适配上位机新的云台控制命令(包含欧拉角 角速度 角加速度)

[EEErink]

Summary by Sourcery

Adapt host-side gimbal data handling to consume the new gimbal control message including Euler angles, angular velocity, and angular acceleration.

New Features:

• Introduce a HostGimbalTarget message struct carrying Euler angles, angular velocities, and angular accelerations for the gimbal.

Enhancements:

• Update HostData to subscribe to the new gimbal topic type and translate incoming messages into Euler angle, gyro, and acceleration state for downstream commands.
• Extend the propagated gimbal command to include pitch and yaw angular velocity and acceleration fields while maintaining online/offline detection based on received data.

[sourcery-ai]

Reviewer's Guide

Adapt HostData to a new host gimbal control protocol that sends a full target state (Euler angles plus angular velocity and acceleration) instead of just Euler angles, wiring the new topic, data struct, and host command mapping accordingly.

Sequence diagram for new host gimbal target processing in HostData

sequenceDiagram
  actor HostPC
  participant Transport
  participant LibXR_Topic_host_gimbal_data_tp as LibXR_Topic_host_gimbal_data_tp
  participant HostData
  participant CMD

  HostPC->>Transport: send HostGimbalTarget
  Transport->>LibXR_Topic_host_gimbal_data_tp: deliver RawData
  LibXR_Topic_host_gimbal_data_tp->>HostData: euler_callback(in_isr, host_data, raw_data)
  activate HostData
  HostData->>HostData: FastCopy RawData to HostGimbalTarget t
  HostData->>HostData: host_euler_ = EulerAngle(t.rol, t.pit, t.yaw)
  HostData->>HostData: host_gyro_ = [t.rol_dot, t.pit_dot, t.yaw_dot]
  HostData->>HostData: host_accl_ = [t.rol_ddot, t.pit_ddot, t.yaw_ddot]
  HostData->>HostData: last_gimbal_time_ = Timebase::GetMilliseconds()
  HostData->>HostData: HostCMD(in_isr)
  HostData->>CMD: update host_cmd with gimbal angles, velocity, acceleration
  deactivate HostData

Loading

Class diagram for HostData with new HostGimbalTarget protocol

classDiagram
  class HostChassisTarget {
    float vx
    float vy
    float vw
    bool is_remote
    bool isfire
  }

  class HostGimbalTarget {
    float rol
    float pit
    float yaw
    float rol_dot
    float pit_dot
    float yaw_dot
    float rol_ddot
    float pit_ddot
    float yaw_ddot
  }

  class LauncherCMD {
    bool isfire
  }

  class EulerAngle_float {
    +float Roll()
    +float Pitch()
    +float Yaw()
  }

  class EigenMatrix3x1_float {
    float x
    float y
    float z
  }

  class Topic {
    +RegisterCallback(callback)
  }

  class CMD {
    +host_cmd
  }

  class HostData {
    +HostData(hw, app, cmd, host_gimbal_topic_name, host_chassis_data_topic_name, host_fire_topic_name)
    +HostCMD(in_isr)
    -CMD* cmd_
    -HostChassisTarget host_chassis_target_
    -LauncherCMD host_fire_notify_
    -EulerAngle_float host_euler_
    -EigenMatrix3x1_float host_gyro_
    -EigenMatrix3x1_float host_accl_
    -Topic host_gimbal_data_tp_
    -Topic host_chassis_data_tp_
    -Topic host_fire_notify_tp_
    -uint32 last_chassis_time_
    -uint32 last_gimbal_time_
    -uint32 last_fire_time_
  }

  HostData o-- HostChassisTarget
  HostData o-- HostGimbalTarget : via topic payload
  HostData o-- LauncherCMD
  HostData o-- EulerAngle_float
  HostData o-- EigenMatrix3x1_float : host_gyro_
  HostData o-- EigenMatrix3x1_float : host_accl_
  HostData o-- Topic : host_gimbal_data_tp_
  HostData o-- Topic : host_chassis_data_tp_
  HostData o-- Topic : host_fire_notify_tp_
  HostData --> CMD

Loading

File-Level Changes

Change	Details	Files
Switch gimbal input from a raw EulerAngle topic to a structured HostGimbalTarget containing angles, angular velocities, and angular accelerations, and map these into internal state.	Introduce HostGimbalTarget struct carrying rol/pit/yaw and corresponding first and second derivatives. Change constructor to subscribe to a HostGimbalTarget topic instead of LibXR::EulerAngle and register the existing callback on this new topic. Update the gimbal callback to copy raw data into a HostGimbalTarget, then populate host_euler_, host_gyro_, and host_accl_ and refresh last_gimbal_time_. Add host_gyro_ and host_accl_ members initialized to zero and replace host_euler_data_tp_ with host_gimbal_data_tp_.	HostData.hpp
Extend the outgoing host_cmd.gimbal structure to include velocity and acceleration terms for pitch and yaw derived from the new input data.	Update the default offline gimbal assignment to zero-initialize all angle, velocity, and acceleration fields. When gimbal data is valid, set pit and yaw from host_euler_ and populate pit_dot, pit_ddot, yaw_dot, and yaw_ddot from host_gyro_ and host_accl_. Preserve gimbal_online semantics while using the new extended gimbal target fields.	HostData.hpp

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[sourcery-ai]

Hey - I've left some high level feedback:

• HostGimbalTarget is being populated via FastCopy from raw data but is a plain struct with no packing/size guarantees; consider adding static_assert(sizeof(HostGimbalTarget) == expected_size) or an explicit packing attribute to avoid ABI‑dependent padding issues when decoding the protocol.
• The offline case now assigns host_cmd.gimbal = {0, 0, 0, 0, 0, 0, 0, 0, 0}, which is brittle if the struct layout changes; it may be safer to centralize default initialization (e.g., a Reset() method or default constructor on the gimbal command) rather than relying on positional aggregate initialization.

Prompt for AI Agents

Please address the comments from this code review:

## Overall Comments
- `HostGimbalTarget` is being populated via `FastCopy` from raw data but is a plain struct with no packing/size guarantees; consider adding `static_assert(sizeof(HostGimbalTarget) == expected_size)` or an explicit packing attribute to avoid ABI‑dependent padding issues when decoding the protocol.
- The offline case now assigns `host_cmd.gimbal = {0, 0, 0, 0, 0, 0, 0, 0, 0}`, which is brittle if the struct layout changes; it may be safer to centralize default initialization (e.g., a `Reset()` method or default constructor on the gimbal command) rather than relying on positional aggregate initialization.

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