refactor(preview): copy detector pointer payload

[Jiu-xiao]

Summary

• consume armor_detector/armors_result as a direct detector-packet pointer payload
• copy detector packets into preview queues during the topic callback
• keep preview worker queues independent from detector-owned packet lifetime

Boundary

• detector pointer payloads are same-process only
• VisionPreview does not store detector pointers; it copies packet contents before queueing

Validation

• GitHub Actions rerun: https://github.com/QDU-Robomaster/VisionPreview/actions/runs/25258362476
• result: success after ArmorDetector and ArmorTracker master merged pointer payload changes
• Ubuntu24 integrated compile: /tmp/direct_pointer_payload_20260502T180355Z

Summary by Sourcery

Enhancements:

• Adjust detector message type aliases and topic callback handling to work with pointer-based detector packets while preserving independent preview worker queues.

[sourcery-ai]

Reviewer's guide (collapsed on small PRs)

Reviewer's Guide

Refactors VisionPreview to consume armor detector results as a direct pointer-based packet payload from the detector topic, and copies the underlying packet contents into its own queues to keep preview-side lifetimes independent of detector ownership.

Sequence diagram for detector pointer payload handling in VisionPreview

sequenceDiagram
    participant ArmorDetector
    participant DetectorTopic
    participant VisionPreview
    participant DetectorCallback
    participant PreviewQueue

    ArmorDetector->>DetectorTopic: publish ArmorDetectionsMessage
    DetectorTopic->>DetectorCallback: invoke with RawData
    DetectorCallback->>DetectorCallback: cast data.addr_ to DetectorTopicMessage
    DetectorCallback->>VisionPreview: PushDetector(**message)
    VisionPreview->>PreviewQueue: copy ArmorDetectionsPacket contents into queue
    PreviewQueue-->>VisionPreview: owns independent packet copy
    ArmorDetector-->>DetectorTopic: manages original ArmorDetectionsPacket lifetime

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Class diagram for VisionPreview detector message refactor

classDiagram
    class VisionPreview {
        +ImageFrame
        +ImageTopic
        +ImageData
        +DetectorMessage
        +DetectorTopicMessage
        +DetectorMetrics
        +Tracker
        +TargetMessage
        +PushDetector(DetectorMessage packet)
    }

    class ArmorDetectionsPacket {
    }

    class ArmorDetectionsMessage {
        +ArmorDetectionsPacket* packet
        +operator*() ArmorDetectionsPacket&
        +operator!=(std::nullptr_t other) bool
    }

    class ArmorDetectorMetrics {
    }

    class ArmorTracker {
    }

    class CameraInfoV {
    }

    class SolveTrajectory_Target {
    }

    VisionPreview ..> ArmorDetectionsPacket : uses as DetectorMessage
    VisionPreview ..> ArmorDetectionsMessage : uses as DetectorTopicMessage
    VisionPreview ..> ArmorDetectorMetrics : uses
    VisionPreview ..> ArmorTracker : uses
    ArmorTracker ..> CameraInfoV : template parameter
    VisionPreview ..> SolveTrajectory_Target : uses

    ArmorDetectionsMessage --> ArmorDetectionsPacket : holds pointer

    ArmorTracker <|-- ArmorTracker_CameraInfoV

    class ArmorTracker_CameraInfoV {
    }

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File-Level Changes

Change	Details	Files
Switch preview to use detector packet type and explicitly dereference/copy packet contents from the topic callback instead of treating the topic payload as a value message.	Change DetectorMessage alias to refer to ArmorDetectionsPacket and introduce DetectorTopicMessage alias for the topic-level ArmorDetectionsMessage pointer wrapper. Update detector topic callback to reinterpret the incoming raw data as DetectorTopicMessage, null-check both the wrapper and the inner pointer, then pass the dereferenced packet to PushDetector to copy its contents into preview queues.	VisionPreview.hpp

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[sourcery-ai]

Hey - I've left some high level feedback:

• The use of reinterpret_cast<DetectorTopicMessage*>(data.addr_) and double dereference **message relies on implicit assumptions about the raw payload layout; consider documenting or encapsulating this in a small helper (e.g., DecodeDetectorPacket(data)) to make the ownership and pointer semantics explicit and easier to audit.
• The null checks message != nullptr && *message != nullptr imply that DetectorTopicMessage is a nullable pointer-like type; consider using a stronger type (e.g., a wrapper or reference-like API) or adding an assertion/log when messages are unexpectedly null to surface upstream issues earlier.

Prompt for AI Agents

Please address the comments from this code review:

## Overall Comments
- The use of `reinterpret_cast<DetectorTopicMessage*>(data.addr_)` and double dereference `**message` relies on implicit assumptions about the raw payload layout; consider documenting or encapsulating this in a small helper (e.g., `DecodeDetectorPacket(data)`) to make the ownership and pointer semantics explicit and easier to audit.
- The null checks `message != nullptr && *message != nullptr` imply that `DetectorTopicMessage` is a nullable pointer-like type; consider using a stronger type (e.g., a wrapper or reference-like API) or adding an assertion/log when messages are unexpectedly null to surface upstream issues earlier.

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