修复报错

armor/include/armor_finder/armor_finder.h

@@ -12,6 +12,7 @@
 #include <opencv2/tracking/tracking.hpp>
 #include <serial.h>
 #include <armor_finder/classifier/solver.h>
+#include <armor_finder/classifier/classifier.h>
 #include <additions.h>
 
 #define BLOB_RED    ENEMY_RED

armor/src/armor_finder/armor_finder.cpp

@@ -128,7 +128,7 @@ end:
         
         target_xyz = cv::Point3f(armor.xyz_in_gimbal.x() * 100.0, armor.xyz_in_gimbal.y() * 100.0, armor.xyz_in_gimbal.z() * 100.0); // 转换为cm
         cv::Point3f current_pos = target_xyz;
-        double current_time = static_cast<double>(frame_time.tv_sec) + static_cast<double>(frame_time.tv_usec) / 1e6;
+        double current_time = frame_time / 1000.0;
         history.push_back({current_pos, current_time});
         if (history.size() > 10) { // 仅保留最近10帧
             history.erase(history.begin());

armor/src/armor_finder/classifier/solver.cpp

@@ -33,7 +33,7 @@ Solver::Solver(const std::string & config_path) : R_gimbal2world_(Eigen::Matrix3
   auto R_camera2gimbal_data = yaml["R_camera2gimbal"].as<std::vector<double>>();
   auto t_camera2gimbal_data = yaml["t_camera2gimbal"].as<std::vector<double>>();
   R_gimbal2imubody_ = Eigen::Matrix<double, 3, 3, Eigen::RowMajor>(R_gimbal2imubody_data.data());
-  R_camera2gimbal_ = Eigen::Matrix<double, 3, 3, Eigen::RowMajor>(R_camera2gimbal_data.data())；
+  R_camera2gimbal_ = Eigen::Matrix<double, 3, 3, Eigen::RowMajor>(R_camera2gimbal_data.data());
   t_camera2gimbal_ = Eigen::Matrix<double, 3, 1>(t_camera2gimbal_data.data());
   */
 

armor/src/armor_finder/send_target/send_target.cpp

@@ -80,8 +80,8 @@ bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
     double y_target = -target_xyz.y / 100.0; // 垂直高度差
     double pitch_comp = BallisticSolver::get_pitch(x_target, y_target, MUZZLE_VELOCITY, BALLISTIC_K);
 
-    // 计算是否满足开火条件 (例如残差小于 1.5 度)
-    can_fire = AutoTrigger::should_fire(yaw, pitch_comp, 1.5);
+    // 计算是否满足开火条件
+    can_fire = AutoTrigger::should_fire(*this, MUZZLE_VELOCITY, yaw, pitch_comp);
 
     return sendTarget(serial, yaw, pitch_comp, dist * 100.0, shoot_delay);
 }

tools/logger.hpp

@@ -1,8 +1,12 @@
-#pragma once
-// Minimal logger stub — no external logging library required.
-// Replace with a real logger (e.g. spdlog) if needed.
-#include <iostream>
-#define LOG_INFO(...)  (void)0
-#define LOG_WARN(...)  (void)0
-#define LOG_ERROR(...) (void)0
-#define LOG_DEBUG(...) (void)0
+#ifndef TOOLS__LOGGER_HPP
+#define TOOLS__LOGGER_HPP
+
+#include <spdlog/spdlog.h>
+
+namespace tools
+{
+std::shared_ptr<spdlog::logger> logger();
+
+}  // namespace tools
+
+#endif  // TOOLS__LOGGER_HPP