From 697869e68f7e44afa3b9983cadeee4cf6c91ec37 Mon Sep 17 00:00:00 2001
From: creeper5820 <cqq1960180796@163.com>
Date: Mon, 15 Dec 2025 16:15:05 +0800
Subject: [PATCH 1/2] Add more info for armor painting and modify crash method
 of panic

---
 src/utility/image/armor.cpp | 14 +++++++++-----
 src/utility/panic.cpp       |  2 +-
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/src/utility/image/armor.cpp b/src/utility/image/armor.cpp
index d7fe56e2..3472f1de 100644
--- a/src/utility/image/armor.cpp
+++ b/src/utility/image/armor.cpp
@@ -19,8 +19,6 @@ auto draw(Image& canvas, const Armor2D& armor) noexcept -> void {
     auto genre = get_enum_name(armor.genre);
     auto shape = get_enum_name(armor.shape);
 
-    auto conf_str = std::format("{:.2f} {} {}", armor.confidence, genre, shape);
-
     auto first    = cv::Point2f {};
     auto prev     = cv::Point2f {};
     auto is_first = true;
@@ -41,12 +39,18 @@ auto draw(Image& canvas, const Armor2D& armor) noexcept -> void {
         cv::line(opencv_mat, prev, first, color, 2, cv::LINE_AA);
     }
 
-    const auto thickness = 2;
+    const auto thickness = 1;
     const auto font      = cv::FONT_HERSHEY_SIMPLEX;
     const auto scale     = 0.6;
+    const auto white     = cv::Scalar { 255, 255, 255 };
+
+    cv::putText(opencv_mat, "TR", armor.tr, font, scale, white, thickness, cv::LINE_AA);
+    cv::putText(opencv_mat, "BL", armor.bl, font, scale, white, thickness, cv::LINE_AA);
+    cv::putText(opencv_mat, "BR", armor.br, font, scale, white, thickness, cv::LINE_AA);
 
-    cv::putText(opencv_mat, conf_str, armor.tl + cv::Point2f { 0, -5 }, font, scale, color,
-        thickness, cv::LINE_AA);
+    auto info = std::format("{:.2f} {} {}", armor.confidence, genre, shape);
+    cv::putText(opencv_mat, info, armor.tl + cv::Point2f { 0, -5 }, font, scale, white, thickness,
+        cv::LINE_AA);
 }
 
 }
diff --git a/src/utility/panic.cpp b/src/utility/panic.cpp
index 1f140a76..b58a661f 100644
--- a/src/utility/panic.cpp
+++ b/src/utility/panic.cpp
@@ -41,7 +41,7 @@ auto panic(const std::string& message, const std::source_location& loc) -> void
 
     std::cerr << panic_tail << std::endl;
 
-    std::abort();
+    throw std::runtime_error { "PANIC HERE" };
 }
 
 } // namespace rmcs::util

From 491cd2d58a868d313a90201f74ae304bb5dfde29 Mon Sep 17 00:00:00 2001
From: creeper5820 <cqq1960180796@163.com>
Date: Mon, 15 Dec 2025 16:21:30 +0800
Subject: [PATCH 2/2] Remove global exception capturer of main function

---
 src/runtime.cpp | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/src/runtime.cpp b/src/runtime.cpp
index 3314c08a..a1f53770 100644
--- a/src/runtime.cpp
+++ b/src/runtime.cpp
@@ -17,7 +17,7 @@
 
 using namespace rmcs;
 
-auto main() -> int try {
+auto main() -> int {
     using namespace std::chrono_literals;
 
     std::signal(SIGINT, [](int) { util::set_running(false); });
@@ -117,7 +117,4 @@ auto main() -> int try {
     }
 
     rclcpp_node.shutdown();
-} catch (const std::exception& e) {
-    using namespace rmcs;
-    util::panic(std::format("exception uncatched | {}", e.what()));
 }