diff --git a/MRobot.py b/MRobot.py index 58caa56..b35fc14 100644 --- a/MRobot.py +++ b/MRobot.py @@ -48,9 +48,15 @@ from qfluentwidgets import ( SettingCardGroup, ExpandSettingCard, SubtitleLabel, BodyLabel, HorizontalSeparator, FluentIcon, InfoBar ) + +import os +from jinja2 import Template +import yaml +import re +import textwrap # 添加quote from urllib.parse import quote - +import re from packaging.version import parse as vparse __version__ = "1.0.1" @@ -749,8 +755,6 @@ class DataInterface(BaseInterface): cancel_btn.clicked.connect(self.reject) - - # 自动读取配置文件 if config_path and os.path.exists(config_path): try: @@ -855,26 +859,38 @@ class DataInterface(BaseInterface): parent=self, duration=3000 ) - + + def preserve_user_region(self, new_code, old_code, region_name): + """ + 替换 new_code 中 region_name 区域为 old_code 中的内容（如果有） + region_name: 如 'USER INCLUDE' + """ + pattern = re.compile( + rf"/\*\s*{region_name}\s*BEGIN\s*\*/(.*?)/\*\s*{region_name}\s*END\s*\*/", + re.DOTALL + ) + old_match = pattern.search(old_code or "") + if not old_match: + return new_code # 旧文件没有该区域，直接返回新代码 + + old_content = old_match.group(1) + def repl(m): + return m.group(0).replace(m.group(1), old_content) + # 替换新代码中的该区域 + return pattern.sub(repl, new_code, count=1) + def generate_task_code(self, task_list): - import os - from jinja2 import Template - import yaml - import re - import textwrap base_dir = os.path.dirname(os.path.abspath(__file__)) template_dir = os.path.join(base_dir, "User_code", "task") output_dir = os.path.join(self.project_path, "User", "task") os.makedirs(output_dir, exist_ok=True) - # 模板路径 user_task_h_tpl = os.path.join(template_dir, "user_task.h.template") user_task_c_tpl = os.path.join(template_dir, "user_task.c.template") init_c_tpl = os.path.join(template_dir, "init.c.template") task_c_tpl = os.path.join(template_dir, "task.c.template") - # 只统计需要频率控制的任务 freq_tasks = [t for t in task_list if t.get("freq_control", True)] def render_template(path, context): @@ -882,7 +898,6 @@ class DataInterface(BaseInterface): tpl = Template(f.read()) return tpl.render(**context) - # 构造模板上下文 context_h = { "thread_definitions": "\n".join([f" osThreadId_t {t['name']};" for t in task_list]), "freq_definitions": "\n".join([f" float {t['name']};" for t in freq_tasks]), @@ -893,49 +908,27 @@ class DataInterface(BaseInterface): "task_attr_declarations": "\n".join([f"extern const osThreadAttr_t attr_{t['name']};" for t in task_list]), "task_function_declarations": "\n".join([f"void {t['function']}(void *argument);" for t in task_list]), } - - # ----------- 用户区域保护函数 ----------- - def preserve_user_region(new_code, old_code, region_name): - """ - 替换 new_code 中 region_name 区域为 old_code 中的内容（如果有） - region_name: 如 'USER INCLUDE' - """ - pattern = re.compile( - rf"/\*\s*{region_name}\s*BEGIN\s*\*/(.*?)/\*\s*{region_name}\s*END\s*\*/", - re.DOTALL - ) - old_match = pattern.search(old_code or "") - if not old_match: - return new_code # 旧文件没有该区域，直接返回新代码 - - old_content = old_match.group(1) - def repl(m): - return m.group(0).replace(m.group(1), old_content) - # 替换新代码中的该区域 - return pattern.sub(repl, new_code, count=1) - + # ----------- 生成 user_task.h ----------- user_task_h_path = os.path.join(output_dir, "user_task.h") new_user_task_h = render_template(user_task_h_tpl, context_h) - - # 检查并保留所有用户区域 + if os.path.exists(user_task_h_path): with open(user_task_h_path, "r", encoding="utf-8") as f: old_code = f.read() - # 只保留有内容的用户区域 for region in ["USER INCLUDE", "USER MESSAGE", "USER CONFIG"]: - # 如果旧文件该区域有内容，则保留 pattern = re.compile( rf"/\*\s*{region}\s*BEGIN\s*\*/(.*?)/\*\s*{region}\s*END\s*\*/", re.DOTALL ) old_match = pattern.search(old_code) if old_match and old_match.group(1).strip(): - new_user_task_h = preserve_user_region(new_user_task_h, old_code, region) - # 写入 + new_user_task_h = self.preserve_user_region( + new_user_task_h, old_code, region + ) with open(user_task_h_path, "w", encoding="utf-8") as f: f.write(new_user_task_h) - + # ----------- 生成 user_task.c ----------- context_c = { "task_attr_definitions": "\n".join([ @@ -950,44 +943,27 @@ class DataInterface(BaseInterface): user_task_c = render_template(user_task_c_tpl, context_c) with open(os.path.join(output_dir, "user_task.c"), "w", encoding="utf-8") as f: f.write(user_task_c) - + # ----------- 生成 init.c ----------- - # 线程创建代码 thread_creation_code = "\n".join([ f" task_runtime.thread.{t['name']} = osThreadNew({t['function']}, NULL, &attr_{t['name']});" for t in task_list ]) - context_init = { "thread_creation_code": thread_creation_code, } - # 渲染模板 init_c = render_template(init_c_tpl, context_init) - - # 保留 USER MESSAGE 区域 - def preserve_user_region(new_code, old_code, region_name): - pattern = re.compile( - rf"/\*\s*{region_name}\s*BEGIN\s*\*/(.*?)/\*\s*{region_name}\s*END\s*\*/", - re.DOTALL - ) - old_match = pattern.search(old_code or "") - if not old_match: - return new_code - old_content = old_match.group(1) - def repl(m): - return m.group(0).replace(m.group(1), old_content) - return pattern.sub(repl, new_code, count=1) - init_c_path = os.path.join(output_dir, "init.c") if os.path.exists(init_c_path): with open(init_c_path, "r", encoding="utf-8") as f: old_code = f.read() - # 保留 USER MESSAGE 区域 - init_c = preserve_user_region(init_c, old_code, "USER MESSAGE") - + for region in ["USER INCLUDE", "USER CODE", "USER CODE INIT"]: + init_c = self.preserve_user_region( + init_c, old_code, region + ) with open(init_c_path, "w", encoding="utf-8") as f: f.write(init_c) - + # ----------- 生成 task.c ----------- for t in task_list: desc = t.get("description", "") @@ -1000,29 +976,17 @@ class DataInterface(BaseInterface): "task_description": desc_wrapped, "freq_control": t.get("freq_control", True) } - # 渲染模板 with open(task_c_tpl, encoding="utf-8") as f: tpl = Template(f.read()) code = tpl.render(**context_task) - # 保留USER区域 task_c_path = os.path.join(output_dir, f"{t['name']}.c") if os.path.exists(task_c_path): with open(task_c_path, "r", encoding="utf-8") as f: old_code = f.read() - def preserve_user_region(new_code, old_code, region_name): - pattern = re.compile( - rf"/\*\s*{region_name}\s*BEGIN\s*\*/(.*?)/\*\s*{region_name}\s*END\s*\*/", - re.DOTALL + for region in ["USER INCLUDE", "USER STRUCT", "USER CODE", "USER CODE INIT"]: + code = self.preserve_user_region( + code, old_code, region ) - old_match = pattern.search(old_code or "") - if not old_match: - return new_code - old_content = old_match.group(1) - def repl(m): - return m.group(0).replace(m.group(1), old_content) - return pattern.sub(repl, new_code, count=1) - for region in ["USER INCLUDE", "USER STRUCT", "USER CODE", "USER INIT CODE"]: - code = preserve_user_region(code, old_code, region) with open(task_c_path, "w", encoding="utf-8") as f: f.write(code) @@ -1030,6 +994,10 @@ class DataInterface(BaseInterface): config_yaml_path = os.path.join(output_dir, "config.yaml") with open(config_yaml_path, "w", encoding="utf-8") as f: yaml.safe_dump(task_list, f, allow_unicode=True) + + # ...existing code... + + # ===================== 串口终端界面 ===================== class SerialReadThread(QThread): data_received = pyqtSignal(str) diff --git a/User_code/task/init.c.template b/User_code/task/init.c.template index 87a1061..d9968ef 100644 --- a/User_code/task/init.c.template +++ b/User_code/task/init.c.template @@ -24,9 +24,9 @@ */ void Task_Init(void *argument) { (void)argument; /* 未使用argument，消除警告 */ - /* USER CODE BEGIN Task_Init */ + /* USER CODE INIT BEGIN */ - /* USER CODE END Task_Init */ + /* USER CODE INIT END */ osKernelLock(); /* 锁定内核，防止任务切换 */ /* 创建任务线程 */