robofish/MRobot
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RB
2025-04-28 20:54:21 +08:00
parent 5cbcadbb31
commit 4539cfb332
19 changed files with 33390 additions and 80 deletions
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MRobot.py
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@@ -1,4 +1,5 @@
import tkinter as tk
import sys
import os
import threading
import shutil
@@ -218,7 +219,7 @@ class MRobotApp:
root.protocol("WM_DELETE_WINDOW", lambda: self.on_closing(root))
root.mainloop()
# 更新任务管理 UI
# 修改 update_task_ui 方法
def update_task_ui(self):
# 检查是否有已存在的任务文件
task_dir = os.path.join("User", "task")
@@ -226,42 +227,44 @@ class MRobotApp:
for file_name in os.listdir(task_dir):
file_base, file_ext = os.path.splitext(file_name)
# 忽略 init 和 user_task 文件
if file_ext == ".c" and file_base not in ["init", "user_task"] and file_base not in [task_var.get() for task_var in self.task_vars]:
if file_ext == ".c" and file_base not in ["init", "user_task"] and file_base not in [task_var.get() for task_var, _ in self.task_vars]:
# 自动添加已存在的任务名
new_task_var = tk.StringVar(value=file_base)
self.task_vars.append(new_task_var)
self.task_vars.append((new_task_var, tk.IntVar(value=100))) # 默认频率为 100
# 清空任务框架中的所有子组件
for widget in self.task_frame.winfo_children():
widget.destroy()
# 设置任务管理框的固定宽度
self.task_frame.config(width=300) # 将宽度固定为 300 像素
self.task_frame.config(width=400) # 将宽度固定为 400 像素
# 显示任务列表
for i, task_var in enumerate(self.task_vars):
task_row = tk.Frame(self.task_frame, width=300) # 设置任务行的宽度
for i, (task_var, freq_var) in enumerate(self.task_vars):
task_row = tk.Frame(self.task_frame, width=400) # 设置任务行的宽度
task_row.pack(fill="x", pady=5)
# 调整输入框和按钮的宽度
tk.Entry(task_row, textvariable=task_var, width=25).pack(side="left", padx=5) # 输入框宽度
tk.Entry(task_row, textvariable=task_var, width=20).pack(side="left", padx=5) # 输入框宽度
tk.Label(task_row, text="频率:").pack(side="left", padx=5)
tk.Spinbox(task_row, from_=1, to=1000, textvariable=freq_var, width=5).pack(side="left", padx=5) # 数字选择框
tk.Button(task_row, text="删除", command=lambda idx=i: self.remove_task(idx), bg="red", fg="white").pack(side="left", padx=5)
# 添加新任务按钮
add_task_button = tk.Button(self.task_frame, text="添加任务", command=self.add_task, bg="blue", fg="white")
add_task_button.pack(pady=10)
# 添加任务
# 修改 add_task 方法
def add_task(self):
new_task_var = tk.StringVar(value=f"Task_{len(self.task_vars) + 1}")
self.task_vars.append(new_task_var)
new_freq_var = tk.IntVar(value=100) # 默认频率为 100
self.task_vars.append((new_task_var, new_freq_var))
self.update_task_ui()
# 删除任务
# 修改 remove_task 方法
def remove_task(self, idx):
del self.task_vars[idx]
self.update_task_ui()
# 更新文件夹显示
def update_folder_display(self):
for widget in self.folder_frame.winfo_children():
@@ -346,35 +349,31 @@ class MRobotApp:
try:
template_file_path = os.path.join(REPO_DIR, "User", "task", "task.c.template")
task_dir = os.path.join("User", "task")
# 检查模板文件是否存在
if not os.path.exists(template_file_path):
print(f"模板文件 {template_file_path} 不存在，无法生成 task.c 文件！")
return
# 创建目标目录（如果不存在）
os.makedirs(task_dir, exist_ok=True)
# 读取模板内容
with open(template_file_path, "r", encoding="utf-8") as f:
template_content = f.read()
# 为每个任务生成对应的 task.c 文件
for task_var in self.task_vars:
for task_var, _ in self.task_vars: # 解包元组
task_name = task_var.get()
task_file_path = os.path.join(task_dir, f"{task_name.lower()}.c")
# 替换模板中的占位符
task_content = template_content.replace("{{task_name}}", task_name)
task_content = task_content.replace("{{task_function}}", task_name)
task_content = task_content.replace("{{task_frequency}}", f"TASK_FREQ_{task_name.upper()}")
task_content = task_content.replace("{{task_delay}}", f"TASK_INIT_DELAY_{task_name.upper()}")
task_content = task_content.replace("{{task_variable}}", task_name)
# 写入生成的内容到文件
with open(task_file_path, "w", encoding="utf-8") as f:
f.write(task_content)
print(f"已成功生成 {task_file_path} 文件！")
except Exception as e:
print(f"生成 task.c 文件时出错: {e}")
@@ -394,9 +393,6 @@ class MRobotApp:
with open(template_file_path, "r", encoding="utf-8") as f:
template_content = f.read()
# 打印模板内容
# print(f"模板内容: {template_content}")
# 生成任务属性定义
task_attr_definitions = "\n".join([
f"""const osThreadAttr_t attr_{task_var.get().lower()} = {{
@@ -404,12 +400,9 @@ class MRobotApp:
.priority = osPriorityNormal,
.stack_size = 128 * 4,
}};"""
for task_var in self.task_vars
for task_var, _ in self.task_vars # 解包元组
])
# 打印生成的任务属性定义
# print(f"生成的任务属性定义: {task_attr_definitions}")
# 替换模板中的占位符
task_content = template_content.replace("{{task_attr_definitions}}", task_attr_definitions)
@@ -419,9 +412,7 @@ class MRobotApp:
print(f"已成功生成 {generated_task_file_path} 文件！")
except Exception as e:
print(f"修改 user_task.c 文件时出错: {e}")
import traceback
traceback.print_exc()
# 生成 user_task.h 文件
def generate_user_task_header(self):
try:
@@ -437,34 +428,18 @@ class MRobotApp:
with open(template_file_path, "r", encoding="utf-8") as f:
template_content = f.read()
# 打印模板内容
# print(f"模板内容: {template_content}")
# 定义占位符内容
thread_definitions = "\n".join([f" osThreadId_t {task_var.get()};" for task_var in self.task_vars])
# heap_water_mark_definitions = "\n".join([f" uint32_t {task_var.get()};" for task_var in self.task_vars])
freq_definitions = "\n".join([f" float {task_var.get()};" for task_var in self.task_vars])
last_up_time_definitions = "\n".join([f" uint32_t {task_var.get()};" for task_var in self.task_vars])
task_handle_definitions = "\n".join([f" osThreadId_t {task_var.get()};" for task_var in self.task_vars])
task_attr_declarations = "\n".join([f"extern const osThreadAttr_t attr_{task_var.get().lower()};" for task_var in self.task_vars])
task_function_declarations = "\n".join([f"void {task_var.get()}(void *argument);" for task_var in self.task_vars])
task_frequency_definitions = "\n".join([f"#define TASK_FREQ_{task_var.get().upper()} (100u)" for task_var in self.task_vars])
task_init_delay_definitions = "\n".join([f"#define TASK_INIT_DELAY_{task_var.get().upper()} (100u)" for task_var in self.task_vars])
# 打印生成的占位符内容
# print(f"thread_definitions: {thread_definitions}")
# print(f"heap_water_mark_definitions: {heap_water_mark_definitions}")
# print(f"freq_definitions: {freq_definitions}")
# print(f"last_up_time_definitions: {last_up_time_definitions}")
# print(f"task_handle_definitions: {task_handle_definitions}")
# print(f"task_attr_declarations: {task_attr_declarations}")
# print(f"task_function_declarations: {task_function_declarations}")
# print(f"task_frequency_definitions: {task_frequency_definitions}")
# print(f"task_init_delay_definitions: {task_init_delay_definitions}")
thread_definitions = "\n".join([f" osThreadId_t {task_var.get()};" for task_var, _ in self.task_vars])
freq_definitions = "\n".join([f" float {task_var.get()};" for task_var, _ in self.task_vars])
last_up_time_definitions = "\n".join([f" uint32_t {task_var.get()};" for task_var, _ in self.task_vars])
task_handle_definitions = "\n".join([f" osThreadId_t {task_var.get()};" for task_var, _ in self.task_vars])
task_attr_declarations = "\n".join([f"extern const osThreadAttr_t attr_{task_var.get().lower()};" for task_var, _ in self.task_vars])
task_function_declarations = "\n".join([f"void {task_var.get()}(void *argument);" for task_var, _ in self.task_vars])
task_frequency_definitions = "\n".join([f"#define TASK_FREQ_{task_var.get().upper()} (100u)" for task_var, _ in self.task_vars])
task_init_delay_definitions = "\n".join([f"#define TASK_INIT_DELAY_{task_var.get().upper()} (0u)" for task_var, _ in self.task_vars])
# 替换模板中的占位符
header_content = template_content.replace("{{thread_definitions}}", thread_definitions)
# header_content = header_content.replace("{{heap_water_mark_definitions}}", heap_water_mark_definitions)
header_content = header_content.replace("{{freq_definitions}}", freq_definitions)
header_content = header_content.replace("{{last_up_time_definitions}}", last_up_time_definitions)
header_content = header_content.replace("{{task_handle_definitions}}", task_handle_definitions)
@@ -479,41 +454,33 @@ class MRobotApp:
print(f"已成功生成 {header_file_path} 文件！")
except Exception as e:
print(f"生成 user_task.h 文件时出错: {e}")
import traceback
traceback.print_exc()
def generate_init_file(self):
try:
# 定义模板文件路径和生成文件路径
template_file_path = os.path.join(REPO_DIR, "User", "task", "init.c.template")
generated_file_path = os.path.join("User", "task", "init.c")
# 检查模板文件是否存在
if not os.path.exists(template_file_path):
print(f"模板文件 {template_file_path} 不存在，无法生成 init.c 文件！")
return
# 创建目标目录（如果不存在）
os.makedirs(os.path.dirname(generated_file_path), exist_ok=True)
# 读取模板内容
with open(template_file_path, "r", encoding="utf-8") as f:
template_content = f.read()
# 生成任务创建代码
thread_creation_code = "\n".join([
f" task_runtime.thread.{task_var.get().lower()} = osThreadNew({task_var.get()}, NULL, &attr_{task_var.get().lower()});"
for task_var in self.task_vars
for task_var, _ in self.task_vars # 解包元组
])
# 替换模板中的占位符
init_content = template_content.replace("{{thread_creation_code}}", thread_creation_code)
# 写入生成的内容到文件
with open(generated_file_path, "w", encoding="utf-8") as f:
f.write(init_content)
print(f"已成功生成 {generated_file_path} 文件！")
except Exception as e:
print(f"生成 init.c 文件时出错: {e}")