add wust typr mpc and mutipule x

wust_vision-main/tasks/imodule.hpp

@@ -0,0 +1,16 @@
+#pragma once
+#include "tasks/type_common.hpp"
+#include "wust_vl/common/concurrency/monitored_thread.hpp"
+#include <memory>
+namespace wust_vision {
+class IModule {
+public:
+    using Ptr = std::shared_ptr<IModule>;
+    virtual void start() = 0;
+    virtual void pushInput(CommonFrame&) = 0;
+    virtual GimbalCmd solve(double bullet_speed) = 0;
+    virtual wust_vl::common::concurrency::MonitoredThread::Ptr getThread() = 0;
+    virtual void doDebug() = 0;
+    virtual ~IModule() = default;
+};
+} // namespace wust_vision