Refactor/merge dart

.devcontainer/devcontainer.json

@@ -2,7 +2,7 @@
 // README at: https://github.com/devcontainers/templates/tree/main/src/docker-existing-dockerfile
 {
 	"name": "rmcs-develop",
-	"image": "qzhhhi/rmcs-develop:latest",
+	"image": "qzhhhi/rmcs-	:latest",
 	"privileged": true,
 	"mounts": [
 		{

.env

@@ -0,0 +1,3 @@
+CONTAINER_USER=ubuntu
+CONTAINER_HOME=/home/${CONTAINER_USER}
+HOST_NVIM_DIR=${HOME}/.config/nvim

.github/workflows/update-image.yml

@@ -0,0 +1,49 @@
+name: Build and Push RMCS Images
+
+on:
+  workflow_dispatch:
+  push:
+    paths:
+    - 'Dockerfile'
+    branches:
+    - main
+
+jobs:
+  build-and-push:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
+    - name: Log in to Docker Hub
+      uses: docker/login-action@v3
+      with:
+        username: ${{ secrets.DOCKERHUB_USERNAME }}
+        password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+    - name: Set up SSH keys
+      run: |
+        echo "${{ secrets.CONTAINER_ID_RSA }}" > .ssh/id_rsa
+        echo "${{ secrets.CONTAINER_ID_RSA_PUB }}" > .ssh/id_rsa.pub
+        chmod 600 .ssh/id_rsa
+        chmod 644 .ssh/id_rsa.pub
+
+    - name: Build and push rmcs-develop:latest
+      uses: docker/build-push-action@v6
+      with:
+        context: .
+        push: true
+        target: rmcs-develop
+        tags: qzhhhi/rmcs-develop:latest
+
+    - name: Build and push rmcs-runtime:latest
+      uses: docker/build-push-action@v6
+      with:
+        context: .
+        push: true
+        target: rmcs-runtime
+        tags: qzhhhi/rmcs-runtime:latest

.gitignore

@@ -69,4 +69,7 @@ id_rsa.pub
 record/
 
 # For temperary development
-develop_ws
+develop_ws
+
+# Keep nested standalone repos out of the RMCS index.
+rmcs_ws/src/rmcs_dart_guidance/

.gitmodules

@@ -9,4 +9,4 @@
 	url = https://github.com/Alliance-Algorithm/ros2-hikcamera.git
 [submodule "rmcs_ws/src/serial"]
 	path = rmcs_ws/src/serial
-	url = git@github.com:Alliance-Algorithm/ros2-serial.git
+	url = https://github.com/Alliance-Algorithm/ros2-serial.git

.script/build-rmcs

@@ -2,6 +2,6 @@
 
 source /opt/ros/jazzy/setup.bash
 
-cd /workspaces/RMCS/rmcs_ws
+cd ${RMCS_PATH}/rmcs_ws
 
-colcon build --symlink-install --merge-install
+colcon build --symlink-install --merge-install $@

.script/clean-rmcs

@@ -1,3 +1,4 @@
 #! /bin/bash
 
-rm -rf /workspaces/RMCS/rmcs_ws/build /workspaces/RMCS/rmcs_ws/install /workspaces/RMCS/rmcs_ws/log
+rm -rf ${RMCS_PATH}/rmcs_ws/build ${RMCS_PATH}/rmcs_ws/install ${RMCS_PATH}/rmcs_ws/log
+

.script/complete/_play-autoaim

@@ -0,0 +1,6 @@
+#compdef play-autoaim
+
+_arguments \
+  '--user[指定远程用户名]:用户名:' \
+  '--remote[从设备拉取 SDP 到容器]' \
+  '--no-copy[跳过容器到宿主机的拷贝]'

.script/complete/_set-remote

@@ -0,0 +1,22 @@
+#compdef set-remote
+
+_remote_hosts() {
+  local hosts=(
+    "169.254.233.233"
+    "alliance-sentry.local"
+    "alliance-infantry.local"
+    "alliance-hero.local"
+  )
+
+  # 从 ~/.ssh/config 提取最近使用的 HostName
+  if [[ -f ~/.ssh/config ]]; then
+    local extracted
+    extracted=(${(f)"$(grep -A1 'Host remote' ~/.ssh/config | grep HostName | awk '{print $2}')"})
+    hosts+=(${extracted})
+  fi
+
+  compadd -- $hosts
+}
+
+_arguments \
+  '1:远程主机地址:_remote_hosts'

.script/play-autoaim

@@ -0,0 +1,69 @@
+#!/bin/sh
+
+set -e
+
+MONITOR_USER=""
+MONITOR_PLAYER="vlc"
+MONITOR_HOST="localhost"
+
+SDP_PATH="/tmp/auto_aim.sdp"
+
+USE_REMOTE=false
+SKIP_COPY=false
+
+# 参数解析
+while [ "$#" -gt 0 ]; do
+    case "$1" in
+    --user)
+        shift
+        [ -z "$1" ] && echo "❌ --user 参数缺失" && exit 1
+        MONITOR_USER="$1"
+        ;;
+    --remote)
+        USE_REMOTE=true
+        ;;
+    --no-copy)
+        SKIP_COPY=true
+        ;;
+    *)
+        echo "未知参数: $1"
+        echo "用法: $0 --user <用户名> [--remote] [--no-copy]"
+        exit 1
+        ;;
+    esac
+    shift
+done
+
+if [ -z "$MONITOR_USER" ]; then
+    echo "❌ 缺少 --user 参数"
+    echo "用法: play-autoaim --user <用户名> [--remote] [--no-copy]"
+    exit 1
+fi
+
+if [ "$USE_REMOTE" = true ]; then
+    scp remote:${SDP_PATH} ${SDP_PATH}
+    if [ $? -ne 0 ]; then
+        echo " 从 remote 拷贝失败。是否继续？(y/n)"
+        read -r answer
+        case "$answer" in
+        [Yy]*) echo " 继续执行后续操作…" ;;
+        *)
+            echo " 已取消。"
+            exit 1
+            ;;
+        esac
+    fi
+fi
+
+if [ "$SKIP_COPY" = false ]; then
+    scp "${SDP_PATH}" "${MONITOR_USER}@${MONITOR_HOST}:${SDP_PATH}"
+    if [ $? -ne 0 ]; then
+        echo " scp 拷贝失败"
+        exit 1
+    fi
+    echo " 文件已拷贝到宿主机：${SDP_PATH}"
+else
+    echo " 跳过拷贝，直接打开远程 SDP"
+fi
+
+ssh -f "${MONITOR_USER}@${MONITOR_HOST}" "DISPLAY=:0 ${MONITOR_PLAYER} '${SDP_PATH}' --network-caching=50"

.script/sync-remote

@@ -8,7 +8,7 @@ import subprocess
 from colorama import Fore, Style
 
 
-SRC_DIR = "/workspaces/RMCS/rmcs_ws/install"
+SRC_DIR = os.getenv("RMCS_PATH") + "/rmcs_ws/install"
 DST_DIR = "ssh://remote//rmcs_install"
 SOCKET_PATH = "/tmp/sync-remote"
 

.script/template/env_setup.bash

@@ -1,13 +1,15 @@
 #!/bin/bash
 
 export ROS_LOCALHOST_ONLY=1
+export RCUTILS_COLORIZED_OUTPUT=1
+export RMCS_PATH="/workspaces/RMCS"
 
 source /opt/ros/jazzy/setup.bash
 
 if [ -f "/rmcs_install/local_setup.bash" ]; then
     source /rmcs_install/local_setup.bash
-elif [ -f "/workspaces/RMCS/rmcs_ws/install/local_setup.bash" ]; then
-    source /workspaces/RMCS/rmcs_ws/install/local_setup.bash
+elif [ -f "${RMCS_PATH}/rmcs_ws/install/local_setup.bash" ]; then
+    source ${RMCS_PATH}/rmcs_ws/install/local_setup.bash
 fi
 
 export RMCS_ROBOT_TYPE=""

.script/template/env_setup.zsh

@@ -1,16 +1,22 @@
 #!/bin/bash
 
+export RCUTILS_COLORIZED_OUTPUT=1
 export ROS_LOCALHOST_ONLY=1
+export RMCS_PATH="/workspaces/RMCS"
 
 source /opt/ros/jazzy/setup.zsh
 
 if [ -f "/rmcs_install/local_setup.zsh" ]; then
     source /rmcs_install/local_setup.zsh
-elif [ -f "/workspaces/RMCS/rmcs_ws/install/local_setup.zsh" ]; then
-    source /workspaces/RMCS/rmcs_ws/install/local_setup.zsh
+elif [ -f "${RMCS_PATH}/rmcs_ws/install/local_setup.zsh" ]; then
+    source ${RMCS_PATH}/rmcs_ws/install/local_setup.zsh
 fi
 
 eval "$(register-python-argcomplete ros2)"
 eval "$(register-python-argcomplete colcon)"
 
 export RMCS_ROBOT_TYPE=""
+
+fpath=(${RMCS_PATH}/.script/complete $fpath)
+autoload -Uz compinit
+compinit

.vscode/settings.default.json

@@ -3,12 +3,12 @@
         "--header-insertion=never"
     ],
     "python.autoComplete.extraPaths": [
-        "/opt/ros/humble/lib/python3.10/site-packages",
-        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+        "/opt/ros/jazzy/lib/python3.10/site-packages",
+        "/opt/ros/jazzy/local/lib/python3.10/dist-packages"
     ],
     "python.analysis.extraPaths": [
-        "/opt/ros/humble/lib/python3.10/site-packages",
-        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+        "/opt/ros/jazzy/lib/python3.10/site-packages",
+        "/opt/ros/jazzy/local/lib/python3.10/dist-packages"
     ],
     "cSpell.words": [
         "ahrs",

Dockerfile

@@ -18,6 +18,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     vim wget curl unzip \
     zsh screen tmux \
     usbutils net-tools iputils-ping \
+    gstreamer1.0-tools gstreamer1.0-plugins-base gstreamer1.0-plugins-good \
     ripgrep htop fzf \
     libusb-1.0-0-dev \
     libeigen3-dev \
@@ -123,7 +124,7 @@ RUN sh -c "$(wget https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools
     sed -i 's/ZSH_THEME=\"[a-z0-9\-]*\"/ZSH_THEME="af-magic"/g' ~/.zshrc && \
     echo 'source ~/env_setup.zsh' >> ~/.zshrc && \
     echo 'export PATH="${PATH}:/opt/nvim-linux-x86_64/bin"' >> ~/.zshrc && \
-    echo 'export PATH=${PATH}:/workspaces/RMCS/.script' >> ~/.zshrc
+    echo 'export PATH="${PATH}:${RMCS_PATH}/.script"' >> ~/.zshrc
 
 # Copy environment setup scripts
 COPY --chown=1000:1000 .script/template/env_setup.bash env_setup.bash

docker-compose.yml

@@ -1,15 +1,18 @@
 services:
   rmcs-develop:
     image: qzhhhi/rmcs-develop:latest
-    container_name: rmcs-develop
-    user: "developer"
-    hostname: "developer"
+    user: "${CONTAINER_USER}"
     privileged: true
+    command: >
+      bash -c "
+        sudo chown -R ${CONTAINER_USER}:${CONTAINER_USER} ${CONTAINER_HOME}/.config
+        exec bash
+      "
     volumes:
       - /dev:/dev:bind
       - /tmp/.X11-unix:/tmp/.X11-unix:bind
       - /run/user/1000/wayland-0:/run/user/1000/wayland-0
-      - ~/.config/nvim/:/home/developer/.config/nvim/:bind
+      - ${HOST_NVIM_DIR}:${CONTAINER_HOME}/.config/nvim/:bind
       - .:/workspaces/RMCS:bind
     environment:
       - DISPLAY=${DISPLAY}