refactor: 深度重构仓库框架 - 按功能域分组模块、统一构建系统、添加CI

.clang-format

@@ -0,0 +1,73 @@
+---
+# Prometheus C/C++ Code Style
+# Based on Google style with adjustments for ROS conventions
+Language: Cpp
+BasedOnStyle: Google
+AccessModifierOffset: -4
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignOperands: true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterClass: false
+  AfterControlStatement: false
+  AfterEnum: false
+  AfterFunction: true
+  AfterNamespace: false
+  AfterStruct: false
+  AfterUnion: false
+  BeforeCatch: false
+  BeforeElse: false
+  IndentBraces: false
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Custom
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+ColumnLimit: 120
+CommentPragmas: '^ IWYU pragma:'
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat: false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+IncludeBlocks: Preserve
+IndentCaseLabels: true
+IndentWidth: 4
+IndentWrappedFunctionNames: false
+KeepEmptyLinesAtTheStartOfBlocks: false
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+PointerAlignment: Left
+ReflowComments: true
+SortIncludes: true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInContainerLiterals: true
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: Cpp11
+TabWidth: 4
+UseTab: Never
+---

.github/workflows/build.yml

@@ -0,0 +1,63 @@
+name: Prometheus CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  build-core:
+    name: Build Core Modules
+    runs-on: ubuntu-22.04
+    container:
+      image: ros:noetic-ros-base-focal
+    steps:
+      - name: Install dependencies
+        run: |
+          apt-get update
+          apt-get install -y \
+            python3-catkin-tools \
+            ros-noetic-mavros-msgs \
+            ros-noetic-mavlink \
+            ros-noetic-tf2-ros \
+            ros-noetic-tf2-eigen \
+            ros-noetic-pcl-ros \
+            ros-noetic-cv-bridge \
+            ros-noetic-image-transport \
+            libeigen3-dev \
+            libpcl-dev \
+            libopencv-dev \
+            libboost-all-dev
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - name: Build common (core messages)
+        run: |
+          source /opt/ros/noetic/setup.bash
+          catkin_make --source Modules/core/common --build build/common
+      - name: Build communication
+        run: |
+          source /opt/ros/noetic/setup.bash
+          source devel/setup.bash || true
+          catkin_make --source Modules/communication --build build/communication
+      - name: Build UAV control
+        run: |
+          source /opt/ros/noetic/setup.bash
+          source devel/setup.bash || true
+          catkin_make --source Modules/control/uav_control --build build/uav_control
+
+  clang-format-check:
+    name: Code Style Check
+    runs-on: ubuntu-latest
+    # Advisory only — existing code is not yet reformatted.
+    # This check will report style violations but won't block merges.
+    continue-on-error: true
+    steps:
+      - uses: actions/checkout@v4
+      - name: Check C++ code style
+        uses: jidicula/clang-format-action@v4.13.0
+        with:
+          clang-format-version: '14'
+          check-path: 'Modules'
+          exclude-regex: '(min_snap_trajectory|FAST_LIO)'

.gitignore

@@ -5,23 +5,23 @@ _ext
 nano.save
 .catkin_workspace
 
-build/
+/build/
 devel/
 dist/
 .vscode/
-Modules/object_detection_landing/
-Modules/object_detection_persistence/
-Modules/object_detection_yolov5openvino/
-Modules/object_detection_yolov5tensorrt/
-Modules/object_detection_circlex/
+Modules/perception/object_detection_landing/
+Modules/perception/object_detection_persistence/
+Modules/perception/object_detection_yolov5openvino/
+Modules/perception/object_detection_yolov5tensorrt/
+Modules/perception/object_detection_circlex/
 Modules/data/
-Modules/object_detection_oneshot/
-Modules/object_detection/py_nodes/yolov5_tensorrt_server/build/
-Modules/common/CMakeLists.txt
-Modules/ego_planner_swarm/CMakeLists.txt
-Modules/motion_planning/CMakeLists.txt
-Modules/simulator_utils/CMakeLists.txt
-Modules/FAST_LIO/Log/mat_pre.txt
+Modules/perception/object_detection_oneshot/
+Modules/perception/object_detection/py_nodes/yolov5_tensorrt_server/build/
+Modules/core/common/CMakeLists.txt
+Modules/planning/ego_planner_swarm/CMakeLists.txt
+Modules/planning/motion_planning/CMakeLists.txt
+Modules/perception/simulator_utils/CMakeLists.txt
+Modules/perception/FAST_LIO/Log/mat_pre.txt
 # pytorch/python/numpy formats
 # *.pth
 *.pkl

.gitmodules

@@ -1,12 +1,12 @@
 [submodule "Modules/swarm_control"]
-	path = Modules/swarm_control
+	path = Modules/swarm/swarm_control
 	url = https://gitee.com/amovlab1/swarm_control.git
 [submodule "Modules/matlab_bridge"]
-	path = Modules/matlab_bridge
+	path = Modules/integration/matlab_bridge
 	url = https://gitee.com/amovlab1/matlab_bridge.git
 [submodule "Modules/swarm_formation"]
-	path = Modules/swarm_formation
+	path = Modules/swarm/swarm_formation
 	url = https://gitee.com/amovlab1/Swarm-Formation.git
 [submodule "Modules/searching_pkg"]
-	path = Modules/searching_pkg
+	path = Modules/swarm/searching_pkg
 	url = https://gitee.com/amovlab1/swarm-sch-track.git

ARCHITECTURE.md

@@ -0,0 +1,150 @@
+# Prometheus 架构文档
+
+## 项目概述
+
+Prometheus 是一套基于 ROS1 (catkin) 和 PX4 的自主无人机开源软件平台，提供控制、规划、感知、通信和集群等功能模块。
+
+## 目录结构
+
+```
+Prometheus/
+├── Modules/                    # 功能模块（按域分组）
+│   ├── core/                   # 核心基础
+│   │   └── common/             # 公共消息定义 & 工具头文件
+│   │       ├── prometheus_msgs/  # Prometheus 自定义 ROS 消息/服务
+│   │       ├── quadrotor_msgs/   # 四旋翼消息定义
+│   │       └── include/          # 公共头文件 (math_utils, geometry_utils, printf_utils)
+│   ├── control/                # 控制模块
+│   │   ├── uav_control/        # 无人机控制节点 (PID/UDE/NE 控制器)
+│   │   ├── uav_control_fmt/    # FMT 固件无人机控制
+│   │   └── ugv_control/        # 无人地面车辆控制
+│   ├── planning/               # 规划模块
+│   │   ├── motion_planning/    # 运动规划 (全局/局部/min-snap)
+│   │   ├── ego_planner_swarm/  # EGO-Planner 集群避障规划
+│   │   └── global_planner_ugv/ # UGV 全局路径规划
+│   ├── perception/             # 感知模块
+│   │   ├── FAST_LIO/           # 基于 LiDAR 的实时定位与建图
+│   │   └── simulator_utils/    # 仿真感知工具
+│   ├── communication/          # 通信模块 (地面站桥接)
+│   ├── swarm/                  # 集群模块
+│   │   ├── swarm_control/      # 集群控制 (submodule)
+│   │   ├── swarm_formation/    # 集群编队 (submodule)
+│   │   └── searching_pkg/      # 集群搜索与跟踪 (submodule)
+│   ├── demo/                   # 示例与实验
+│   │   ├── tutorial_demo/      # 教程演示
+│   │   ├── future_aircraft/    # 未来飞行器实验
+│   │   └── experiment/         # 实验配置与启动文件
+│   └── integration/            # 外部集成
+│       └── matlab_bridge/      # MATLAB/Simulink 桥接 (submodule)
+├── Simulator/                  # 仿真环境
+│   ├── gazebo_simulator/       # Gazebo 仿真 (模型/世界/launch)
+│   ├── airsim_simulator/       # AirSim 仿真
+│   ├── realsense_gazebo_plugin/
+│   ├── velodyne_gazebo_plugins/
+│   └── livox_laser_gazebo_plugins/
+├── scripts/                    # 脚本
+│   ├── build/                  # 编译脚本
+│   ├── installation/           # 安装脚本
+│   └── simulation/             # 仿真启动脚本
+├── CMakeLists.txt              # 顶层 catkin workspace 配置
+├── Makefile                    # 统一构建入口
+└── .github/workflows/          # CI/CD 配置
+```
+
+## 模块依赖关系
+
+```
+                    ┌─────────────────┐
+                    │   core/common   │
+                    │ (prometheus_msgs│
+                    │  quadrotor_msgs)│
+                    └────────┬────────┘
+                             │
+              ┌──────────────┼──────────────┐
+              │              │              │
+              ▼              ▼              ▼
+     ┌────────────┐  ┌─────────────┐  ┌──────────┐
+     │  control/  │  │  planning/  │  │perception│
+     │uav_control │  │motion_plan. │  │ FAST_LIO │
+     │ugv_control │  │ego_planner  │  │sim_utils │
+     │uav_ctrl_fmt│  │global_ugv   │  └──────────┘
+     └──────┬─────┘  └──────┬──────┘
+            │               │
+            ▼               ▼
+     ┌─────────────┐  ┌──────────┐
+     │communication│  │  swarm/  │
+     │(ground stn) │  │swarm_ctrl│
+     └─────────────┘  │formation │
+                      │searching │
+                      └──────────┘
+```
+
+### 编译顺序
+
+1. **core/common** — 必须最先编译（消息定义）
+2. **Simulator/** — 仿真插件和模型
+3. **control/** — 控制模块
+4. **communication/** — 通信模块（依赖 core）
+5. **planning/** — 规划模块（依赖 core, control）
+6. **perception/** — 感知模块（依赖 core）
+7. **swarm/** — 集群模块（依赖 core, control, communication）
+8. **demo/** — 示例（依赖 core, control）
+
+## 构建方式
+
+### 使用 Makefile（推荐）
+
+```bash
+make help       # 查看所有构建目标
+make all        # 构建全部模块
+make control    # 仅构建控制模块
+make planning   # 仅构建规划模块
+make clean      # 清理构建产物
+```
+
+### 使用编译脚本
+
+```bash
+bash scripts/build/compile_all.sh       # 编译全部
+bash scripts/build/compile_control.sh   # 编译控制模块
+bash scripts/build/compile_planning.sh  # 编译规划模块
+```
+
+## 消息定义
+
+所有自定义 ROS 消息和服务位于 `Modules/core/common/`:
+
+- **prometheus_msgs**: UAVState, UAVCommand, UAVSetup, SwarmCommand, DetectionInfo 等
+- **quadrotor_msgs**: PositionCommand, SO3Command 等（用于底层控制）
+
+## 代码风格
+
+项目使用 `.clang-format` 定义 C++ 代码风格，基于 Google 风格并适配 ROS 开发习惯：
+- 缩进: 4 空格
+- 行宽: 120 字符
+- 指针对齐: 左对齐 (`int* ptr`)
+
+格式化代码:
+```bash
+# 格式化单个文件
+clang-format -i path/to/file.cpp
+
+# 格式化整个模块
+find Modules/control -name "*.cpp" -o -name "*.h" | xargs clang-format -i
+```
+
+## Git 子模块
+
+以下模块作为 Git 子模块管理（源码托管在 Gitee）：
+
+| 模块 | 路径 | 源仓库 |
+|------|------|--------|
+| swarm_control | Modules/swarm/swarm_control | gitee.com/amovlab1/swarm_control |
+| swarm_formation | Modules/swarm/swarm_formation | gitee.com/amovlab1/Swarm-Formation |
+| searching_pkg | Modules/swarm/searching_pkg | gitee.com/amovlab1/swarm-sch-track |
+| matlab_bridge | Modules/integration/matlab_bridge | gitee.com/amovlab1/matlab_bridge |
+
+克隆时初始化子模块:
+```bash
+git clone --recursive https://github.com/amov-lab/Prometheus.git
+```

CMakeLists.txt

@@ -0,0 +1,12 @@
+# Top-level CMakeLists.txt for Prometheus catkin workspace
+# This file enables `catkin_make` from the project root.
+#
+# Usage:
+#   catkin_make                          # Build all modules
+#   catkin_make --only-pkg-with-deps prometheus_uav_control  # Build specific package
+#
+# For module-specific builds, use the scripts in scripts/build/
+
+cmake_minimum_required(VERSION 2.8.12)
+find_package(catkin REQUIRED)
+catkin_workspace()