add wust typr mpc and mutipule x

wust_vision-main/tasks/auto_aim/debug.hpp

@@ -0,0 +1,38 @@
+#pragma once
+#include "tasks/auto_aim/armor_tracker/target.hpp"
+#include "tasks/auto_aim/auto_aim_fsm.hpp"
+#include "tasks/auto_aim/type.hpp"
+#include "tasks/utils/debug_utils.hpp"
+namespace wust_vision::auto_aim {
+
+struct AutoAimDebug {
+    wust_vl::video::ImageFrame img_frame;
+    auto_aim::Armors armors;
+    auto_aim::Target target;
+    GimbalCmd gimbal_cmd;
+    auto_aim::AutoAimFsm fsm;
+    AimTarget aim_target;
+    double latency_ms;
+    Eigen::Matrix4d T_camera_to_odom;
+    std::vector<auto_aim::ArmorObject> armor_objs;
+    int detect_color = 0;
+    cv::Rect expanded;
+    std::pair<double, double> gimbal_py;
+};
+void drawDebugArmorContent(
+    cv::Mat& debug_img,
+    const AutoAimDebug& dbg,
+    std::pair<cv::Mat, cv::Mat> camera_info
+);
+void writeTargetLogToJson(const auto_aim::Target& armor_target);
+
+inline void drawDebugOverlayShm(
+    const AutoAimDebug& dbg,
+    std::pair<cv::Mat, cv::Mat> camera_info,
+    bool auto_fps
+) {
+    static ShmWriter shm { "/debug_frame" };
+    drawDebugOverlayImpl(dbg, camera_info, auto_fps, drawDebugArmorContent, shm);
+}
+void debuglog(const AutoAimDebug& dbg_armor);
+} // namespace wust_vision::auto_aim