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