file "src/clang/cAst_utils.ml", line 249, characters 53-65
Called from ClangFrontend__CTrans.CTrans_funct.get_destructor_decl_ref in file "src/clang/cTrans.ml", line 658, characters 12-59
Called from ClangFrontend__CTrans.CTrans_funct.destructor_calls.(fun) in file "src/clang/cTrans.ml", line 2048, characters 12-

... [truncated 2200 characters] ...

e 48, characters 6-141
Called from ClangFrontend__CFrontend_decl.CFrontend_decl_funct.add_method in file "src/clang/cFrontend_decl.ml" (inlined), line 54, characters 4-52
Called from ClangFrontend__CFrontend_decl.CFrontend_decl_funct.process_method_decl.add_method_if_create_procdesc in file "src/clang/cFrontend_decl.ml" (inlined), line 123, characters 16-158
Called from ClangFrontend__CFrontend_decl.CFrontend_decl_funct.process_method_decl in file "src/clang/cFrontend_decl.ml", line 126, characters 17-97
Called from ClangFrontend__CFrontend_decl.CFrontend_decl_funct.process_methods in file "src/clang/cFrontend_decl.ml" (inlined), line 270, characters 8-122
Called from Stdlib__List.iter in file "list.ml" (inlined), line 110, characters 12-15
Called from Stdlib__List.iter in file "list.ml" (

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🧹 Nitpick comments (1)

rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp (1)

122-123: 💤 Low value

参数命名建议：climbable_infantry 应更名为 steering_infantry

构造函数参数名 climbable_infantry 与类名 SteeringInfantry 不一致。根据 PR 目标，climbable-infantry 已被合并到 steering-infantry 中，建议统一命名以提高代码可读性。

♻️ 建议修改

- explicit TopBoard(- SteeringInfantry& climbable_infantry,- SteeringInfantryCommand& climbable_infantry_command, std::string_view board_serial = {})+ explicit TopBoard(+ SteeringInfantry& steering_infantry,+ SteeringInfantryCommand& steering_infantry_command, std::string_view board_serial = {})

同样适用于 BottomBoard 构造函数。

Also applies to: 245-246

🤖 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 `@rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp` around lines 122 -
123, Rename the constructor parameters that still use "climbable_infantry" to
match the class naming: change the parameter name climbable_infantry to
steering_infantry (and similarly climbable_infantry_command to
steering_infantry_command) in the SteeringInfantry constructor and any other
affected constructors (e.g., BottomBoard) so parameter names align with the
class SteeringInfantry; update all references inside the constructor body and
any delegating calls to use the new parameter names to avoid compilation errors.

🤖 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.
Nitpick comments:
In `@rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp`:
- Around line 122-123: Rename the constructor parameters that still use
"climbable_infantry" to match the class naming: change the parameter name
climbable_infantry to steering_infantry (and similarly
climbable_infantry_command to steering_infantry_command) in the SteeringInfantry
constructor and any other affected constructors (e.g., BottomBoard) so parameter
names align with the class SteeringInfantry; update all references inside the
constructor body and any delegating calls to use the new parameter names to
avoid compilation errors.

---

ℹ️ Review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro

Run ID: 5c266750-0b91-4337-a932-8248c2f90424

📥 Commits

Reviewing files that changed from the base of the PR and between b5ae6cb and 78d0ed2.

📒 Files selected for processing (3)

• rmcs_ws/src/rmcs_bringup/config/steering-infantry.yaml
• rmcs_ws/src/rmcs_core/CMakeLists.txt
• rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp

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