refactor: Rebase main branch to clean up messy commit history

.env

@@ -0,0 +1,2 @@
+CONTAINER_USER=ubuntu
+CONTAINER_HOME=/home/ubuntu

.github/workflows/update-image.yml

@@ -0,0 +1,51 @@
+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: ${{ secrets.DOCKERHUB_TOKEN }}
+
+    - name: Set up SSH keys
+      run: |
+        mkdir -p .ssh
+        chmod 700 .ssh
+        echo "${{ 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

.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/attach-remote

@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/bin/bash
 
 # if arg[1] == "-r"
 if [ "$1" == "-r" ]; then

.script/build-rmcs

@@ -1,7 +1,60 @@
-#! /bin/bash
+#!/bin/bash
 
 source /opt/ros/jazzy/setup.bash
 
-cd /workspaces/RMCS/rmcs_ws
+: "${RMCS_PATH:=/workspaces/RMCS}"
 
-colcon build --symlink-install --merge-install
+if [[ ! -d "${RMCS_PATH}/rmcs_ws" ]]; then
+    echo "> ERROR: Workspace not found: ${RMCS_PATH}/rmcs_ws"
+    exit 1
+fi
+
+cd "${RMCS_PATH}"/rmcs_ws || exit 1
+
+[[ -x /opt/cmake/bin/cmake ]] &&
+    export PATH="/opt/cmake/bin:$PATH"
+
+cmake_toolchain_args=()
+event_handlers_args=()
+
+if [[ "${RMCS_USE_LLVM}" == "ON" ]]; then
+    missing_tools=()
+    for tool in clang clang++ llvm-ar llvm-ranlib ld.lld ninja; do
+        if ! command -v "${tool}" &>/dev/null; then
+            missing_tools+=("${tool}")
+        fi
+    done
+
+    if ((${#missing_tools[@]} > 0)); then
+        echo "> ERROR: LLVM toolchain is required when RMCS_USE_LLVM=ON."
+        echo "> Missing tools: ${missing_tools[*]}"
+        echo "> Install the missing tools, or set RMCS_USE_LLVM=OFF to build with GCC."
+        exit 1
+    fi
+
+    echo "> Compiling With LLVM ToolChain"
+    export CC=clang
+    export CXX=clang++
+    cmake_toolchain_args=(
+        "-GNinja"
+        "-DCMAKE_MESSAGE_LOG_LEVEL=ERROR"
+        "-DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld"
+        "-DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld"
+        "-DCMAKE_AR=$(command -v llvm-ar)"
+        "-DCMAKE_RANLIB=$(command -v llvm-ranlib)"
+    )
+    event_handlers_args=(
+        --event-handlers console_cohesion+
+    )
+fi
+
+colcon_args=(
+    --symlink-install --merge-install
+    "${event_handlers_args[@]}"
+)
+cmake_args=(
+    "${cmake_toolchain_args[@]}"
+)
+
+CLICOLOR_FORCE=1 NINJA_STATUS="" \
+    colcon build "${colcon_args[@]}" "$@" --cmake-args "${cmake_args[@]}"

.script/clean-rmcs

@@ -1,3 +1,13 @@
-#! /bin/bash
+#!/bin/bash
 
-rm -rf /workspaces/RMCS/rmcs_ws/build /workspaces/RMCS/rmcs_ws/install /workspaces/RMCS/rmcs_ws/log
+: "${RMCS_PATH:=/workspaces/RMCS}"
+
+if [[ -z "${RMCS_PATH}" || "${RMCS_PATH}" == "/" ]]; then
+    echo "Invalid RMCS_PATH: '${RMCS_PATH}'"
+    exit 1
+fi
+
+rm -rf -- \
+    "${RMCS_PATH}/rmcs_ws/build" \
+    "${RMCS_PATH}/rmcs_ws/install" \
+    "${RMCS_PATH}/rmcs_ws/log"

.script/complete/_build-rmcs

@@ -0,0 +1,51 @@
+#compdef build-rmcs
+
+local _comp_func="${_comps[colcon]}"
+
+if [[ -z "${_comp_func}" ]]; then
+    if (( $+functions[_python_argcomplete] )); then
+        _comp_func="_python_argcomplete"
+    elif (( $+functions[_colcon] )); then
+        _comp_func="_colcon"
+    else
+        _message "colcon completion not found. Please source colcon completion setup."
+        return 1
+    fi
+fi
+
+if [[ "${_comp_func}" == "_python_argcomplete" ]]; then
+    local IFS=$'\013'
+    local -a completions
+    local _comp_line _comp_point
+
+    _comp_line="colcon build${BUFFER#build-rmcs}"
+    _comp_point=$((CURSOR + 2))
+
+    completions=($(IFS="$IFS" \
+        COMP_LINE="${_comp_line}" \
+        COMP_POINT="${_comp_point}" \
+        _ARGCOMPLETE=1 \
+        _ARGCOMPLETE_SHELL="zsh" \
+        _ARGCOMPLETE_SUPPRESS_SPACE=1 \
+        __python_argcomplete_run colcon))
+
+    _describe colcon completions -o nosort
+    return 0
+fi
+
+local -a _orig_words
+local _orig_current
+
+_orig_words=("${words[@]}")
+_orig_current=${CURRENT}
+
+words=(colcon build "${_orig_words[@]:1}")
+CURRENT=$((_orig_current + 1))
+
+"${_comp_func}" "$@"
+local status=$?
+
+words=("${_orig_words[@]}")
+CURRENT=${_orig_current}
+
+return $status

.script/complete/_play-autoaim

@@ -0,0 +1,7 @@
+#compdef play-autoaim
+
+_arguments \
+  '--user[Remote username]:username:' \
+  '--remote[Pull SDP from device into container]' \
+  '--no-copy[Skip copy from container to host]' \
+  '--ip[IP address of monitor host]:ip:'

.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"
+  )
+
+  # Extract recently used HostName from ~/.ssh/config
+  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:Remote host address:_remote_hosts'

.script/foxglove

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+source ~/env_setup.bash
+
+ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765

.script/host/rmcs

@@ -0,0 +1,96 @@
+#!/bin/bash
+
+set -euo pipefail
+
+readonly DEVELOPER_NAME="ubuntu"
+readonly NVIM_PATH="/opt/nvim-linux-x86_64/bin/nvim"
+readonly NVIM_PORT=6666
+readonly NVIM_HOST="localhost"
+
+function show_help() {
+    local project_dir="$1"
+    local service="$2"
+    echo "Usage: $(basename "$0") [path] [zsh|n|nvim|neovide|vim|ide]"
+    echo "  Project dir: $project_dir"
+    echo "  Service: $service"
+}
+
+function rmcs_zsh() {
+    local service="$1"
+    echo "Starting and entering container..."
+    docker compose up -d
+    docker compose exec "$service" zsh
+}
+
+function rmcs_nvim() {
+    local service="$1"
+    local timeout=10
+    local success=0
+    local port=$NVIM_PORT
+
+    echo "Starting container..."
+    docker compose up -d
+
+    echo "Checking available port and starting nvim headless server..."
+    while nc -z "$NVIM_HOST" "$port" 2>/dev/null; do
+        echo "Port $port is occupied, trying next..."
+        port=$((port + 1))
+    done
+
+    echo "Starting nvim server on port $port..."
+    docker compose exec -u "$DEVELOPER_NAME" -d "$service" \
+        "$NVIM_PATH" --headless --listen "$NVIM_HOST:$port"
+
+    for i in $(seq 1 $timeout); do
+        if nc -z "$NVIM_HOST" "$port" 2>/dev/null; then
+            echo "nvim server started on port $port"
+            success=1
+            break
+        fi
+        echo "Waiting for nvim server to start... ($i/$timeout)"
+        sleep 1
+    done
+
+    if [ $success -eq 1 ]; then
+        echo "Starting neovide..."
+        nohup neovide --server="$NVIM_HOST:$port" >/dev/null 2>&1 &
+    else
+        echo "nvim server failed to start within $timeout seconds, neovide not launched"
+        exit 1
+    fi
+}
+
+function main() {
+    local project_dir command
+
+    if [ -d "${1:-}" ]; then
+        project_dir="$(cd "$1" && pwd)"
+        command="${2:-}"
+    else
+        project_dir="$(pwd)"
+        command="${1:-}"
+    fi
+
+    cd "$project_dir" || exit 1
+
+    if [ ! -f "docker-compose.yml" ]; then
+        echo "Error: docker-compose.yml not found in current directory"
+        exit 1
+    fi
+
+    local service="rmcs-develop"
+
+    case "$command" in
+    zsh)
+        rmcs_zsh "$service"
+        ;;
+    n | nvim | neovide | vim | ide)
+        rmcs_nvim "$service"
+        ;;
+    *)
+        show_help "$project_dir" "$service"
+        ;;
+    esac
+}
+
+main "$@"

.script/launch-rmcs

@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/bin/bash
 
 source ~/env_setup.bash