add wust typr mpc and mutipule x

wust_vision-main/tasks/auto_buff/debug.hpp

@@ -0,0 +1,39 @@
+#pragma once
+#include "tasks/auto_buff/auto_buff.hpp"
+#include "tasks/auto_buff/rune_tracker/rune_target.hpp"
+#include "tasks/utils/debug_utils.hpp"
+#include <wust_vl/video/icamera.hpp>
+namespace wust_vision::auto_buff {
+struct AutoBuffDebug {
+    wust_vl::video::ImageFrame img_frame;
+    auto_buff::RuneTarget target;
+    AimTarget aim_target;
+    auto_buff::PowerRune power_rune;
+    double predict_angle;
+    GimbalCmd gimbal_cmd;
+    Eigen::Matrix4d T_camera_to_odom;
+    double latency_ms;
+    double obs_angle;
+    double pre_angle;
+    double fitter_v;
+    double obs_v;
+    cv::Rect expanded;
+    double pnp_distance;
+    std::pair<double, double> gimbal_py;
+};
+void drawDebugRuneContent(
+    cv::Mat& debug_img,
+    const AutoBuffDebug& dbg,
+    std::pair<cv::Mat, cv::Mat> camera_info
+);
+void writeTargetLogToJson(const auto_buff::RuneTarget& rune_target);
+inline void drawDebugOverlayShm(
+    const AutoBuffDebug& dbg,
+    std::pair<cv::Mat, cv::Mat> camera_info,
+    bool auto_fps
+) {
+    static ShmWriter shm { "/debug_frame" };
+    drawDebugOverlayImpl(dbg, camera_info, auto_fps, drawDebugRuneContent, shm);
+}
+void debuglog(const AutoBuffDebug& dbg);
+} // namespace wust_vision::auto_buff