格式化代码

[llLeo306]

Summary by Sourcery

Update host data handling to consume full gimbal state (angles, angular rates, and accelerations) and propagate this richer information into host commands.

New Features:

• Introduce a HostGimbalTarget structure encapsulating gimbal angles, angular velocities, and accelerations.
• Extend host gimbal command data to include pitch/yaw rates and accelerations derived from incoming gimbal state.

Enhancements:

• Switch gimbal topic from raw Euler angles to the new HostGimbalTarget payload and map it to Euler, gyro, and acceleration state inside HostData.

[sourcery-ai]

Reviewer's Guide

Refactors HostData to subscribe to a richer gimbal target topic (position, velocity, acceleration) instead of a simple Euler-angle topic, wiring the additional data into HostCMD and updating member types and callbacks accordingly.

Sequence diagram for updated gimbal topic handling in HostData

sequenceDiagram
  participant Topic as host_gimbal_data_tp_
  participant ISR as LibXR_ISR
  participant Host as HostData
  participant CMD as CMD

  Topic->>ISR: OnDataReceived(raw_data)
  ISR->>Host: euler_callback(in_isr, Host, raw_data)
  activate Host
  Host->>Host: LibXR::Memory::FastCopy(t, raw_data.addr_, sizeof(t))
  Host->>Host: host_euler_ = LibXR::EulerAngle(t.rol, t.pit, t.yaw)
  Host->>Host: host_gyro_ = Eigen::Matrix( t.rol_dot, t.pit_dot, t.yaw_dot )
  Host->>Host: host_accl_ = Eigen::Matrix( t.rol_ddot, t.pit_ddot, t.yaw_ddot )
  Host->>Host: last_gimbal_time_ = LibXR::Timebase::GetMilliseconds()
  Host->>Host: HostCMD(in_isr)
  Host->>CMD: update host_cmd.gimbal (pos, vel, accel)
  deactivate Host

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Updated class diagram for HostData gimbal subscription refactor

classDiagram
  class HostData {
    +HostData(LibXR::HardwareContainer& hw, LibXR::ApplicationManager& app, CMD& cmd, const char* host_gimbal_topic_name, const char* host_chassis_data_topic_name, const char* host_fire_topic_name)
    +void HostCMD(bool in_isr)
    -CMD* cmd_
    -ChassisCMD host_chassis_target_
    -LauncherCMD host_fire_notify_
    -LibXR::EulerAngle~float~ host_euler_
    -Eigen::Matrix~float,3,1~ host_gyro_
    -Eigen::Matrix~float,3,1~ host_accl_
    -uint32_t last_gimbal_time_
    -LibXR::Topic host_gimbal_data_tp_
    -LibXR::Topic host_chassis_data_tp_
    -LibXR::Topic host_fire_notify_tp_
  }

  class HostChassisTarget {
    +float vx
    +float vy
    +float wz
    +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 CMD {
    +HostCMDData host_cmd
  }

  class HostCMDData {
    +GimbalTarget gimbal
    +bool gimbal_online
  }

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

  HostData --> HostChassisTarget : publishes
  HostData --> HostGimbalTarget : subscribes
  HostData --> CMD : updates
  CMD --> HostCMDData : owns
  HostCMDData --> GimbalTarget : has

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File-Level Changes

Change	Details	Files
Switch gimbal input from a raw EulerAngle topic to a structured HostGimbalTarget carrying angles, angular rates, and angular accelerations, and propagate these into HostCMD.	Introduce HostGimbalTarget struct containing roll/pitch/yaw plus their first and second derivatives. Update HostData constructor to take a gimbal-topic name, create a HostGimbalTarget topic, and register the existing gimbal callback on it. Change the gimbal callback to copy from raw data into a HostGimbalTarget instance, then derive host_euler_, host_gyro_, and host_accl_ from it and update last_gimbal_time_. Extend HostCMD filling logic to populate additional gimbal derivative fields (pit_dot, pit_ddot, yaw_dot, yaw_ddot) from host_gyro_ and host_accl_, and expand the zero-initialization for the offline case to cover all fields. Add host_gyro_ and host_accl_ Eigen vectors as HostData members initialized to zero, and rename the topic member from host_euler_data_tp_ to host_gimbal_data_tp_. Remove unused DATA_TIMEOUT_MS constant from HostData.	HostData.hpp

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[sourcery-ai]

Hey - I've left some high level feedback:

• Now that the topic and payload have been generalized to a full gimbal state (HostGimbalTarget), consider renaming variables like host_euler_ and euler_callback to reflect that they carry position, velocity, and acceleration, to keep the intent of the data clear.
• Because HostGimbalTarget is being memcpy’d from raw bytes, it would be safer to explicitly control or assert its layout (e.g., static_assert(sizeof(HostGimbalTarget) == expected_size) or using a packed/standard-layout type) to avoid issues from padding or alignment changes.

Prompt for AI Agents

Please address the comments from this code review:

## Overall Comments
- Now that the topic and payload have been generalized to a full gimbal state (`HostGimbalTarget`), consider renaming variables like `host_euler_` and `euler_callback` to reflect that they carry position, velocity, and acceleration, to keep the intent of the data clear.
- Because `HostGimbalTarget` is being memcpy’d from raw bytes, it would be safer to explicitly control or assert its layout (e.g., `static_assert(sizeof(HostGimbalTarget) == expected_size)` or using a packed/standard-layout type) to avoid issues from padding or alignment changes.

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