Fix

[Rui-Xiaoyu]

Summary by Sourcery

Update VT13 RC parsing to use fully-qualified LibXR error codes and adjust CI build configuration and sample code for the XRobot module template.

Bug Fixes:

• Correct VT13 RC parsing return types and checks to use LibXR::ErrorCode consistently.
• Fix VT13 gimbal yaw mapping by removing the inverted sign when translating RC input.

Build:

• Bump the CI test project CMake C++ standard requirement from C++17 to C++20.

CI:

• Update the CI workflow's embedded sample program to use the new LibXR::STDIO::Printf invocation syntax.

[sourcery-ai]

Reviewer's guide (collapsed on small PRs)

Reviewer's Guide

Qualifies VT13 error codes with the LibXR namespace, corrects VT13 gimbal yaw sign handling, and updates the CI build example to use C++20 and a new LibXR::STDIO::Printf signature.

Class diagram for VT13 ParseRC and related types

classDiagram
class VT13 {
  +LibXR_ErrorCode ParseRC(const uint8_t* raw_data, CMD_Data& output_data)
}

class CMD_Data {
}

class LibXR_ErrorCode {
  <<enum>>
  OK
  PTR_NULL
  CHECK_ERR
}

VT13 ..> CMD_Data : outputs
VT13 ..> LibXR_ErrorCode : returns

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Flow diagram for VT13 RC frame parsing and yaw mapping

flowchart TD
  A["UART loop receives RX_BUFFER"] --> B{"LibXR::ErrorCode::OK from uart_->Read?"}
  B -- "No" --> A
  B -- "Yes" --> C["Iterate rx_buffer and detect frame"]
  C --> D{"Complete frame detected?"}
  D -- "No" --> A
  D -- "Yes" --> E["Call ParseRC(frame_buffer, rc_data)"]
  E --> F{"ParseRC returns LibXR::ErrorCode::OK?"}
  F -- "No" --> A
  F -- "Yes" --> G["Update last_time_ with Timebase::GetMilliseconds"]
  G --> H["Map rc_data to CMD::Data output_data"]
  H --> I{"Mouse control mode?"}
  I -- "No" --> J["Use other mapping branch"]
  I -- "Yes" --> K["Set output_data.gimbal.pit = curr_rc.y * MOUSE_SCALER"]
  K --> L["Set output_data.gimbal.yaw = curr_rc.x * MOUSE_SCALER (positive sign)"]
  L --> M["Set remaining fields and save last_data_"]
  M --> A

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File-Level Changes

Change	Details	Files
Align VT13 error handling with LibXR::ErrorCode and adjust return values accordingly.	Replaced uses of bare ErrorCode::OK with LibXR::ErrorCode::OK in UART read handling and ParseRC call sites. Updated ParseRC to return LibXR::ErrorCode instead of ErrorCode, including all early-return error paths. Ensured all ParseRC error paths (null pointer, header check, CRC check, range check) return the appropriately namespaced LibXR error codes and that success returns LibXR::ErrorCode::OK.	VT13.hpp
Fix VT13 RC parsing behavior for gimbal yaw axis.	Removed the negation on gimbal yaw assignment so yaw now follows the same sign convention as the input RC x-axis. Left pitch and roll mappings unchanged while keeping chassis outputs zeroed in mouse-mode mapping.	VT13.hpp
Update CI example program and CMake configuration for new LibXR STDIO API and C++20.	Changed the LibXR::STDIO::Printf call in the CI test main.cpp snippet to use the new templated-style invocation with the string passed as a template parameter rather than a function argument. Bumped the CMake C++ standard in the GitHub Actions workflow example from C++17 to C++20 to match library requirements.	.github/workflows/build.yml

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[sourcery-ai]

Hey - I've found 1 issue, and left some high level feedback:

• The change from LibXR::STDIO::Printf("...") to LibXR::STDIO::Printf<"..."]() in the CI test program is almost certainly invalid C++ and/or not the intended API usage; please verify the correct way to call Printf and adjust accordingly.
• The sign change on gimbal.yaw will invert the yaw control direction relative to previous behavior; if this is intentional, consider adding a brief comment explaining the convention so future changes don’t accidentally flip it back.

Prompt for AI Agents

Please address the comments from this code review:

## Overall Comments
- The change from `LibXR::STDIO::Printf("...")` to `LibXR::STDIO::Printf<"..."]()` in the CI test program is almost certainly invalid C++ and/or not the intended API usage; please verify the correct way to call `Printf` and adjust accordingly.
- The sign change on `gimbal.yaw` will invert the yaw control direction relative to previous behavior; if this is intentional, consider adding a brief comment explaining the convention so future changes don’t accidentally flip it back.

## Individual Comments

### Comment 1
<location path=".github/workflows/build.yml" line_range="34" />
<code_context>
           int main() {
               LibXR::PlatformInit();
-              LibXR::STDIO::Printf("This is XRobot Module Template Test\n");
+              LibXR::STDIO::Printf<"This is XRobot Module Template Test\n">();
               LibXR::HardwareContainer hw;
               XRobotMain(hw);
</code_context>
<issue_to_address>
**issue (bug_risk):** The new Printf usage with template syntax is likely invalid C++ and should remain a normal function call.

Using `Printf<"...">()` makes the string a non-type template parameter, which is not valid in standard C++ and will not compile unless `Printf` is a very unusual custom template. This should remain a regular call, e.g. `LibXR::STDIO::Printf("This is XRobot Module Template Test\n");` or whatever the correct API overload is.
</issue_to_address>

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[sourcery-ai]

issue (bug_risk): The new Printf usage with template syntax is likely invalid C++ and should remain a normal function call.

Using Printf<"...">() makes the string a non-type template parameter, which is not valid in standard C++ and will not compile unless Printf is a very unusual custom template. This should remain a regular call, e.g. LibXR::STDIO::Printf("This is XRobot Module Template Test\n"); or whatever the correct API overload is.