add wust typr mpc and mutipule x

wust_vision-main/src/standard.cpp

@@ -0,0 +1,27 @@
+#include "tasks/imodule.hpp"
+#include "tasks/utils/config.hpp"
+#include "tasks/utils/main_base.hpp"
+#include "tasks/vision_base.hpp"
+ENABLE_BACKWARD()
+namespace wust_vision {
+class vision: public VisionBase<InfantryMode> {
+public:
+    vision(): VisionBase(COMMON_CONFIG, CAMERA_CONFIG, AUTO_AIM_CONFIG, AUTO_BUFF_CONFIG) {}
+    bool init(bool debug_mode) {
+        if (!VisionBase::init(debug_mode)) {
+            return false;
+        }
+        auto auto_aim =
+            auto_aim::AutoAim::create(auto_aim_config_, tf_config_, camera_info_, debug_mode);
+        modules_.emplace(InfantryMode::AttackMode::ARMOR, auto_aim);
+        modules_.emplace(InfantryMode::AttackMode::UNKNOWN, auto_aim);
+        auto auto_buff =
+            auto_buff::AutoBuff::create(auto_buff_config_, tf_config_, camera_info_, debug_mode);
+        modules_.emplace(InfantryMode::AttackMode::BIG_RUNE, auto_buff);
+        modules_.emplace(InfantryMode::AttackMode::SMALL_RUNE, auto_buff);
+        return true;
+    }
+};
+} // namespace wust_vision
+
+VISION_MAIN(wust_vision::vision)