Dev

[Gcgc4514]

更新launcher pack，适配cpp20

Summary by Sourcery

Adapt referee launcher data structures and CI build configuration for C++20 support.

New Features:

• Extend launcher telemetry pack to include robot buff, launcher data, and dart client information.

Bug Fixes:

• Return the correct namespaced error code when transmit buffer size exceeds capacity.

Enhancements:

• Populate the expanded launcher pack with full robot status, buff, launcher, and dart client data before publishing.

Build:

• Update GitHub Actions test project to build with C++20 instead of C++17.

[sourcery-ai]

Reviewer's guide (collapsed on small PRs)

Reviewer's Guide

Updates the Referee launcher telemetry pack to carry richer data structures and adjusts the GitHub Actions build to use C++20, aligning runtime data publishing and CI with the new launcher data model and language standard.

Sequence diagram for publishing updated LauncherPack telemetry

sequenceDiagram
    participant Referee
    participant RefereeData as data_
    participant LauncherPack as lp_
    participant LauncherTopic as launcherpack_topic_
    participant Subscriber

    Referee->>RefereeData: read robot_status
    Referee->>RefereeData: read robot_buff
    Referee->>RefereeData: read launcher_data
    Referee->>RefereeData: read dart_client

    Referee->>LauncherPack: lp_.rs = data_.robot_status
    Referee->>LauncherPack: lp_.rb = data_.robot_buff
    Referee->>LauncherPack: lp_.ld = data_.launcher_data
    Referee->>LauncherPack: lp_.dc = data_.dart_client

    Referee->>LauncherTopic: Publish(lp_)
    LauncherTopic-->>Subscriber: deliver LauncherPack with rs, rb, ld, dc

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Class diagram for updated Referee LauncherPack data model

classDiagram
    class Referee {
      - LauncherPack lp_
      - ChassisPack cp_
      - StatusPack sp_
      - RefereeData data_
      - Topic~LauncherPack~ launcherpack_topic_
      - Topic~ChassisPack~ chassispack_topic_
      - Topic~StatusPack~ statuspack_topic_
    }

    class LauncherPack {
      RobotStatus rs
      RobotBuff rb
      LauncherData ld
      DartClient dc
    }

    class RefereeData {
      RobotStatus robot_status
      PowerHeat power_heat
      RobotBuff robot_buff
      LauncherData launcher_data
      DartClient dart_client
    }

    class RobotStatus {
      + uint16_t shooter_cooling_value
      + uint16_t shooter_heat_limit
      + uint16_t chassis_pwr_buff
      ..other_fields..
    }

    class RobotBuff {
      + int cooling_boost
      + int power_boost
      ..other_fields..
    }

    class LauncherData {
      + float launcher_id1_17_rate
      + float launcher_id2_17_rate
      ..other_fields..
    }

    class DartClient {
      + bool dart_launcher_available
      + uint8_t dart_count
      ..other_fields..
    }

    class PowerHeat {
      + uint16_t chassis_pwr_buff
      + uint16_t launcher_id1_17_heat
      ..other_fields..
    }

    class ChassisPack {
      RobotStatus rs
      uint16_t power_buffer
    }

    class StatusPack {
      RobotStatus rs
      GameStatus gs
    }

    class GameStatus {
      ..fields..
    }

    class Topic~T~ {
      + void Publish(T message)
    }

    Referee --> LauncherPack : uses
    Referee --> RefereeData : reads
    RefereeData --> RobotStatus
    RefereeData --> RobotBuff
    RefereeData --> LauncherData
    RefereeData --> DartClient
    RefereeData --> PowerHeat
    LauncherPack --> RobotStatus
    LauncherPack --> RobotBuff
    LauncherPack --> LauncherData
    LauncherPack --> DartClient
    ChassisPack --> RobotStatus
    StatusPack --> RobotStatus
    StatusPack --> GameStatus
    Referee --> Topic~LauncherPack~
    Referee --> Topic~ChassisPack~
    Referee --> Topic~StatusPack~

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File-Level Changes

Change	Details	Files
Extend launcher telemetry pack to carry full robot, buff, launcher, and dart data instead of a single heat field, and update population logic accordingly.	Redefine LauncherPack to include RobotStatus, RobotBuff, LauncherData, and DartClient fields instead of a single launcher heat value. Update data publishing logic to assign robot_status, robot_buff, launcher_data, and dart_client into the launcher pack before publishing. Remove the manual mapping of individual shooter cooling and heat fields into the launcher pack in favor of copying the full RobotStatus.	Referee.hpp
Fix error code qualification to use the LibXR namespace when transmit buffer size exceeds capacity.	Change return value from ErrorCode::ARG_ERR to LibXR::ErrorCode::ARG_ERR in the transmit size check.	Referee.hpp
Update CI test build configuration to use C++20 instead of C++17.	Change CMAKE_CXX_STANDARD from 17 to 20 in the GitHub Actions test CMakeLists generation script.	.github/workflows/build.yml

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[sourcery-ai]

Hey - I've left some high level feedback:

• Since LauncherPack is [[gnu::packed]] and now embeds additional structs (RobotBuff, LauncherData, DartClient), double-check that these types are trivially copyable/POD and safe to pack to avoid undefined behavior or misaligned accesses.
• The new LauncherPack layout replaces the old heat-only fields; make sure any code that serializes/deserializes or otherwise assumes the previous field order/size of this struct is updated to match the new schema.
• After switching the workflow test project to CMAKE_CXX_STANDARD 20, consider also specifying target_compile_features(xr_test PUBLIC cxx_std_20) in the generated CMakeLists to align with modern CMake practice and avoid relying solely on the global standard variable.

Prompt for AI Agents

Please address the comments from this code review:

## Overall Comments
- Since `LauncherPack` is `[[gnu::packed]]` and now embeds additional structs (`RobotBuff`, `LauncherData`, `DartClient`), double-check that these types are trivially copyable/POD and safe to pack to avoid undefined behavior or misaligned accesses.
- The new `LauncherPack` layout replaces the old heat-only fields; make sure any code that serializes/deserializes or otherwise assumes the previous field order/size of this struct is updated to match the new schema.
- After switching the workflow test project to `CMAKE_CXX_STANDARD 20`, consider also specifying `target_compile_features(xr_test PUBLIC cxx_std_20)` in the generated CMakeLists to align with modern CMake practice and avoid relying solely on the global standard variable.

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