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Robofish 2026-02-04 21:40:41 +08:00
parent 10a15bdff9
commit 27a7ed2102
4 changed files with 141 additions and 142 deletions
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2
config.csv
View File

@ -1,4 +1,4 @@
bsp,can,fdcan,dwt,gpio,i2c,mm,spi,uart,pwm,time,flash bsp,can,fdcan,dwt,gpio,i2c,mm,spi,uart,pwm,time,flash
component,ahrs,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math component,ahrs,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9,oid,lcd_driver,mrobot device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9,oid,lcd_driver,putty
module, module,
1 bsp,can,fdcan,dwt,gpio,i2c,mm,spi,uart,pwm,time,flash
2 component,ahrs,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
3 device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9,oid,lcd_driver,mrobot device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9,oid,lcd_driver,putty
4 module,

8
device/config.yaml
View File

@ -261,7 +261,7 @@ devices:
header: "lcd.h" header: "lcd.h"
source: "lcd.c" source: "lcd.c"
mrobot: putty:
name: "MRobot CLI" name: "MRobot CLI"
description: "基于 FreeRTOS CLI 的嵌入式调试命令行系统，支持设备注册与监控、类 Unix 文件系统命令、htop 风格任务监控等" description: "基于 FreeRTOS CLI 的嵌入式调试命令行系统，支持设备注册与监控、类 Unix 文件系统命令、htop 风格任务监控等"
dependencies: dependencies:
@ -269,9 +269,9 @@ devices:
component: ["freertos_cli"] component: ["freertos_cli"]
bsp_requirements: bsp_requirements:
- type: "uart" - type: "uart"
var_name: "BSP_UART_MROBOT" var_name: "BSP_UART_PUTTY"
description: "用于 MRobot CLI 命令行交互" description: "用于 MRobot CLI 命令行交互"
thread_signals: [] thread_signals: []
files: files:
header: "mrobot.h" header: "putty.h"
source: "mrobot.c" source: "putty.c"

119
device/mrobot/mrobot.c → device/putty/putty.c
View File

@ -1,10 +1,10 @@
/** /**
* @file mrobot.c * @file putty.c
* @brief MRobot CLI 实现 * @brief Putty CLI 实现
*/ */
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#include "device/mrobot.h" #include "device/putty.h"
#include "component/freertos_cli.h" #include "component/freertos_cli.h"
#include "bsp/uart.h" #include "bsp/uart.h"
#include "bsp/mm.h" #include "bsp/mm.h"
@ -39,19 +39,19 @@ static const char *const CLI_WELCOME_MESSAGE =
/* CLI 上下文结构体 - 封装所有状态 */ /* CLI 上下文结构体 - 封装所有状态 */
typedef struct { typedef struct {
/* 设备管理 */ /* 设备管理 */
MRobot_Device_t devices[MROBOT_MAX_DEVICES]; Putty_Device_t devices[PUTTY_MAX_DEVICES];
uint8_t device_count; uint8_t device_count;
/* 自定义命令 */ /* 自定义命令 */
CLI_Command_Definition_t *custom_cmds[MROBOT_MAX_CUSTOM_COMMANDS]; CLI_Command_Definition_t *custom_cmds[PUTTY_MAX_CUSTOM_COMMANDS];
uint8_t custom_cmd_count; uint8_t custom_cmd_count;
/* CLI 状态 */ /* CLI 状态 */
MRobot_State_t state; Putty_State_t state;
char current_path[MROBOT_PATH_MAX_LEN]; char current_path[PUTTY_PATH_MAX_LEN];
/* 命令缓冲区 */ /* 命令缓冲区 */
uint8_t cmd_buffer[MROBOT_CMD_BUFFER_SIZE]; uint8_t cmd_buffer[PUTTY_CMD_BUFFER_SIZE];
volatile uint8_t cmd_index; volatile uint8_t cmd_index;
volatile bool cmd_ready; volatile bool cmd_ready;
@ -61,20 +61,20 @@ typedef struct {
volatile bool htop_exit; volatile bool htop_exit;
/* 输出缓冲区 */ /* 输出缓冲区 */
char output_buffer[MROBOT_OUTPUT_BUFFER_SIZE]; char output_buffer[PUTTY_OUTPUT_BUFFER_SIZE];
/* 初始化标志 */ /* 初始化标志 */
bool initialized; bool initialized;
/* 互斥锁 */ /* 互斥锁 */
SemaphoreHandle_t mutex; SemaphoreHandle_t mutex;
} MRobot_Context_t; } Putty_Context_t;
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
static MRobot_Context_t ctx = { static Putty_Context_t ctx = {
.device_count = 0, .device_count = 0,
.custom_cmd_count = 0, .custom_cmd_count = 0,
.state = MROBOT_STATE_IDLE, .state = PUTTY_STATE_IDLE,
.current_path = "/", .current_path = "/",
.cmd_index = 0, .cmd_index = 0,
.cmd_ready = false, .cmd_ready = false,
@ -85,7 +85,6 @@ static MRobot_Context_t ctx = {
}; };
/* Private function prototypes ---------------------------------------------- */ /* Private function prototypes ---------------------------------------------- */
/* 命令处理函数 */
static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString); static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString); static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString); static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
@ -128,8 +127,8 @@ static void send_string(const char *str) {
* @brief 发送命令提示符 * @brief 发送命令提示符
*/ */
static void send_prompt(void) { static void send_prompt(void) {
char prompt[MROBOT_PATH_MAX_LEN + 32]; char prompt[PUTTY_PATH_MAX_LEN + 32];
snprintf(prompt, sizeof(prompt), MROBOT_USER_NAME "@" MROBOT_HOST_NAME ":%s$ ", ctx.current_path); snprintf(prompt, sizeof(prompt), PUTTY_USER_NAME "@" PUTTY_HOST_NAME ":%s$ ", ctx.current_path);
send_string(prompt); send_string(prompt);
} }
@ -147,7 +146,7 @@ static void uart_rx_callback(void) {
uint8_t ch = ctx.uart_rx_char; uint8_t ch = ctx.uart_rx_char;
/* htop 模式下检查退出键 */ /* htop 模式下检查退出键 */
if (ctx.state == MROBOT_STATE_HTOP) { if (ctx.state == PUTTY_STATE_HTOP) {
if (ch == 'q' || ch == 'Q' || ch == 27) { if (ch == 'q' || ch == 'Q' || ch == 27) {
ctx.htop_exit = true; ctx.htop_exit = true;
} }
@ -187,7 +186,7 @@ static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
(void)pcCommandString; (void)pcCommandString;
int offset = snprintf(pcWriteBuffer, xWriteBufferLen, int offset = snprintf(pcWriteBuffer, xWriteBufferLen,
"MRobot CLI v2.0\r\n" "Putty CLI v2.0\r\n"
"================\r\n" "================\r\n"
"Built-in Commands:\r\n"); "Built-in Commands:\r\n");
@ -217,7 +216,7 @@ static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
(void)pcCommandString; (void)pcCommandString;
(void)pcWriteBuffer; (void)pcWriteBuffer;
(void)xWriteBufferLen; (void)xWriteBufferLen;
/* htop 模式在 MRobot_Run 中处理 */ /* htop 模式在 Putty_Run 中处理 */
return pdFALSE; return pdFALSE;
} }
@ -238,7 +237,7 @@ static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char
} }
/* 安全复制路径参数 */ /* 安全复制路径参数 */
char path[MROBOT_PATH_MAX_LEN]; char path[PUTTY_PATH_MAX_LEN];
size_t copy_len = (size_t)param_len < sizeof(path) - 1 ? (size_t)param_len : sizeof(path) - 1; size_t copy_len = (size_t)param_len < sizeof(path) - 1 ? (size_t)param_len : sizeof(path) - 1;
strncpy(path, param, copy_len); strncpy(path, param, copy_len);
path[copy_len] = '\0'; path[copy_len] = '\0';
@ -304,7 +303,7 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
/* 使用局部静态变量跟踪多次打印状态 */ /* 使用局部静态变量跟踪多次打印状态 */
static uint32_t print_count = 0; static uint32_t print_count = 0;
static uint32_t current_iter = 0; static uint32_t current_iter = 0;
static char target_device[MROBOT_DEVICE_NAME_LEN] = {0}; static char target_device[PUTTY_DEVICE_NAME_LEN] = {0};
/* 首次调用时解析参数 */ /* 首次调用时解析参数 */
if (current_iter == 0) { if (current_iter == 0) {
@ -380,7 +379,7 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
} }
} else { } else {
/* 显示指定设备 */ /* 显示指定设备 */
const MRobot_Device_t *dev = MRobot_FindDevice(target_device); const Putty_Device_t *dev = Putty_FindDevice(target_device);
if (dev == NULL) { if (dev == NULL) {
snprintf(pcWriteBuffer, xWriteBufferLen, snprintf(pcWriteBuffer, xWriteBufferLen,
@ -404,7 +403,7 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
/* 判断是否继续打印 */ /* 判断是否继续打印 */
current_iter++; current_iter++;
if (current_iter < print_count) { if (current_iter < print_count) {
osDelay(MROBOT_HTOP_REFRESH_MS); osDelay(PUTTY_HTOP_REFRESH_MS);
return pdTRUE; return pdTRUE;
} else { } else {
current_iter = 0; current_iter = 0;
@ -417,7 +416,7 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
* ========================================================================== */ * ========================================================================== */
static void handle_htop_mode(void) { static void handle_htop_mode(void) {
send_string(ANSI_CLEAR_SCREEN); send_string(ANSI_CLEAR_SCREEN);
send_string("=== MRobot Task Monitor (Press 'q' to exit) ===\r\n\r\n"); send_string("=== Putty Task Monitor (Press 'q' to exit) ===\r\n\r\n");
/* 获取任务列表 */ /* 获取任务列表 */
char task_buffer[1024]; char task_buffer[1024];
@ -465,20 +464,20 @@ static void handle_htop_mode(void) {
/* 检查退出 */ /* 检查退出 */
if (ctx.htop_exit) { if (ctx.htop_exit) {
ctx.state = MROBOT_STATE_IDLE; ctx.state = PUTTY_STATE_IDLE;
ctx.htop_exit = false; ctx.htop_exit = false;
send_string(ANSI_CLEAR_SCREEN); send_string(ANSI_CLEAR_SCREEN);
send_prompt(); send_prompt();
} }
osDelay(MROBOT_HTOP_REFRESH_MS); osDelay(PUTTY_HTOP_REFRESH_MS);
} }
/* ========================================================================== */ /* ========================================================================== */
/* 公共 API 实现 */ /* 公共 API 实现 */
/* ========================================================================== */ /* ========================================================================== */
void MRobot_Init(void) { void Putty_Init(void) {
if (ctx.initialized) return; if (ctx.initialized) return;
/* 创建互斥锁 */ /* 创建互斥锁 */
@ -487,7 +486,7 @@ void MRobot_Init(void) {
/* 初始化状态（保留已注册的设备） */ /* 初始化状态（保留已注册的设备） */
// 注意：不清除 devices 和 device_count，因为其他任务可能已经注册了设备 // 注意：不清除 devices 和 device_count，因为其他任务可能已经注册了设备
ctx.custom_cmd_count = 0; ctx.custom_cmd_count = 0;
ctx.state = MROBOT_STATE_IDLE; ctx.state = PUTTY_STATE_IDLE;
strcpy(ctx.current_path, "/"); strcpy(ctx.current_path, "/");
ctx.cmd_index = 0; ctx.cmd_index = 0;
ctx.cmd_ready = false; ctx.cmd_ready = false;
@ -518,7 +517,7 @@ void MRobot_Init(void) {
ctx.initialized = true; ctx.initialized = true;
} }
void MRobot_DeInit(void) { void Putty_DeInit(void) {
if (!ctx.initialized) return; if (!ctx.initialized) return;
/* 释放自定义命令内存 */ /* 释放自定义命令内存 */
@ -538,23 +537,23 @@ void MRobot_DeInit(void) {
ctx.initialized = false; ctx.initialized = false;
} }
MRobot_State_t MRobot_GetState(void) { Putty_State_t Putty_GetState(void) {
return ctx.state; return ctx.state;
} }
MRobot_Error_t MRobot_RegisterDevice(const char *name, void *data, MRobot_PrintCallback_t print_cb) { Putty_Error_t Putty_RegisterDevice(const char *name, void *data, Putty_PrintCallback_t print_cb) {
if (name == NULL || data == NULL) { if (name == NULL || data == NULL) {
return MROBOT_ERR_NULL_PTR; return PUTTY_ERR_NULL_PTR;
} }
if (ctx.device_count >= MROBOT_MAX_DEVICES) { if (ctx.device_count >= PUTTY_MAX_DEVICES) {
return MROBOT_ERR_FULL; return PUTTY_ERR_FULL;
} }
/* 检查重名 */ /* 检查重名 */
for (uint8_t i = 0; i < ctx.device_count; i++) { for (uint8_t i = 0; i < ctx.device_count; i++) {
if (strcmp(ctx.devices[i].name, name) == 0) { if (strcmp(ctx.devices[i].name, name) == 0) {
return MROBOT_ERR_INVALID_ARG; /* 设备名已存在 */ return PUTTY_ERR_INVALID_ARG; /* 设备名已存在 */
} }
} }
@ -563,8 +562,8 @@ MRobot_Error_t MRobot_RegisterDevice(const char *name, void *data, MRobot_PrintC
xSemaphoreTake(ctx.mutex, portMAX_DELAY); xSemaphoreTake(ctx.mutex, portMAX_DELAY);
} }
strncpy(ctx.devices[ctx.device_count].name, name, MROBOT_DEVICE_NAME_LEN - 1); strncpy(ctx.devices[ctx.device_count].name, name, PUTTY_DEVICE_NAME_LEN - 1);
ctx.devices[ctx.device_count].name[MROBOT_DEVICE_NAME_LEN - 1] = '\0'; ctx.devices[ctx.device_count].name[PUTTY_DEVICE_NAME_LEN - 1] = '\0';
ctx.devices[ctx.device_count].data = data; ctx.devices[ctx.device_count].data = data;
ctx.devices[ctx.device_count].print_cb = print_cb; ctx.devices[ctx.device_count].print_cb = print_cb;
ctx.device_count++; ctx.device_count++;
@ -573,12 +572,12 @@ MRobot_Error_t MRobot_RegisterDevice(const char *name, void *data, MRobot_PrintC
xSemaphoreGive(ctx.mutex); xSemaphoreGive(ctx.mutex);
} }
return MROBOT_OK; return PUTTY_OK;
} }
MRobot_Error_t MRobot_UnregisterDevice(const char *name) { Putty_Error_t Putty_UnregisterDevice(const char *name) {
if (name == NULL) { if (name == NULL) {
return MROBOT_ERR_NULL_PTR; return PUTTY_ERR_NULL_PTR;
} }
if (ctx.mutex != NULL) { if (ctx.mutex != NULL) {
@ -596,30 +595,30 @@ MRobot_Error_t MRobot_UnregisterDevice(const char *name) {
if (ctx.mutex != NULL) { if (ctx.mutex != NULL) {
xSemaphoreGive(ctx.mutex); xSemaphoreGive(ctx.mutex);
} }
return MROBOT_OK; return PUTTY_OK;
} }
} }
if (ctx.mutex != NULL) { if (ctx.mutex != NULL) {
xSemaphoreGive(ctx.mutex); xSemaphoreGive(ctx.mutex);
} }
return MROBOT_ERR_NOT_FOUND; return PUTTY_ERR_NOT_FOUND;
} }
MRobot_Error_t MRobot_RegisterCommand(const char *command, const char *help_text, Putty_Error_t Putty_RegisterCommand(const char *command, const char *help_text,
MRobot_CommandCallback_t callback, int8_t param_count) { Putty_CommandCallback_t callback, int8_t param_count) {
if (command == NULL || help_text == NULL || callback == NULL) { if (command == NULL || help_text == NULL || callback == NULL) {
return MROBOT_ERR_NULL_PTR; return PUTTY_ERR_NULL_PTR;
} }
if (ctx.custom_cmd_count >= MROBOT_MAX_CUSTOM_COMMANDS) { if (ctx.custom_cmd_count >= PUTTY_MAX_CUSTOM_COMMANDS) {
return MROBOT_ERR_FULL; return PUTTY_ERR_FULL;
} }
/* 动态分配命令结构体 */ /* 动态分配命令结构体 */
CLI_Command_Definition_t *cmd_def = BSP_Malloc(sizeof(CLI_Command_Definition_t)); CLI_Command_Definition_t *cmd_def = BSP_Malloc(sizeof(CLI_Command_Definition_t));
if (cmd_def == NULL) { if (cmd_def == NULL) {
return MROBOT_ERR_ALLOC; return PUTTY_ERR_ALLOC;
} }
/* 初始化命令定义 */ /* 初始化命令定义 */
@ -634,14 +633,14 @@ MRobot_Error_t MRobot_RegisterCommand(const char *command, const char *help_text
ctx.custom_cmds[ctx.custom_cmd_count] = cmd_def; ctx.custom_cmds[ctx.custom_cmd_count] = cmd_def;
ctx.custom_cmd_count++; ctx.custom_cmd_count++;
return MROBOT_OK; return PUTTY_OK;
} }
uint8_t MRobot_GetDeviceCount(void) { uint8_t Putty_GetDeviceCount(void) {
return ctx.device_count; return ctx.device_count;
} }
const MRobot_Device_t *MRobot_FindDevice(const char *name) { const Putty_Device_t *Putty_FindDevice(const char *name) {
if (name == NULL) return NULL; if (name == NULL) return NULL;
for (uint8_t i = 0; i < ctx.device_count; i++) { for (uint8_t i = 0; i < ctx.device_count; i++) {
@ -652,10 +651,10 @@ const MRobot_Device_t *MRobot_FindDevice(const char *name) {
return NULL; return NULL;
} }
int MRobot_Printf(const char *fmt, ...) { int Putty_Printf(const char *fmt, ...) {
if (fmt == NULL || !ctx.initialized) return -1; if (fmt == NULL || !ctx.initialized) return -1;
char buffer[MROBOT_OUTPUT_BUFFER_SIZE]; char buffer[PUTTY_OUTPUT_BUFFER_SIZE];
va_list args; va_list args;
va_start(args, fmt); va_start(args, fmt);
int len = format_float_va(buffer, sizeof(buffer), fmt, args); int len = format_float_va(buffer, sizeof(buffer), fmt, args);
@ -710,7 +709,7 @@ static int format_float_va(char *buf, size_t size, const char *fmt, va_list args
switch (*p) { switch (*p) {
case 'f': { /* 浮点数 */ case 'f': { /* 浮点数 */
double val = va_arg(args, double); double val = va_arg(args, double);
written = MRobot_FormatFloat(buf_ptr, buf_remain, (float)val, precision); written = Putty_FormatFloat(buf_ptr, buf_remain, (float)val, precision);
break; break;
} }
case 'd': case 'd':
@ -785,7 +784,7 @@ static int format_float_va(char *buf, size_t size, const char *fmt, va_list args
return (int)(buf_ptr - buf); return (int)(buf_ptr - buf);
} }
int MRobot_Snprintf(char *buf, size_t size, const char *fmt, ...) { int Putty_Snprintf(char *buf, size_t size, const char *fmt, ...) {
va_list args; va_list args;
va_start(args, fmt); va_start(args, fmt);
int len = format_float_va(buf, size, fmt, args); int len = format_float_va(buf, size, fmt, args);
@ -793,7 +792,7 @@ int MRobot_Snprintf(char *buf, size_t size, const char *fmt, ...) {
return len; return len;
} }
int MRobot_FormatFloat(char *buf, size_t size, float val, int precision) { int Putty_FormatFloat(char *buf, size_t size, float val, int precision) {
if (buf == NULL || size == 0) return 0; if (buf == NULL || size == 0) return 0;
int offset = 0; int offset = 0;
@ -831,22 +830,22 @@ int MRobot_FormatFloat(char *buf, size_t size, float val, int precision) {
return (written > 0) ? (offset + written) : offset; return (written > 0) ? (offset + written) : offset;
} }
void MRobot_Run(void) { void Putty_Run(void) {
if (!ctx.initialized) return; if (!ctx.initialized) return;
/* htop 模式 */ /* htop 模式 */
if (ctx.state == MROBOT_STATE_HTOP) { if (ctx.state == PUTTY_STATE_HTOP) {
handle_htop_mode(); handle_htop_mode();
return; return;
} }
/* 处理命令 */ /* 处理命令 */
if (ctx.cmd_ready) { if (ctx.cmd_ready) {
ctx.state = MROBOT_STATE_PROCESSING; ctx.state = PUTTY_STATE_PROCESSING;
/* 检查是否是 htop 命令 */ /* 检查是否是 htop 命令 */
if (strcmp((char *)ctx.cmd_buffer, "htop") == 0) { if (strcmp((char *)ctx.cmd_buffer, "htop") == 0) {
ctx.state = MROBOT_STATE_HTOP; ctx.state = PUTTY_STATE_HTOP;
ctx.htop_exit = false; ctx.htop_exit = false;
} else { } else {
/* 处理其他命令 */ /* 处理其他命令 */
@ -863,7 +862,7 @@ void MRobot_Run(void) {
} while (more != pdFALSE); } while (more != pdFALSE);
send_prompt(); send_prompt();
ctx.state = MROBOT_STATE_IDLE; ctx.state = PUTTY_STATE_IDLE;
} }
ctx.cmd_index = 0; ctx.cmd_index = 0;

154
device/mrobot/mrobot.h → device/putty/putty.h
View File

@ -1,6 +1,6 @@
/** /**
* @file mrobot.h * @file putty.h
* @brief MRobot CLI - 基于 FreeRTOS CLI 的嵌入式调试命令行系统 * @brief Putty CLI - 基于 FreeRTOS CLI 的嵌入式调试命令行系统
* *
* 功能特性: * 功能特性:
* - 设备注册与监控（IMU、电机、传感器等） * - 设备注册与监控（IMU、电机、传感器等）
@ -25,7 +25,7 @@
* // 2. 实现打印回调 * // 2. 实现打印回调
* static int print_imu(const void *data, char *buf, size_t size) { * static int print_imu(const void *data, char *buf, size_t size) {
* const MyIMU_t *imu = (const MyIMU_t *)data; * const MyIMU_t *imu = (const MyIMU_t *)data;
* return MRobot_Snprintf(buf, size, * return Putty_Snprintf(buf, size,
* " Status: %s\r\n" * " Status: %s\r\n"
* " Accel : X=%.3f Y=%.3f Z=%.3f\r\n" * " Accel : X=%.3f Y=%.3f Z=%.3f\r\n"
* " Euler : R=%.2f P=%.2f Y=%.2f\r\n" * " Euler : R=%.2f P=%.2f Y=%.2f\r\n"
@ -37,7 +37,7 @@
* } * }
* *
* // 3. 注册设备 * // 3. 注册设备
* MRobot_RegisterDevice("imu", &my_imu, print_imu); * Putty_RegisterDevice("imu", &my_imu, print_imu);
* @endcode * @endcode
* *
* @example 电机设备注册示例 * @example 电机设备注册示例
@ -53,7 +53,7 @@
* *
* static int print_motor(const void *data, char *buf, size_t size) { * static int print_motor(const void *data, char *buf, size_t size) {
* const MyMotor_t *m = (const MyMotor_t *)data; * const MyMotor_t *m = (const MyMotor_t *)data;
* return MRobot_Snprintf(buf, size, * return Putty_Snprintf(buf, size,
* " Status : %s\r\n" * " Status : %s\r\n"
* " Angle : %.2f deg\r\n" * " Angle : %.2f deg\r\n"
* " Speed : %.1f RPM\r\n" * " Speed : %.1f RPM\r\n"
@ -63,10 +63,10 @@
* } * }
* *
* // 注册 4 个电机 * // 注册 4 个电机
* MRobot_RegisterDevice("motor0", &motor[0], print_motor); * Putty_RegisterDevice("motor0", &motor[0], print_motor);
* MRobot_RegisterDevice("motor1", &motor[1], print_motor); * Putty_RegisterDevice("motor1", &motor[1], print_motor);
* MRobot_RegisterDevice("motor2", &motor[2], print_motor); * Putty_RegisterDevice("motor2", &motor[2], print_motor);
* MRobot_RegisterDevice("motor3", &motor[3], print_motor); * Putty_RegisterDevice("motor3", &motor[3], print_motor);
* @endcode * @endcode
* *
* @example 自定义校准命令示例 * @example 自定义校准命令示例
@ -79,24 +79,24 @@
* const char *param = FreeRTOS_CLIGetParameter(cmd, 1, NULL); * const char *param = FreeRTOS_CLIGetParameter(cmd, 1, NULL);
* *
* if (param == NULL) { * if (param == NULL) {
* return MRobot_Snprintf(buf, size, "Usage: cali <gyro|accel|save>\r\n"); * return Putty_Snprintf(buf, size, "Usage: cali <gyro|accel|save>\r\n");
* } * }
* if (strncmp(param, "gyro", 4) == 0) { * if (strncmp(param, "gyro", 4) == 0) {
* // 采集 1000 次陀螺仪数据求平均 * // 采集 1000 次陀螺仪数据求平均
* MRobot_Snprintf(buf, size, "Calibrating gyro... keep IMU still!\r\n"); * Putty_Snprintf(buf, size, "Calibrating gyro... keep IMU still!\r\n");
* // ... 校准逻辑 ... * // ... 校准逻辑 ...
* return 0; * return 0;
* } * }
* if (strncmp(param, "save", 4) == 0) { * if (strncmp(param, "save", 4) == 0) {
* // 保存到 Flash * // 保存到 Flash
* MRobot_Snprintf(buf, size, "Calibration saved to flash.\r\n"); * Putty_Snprintf(buf, size, "Calibration saved to flash.\r\n");
* return 0; * return 0;
* } * }
* return MRobot_Snprintf(buf, size, "Unknown: %s\r\n", param); * return Putty_Snprintf(buf, size, "Unknown: %s\r\n", param);
* } * }
* *
* // 注册命令 * // 注册命令
* MRobot_RegisterCommand("cali", "cali <gyro|accel|save>: IMU calibration\r\n", cmd_cali, -1); * Putty_RegisterCommand("cali", "cali <gyro|accel|save>: IMU calibration", cmd_cali, -1);
* @endcode * @endcode
*/ */
@ -115,60 +115,60 @@ extern "C" {
/* Configuration ------------------------------------------------------------ */ /* Configuration ------------------------------------------------------------ */
/* 可在编译时通过 -D 选项覆盖这些默认值 */ /* 可在编译时通过 -D 选项覆盖这些默认值 */
#ifndef MROBOT_MAX_DEVICES #ifndef PUTTY_MAX_DEVICES
#define MROBOT_MAX_DEVICES 64 /* 最大设备数 */ #define PUTTY_MAX_DEVICES 64 /* 最大设备数 */
#endif #endif
#ifndef MROBOT_MAX_CUSTOM_COMMANDS #ifndef PUTTY_MAX_CUSTOM_COMMANDS
#define MROBOT_MAX_CUSTOM_COMMANDS 16 /* 最大自定义命令数 */ #define PUTTY_MAX_CUSTOM_COMMANDS 16 /* 最大自定义命令数 */
#endif #endif
#ifndef MROBOT_CMD_BUFFER_SIZE #ifndef PUTTY_CMD_BUFFER_SIZE
#define MROBOT_CMD_BUFFER_SIZE 128 /* 命令缓冲区大小 */ #define PUTTY_CMD_BUFFER_SIZE 128 /* 命令缓冲区大小 */
#endif #endif
#ifndef MROBOT_OUTPUT_BUFFER_SIZE #ifndef PUTTY_OUTPUT_BUFFER_SIZE
#define MROBOT_OUTPUT_BUFFER_SIZE 512 /* 输出缓冲区大小 */ #define PUTTY_OUTPUT_BUFFER_SIZE 512 /* 输出缓冲区大小 */
#endif #endif
#ifndef MROBOT_DEVICE_NAME_LEN #ifndef PUTTY_DEVICE_NAME_LEN
#define MROBOT_DEVICE_NAME_LEN 32 /* 设备名最大长度 */ #define PUTTY_DEVICE_NAME_LEN 32 /* 设备名最大长度 */
#endif #endif
#ifndef MROBOT_PATH_MAX_LEN #ifndef PUTTY_PATH_MAX_LEN
#define MROBOT_PATH_MAX_LEN 64 /* 路径最大长度 */ #define PUTTY_PATH_MAX_LEN 64 /* 路径最大长度 */
#endif #endif
#ifndef MROBOT_HTOP_REFRESH_MS #ifndef PUTTY_HTOP_REFRESH_MS
#define MROBOT_HTOP_REFRESH_MS 200 /* htop 刷新间隔 (ms) */ #define PUTTY_HTOP_REFRESH_MS 200 /* htop 刷新间隔 (ms) */
#endif #endif
#ifndef MROBOT_USER_NAME #ifndef PUTTY_USER_NAME
#define MROBOT_USER_NAME "root" /* CLI 用户名 */ #define PUTTY_USER_NAME "root" /* CLI 用户名 */
#endif #endif
#ifndef MROBOT_HOST_NAME #ifndef PUTTY_HOST_NAME
#define MROBOT_HOST_NAME "MRobot" /* CLI 主机名 */ #define PUTTY_HOST_NAME "MRobot" /* CLI 主机名 */
#endif #endif
/* Error codes -------------------------------------------------------------- */ /* Error codes -------------------------------------------------------------- */
typedef enum { typedef enum {
MROBOT_OK = 0, /* 成功 */ PUTTY_OK = 0, /* 成功 */
MROBOT_ERR_FULL = -1, /* 容量已满 */ PUTTY_ERR_FULL = -1, /* 容量已满 */
MROBOT_ERR_NULL_PTR = -2, /* 空指针 */ PUTTY_ERR_NULL_PTR = -2, /* 空指针 */
MROBOT_ERR_INVALID_ARG = -3, /* 无效参数 */ PUTTY_ERR_INVALID_ARG = -3, /* 无效参数 */
MROBOT_ERR_NOT_FOUND = -4, /* 未找到 */ PUTTY_ERR_NOT_FOUND = -4, /* 未找到 */
MROBOT_ERR_ALLOC = -5, /* 内存分配失败 */ PUTTY_ERR_ALLOC = -5, /* 内存分配失败 */
MROBOT_ERR_BUSY = -6, /* 设备忙 */ PUTTY_ERR_BUSY = -6, /* 设备忙 */
MROBOT_ERR_NOT_INIT = -7, /* 未初始化 */ PUTTY_ERR_NOT_INIT = -7, /* 未初始化 */
} MRobot_Error_t; } Putty_Error_t;
/* CLI 运行状态 */ /* CLI 运行状态 */
typedef enum { typedef enum {
MROBOT_STATE_IDLE, /* 空闲状态，等待输入 */ PUTTY_STATE_IDLE, /* 空闲状态，等待输入 */
MROBOT_STATE_HTOP, /* htop 模式 */ PUTTY_STATE_HTOP, /* htop 模式 */
MROBOT_STATE_PROCESSING, /* 正在处理命令 */ PUTTY_STATE_PROCESSING, /* 正在处理命令 */
} MRobot_State_t; } Putty_State_t;
/* Callback types ----------------------------------------------------------- */ /* Callback types ----------------------------------------------------------- */
@ -180,54 +180,54 @@ typedef enum {
* @return 实际写入的字节数 * @return 实际写入的字节数
* @note 用户需要自行实现此函数来格式化设备数据 * @note 用户需要自行实现此函数来格式化设备数据
*/ */
typedef int (*MRobot_PrintCallback_t)(const void *device_data, char *buffer, size_t buffer_size); typedef int (*Putty_PrintCallback_t)(const void *device_data, char *buffer, size_t buffer_size);
/** /**
* @brief 命令处理回调函数类型（与 FreeRTOS CLI 兼容） * @brief 命令处理回调函数类型（与 FreeRTOS CLI 兼容）
*/ */
typedef long (*MRobot_CommandCallback_t)(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString); typedef long (*Putty_CommandCallback_t)(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
/* Device structure --------------------------------------------------------- */ /* Device structure --------------------------------------------------------- */
typedef struct { typedef struct {
char name[MROBOT_DEVICE_NAME_LEN]; /* 设备名称 */ char name[PUTTY_DEVICE_NAME_LEN]; /* 设备名称 */
void *data; /* 用户设备数据指针 */ void *data; /* 用户设备数据指针 */
MRobot_PrintCallback_t print_cb; /* 用户打印回调函数 */ Putty_PrintCallback_t print_cb; /* 用户打印回调函数 */
} MRobot_Device_t; } Putty_Device_t;
/* Public API --------------------------------------------------------------- */ /* Public API --------------------------------------------------------------- */
/** /**
* @brief 初始化 MRobot CLI 系统 * @brief 初始化 Putty CLI 系统
* @note 必须在 FreeRTOS 调度器启动后调用 * @note 必须在 FreeRTOS 调度器启动后调用
*/ */
void MRobot_Init(void); void Putty_Init(void);
/** /**
* @brief 反初始化 MRobot CLI 系统，释放资源 * @brief 反初始化 Putty CLI 系统，释放资源
*/ */
void MRobot_DeInit(void); void Putty_DeInit(void);
/** /**
* @brief 获取当前 CLI 状态 * @brief 获取当前 CLI 状态
* @return MRobot_State_t 当前状态 * @return Putty_State_t 当前状态
*/ */
MRobot_State_t MRobot_GetState(void); Putty_State_t Putty_GetState(void);
/** /**
* @brief 注册设备到 MRobot 系统 * @brief 注册设备到 Putty 系统
* @param name 设备名称（会被截断到 MROBOT_DEVICE_NAME_LEN-1） * @param name 设备名称（会被截断到 PUTTY_DEVICE_NAME_LEN-1）
* @param data 设备数据指针（不能为 NULL） * @param data 设备数据指针（不能为 NULL）
* @param print_cb 打印回调函数（可为 NULL，但无法用 show 命令查看） * @param print_cb 打印回调函数（可为 NULL，但无法用 show 命令查看）
* @return MRobot_Error_t 错误码 * @return Putty_Error_t 错误码
*/ */
MRobot_Error_t MRobot_RegisterDevice(const char *name, void *data, MRobot_PrintCallback_t print_cb); Putty_Error_t Putty_RegisterDevice(const char *name, void *data, Putty_PrintCallback_t print_cb);
/** /**
* @brief 注销设备 * @brief 注销设备
* @param name 设备名称 * @param name 设备名称
* @return MRobot_Error_t 错误码 * @return Putty_Error_t 错误码
*/ */
MRobot_Error_t MRobot_UnregisterDevice(const char *name); Putty_Error_t Putty_UnregisterDevice(const char *name);
/** /**
* @brief 注册自定义命令 * @brief 注册自定义命令
@ -235,29 +235,29 @@ MRobot_Error_t MRobot_UnregisterDevice(const char *name);
* @param help_text 帮助文本 * @param help_text 帮助文本
* @param callback 命令回调函数 * @param callback 命令回调函数
* @param param_count 参数个数（-1 表示可变参数） * @param param_count 参数个数（-1 表示可变参数）
* @return MRobot_Error_t 错误码 * @return Putty_Error_t 错误码
*/ */
MRobot_Error_t MRobot_RegisterCommand(const char *command, const char *help_text, Putty_Error_t Putty_RegisterCommand(const char *command, const char *help_text,
MRobot_CommandCallback_t callback, int8_t param_count); Putty_CommandCallback_t callback, int8_t param_count);
/** /**
* @brief 获取已注册设备数量 * @brief 获取已注册设备数量
* @return 设备数量 * @return 设备数量
*/ */
uint8_t MRobot_GetDeviceCount(void); uint8_t Putty_GetDeviceCount(void);
/** /**
* @brief 根据名称查找设备 * @brief 根据名称查找设备
* @param name 设备名称 * @param name 设备名称
* @return 设备指针，未找到返回 NULL * @return 设备指针，未找到返回 NULL
*/ */
const MRobot_Device_t *MRobot_FindDevice(const char *name); const Putty_Device_t *Putty_FindDevice(const char *name);
/** /**
* @brief MRobot 主循环，在 CLI 任务中周期性调用 * @brief Putty 主循环，在 CLI 任务中周期性调用
* @note 建议调用周期 10ms * @note 建议调用周期 10ms
*/ */
void MRobot_Run(void); void Putty_Run(void);
/** /**
* @brief 格式化输出到 CLI 终端（线程安全，支持浮点数） * @brief 格式化输出到 CLI 终端（线程安全，支持浮点数）
@ -273,23 +273,23 @@ void MRobot_Run(void);
* - %% : 百分号 * - %% : 百分号
* *
* @example * @example
* MRobot_Printf("Euler: R=%.2f P=%.2f Y=%.2f\\r\\n", roll, pitch, yaw); * Putty_Printf("Euler: R=%.2f P=%.2f Y=%.2f\\r\\n", roll, pitch, yaw);
*/ */
int MRobot_Printf(const char *fmt, ...); int Putty_Printf(const char *fmt, ...);
/** /**
* @brief 格式化到缓冲区（用于回调函数，支持浮点数） * @brief 格式化到缓冲区（用于回调函数，支持浮点数）
* @note 格式说明符同 MRobot_Printf * @note 格式说明符同 Putty_Printf
* *
* @example * @example
* static int print_imu(const void *data, char *buf, size_t size) { * static int print_imu(const void *data, char *buf, size_t size) {
* const BMI088_t *imu = (const BMI088_t *)data; * const BMI088_t *imu = (const BMI088_t *)data;
* return MRobot_Snprintf(buf, size, * return Putty_Snprintf(buf, size,
* " Accel: X=%.3f Y=%.3f Z=%.3f\\r\\n", * " Accel: X=%.3f Y=%.3f Z=%.3f\\r\\n",
* imu->accl.x, imu->accl.y, imu->accl.z); * imu->accl.x, imu->accl.y, imu->accl.z);
* } * }
*/ */
int MRobot_Snprintf(char *buf, size_t size, const char *fmt, ...); int Putty_Snprintf(char *buf, size_t size, const char *fmt, ...);
/* Utility functions -------------------------------------------------------- */ /* Utility functions -------------------------------------------------------- */
@ -303,10 +303,10 @@ int MRobot_Snprintf(char *buf, size_t size, const char *fmt, ...);
* *
* @example * @example
* char buf[16]; * char buf[16];
* MRobot_FormatFloat(buf, sizeof(buf), 3.14159f, 2); // "3.14" * Putty_FormatFloat(buf, sizeof(buf), 3.14159f, 2); // "3.14"
* MRobot_FormatFloat(buf, sizeof(buf), -0.001f, 4); // "-0.0010" * Putty_FormatFloat(buf, sizeof(buf), -0.001f, 4); // "-0.0010"
*/ */
int MRobot_FormatFloat(char *buf, size_t size, float val, int precision); int Putty_FormatFloat(char *buf, size_t size, float val, int precision);
#ifdef __cplusplus #ifdef __cplusplus
} }