Dev

.github/workflows/build.yml

@@ -10,58 +10,108 @@ jobs:
   build:
     runs-on: ubuntu-latest
     container:
-      image: ghcr.io/xrobot-org/docker-image-stm32:main
+      image: ghcr.io/xrobot-org/docker-image-linux:main
       options: --user 0
 
     env:
       XR_MODULE_NAME: ${{ github.event.repository.name }}
 
     steps:
-      - name: install pip packages
-        run: pip install libxr xrobot
-
-      - name: Checkout bsp-dev-c
+      - name: Checkout current module repo to ./Modules/${{ env.XR_MODULE_NAME }}
         uses: actions/checkout@v4
         with:
-          repository: QDU-Robomaster/bsp-dev-c
-          path: bsp-dev-c
+          path: Modules/${{ env.XR_MODULE_NAME }}
 
-      - name: config libxr
-        run: cd bsp-dev-c && xr_cubemx_cfg -d ./ --xrobot
+      - name: Create main.cpp
+        run: |
+          cat > main.cpp <<'EOF'
+          #include <iostream>
+          #include "xrobot_main.hpp"
+          #include "libxr.hpp"
+
+          int main() {
+              LibXR::PlatformInit();
+              LibXR::STDIO::Printf("This is XRobot Module Template Test\n");
+              LibXR::HardwareContainer hw;
+              XRobotMain(hw);
+              return 0;
+          }
+          EOF
+
+      - name: Create minimal CMakeLists.txt
+        run: |
+          cat > CMakeLists.txt <<'EOF'
+          project(xrobot_mod_test CXX)
+          set(CMAKE_CXX_STANDARD 17)
+          add_executable(xr_test main.cpp)
+          set(XROBOT_MODULES_DIR ${CMAKE_CURRENT_SOURCE_DIR}/Modules/)
+          add_subdirectory(libxr)
+          target_include_directories(xr_test PUBLIC $<TARGET_PROPERTY:xr,INTERFACE_INCLUDE_DIRECTORIES> ${CMAKE_SOURCE_DIR}/User)
+          target_link_libraries(xr_test PUBLIC xr)
+          EOF
+
+      - name: Pull libxr to ./libxr
+        run: git clone --depth=1 https://github.com/Jiu-xiao/libxr ./libxr
+
+      - name: Checkout Referee module
+        uses: actions/checkout@v4
+        with:
+          repository: QDU-Robomaster/Referee
+          path: Modules/Referee
 
-      - name: Checkout current module repo to bsp-dev-c/Modules/${{ env.XR_MODULE_NAME }}
+      - name: Checkout CMD module
         uses: actions/checkout@v4
         with:
-          path: bsp-dev-c/Modules/${{ env.XR_MODULE_NAME }}
+          repository: QDU-Robomaster/CMD
+          path: Modules/CMD
 
       - name: Checkout SuperPower module
         uses: actions/checkout@v4
         with:
           repository: QDU-Robomaster/SuperPower
-          path: bsp-dev-c/Modules/SuperPower
+          path: Modules/SuperPower
 
-      - name: Checkout Matrix module
-        uses: actions/checkout@v4
-        with:
-          repository: QDU-Robomaster/Matrix
-          path: bsp-dev-c/Modules/Matrix
+      - name: Setup Python & Install deps
+        run: |
+          python3 -m pip install --upgrade pip
+          pip3 install pyyaml requests
 
-      - name: Add modules
+      - name: Add XRobot tools to PATH
         run: |
-          cd bsp-dev-c
-          rm -rf ./User/xrobot.yaml
-          xrobot_add_mod SuperPower --instance-id super_power
-          xrobot_add_mod PowerControl --instance-id power_control
-          cat ./User/xrobot.yaml
+          echo "$HOME/.local/bin" >> $GITHUB_PATH
 
-      - name: xrobot generate code
-        run: cd bsp-dev-c && xrobot_gen_main && cat ./User/xrobot_main.hpp
+      - name: Install xrobot toolchain
+        run: |
+          pip3 install xrobot libxr
 
+      - name: Run xrobot_setup
+        run: |
+          xrobot_setup || true
 
-      - name: config cmake
-        run: cd bsp-dev-c && export GCC_TOOLCHAIN_ROOT=/opt/arm-gnu-toolchain-14.2.rel1-x86_64-arm-none-eabi/bin && export CLANG_GCC_CMSIS_COMPILER=/opt/st-arm-clang && cmake . -DCMAKE_TOOLCHAIN_FILE:STRING=cmake/starm-clang.cmake -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=TRUE -Bbuild -G Ninja
-      - name: build
-        run: cd bsp-dev-c && cmake --build build
+      - name: Run xrobot_init_mod
+        run: |
+          xrobot_init_mod
+
+      - name: Add module
+        run: |
+          xrobot_add_mod BlinkLED --instance-id BlinkLED_0
+          xrobot_add_mod Referee --instance-id referee
+          xrobot_add_mod CMD --instance-id cmd
+          xrobot_add_mod SuperPower --instance-id superpower
+      - name: Add this repo module
+        run: |
+          xrobot_add_mod ${{ env.XR_MODULE_NAME }} && cat User/xrobot.yaml
+
+      - name: Generate main again
+        run: |
+          xrobot_setup
+
+      - name: Build
+        run: |
+          mkdir -p build
+          cd build
+          cmake ..
+          make
 
       - name: Create Tag via GitHub API
         if: ${{ success() && github.event_name != 'pull_request' }}
@@ -90,4 +140,3 @@ jobs:
               sha: sha
             });
             console.log(`Created tag: ${tagName} on sha: ${sha}`);
-

PowerControl.hpp

@@ -4,7 +4,7 @@
 module_name: PowerControl
 module_description: Power control for chassis (supports omni and helm wheel)
 constructor_args:
-  - superpower: '@&super_power'
+  - superpower: '@&superpower'
   - is_helm: false
   - chassis_static_power_loss: 3.5
   - motor_count_3508: 4
@@ -15,12 +15,11 @@ depends: []
 === END MANIFEST === */
 // clang-format on
 
+#include <Eigen/Core>
 #include <algorithm>
 #include <cmath>
 #include <cstdint>
 
-#include <Eigen/Core>
-
 #include "RLS.hpp"
 #include "SuperPower.hpp"
 #include "app_framework.hpp"
@@ -135,8 +134,8 @@ class PowerControl : public LibXR::Application {
     float mechanical_power = 0;
 
     for (int i = 0; i < motor_count_3508_; i++) {
-        samples_3508_(0, 0) += output_current_3508_[i] * output_current_3508_[i];
-        samples_3508_(1, 0) += rotorspeed_rpm_3508_[i] * rotorspeed_rpm_3508_[i];
+      samples_3508_(0, 0) += output_current_3508_[i] * output_current_3508_[i];
+      samples_3508_(1, 0) += rotorspeed_rpm_3508_[i] * rotorspeed_rpm_3508_[i];
       mechanical_power +=
           kt_3508_ * output_current_3508_[i] * rotorspeed_rpm_3508_[i];
     }
@@ -181,7 +180,7 @@ class PowerControl : public LibXR::Application {
 
   float GetMeasuredPower() const { return measured_power_; }
 
-  float GetPercent() { return superpower_->GetPercentage(); }
+  float GetCapEnergy() { return superpower_->GetCapEnergy(); }
 
   bool IsOnline() { return superpower_->IsOnline(); }
 

RLS.hpp

@@ -40,19 +40,21 @@ class RLS {
    * @brief 执行一次 RLS 更新
    * @param sampleVector 输入样本向量
    * @param actualOutput 实际输出
-     * @return const ParamVector& 当前参数估计
+   * @return const ParamVector& 当前参数估计
    */
-    const ParamVector& Update(const ParamVector& sample_vector, float actual_output) {
-    gainvector_ =
-      (transmatrix_ * sample_vector) /
-      (1.0f + (sample_vector.transpose() * transmatrix_ * sample_vector)(0, 0) / lambda_) /
-      lambda_;
+  const ParamVector& Update(const ParamVector& sample_vector,
+                            float actual_output) {
+    gainvector_ = (transmatrix_ * sample_vector) /
+                  (1.0f + (sample_vector.transpose() * transmatrix_ *
+                           sample_vector)(0, 0) /
+                              lambda_) /
+                  lambda_;
     paramsvector_ +=
-      gainvector_ *
-      (actual_output - (sample_vector.transpose() * paramsvector_)(0, 0));
-    transmatrix_ =
-      (transmatrix_ - gainvector_ * sample_vector.transpose() * transmatrix_) /
-        lambda_;
+        gainvector_ *
+        (actual_output - (sample_vector.transpose() * paramsvector_)(0, 0));
+    transmatrix_ = (transmatrix_ -
+                    gainvector_ * sample_vector.transpose() * transmatrix_) /
+                   lambda_;
 
     return paramsvector_;
   }