Add VT13 remote control and dual control arbitration

[floatpigeon]

VT13图传链路遥控接入与双遥控器仲裁

PR 摘要

通过视频传输链路新增 VT13 遥控接入，并实现 DR16 与 VT13 两类遥控器的输入仲裁。

主要变更

• 新增 VT13 数据帧解析、CRC 校验、状态维护及 500ms 超时失效机制。
• 重构 DR16 状态管理，增加数据有效性、状态重置及旋钮开关访问接口。
• 新增 RemoteControl，统一注册 DR16/VT13，并根据控制模式和设备有效性选择输入源。
• 在多种机器人硬件组件中接入远控更新流程及设备注册。
• 为 VT13 增加 UART0 接收、状态更新和缓冲区管理。
• 调整 AutoAimUi 配置条目顺序，不改变其参数内容。

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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 `@rmcs_ws/src/rmcs_core/src/hardware/device/dr16.hpp`:
- Around line 49-58: Resolve the cross-thread race in the DR16 status state by
making valid_ atomic and using acquire/release semantics for its writes and
reads. Update store_status(), refresh_validity(), update_status(), and valid()
consistently, and synchronize last_remote_control_received_at_ as well—either
protect both fields with the same mutex or use an atomic time
representation—while preserving the existing validity and
RemoteControl::update() behavior.

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Fix all unresolved CodeRabbit comments on this PR:

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

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Configuration used: Organization UI

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Plan: Pro

Run ID: a5d3fd9e-6cdd-4796-afe2-b4955972d969

📥 Commits

Reviewing files that changed from the base of the PR and between d49071c and 91fd222.

📒 Files selected for processing (10)

• rmcs_ws/src/rmcs_bringup/config/steering-hero-little-six-friction.yaml
• rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-omni-b.cpp
• rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-omni.cpp
• rmcs_ws/src/rmcs_core/src/hardware/device/dr16.hpp
• rmcs_ws/src/rmcs_core/src/hardware/device/remote_control.hpp
• rmcs_ws/src/rmcs_core/src/hardware/device/vt13.hpp
• rmcs_ws/src/rmcs_core/src/hardware/flight.cpp
• rmcs_ws/src/rmcs_core/src/hardware/omni_infantry.cpp
• rmcs_ws/src/rmcs_core/src/hardware/sentry.cpp
• rmcs_ws/src/rmcs_core/src/hardware/steering-hero-little-six-friction.cpp

[coderabbitai]

🩺 Stability & Availability | 🔴 Critical | ⚡ Quick win

valid_ / last_remote_control_received_at_ 存在跨线程数据竞争。

store_status()（第 49-51 行）在 UART 回调线程中以普通（非原子）方式写入 last_remote_control_received_at_ 与 valid_；而 update_status()/refresh_validity()（第 55-58、192-198 行）以及 valid()（第 155 行）在组件主更新线程读取/写入这两个字段，全程没有任何同步（不像 data_part1_/data_part2_/data_part3_ 已经是 std::atomic）。这是本 PR 新引入的未同步跨线程访问，属于未定义行为的数据竞争。

对比 vt13.hpp：其 valid_/last_remote_control_received_at_ 只在 update_status()（主线程）内部写入，store_status() 只写入环形缓冲区，因此没有这个问题——这恰好印证了 dr16.hpp 这里的不对称是个真实缺陷。

该竞争会直接影响 RemoteControl::update() 在全部 6 个硬件文件（deformable-infantry-omni-b.cpp、deformable-infantry-omni.cpp、flight.cpp、omni_infantry.cpp、sentry.cpp、steering-hero-little-six-friction.cpp）中基于 dr16_->valid() 的仲裁判断，因此在此处统一说明，不在各硬件文件重复。

🔒 建议修复：将 valid_ 改为原子变量并使用 acquire/release 语义

- Vector mouse_velocity_ = Vector::zero();- double mouse_wheel_ = 0.0;+ Vector mouse_velocity_ = Vector::zero();+ double mouse_wheel_ = 0.0;
@@
- double rotary_knob_ = 0.0;- rmcs_msgs::Switch rotary_knob_switch_ = rmcs_msgs::Switch::UNKNOWN;- TimePoint last_remote_control_received_at_ = TimePoint::min();- bool valid_ = false;+ double rotary_knob_ = 0.0;+ rmcs_msgs::Switch rotary_knob_switch_ = rmcs_msgs::Switch::UNKNOWN;+ TimePoint last_remote_control_received_at_ = TimePoint::min();+ std::atomic<bool> valid_ = false;

- last_remote_control_received_at_ = Clock::now();- valid_ = true;+ last_remote_control_received_at_ = Clock::now();+ valid_.store(true, std::memory_order::release);

 void update_status() {
const auto now = Clock::now();
refresh_validity(now);
- if (!valid_)+ if (!valid_.load(std::memory_order::acquire))
return;

 void refresh_validity(const TimePoint now) {
- if (!valid_ || now - last_remote_control_received_at_ <= kFreshTimeout)+ if (!valid_.load(std::memory_order::acquire)+ || now - last_remote_control_received_at_ <= kFreshTimeout)
return;
reset_remote_control_state();
- valid_ = false;+ valid_.store(false, std::memory_order::relaxed);
}

- bool valid() const noexcept { return valid_; }+ bool valid() const noexcept { return valid_.load(std::memory_order::acquire); }

Also applies to: 192-198, 279-280, 155-156

🤖 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/device/dr16.hpp` around lines 49 - 58,
Resolve the cross-thread race in the DR16 status state by making valid_ atomic
and using acquire/release semantics for its writes and reads. Update
store_status(), refresh_validity(), update_status(), and valid() consistently,
and synchronize last_remote_control_received_at_ as well—either protect both
fields with the same mutex or use an atomic time representation—while preserving
the existing validity and RemoteControl::update() behavior.