### Third-Party Library Integration in C++

Source: https://context7.com/miroboticslab/cyberdog_ws/llms.txt

Examples for HTTP communication, JSON serialization, and MQTT messaging using integrated C++ libraries.

```cpp
// 使用 cpp-httplib 进行 HTTP 通信
// third_party/cpp_httplib/include/cpp_httplib/httplib.h
#include <cpp_httplib/httplib.h>

httplib::Client cli("http://localhost:8080");
auto res = cli.Get("/api/status");
if (res && res->status == 200) {
    std::cout << res->body << std::endl;
}

// 使用 rapidjson 进行 JSON 序列化
// third_party/rapidjson/include/rapidjson/document.h
#include <rapidjson/document.h>
#include <rapidjson/writer.h>
#include <rapidjson/stringbuffer.h>

rapidjson::Document doc;
doc.SetObject();
doc.AddMember("status", "ok", doc.GetAllocator());
doc.AddMember("value", 42, doc.GetAllocator());

rapidjson::StringBuffer buffer;
rapidjson::Writer<rapidjson::StringBuffer> writer(buffer);
doc.Accept(writer);
std::cout << buffer.GetString() << std::endl;

// 使用 MQTT-C 进行消息传输
// third_party/mqttc/include/mqttc/mqtt.h
#include <mqttc/mqtt.h>

// 发布消息示例
mqtt_publish(&client, "cyberdog/status",
             message, message_len,
             MQTT_PUBLISH_QOS_0);

// 订阅主题示例
mqtt_subscribe(&client, "cyberdog/command", 0);
```

--------------------------------

### 拉取仓库与子模块

Source: https://context7.com/miroboticslab/cyberdog_ws/llms.txt

使用 git 和 vcstool 初始化工作空间并展开所有依赖的子模块。

```bash
# 克隆主仓库
git clone git@github.com:MiRoboticsLab/cyberdog_ws.git
cd cyberdog_ws

# 使用 vcstools 展开所有子模块
vcs import . < cyberdog.repos

# 子模块仓库列表
# - bridges: ROS消息服务定义文件、与APP端通讯程序、CAN数据收发封装库
# - devices: 设备管理节点、BMS数据发布、LED设置、Touch插件、UWB插件
# - interaction: 语音节点、可视化编程节点、小爱训练词节点、图传节点
# - manager: 全局管理节点
# - motion: 运控管理
# - sensors: 传感器节点、GPS/雷达/ToF/超声插件
# - utils: 通用接口库
# - cyberdog_nav2: 算法任务管理
# - cyberdog_tracking_base: navigation2相关的docking、navigation、tracking功能
```

--------------------------------

### 构建与运行 Docker 编译环境

Source: https://context7.com/miroboticslab/cyberdog_ws/llms.txt

通过 Docker 构建 ARM64 编译镜像，并在容器内完成 ROS2 项目的编译与测试。

```bash
# 进入 tools 目录
cd tools

# 构建 Docker 镜像
docker build -t cyberdog-dev .

# 运行编译容器
docker run -it -v $(pwd)/../:/home/ros2/src cyberdog-dev bash

# 容器内启用 ROS2 环境
ros2_galactic_on
source /opt/ros2/galactic/setup.bash

# 编译项目
cd /home/ros2
colcon build --packages-up-to cyberdog_bringup

# 运行测试
colcon test --event-handlers console_cohesion+ --return-code-on-test-failure --packages-select cyberdog_bringup
```

--------------------------------

### GitHub Actions CI Workflow Configuration

Source: https://context7.com/miroboticslab/cyberdog_ws/llms.txt

Automates the build and test process using Docker containers and ROS 2 build tools.

```yaml
# .github/workflows/workflow.yml
name: GitHub Actions CI
run-name: ${{ github.actor }} is run GitHub Actions
on: [push]
defaults:
  run:
    shell: bash

jobs:
  build-job:
    runs-on: ubuntu-latest
    steps:
      - name: Login to Docker Hub
        uses: docker/login-action@v2
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
          password: ${{ secrets.GIT_TOKEN }}

      - name: Install dependence
        run: |
          sudo apt install -y qemu-user-static binfmt-support

      - name: Download code
        uses: actions/checkout@v3

      - name: Build and code test
        run: |
          docker pull ghcr.io/miroboticslab/cyberdog:v1
          docker run -i -v $GITHUB_WORKSPACE:/home/ros2/src \
            ghcr.io/miroboticslab/cyberdog:v1 bash -c \
            "cd /home/ros2 && source /opt/ros2/galactic/setup.bash \
             && colcon build --packages-up-to cyberdog_bringup \
             && colcon test --event-handlers console_cohesion+ \
                --return-code-on-test-failure \
                --packages-select cyberdog_bringup"
```

--------------------------------

### 配置 ROS2 节点 (node.yaml)

Source: https://context7.com/miroboticslab/cyberdog_ws/llms.txt

定义节点的命名空间、参数、话题重映射及模拟器模式配置。

```yaml
# cyberdog_bringup/automatic/node.yaml
type:
  namespace: &Namespace cyberdog
  simulator_tag:
    device:
      - &BMS bms
      - &TOUCH touch
    sensor:
      - &GPS gps
      - &LIDAR lidar
      - &TOF tof
      - &ULTRASONIC ultrasonic

data:
  # 设备管理器节点
  device_manager:
    package: device_manager
    executable: device_manager

  # 传感器管理器节点
  sensor_manager:
    package: sensor_manager
    executable: sensor_manager

  # 运动管理器节点
  motion_manager:
    package: motion_manager
    executable: motion_manager

  # 里程计发布节点
  odom_out_publisher:
    package: motion_bridge
    executable: odom_out_publisher
    parameters:
      - {odom_frame: "odom",           description: "腿式里程计的坐标系名称"}
      - {base_frame: "base_link_leg",  description: "腿式里程计的子坐标系名称"}
      - {map_frame: "map",             description: "全局坐标系名称"}
      - {tf_pub: False,                description: "是否发布tf"}

  # gRPC 服务器节点
  cyberdog_grpc:
    package: cyberdog_grpc
    executable: app_server

  # 模拟器模式下的设备管理器
  sim_device_manager:
    package: device_manager
    executable: device_manager
    parameters:
      - {simulator: [*BMS, *TOUCH], description: "需要开启模拟器模式的设备"}

  # 模拟器模式下的传感器管理器
  sim_sensor_manager:
    package: sensor_manager
    executable: sensor_manager
    parameters:
      - {simulator: [*GPS, *LIDAR, *TOF, *ULTRASONIC], description: "需要开启模拟器模式的传感器"}

  # 带参数和重映射的完整节点示例
  bringup_test:
    namespace: *Namespace
    package: cyberdog_bringup_test
    executable: cyberdog_bringup_test
    name: bringup_test
    exec_name: bringup_test
    parameters:
      - {simulator: [xxx, xxx],           description: "需要开启模拟器模式的对象"}
      - {parameters_bool: True,           description: "bool 键值对"}
      - {parameters_int: 100,             description: "int 键值对"}
      - {parameters_double: 0.1,          description: "double 键值对"}
      - {parameters_string0: string_message, description: "string 键值对"}
      - {<include>: test.yaml,            description: "加载参数文件"}
    remappings:
      - {from: xxx1_topic, to: xxx2_topic}
      - {from: xxx1_service, to: xxx2_service}
    arguments:
      usr-args:
        - 'args1'
        - 'args2'
      ros-args:
        - '--log-level debug'
        - '--disable-stdout-logs'
    output: screen
    emulate_tty: True
    respawn: True
```

--------------------------------

### System Identification Utilities in Python

Source: https://context7.com/miroboticslab/cyberdog_ws/llms.txt

Provides functions to retrieve network MAC addresses and generate unique namespaces based on hostname and hardware identifiers.

```python
import os
import re
import socket
import subprocess
import uuid

def get_shell(cmd):
    """执行 shell 命令并返回输出"""
    cmd_ret = subprocess.Popen(
        cmd, shell=True, stdout=subprocess.PIPE,
        stderr=subprocess.STDOUT, encoding='utf_8')
    return cmd_ret.communicate()[0]

def get_mac(target_network_card_name=''):
    """
    获取计算机 MAC 地址
    默认网卡：随机第一个非0地址
    """
    mac = '00:00:00:00:00:00'
    net_list = get_shell('ls /sys/class/net/').split('\n')
    if len(target_network_card_name) == 0:
        for net in net_list:
            if len(net) == 0:
                continue
            net = re.sub('[^0-9a-zA-Z:]+', '', net)
            mac = get_shell(f'cat /sys/class/net/{net}/address').strip()
            if mac != '00:00:00:00:00:00' and len(mac) != 0:
                break
    else:
        if net_list.count(target_network_card_name):
            mac = get_shell(
                f'cat /sys/class/net/{target_network_card_name}/address').strip()
    if len(mac) == 0:
        mac = uuid.UUID(int=uuid.getnode()).hex[-12:]
        mac = ':'.join([mac[e:e+2] for e in range(0, 11, 2)])
    return re.sub('[:]+', '_', mac)

def get_namespace():
    """
    获取唯一命名空间
    格式：hostname_macaddress
    """
    hostname = socket.getfqdn(socket.gethostname())
    mac = get_mac('eth0')
    namespace = f'{hostname}_{mac}'
    return re.sub('[^0-9a-zA-Z]+', '_', namespace)

# 使用示例
if __name__ == '__main__':
    print(f"Namespace: {get_namespace()}")
    print(f"MAC Address: {get_mac()}")
    print(f"ETH0 MAC: {get_mac('eth0')}")
```

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