Refactor omni-b and add omni-c hardware

.github/workflows/update-image.yml

@@ -8,6 +8,7 @@ on:
  paths:
  - Dockerfile
  - .github/workflows/update-image.yml
+ - .script/template/
  - .script/build-rmcs-cross
  - rmcs_ws/toolchain.cmake
 

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "rmcs_ws/src/fast_tf"]
 	path = rmcs_ws/src/fast_tf
 	url = https://github.com/qzhhhi/FastTF.git
+[submodule "rmcs_ws/src/rmcs_auto_aim_v2"]
+	path = rmcs_ws/src/rmcs_auto_aim_v2
+	url = https://github.com/Alliance-Algorithm/rmcs_auto_aim_v2.git

.script/autoaim-debug

@@ -0,0 +1,71 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+SESSION="autoaim-debug"
+
+usage() {
+ cat <<'EOF'
+Usage: autoaim-debug <local|remote>
+
+ local Start autoaim debug tmux session locally.
+ remote Start autoaim debug tmux session on ssh remote.
+EOF
+}
+
+write_start_script() {
+ local path="$1"
+ cat >"${path}" <<'SCRIPT'
+set -euo pipefail
+
+SESSION="autoaim-debug"
+
+if [[ -f "${HOME}/env_setup.bash" ]]; then
+ ENV_SETUP="${HOME}/env_setup.bash"
+elif [[ -f "/root/env_setup.bash" ]]; then
+ ENV_SETUP="/root/env_setup.bash"
+else
+ echo "env_setup.bash not found in \$HOME or /root" >&2
+ exit 1
+fi
+
+tmux kill-session -t "${SESSION}" 2>/dev/null || true
+
+tmux new-session -d -s "${SESSION}" -n "foxglove" \
+ "bash -lc 'source \"${ENV_SETUP}\" && ros2 launch foxglove_bridge foxglove_bridge_launch.xml'"
+
+tmux new-window -t "${SESSION}" -n "streamer" \
+ "bash -lc '/opt/autoaim/bin/start-streamer'"
+SCRIPT
+ chmod +x "${path}"
+}
+
+if [[ $# -ne 1 ]]; then
+ usage
+ exit 1
+fi
+
+case "$1" in
+local)
+ tmp=$(mktemp)
+ trap 'rm -f "${tmp}"' EXIT
+ write_start_script "${tmp}"
+ bash "${tmp}"
+ tmux has-session -t "${SESSION}"
+ echo "autoaim-debug local started in tmux session: ${SESSION}"
+ echo "Attach with: tmux attach -t ${SESSION}"
+ ;;
+remote)
+ tmp=$(mktemp)
+ trap 'rm -f "${tmp}"' EXIT
+ write_start_script "${tmp}"
+ scp -q "${tmp}" remote:/tmp/autoaim-debug-start.sh
+ ssh-remote "bash /tmp/autoaim-debug-start.sh && rm -f /tmp/autoaim-debug-start.sh && tmux has-session -t ${SESSION}"
+ echo "autoaim-debug remote started in tmux session: ${SESSION}"
+ echo "Attach with: ssh-remote \"tmux attach -t ${SESSION}\""
+ ;;
+*)
+ usage
+ exit 1
+ ;;
+esac

.script/complete/_local-context

@@ -0,0 +1,22 @@
+#compdef local-context
+
+_arguments \
+ '1:key:(game_stage robot_health robot_bullet)' \
+ '2:value:->value'
+
+case "$state" in
+ value)
+ case "${words[2]}" in
+ game_stage)
+ _values 'game stage' \
+ not_start \
+ preparation \
+ referee_check \
+ countdown \
+ started \
+ settling \
+ unknown
+ ;;
+ esac
+ ;;
+esac

.script/complete/_remote-context

@@ -0,0 +1,22 @@
+#compdef remote-context
+
+_arguments \
+ '1:key:(game_stage robot_health robot_bullet)' \
+ '2:value:->value'
+
+case "$state" in
+ value)
+ case "${words[2]}" in
+ game_stage)
+ _values 'game stage' \
+ not_start \
+ preparation \
+ referee_check \
+ countdown \
+ started \
+ settling \
+ unknown
+ ;;
+ esac
+ ;;
+esac

.script/host/rmcs

@@ -6,19 +6,24 @@ readonly DEVELOPER_NAME="ubuntu"
 readonly NVIM_PATH="/opt/nvim/bin/nvim"
 readonly NVIM_PORT=6666
 readonly NVIM_HOST="localhost"
+readonly RMCS_PATH="/workspaces/RMCS/"
 
 function show_help() {
  local project_dir="$1"
  local service="$2"
- echo "Usage: $(basename "$0") [path] [zsh|n|nvim|neovide|vim|ide]"
+ echo "Usage: $(basename "$0") [path] [zsh|recreate|n|nvim|neovide|vim|ide|ai]"
  echo " Project dir: $project_dir"
  echo " Service: $service"
 }
 
+function setup_container() {
+ docker compose up -d --no-recreate
+}
+
 function rmcs_zsh() {
  local service="$1"
  echo "Starting and entering container..."
-docker compose up -d
+setup_container
  docker compose exec "$service" zsh
 }
 
@@ -29,7 +34,7 @@ function rmcs_nvim() {
  local port=$NVIM_PORT
 
  echo "Starting container..."
-docker compose up -d
+setup_container
 
  echo "Checking available port and starting nvim headless server..."
  while nc -z "$NVIM_HOST" "$port" 2>/dev/null; do
@@ -38,7 +43,7 @@ function rmcs_nvim() {
  done
 
  echo "Starting nvim server on port $port..."
- docker compose exec -u "$DEVELOPER_NAME" -d "$service" \
+ docker compose exec -u "$DEVELOPER_NAME" -w "$RMCS_PATH" -d "$service" \
  "$NVIM_PATH" --headless --listen "$NVIM_HOST:$port"
 
  for i in $(seq 1 $timeout); do
@@ -60,6 +65,20 @@ function rmcs_nvim() {
  fi
 }
 
+function rmcs_recreate() {
+ echo "Recreating container..."
+ docker compose up -d --force-recreate
+}
+
+function rmcs_ai() {
+ local service="$1"
+ local agent="${RMCS_AGENT:-opencode}"
+ echo "Starting container and launching Agent ($agent)..."
+ setup_container
+ docker compose exec -u "$DEVELOPER_NAME" -w "$RMCS_PATH" "$service" \
+ zsh -ic "exec ${agent}"
+}
+
 function main() {
  local project_dir command
 
@@ -84,9 +103,15 @@ function main() {
  zsh)
  rmcs_zsh "$service"
  ;;
+ recreate)
+ rmcs_recreate
+ ;;
  n | nvim | neovide | vim | ide)
  rmcs_nvim "$service"
  ;;
+ ai)
+ rmcs_ai "$service"
+ ;;
  *)
  show_help "$project_dir" "$service"
  ;;