重构架构

User_code/task/task.c.template

@@ -53,4 +53,4 @@ void {{task_function}}(void *argument) {
     /* USER CODE END */
   }
   {% endif %}
-}
+}

User_code/task/user_task.c.template

@@ -10,4 +10,3 @@ const osThreadAttr_t attr_init = {
 
 /* User_task */
 {{task_attr_definitions}}
-

User_code/task/user_task.h.template

@@ -78,4 +78,3 @@ void Task_Init(void *argument);
 #ifdef __cplusplus
 }
 #endif
-

app.py

@@ -0,0 +1,22 @@
+import os
+import sys
+# 将当前工作目录设置为程序所在的目录，确保无论从哪里执行，其工作目录都正确设置为程序本身的位置，避免路径错误。
+os.chdir(os.path.dirname(sys.executable) if getattr(sys, 'frozen', False)else os.path.dirname(os.path.abspath(__file__)))
+
+from PyQt5.QtCore import Qt
+from PyQt5.QtWidgets import QApplication
+from app.main_window import MainWindow
+
+# 启用 DPI 缩放
+QApplication.setHighDpiScaleFactorRoundingPolicy(Qt.HighDpiScaleFactorRoundingPolicy.PassThrough)
+QApplication.setAttribute(Qt.AA_EnableHighDpiScaling) # 启用高 DPI 缩放
+QApplication.setAttribute(Qt.AA_UseHighDpiPixmaps) # 使用高 DPI 图标
+
+if __name__ == "__main__":
+    app = QApplication(sys.argv)
+    app.setAttribute(Qt.AA_DontCreateNativeWidgetSiblings) # 避免创建原生窗口小部件的兄弟窗口
+
+    w = MainWindow()
+
+    sys.exit(app.exec_()) # 启动应用程序并进入主事件循环
+    # 注意：在 PyQt5 中，exec_() 是一个阻塞调用，直到应用程序退出。

app/data_interface.py

@@ -0,0 +1,810 @@
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QStackedLayout, QFileDialog, QHeaderView
+from PyQt5.QtCore import Qt
+from PyQt5.QtWidgets import QTreeWidgetItem as TreeItem
+from qfluentwidgets import TitleLabel, BodyLabel, SubtitleLabel, StrongBodyLabel, HorizontalSeparator, PushButton, TreeWidget, InfoBar,FluentIcon
+import os
+import requests
+import zipfile
+import io
+import shutil
+import yaml
+from jinja2 import Template
+
+class IocConfig:
+    def __init__(self, ioc_path):
+        self.ioc_path = ioc_path
+        self.config = {}
+        self._parse()
+
+    def _parse(self):
+        with open(self.ioc_path, encoding='utf-8') as f:
+            for line in f:
+                line = line.strip()
+                if not line or line.startswith('#'):
+                    continue
+                if '=' in line:
+                    key, value = line.split('=', 1)
+                    self.config[key.strip()] = value.strip()
+
+    def is_freertos_enabled(self):
+        ip_keys = [k for k in self.config if k.startswith('Mcu.IP')]
+        for k in ip_keys:
+            if self.config[k] == 'FREERTOS':
+                return True
+        for k in self.config:
+            if k.startswith('FREERTOS.'):
+                return True
+        return False
+
+class DataInterface(QWidget):
+    def __init__(self, parent=None):
+        super().__init__(parent=parent)
+        self.setObjectName("dataInterface")
+
+        # 属性初始化
+        self.project_path = ""
+        self.project_name = ""
+        self.ioc_file = ""
+        self.freertos_enabled = False  # 新增属性
+
+        # 主布局
+        self.stacked_layout = QStackedLayout(self)
+        self.setLayout(self.stacked_layout)
+
+        # --- 页面1：工程路径选择 ---
+        self.select_widget = QWidget()
+        outer_layout = QVBoxLayout(self.select_widget)
+        outer_layout.setContentsMargins(0, 0, 0, 0)
+        outer_layout.addStretch()
+
+        # 直接用布局和控件，无卡片
+        content_layout = QVBoxLayout()
+        content_layout.setSpacing(28)
+        content_layout.setContentsMargins(48, 48, 48, 48)
+
+        # 主标题
+        title = TitleLabel("MRobot 代码生成")
+        title.setAlignment(Qt.AlignCenter)
+        title.setStyleSheet("font-size: 36px; font-weight: bold; color: #2d7d9a;")
+        content_layout.addWidget(title)
+
+        # 副标题
+        subtitle = BodyLabel("请选择您的由CUBEMX生成的工程路径（.ico所在的目录），然后开启代码之旅！")
+        subtitle.setAlignment(Qt.AlignCenter)
+        subtitle.setStyleSheet("font-size: 16px; color: #4a6fa5;")
+        content_layout.addWidget(subtitle)
+
+        # 简要说明
+        desc = BodyLabel("支持自动配置和生成任务，自主选择模块代码倒入，自动识别cubemx配置！")
+        desc.setAlignment(Qt.AlignCenter)
+        desc.setStyleSheet("font-size: 14px; color: #6b7b8c;")
+        content_layout.addWidget(desc)
+
+        content_layout.addSpacing(18)
+
+        # 选择项目路径按钮
+        self.choose_btn = PushButton(FluentIcon.FOLDER, "选择项目路径")
+        self.choose_btn.setFixedWidth(200)
+        self.choose_btn.setStyleSheet("font-size: 17px;")
+        self.choose_btn.clicked.connect(self.choose_project_folder)
+        content_layout.addWidget(self.choose_btn, alignment=Qt.AlignmentFlag.AlignCenter)
+
+        # 更新代码库按钮
+        self.update_template_btn = PushButton(FluentIcon.SYNC, "更新代码库")
+        self.update_template_btn.setFixedWidth(200)
+        self.update_template_btn.setStyleSheet("font-size: 17px;")
+        self.update_template_btn.clicked.connect(self.update_user_template)
+        content_layout.addWidget(self.update_template_btn, alignment=Qt.AlignmentFlag.AlignCenter)
+
+        content_layout.addSpacing(10)
+        content_layout.addStretch()
+
+        
+        outer_layout.addLayout(content_layout)
+        outer_layout.addStretch()
+
+        self.stacked_layout.addWidget(self.select_widget)
+
+
+        # --- 页面2：主配置页面 ---
+        self.config_widget = QWidget()
+        main_layout = QVBoxLayout(self.config_widget)
+        main_layout.setContentsMargins(32, 32, 32, 32)
+        main_layout.setSpacing(18)
+
+        # 顶部项目信息
+        info_layout = QHBoxLayout()
+        self.back_btn = PushButton(FluentIcon.SKIP_BACK, "返回")
+        self.back_btn.setFixedWidth(90)
+        self.back_btn.clicked.connect(self.back_to_select)
+        info_layout.addWidget(self.back_btn)  # 返回按钮放最左
+        self.project_name_label = StrongBodyLabel()
+        self.project_path_label = BodyLabel()
+        self.ioc_file_label = BodyLabel()
+        self.freertos_label = BodyLabel()
+        info_layout.addWidget(self.project_name_label)
+        info_layout.addWidget(self.project_path_label)
+        info_layout.addWidget(self.ioc_file_label)
+        info_layout.addWidget(self.freertos_label)
+        info_layout.addStretch()
+        main_layout.addLayout(info_layout)
+        main_layout.addWidget(HorizontalSeparator())
+
+        # ======= 新增：左右分栏 =======
+        content_hbox = QHBoxLayout()
+        content_hbox.setSpacing(24)
+
+        # 左侧：文件树
+        left_vbox = QVBoxLayout()
+        left_vbox.addWidget(SubtitleLabel("用户代码模块选择"))
+        left_vbox.addWidget(HorizontalSeparator())
+        self.file_tree = TreeWidget()
+        self.file_tree.setHeaderLabels(["模块名"])
+        self.file_tree.setSelectionMode(self.file_tree.ExtendedSelection)
+        self.file_tree.header().setSectionResizeMode(0, QHeaderView.Stretch)
+        self.file_tree.setCheckedColor("#0078d4", "#2d7d9a")
+        self.file_tree.setBorderRadius(8)
+        self.file_tree.setBorderVisible(True)
+        left_vbox.addWidget(self.file_tree, stretch=1)
+        content_hbox.addLayout(left_vbox, 2)
+
+        # 右侧：操作按钮和说明
+        right_vbox = QVBoxLayout()
+        right_vbox.setSpacing(18)
+        right_vbox.addWidget(SubtitleLabel("操作区"))
+        right_vbox.addWidget(HorizontalSeparator())
+
+        # 操作按钮分组
+        btn_group = QVBoxLayout()
+        # 自动环境配置按钮
+        self.env_btn = PushButton("自动环境配置")
+        self.env_btn.setFixedWidth(200)
+        self.env_btn.setToolTip("自动检测并配置常用开发环境（功能开发中）")
+        self.env_btn.clicked.connect(self.auto_env_config)
+        btn_group.addWidget(self.env_btn)
+        # FreeRTOS相关按钮
+        self.freertos_task_btn = PushButton("自动生成FreeRTOS任务")
+        self.freertos_task_btn.setFixedWidth(200)
+        self.freertos_task_btn.setToolTip("自动在 freertos.c 中插入任务创建代码")
+        self.freertos_task_btn.clicked.connect(self.on_freertos_task_btn_clicked)
+        btn_group.addWidget(self.freertos_task_btn)
+        self.task_code_btn = PushButton("配置并生成任务代码")
+        self.task_code_btn.setFixedWidth(200)
+        self.task_code_btn.setToolTip("配置任务参数并一键生成任务代码文件")
+        self.task_code_btn.clicked.connect(self.on_task_code_btn_clicked)
+        btn_group.addWidget(self.task_code_btn)
+        self.generate_btn = PushButton(FluentIcon.CODE, "生成代码")
+        self.generate_btn.setFixedWidth(200)
+        self.generate_btn.setToolTip("将选中的用户模块代码复制到工程 User 目录")
+        self.generate_btn.clicked.connect(self.generate_code)
+        btn_group.addWidget(self.generate_btn)
+        btn_group.addSpacing(10)
+        right_vbox.addLayout(btn_group)
+        right_vbox.addStretch()
+
+        content_hbox.addLayout(right_vbox, 1)
+        main_layout.addLayout(content_hbox, stretch=1)
+        self.stacked_layout.addWidget(self.config_widget)
+        self.file_tree.itemChanged.connect(self.on_tree_item_changed)
+
+    def auto_env_config(self):
+        InfoBar.info(
+            title="敬请期待",
+            content="自动环境配置功能暂未实现，等待后续更新。",
+            parent=self,
+            duration=2000
+        )
+
+    def choose_project_folder(self):
+        folder = QFileDialog.getExistingDirectory(self, "请选择代码项目文件夹")
+        if not folder:
+            return
+        ioc_files = [f for f in os.listdir(folder) if f.endswith('.ioc')]
+        if not ioc_files:
+            InfoBar.warning(
+                title="提示",
+                content="未找到.ioc文件，请确认项目文件夹。",
+                parent=self,
+                duration=2000
+            )
+            return
+        self.project_path = folder
+        self.project_name = os.path.basename(folder)
+        self.ioc_file = os.path.join(folder, ioc_files[0])
+        self.show_config_page()
+
+    def show_config_page(self):
+        # 更新项目信息
+        self.project_name_label.setText(f"项目名称: {self.project_name}")
+        self.project_path_label.setText(f"项目路径: {self.project_path}")
+        # self.ioc_file_label.setText(f"IOC 文件: {self.ioc_file}")
+        try:
+            ioc = IocConfig(self.ioc_file)
+            self.freertos_enabled = ioc.is_freertos_enabled()  # 记录状态
+            freertos_status = "已启用" if self.freertos_enabled else "未启用"
+            self.freertos_label.setText(f"FreeRTOS: {freertos_status}")
+            # self.freertos_task_btn.setEnabled(self.freertos_enabled)
+        except Exception as e:
+            self.freertos_label.setText(f"IOC解析失败: {e}")
+            self.freertos_task_btn.hide()
+            self.freertos_enabled = False
+        self.show_user_code_files()
+        self.stacked_layout.setCurrentWidget(self.config_widget)
+
+    def on_freertos_task_btn_clicked(self):
+        if not self.freertos_enabled:
+            InfoBar.warning(
+                title="未开启 FreeRTOS",
+                content="请先在 CubeMX 中开启 FreeRTOS！",
+                parent=self,
+                duration=2000
+            )
+            return
+        self.generate_freertos_task()
+
+    def on_task_code_btn_clicked(self):
+        if not self.freertos_enabled:
+            InfoBar.warning(
+                title="未开启 FreeRTOS",
+                content="请先在 CubeMX 中开启 FreeRTOS！",
+                parent=self,
+                duration=2000
+            )
+            return
+        self.open_task_config_dialog()
+
+    def back_to_select(self):
+        self.stacked_layout.setCurrentWidget(self.select_widget)
+
+    def update_user_template(self):
+        url = "http://gitea.qutrobot.top/robofish/MRobot/archive/User_code.zip"
+        local_dir = "User_code"
+        try:
+            resp = requests.get(url, timeout=30)
+            resp.raise_for_status()
+            z = zipfile.ZipFile(io.BytesIO(resp.content))
+            if os.path.exists(local_dir):
+                shutil.rmtree(local_dir)
+            for member in z.namelist():
+                rel_path = os.path.relpath(member, z.namelist()[0])
+                if rel_path == ".":
+                    continue
+                target_path = os.path.join(local_dir, rel_path)
+                if member.endswith('/'):
+                    os.makedirs(target_path, exist_ok=True)
+                else:
+                    os.makedirs(os.path.dirname(target_path), exist_ok=True)
+                    with open(target_path, "wb") as f:
+                        f.write(z.read(member))
+            InfoBar.success(
+                title="更新成功",
+                content="用户模板已更新到最新版本！",
+                parent=self,
+                duration=2000
+            )
+        except Exception as e:
+            InfoBar.error(
+                title="更新失败",
+                content=f"用户模板更新失败: {e}",
+                parent=self,
+                duration=3000
+            )
+
+    def show_user_code_files(self):
+        self.file_tree.clear()
+        base_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../User_code")
+        user_dir = os.path.join(self.project_path, "User")
+        sub_dirs = ["bsp", "component", "device", "module"]
+    
+        # 读取所有 describe.csv 和 dependencies.csv
+        describe_map = {}
+        dependencies_map = {}
+        for sub in sub_dirs:
+            dir_path = os.path.join(base_dir, sub)
+            if not os.path.isdir(dir_path):
+                continue
+            # describe
+            desc_path = os.path.join(dir_path, "describe.csv")
+            if os.path.exists(desc_path):
+                with open(desc_path, encoding="utf-8") as f:
+                    for line in f:
+                        if "," in line:
+                            k, v = line.strip().split(",", 1)
+                            describe_map[f"{sub}/{k.strip()}"] = v.strip()
+            # dependencies
+            dep_path = os.path.join(dir_path, "dependencies.csv")
+            if os.path.exists(dep_path):
+                with open(dep_path, encoding="utf-8") as f:
+                    for line in f:
+                        if "," in line:
+                            a, b = line.strip().split(",", 1)
+                            dependencies_map.setdefault(f"{sub}/{a.strip()}", []).append(b.strip())
+    
+        self._describe_map = describe_map
+        self._dependencies_map = dependencies_map
+    
+        self.file_tree.setHeaderLabels(["模块名", "描述"])
+        self.file_tree.setSelectionMode(self.file_tree.ExtendedSelection)
+        self.file_tree.header().setSectionResizeMode(0, QHeaderView.ResizeToContents)
+        self.file_tree.header().setSectionResizeMode(1, QHeaderView.Stretch)  # 描述列自适应
+        self.file_tree.setCheckedColor("#0078d4", "#2d7d9a")
+        self.file_tree.setBorderRadius(8)
+        self.file_tree.setBorderVisible(True)
+    
+        for sub in sub_dirs:
+            dir_path = os.path.join(base_dir, sub)
+            if not os.path.isdir(dir_path):
+                continue
+            group_item = TreeItem([sub, ""])
+            self.file_tree.addTopLevelItem(group_item)
+            has_file = False
+            for root, _, files in os.walk(dir_path):
+                rel_root = os.path.relpath(root, base_dir)
+                for f in sorted(files):
+                    if f.endswith(".c"):
+                        mod_name = os.path.splitext(f)[0]
+                        rel_c = os.path.join(rel_root, f)
+                        key = f"{rel_root}/{mod_name}".replace("\\", "/")
+                        desc = describe_map.get(key, "")
+                        file_item = TreeItem([mod_name, desc])
+                        file_item.setFlags(file_item.flags() | Qt.ItemIsUserCheckable)
+                        file_item.setData(0, Qt.UserRole, rel_c)
+                        file_item.setData(0, Qt.UserRole + 1, key)  # 存模块key
+                        file_item.setToolTip(1, desc)
+                        file_item.setTextAlignment(1, Qt.AlignLeft | Qt.AlignVCenter)
+                        group_item.addChild(file_item)
+                        dst_c = os.path.join(user_dir, rel_c)
+                        if os.path.exists(dst_c):
+                            file_item.setCheckState(0, Qt.Unchecked)
+                            file_item.setText(0, f"{mod_name}（已存在）")
+                            file_item.setForeground(0, Qt.gray)
+                        else:
+                            file_item.setCheckState(0, Qt.Unchecked)
+                        group_item.addChild(file_item)
+                        has_file = True
+            if not has_file:
+                empty_item = TreeItem(["（无 .c 文件）", ""])
+                group_item.addChild(empty_item)
+        self.file_tree.expandAll()
+    
+    # 勾选依赖自动勾选
+    def on_tree_item_changed(self, item, column):
+        if column != 0:
+            return
+        if item.childCount() > 0:
+            return  # 只处理叶子
+        if item.checkState(0) == Qt.Checked:
+            key = item.data(0, Qt.UserRole + 1)
+            deps = self._dependencies_map.get(key, [])
+            if deps:
+                checked = []
+                root = self.file_tree.invisibleRootItem()
+                for i in range(root.childCount()):
+                    group = root.child(i)
+                    for j in range(group.childCount()):
+                        child = group.child(j)
+                        ckey = child.data(0, Qt.UserRole + 1)
+                        if ckey in deps and child.checkState(0) != Qt.Checked:
+                            child.setCheckState(0, Qt.Checked)
+                            checked.append(ckey)
+                if checked:
+                    descs = [self._describe_map.get(dep, dep) for dep in checked]
+                    InfoBar.info(
+                        title="依赖自动勾选",
+                        content="已自动勾选依赖模块: " + "，".join(descs),
+                        parent=self,
+                        duration=2000
+                    )
+    
+
+    def get_checked_files(self):
+        files = []
+        def _traverse(item):
+            for i in range(item.childCount()):
+                child = item.child(i)
+                if child.childCount() == 0 and child.checkState(0) == Qt.Checked:
+                    files.append(child.data(0, Qt.UserRole))
+                _traverse(child)
+        root = self.file_tree.invisibleRootItem()
+        for i in range(root.childCount()):
+            _traverse(root.child(i))
+        return files
+
+    def generate_code(self):
+        import shutil
+        base_dir = "User_code"
+        user_dir = os.path.join(self.project_path, "User")
+        copied = []
+        files = self.get_checked_files()
+        skipped = []
+        for rel_c in files:
+            rel_h = rel_c[:-2] + ".h"
+            src_c = os.path.join(base_dir, rel_c)
+            src_h = os.path.join(base_dir, rel_h)
+            dst_c = os.path.join(user_dir, rel_c)
+            dst_h = os.path.join(user_dir, rel_h)
+            # 如果目标文件已存在则跳过
+            if os.path.exists(dst_c):
+                skipped.append(dst_c)
+            else:
+                os.makedirs(os.path.dirname(dst_c), exist_ok=True)
+                shutil.copy2(src_c, dst_c)
+                copied.append(dst_c)
+            if os.path.exists(src_h):
+                if os.path.exists(dst_h):
+                    skipped.append(dst_h)
+                else:
+                    os.makedirs(os.path.dirname(dst_h), exist_ok=True)
+                    shutil.copy2(src_h, dst_h)
+                    copied.append(dst_h)
+        msg = f"已拷贝 {len(copied)} 个文件到 User 目录"
+        if skipped:
+            msg += f"\n{len(skipped)} 个文件已存在，未覆盖"
+        InfoBar.success(
+            title="生成完成",
+            content=msg,
+            parent=self,
+            duration=2000
+        )
+        # 生成后刷新文件树，更新标记
+        self.show_user_code_files()
+
+    def generate_freertos_task(self):
+        import re
+        freertos_path = os.path.join(self.project_path, "Core", "Src", "freertos.c")
+        if not os.path.exists(freertos_path):
+            InfoBar.error(
+                title="未找到 freertos.c",
+                content="未找到 Core/Src/freertos.c 文件，请确认工程路径。",
+                parent=self,
+                duration=2500
+            )
+            return
+        with open(freertos_path, "r", encoding="utf-8") as f:
+            code = f.read()
+    
+        changed = False
+        error_msgs = []
+    
+        # 1. 添加 #include "task/user_task.h"
+        include_line = '#include "task/user_task.h"'
+        if include_line not in code:
+            # 只插入到 USER CODE BEGIN Includes 区域
+            include_pattern = r'(\/\* *USER CODE BEGIN Includes *\*\/\s*)'
+            if re.search(include_pattern, code):
+                code = re.sub(
+                    include_pattern,
+                    r'\1' + include_line + '\n',
+                    code
+                )
+                changed = True
+            else:
+                error_msgs.append("未找到 /* USER CODE BEGIN Includes */ 区域，无法插入 include。")
+    
+        # 2. 在 /* USER CODE BEGIN RTOS_THREADS */ 区域添加 osThreadNew(Task_Init, NULL, &attr_init);
+        rtos_threads_pattern = r'(\/\* *USER CODE BEGIN RTOS_THREADS *\*\/\s*)(.*?)(\/\* *USER CODE END RTOS_THREADS *\*\/)'
+        match = re.search(rtos_threads_pattern, code, re.DOTALL)
+        task_line = ' osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务\n'
+        if match:
+            threads_code = match.group(2)
+            if 'Task_Init' not in threads_code:
+                # 保留原有内容，追加新行
+                new_threads_code = match.group(1) + threads_code + task_line + match.group(3)
+                code = code[:match.start()] + new_threads_code + code[match.end():]
+                changed = True
+        else:
+            error_msgs.append("未找到 /* USER CODE BEGIN RTOS_THREADS */ 区域，无法插入任务创建代码。")
+    
+        # 3. 清空 StartDefaultTask 的 USER CODE 区域，只保留 osThreadTerminate
+        sdt_pattern = r'(\/\* *USER CODE BEGIN StartDefaultTask *\*\/\s*)(.*?)(\/\* *USER CODE END StartDefaultTask *\*\/)'
+        match = re.search(sdt_pattern, code, re.DOTALL)
+        if match:
+            if 'osThreadTerminate(osThreadGetId());' not in match.group(2):
+                new_sdt_code = match.group(1) + '  osThreadTerminate(osThreadGetId());\n' + match.group(3)
+                code = code[:match.start()] + new_sdt_code + code[match.end():]
+                changed = True
+        else:
+            error_msgs.append("未找到 /* USER CODE BEGIN StartDefaultTask */ 区域，无法插入终止代码。")
+    
+        if changed:
+            with open(freertos_path, "w", encoding="utf-8") as f:
+                f.write(code)
+            InfoBar.success(
+                title="生成成功",
+                content="FreeRTOS任务代码已自动生成！",
+                parent=self,
+                duration=2000
+            )
+        elif error_msgs:
+            InfoBar.error(
+                title="生成失败",
+                content="\n".join(error_msgs),
+                parent=self,
+                duration=3000
+            )
+        else:
+            InfoBar.info(
+                title="无需修改",
+                content="FreeRTOS任务相关代码已存在，无需重复生成。",
+                parent=self,
+                duration=2000
+            )
+
+    def open_task_config_dialog(self):
+        from PyQt5.QtWidgets import QDialog, QVBoxLayout, QHBoxLayout, QLabel, QLineEdit, QSpinBox, QPushButton, QTableWidget, QTableWidgetItem, QHeaderView, QCheckBox
+        import yaml
+        import os
+
+        class TaskConfigDialog(QDialog):
+            def __init__(self, parent=None, config_path=None):
+                super().__init__(parent)
+                self.setWindowTitle("任务配置")
+                self.resize(900, 420)
+                layout = QVBoxLayout(self)
+                self.table = QTableWidget(0, 6)
+                self.table.setHorizontalHeaderLabels(["任务名称", "运行频率", "初始化延迟", "堆栈大小", "任务描述", "频率控制"])
+                self.table.horizontalHeader().setSectionResizeMode(0, QHeaderView.Stretch)
+                self.table.horizontalHeader().setSectionResizeMode(1, QHeaderView.Stretch)
+                self.table.horizontalHeader().setSectionResizeMode(2, QHeaderView.Stretch)
+                self.table.horizontalHeader().setSectionResizeMode(3, QHeaderView.Stretch)
+                self.table.horizontalHeader().setSectionResizeMode(4, QHeaderView.Stretch)
+                self.table.horizontalHeader().setSectionResizeMode(5, QHeaderView.ResizeToContents)
+                self.table.setColumnWidth(4, 320)  # 任务描述更宽
+                layout.addWidget(self.table)
+                btn_layout = QHBoxLayout()
+                add_btn = QPushButton("添加任务")
+                del_btn = QPushButton("删除选中")
+                ok_btn = QPushButton("生成")
+                cancel_btn = QPushButton("取消")
+                btn_layout.addWidget(add_btn)
+                btn_layout.addWidget(del_btn)
+                btn_layout.addStretch()
+                btn_layout.addWidget(ok_btn)
+                btn_layout.addWidget(cancel_btn)
+                layout.addLayout(btn_layout)
+                add_btn.clicked.connect(self.add_row)
+                del_btn.clicked.connect(self.del_row)
+                ok_btn.clicked.connect(self.accept)
+                cancel_btn.clicked.connect(self.reject)
+
+
+                # 自动读取配置文件
+                if config_path and os.path.exists(config_path):
+                    try:
+                        with open(config_path, "r", encoding="utf-8") as f:
+                            tasks = yaml.safe_load(f)
+                        if tasks:
+                            for t in tasks:
+                                row = self.table.rowCount()
+                                self.table.insertRow(row)
+                                for col, key in enumerate(["name", "frequency", "delay", "stack", "description"]):
+                                    item = QTableWidgetItem(str(t.get(key, "")))
+                                    item.setTextAlignment(Qt.AlignCenter)
+                                    self.table.setItem(row, col, item)
+                                # 新增频率控制复选框
+                                freq_ctrl = QCheckBox()
+                                freq_ctrl.setChecked(t.get("freq_control", True))
+                                self.table.setCellWidget(row, 5, freq_ctrl)
+                    except Exception as e:
+                        pass  # 配置文件损坏时忽略
+
+            def add_row(self):
+                row = self.table.rowCount()
+                self.table.insertRow(row)
+                default_values = [
+                    f"Task{row+1}", "500", "0", "256", "不要偷懒，请写清楚每个任务的作用！（如果你看到任务上面是这句话，说明作者是个懒蛋）"
+                ]
+                for col, val in enumerate(default_values):
+                    item = QTableWidgetItem(val)
+                    item.setTextAlignment(Qt.AlignCenter)
+                    self.table.setItem(row, col, item)
+                freq_ctrl = QCheckBox()
+                freq_ctrl.setChecked(True)
+                self.table.setCellWidget(row, 5, freq_ctrl)
+
+            def del_row(self):
+                rows = set([i.row() for i in self.table.selectedItems()])
+                for r in sorted(rows, reverse=True):
+                    self.table.removeRow(r)
+
+            def get_tasks(self):
+                tasks = []
+                for row in range(self.table.rowCount()):
+                    name = self.table.item(row, 0).text().strip()
+                    freq = self.table.item(row, 1).text()
+                    delay = int(self.table.item(row, 2).text())
+                    stack = int(self.table.item(row, 3).text())
+                    desc = self.table.item(row, 4).text().strip()
+                    freq_ctrl = self.table.cellWidget(row, 5).isChecked()
+                    # 校验 stack 必须为 128*2^n
+                    if stack < 128 or (stack & (stack - 1)) != 0 or stack % 128 != 0:
+                        raise ValueError(f"第{row+1}行任务“{name}”的堆栈大小必须为128、256、512、1024等（128*2^n）")
+                    task = {
+                        "name": name,
+                        "function": f"Task_{name}",
+                        "delay": delay,
+                        "stack": stack,
+                        "description": desc,
+                        "freq_control": freq_ctrl
+                    }
+                    if freq_ctrl:
+                        task["frequency"] = int(freq)
+                    tasks.append(task)
+                return tasks
+
+
+
+
+
+        config_path = os.path.join(self.project_path, "User", "task", "config.yaml")
+        dlg = TaskConfigDialog(self, config_path=config_path)
+        if dlg.exec() == QDialog.Accepted:
+            try:
+                tasks = dlg.get_tasks()
+            except Exception as e:
+                InfoBar.error(
+                    title="参数错误",
+                    content=str(e),
+                    parent=self,
+                    duration=3000
+                )
+                return
+            if not tasks:
+                InfoBar.warning(
+                    title="未配置任务",
+                    content="请至少添加一个任务！",
+                    parent=self,
+                    duration=2000
+                )
+                return
+            try:
+                self.generate_task_code(tasks)
+                InfoBar.success(
+                    title="生成成功",
+                    content="任务代码已生成到 User/task 目录！",
+                    parent=self,
+                    duration=2000
+                )
+            except Exception as e:
+                InfoBar.error(
+                    title="生成失败",
+                    content=f"任务代码生成失败: {e}",
+                    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):
+
+        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)
+
+        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")
+
+        freq_tasks = [t for t in task_list if t.get("freq_control", True)]
+
+        def render_template(path, context):
+            with open(path, encoding="utf-8") as f:
+                tpl = Template(f.read())
+            return tpl.render(**context)
+
+        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]),
+            "stack_definitions": "\n".join([f"        UBaseType_t {t['name']};" for t in task_list]),
+            "last_up_time_definitions": "\n".join([f"        float {t['name']};" for t in freq_tasks]),
+            "task_frequency_definitions": "\n".join([f"#define {t['name'].upper()}_FREQ ({t['frequency']})" for t in freq_tasks]),
+            "task_init_delay_definitions": "\n".join([f"#define {t['name'].upper()}_INIT_DELAY ({t['delay']})" for t in task_list]),
+            "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]),
+        }
+
+        # ----------- 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)
+
+        if os.path.exists(user_task_h_path):
+            with open(user_task_h_path, "r", encoding="utf-8") as f:
+                old_code = f.read()
+            for region in ["USER INCLUDE", "USER MESSAGE", "USER CONFIG"]:
+                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 = 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([
+                f"const osThreadAttr_t attr_{t['name']} = {{\n"
+                f"    .name = \"{t['name']}\",\n"
+                f"    .priority = osPriorityNormal,\n"
+                f"    .stack_size = {t['stack']} * 4,\n"
+                f"}};"
+                for t in task_list
+            ])
+        }
+        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 -----------
+        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,
+        }
+        init_c = render_template(init_c_tpl, context_init)
+        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()
+            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", "")
+            desc_wrapped = "\n    ".join(textwrap.wrap(desc, 20))
+            context_task = {
+                "task_name": t["name"],
+                "task_function": t["function"],
+                "task_frequency": f"{t['name'].upper()}_FREQ" if t.get("freq_control", True) else None,
+                "task_delay": f"{t['name'].upper()}_INIT_DELAY",
+                "task_description": desc_wrapped,
+                "freq_control": t.get("freq_control", True)
+            }
+            with open(task_c_tpl, encoding="utf-8") as f:
+                tpl = Template(f.read())
+            code = tpl.render(**context_task)
+            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()
+                for region in ["USER INCLUDE", "USER STRUCT", "USER CODE", "USER CODE INIT"]:
+                    code = self.preserve_user_region(
+                        code, old_code, region
+                    )
+            with open(task_c_path, "w", encoding="utf-8") as f:
+                f.write(code)
+
+        # ----------- 保存任务配置到 config.yaml -----------
+        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)
+

app/function_fit_interface.py

@@ -0,0 +1,101 @@
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QPushButton, QTextEdit, QFileDialog, QLabel
+from PyQt5.QtCore import Qt
+from qfluentwidgets import TitleLabel, BodyLabel
+import pandas as pd
+import io
+
+class FunctionFitInterface(QWidget):
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.setObjectName("functionFitInterface")
+
+        main_layout = QHBoxLayout(self)
+        main_layout.setContentsMargins(32, 32, 32, 32)
+        main_layout.setSpacing(24)
+
+        # 左侧：数据输入区
+        left_layout = QVBoxLayout()
+        left_layout.setSpacing(16)
+
+        left_layout.addWidget(TitleLabel("数据输入/导入"))
+        self.dataEdit = QTextEdit()
+        self.dataEdit.setPlaceholderText("输入数据，每行格式：x,y")
+        left_layout.addWidget(self.dataEdit)
+
+        btn_layout = QHBoxLayout()
+        import_btn = QPushButton("导入 Excel")
+        import_btn.clicked.connect(self.import_excel)
+        export_btn = QPushButton("导出 Excel")
+        export_btn.clicked.connect(self.export_excel)
+        btn_layout.addWidget(import_btn)
+        btn_layout.addWidget(export_btn)
+        left_layout.addLayout(btn_layout)
+
+        fit_btn = QPushButton("拟合并绘图")
+        fit_btn.clicked.connect(self.fit_and_plot)
+        left_layout.addWidget(fit_btn)
+
+        main_layout.addLayout(left_layout, 1)
+
+        # 右侧：图像展示区
+        right_layout = QVBoxLayout()
+        right_layout.setSpacing(16)
+        right_layout.addWidget(TitleLabel("函数拟合图像"))
+
+        import matplotlib.pyplot as plt
+        from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
+
+        self.figure, self.ax = plt.subplots()
+        self.canvas = FigureCanvas(self.figure)
+        right_layout.addWidget(self.canvas, stretch=1)
+
+        self.resultLabel = BodyLabel("")
+        right_layout.addWidget(self.resultLabel)
+
+        main_layout.addLayout(right_layout, 2)
+
+    def import_excel(self):
+        path, _ = QFileDialog.getOpenFileName(self, "导入 Excel", "", "Excel Files (*.xlsx *.xls)")
+        if path:
+            df = pd.read_excel(path)
+            text = "\n".join(f"{row[0]},{row[1]}" for row in df.values)
+            self.dataEdit.setText(text)
+
+    def export_excel(self):
+        path, _ = QFileDialog.getSaveFileName(self, "导出 Excel", "", "Excel Files (*.xlsx)")
+        if path:
+            data = self.parse_data()
+            if data is not None:
+                df = pd.DataFrame(data, columns=["x", "y"])
+                df.to_excel(path, index=False)
+
+    def parse_data(self):
+        lines = self.dataEdit.toPlainText().strip().split('\n')
+        data = []
+        for line in lines:
+            try:
+                x, y = map(float, line.split(','))
+                data.append([x, y])
+            except Exception:
+                continue
+        return data if data else None
+
+    def fit_and_plot(self):
+        data = self.parse_data()
+        if not data:
+            self.resultLabel.setText("数据格式错误或为空")
+            return
+        import numpy as np
+        import matplotlib.pyplot as plt
+
+        x = np.array([d[0] for d in data])
+        y = np.array([d[1] for d in data])
+        # 简单线性拟合
+        coeffs = np.polyfit(x, y, 1)
+        y_fit = np.polyval(coeffs, x)
+        self.ax.clear()
+        self.ax.scatter(x, y, label="原始数据")
+        self.ax.plot(x, y_fit, color='r', label=f"拟合: y={coeffs[0]:.3f}x+{coeffs[1]:.3f}")
+        self.ax.legend()
+        self.canvas.draw()
+        self.resultLabel.setText(f"拟合公式: y = {coeffs[0]:.3f}x + {coeffs[1]:.3f}")

app/home_interface.py

@@ -0,0 +1,56 @@
+from PyQt5.QtWidgets import QWidget, QVBoxLayout
+from PyQt5.QtCore import Qt
+from qfluentwidgets import SubtitleLabel, BodyLabel, HorizontalSeparator, ImageLabel, FluentLabelBase, TitleLabel
+
+class HomeInterface(QWidget):
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.setObjectName("homeInterface")
+
+        # 外层居中布局
+        outer_layout = QVBoxLayout(self)
+        outer_layout.setContentsMargins(0, 0, 0, 0)
+        outer_layout.setSpacing(0)
+        outer_layout.addStretch()
+
+        # 内容布局
+        content_layout = QVBoxLayout()
+        content_layout.setSpacing(24)
+        content_layout.setContentsMargins(48, 48, 48, 48)
+
+        # Logo
+        logo = ImageLabel('img/MRobot.png')
+        logo.scaledToHeight(80)
+        content_layout.addWidget(logo, alignment=Qt.AlignHCenter) # 居中对齐
+
+        content_layout.addSpacing(8)
+        content_layout.addStretch()
+
+        # 主标题
+        title = TitleLabel("MRobot Toolbox")
+        title.setAlignment(Qt.AlignCenter)
+        content_layout.addWidget(title)
+
+        # 副标题
+        subtitle = BodyLabel("现代化，多功能机器人开发工具箱")
+        subtitle.setAlignment(Qt.AlignCenter)
+        content_layout.addWidget(subtitle)
+
+        # 欢迎语
+        welcome = BodyLabel("欢迎使用 MRobot Toolbox！一站式支持代码生成、硬件管理、串口调试与零件库下载。")
+        welcome.setAlignment(Qt.AlignCenter)
+        content_layout.addWidget(welcome)
+
+        content_layout.addSpacing(16)
+        content_layout.addStretch()
+
+        # 加到主布局
+        outer_layout.addLayout(content_layout)
+        outer_layout.addStretch()
+
+        # 版权信息置底
+        copyright_label = BodyLabel("© 2025 MRobot | Powered by QUT RM&RCer")
+        copyright_label.setAlignment(Qt.AlignCenter)
+        copyright_label.setStyleSheet("font-size: 13px;")
+        outer_layout.addWidget(copyright_label)
+        outer_layout.addSpacing(18)

app/main_window.py

@@ -0,0 +1,108 @@
+from PyQt5.QtCore import Qt, QSize
+from PyQt5.QtGui import QIcon
+from PyQt5.QtWidgets import QApplication
+
+from contextlib import redirect_stdout
+with redirect_stdout(None):
+    from qfluentwidgets import NavigationItemPosition, FluentWindow, SplashScreen, setThemeColor, NavigationBarPushButton, toggleTheme, setTheme, Theme, NavigationAvatarWidget, NavigationToolButton ,NavigationPushButton
+    from qfluentwidgets import FluentIcon as FIF
+    from qfluentwidgets import InfoBar, InfoBarPosition
+
+from .home_interface import HomeInterface
+from .serial_terminal_interface import SerialTerminalInterface
+from .function_fit_interface import FunctionFitInterface
+from .part_library_interface import PartLibraryInterface
+from .data_interface import DataInterface
+import base64
+
+
+class MainWindow(FluentWindow):
+    def __init__(self):
+        super().__init__()
+        self.initWindow()
+        self.initInterface()
+        self.initNavigation()
+
+        # 检查更新
+        # checkUpdate(self, flag=True)
+        # checkAnnouncement(self) # 检查公告
+
+    def initWindow(self):
+        self.setMicaEffectEnabled(False)
+        setThemeColor('#f18cb9', lazy=True)
+        setTheme(Theme.AUTO, lazy=True)
+
+        self.resize(960, 640)
+        self.setWindowIcon(QIcon('./assets/logo/M2.ico'))
+        self.setWindowTitle("MRobot Toolbox")
+
+
+        desktop = QApplication.desktop().availableGeometry() # 获取可用屏幕大小
+        w, h = desktop.width(), desktop.height()
+        self.move(w // 2 - self.width() // 2, h // 2 - self.height() // 2)
+
+        self.show()
+        QApplication.processEvents()
+
+    def initInterface(self):
+        self.homeInterface = HomeInterface(self)
+        self.serialTerminalInterface = SerialTerminalInterface(self)
+        self.functionFitInterface = FunctionFitInterface(self)
+        self.partLibraryInterface = PartLibraryInterface(self)
+        self.dataInterface = DataInterface(self)
+
+
+    def initNavigation(self):
+        self.addSubInterface(self.homeInterface, FIF.HOME, self.tr('主页'))
+        self.addSubInterface(self.serialTerminalInterface, FIF.COMMAND_PROMPT,self.tr('串口助手'))
+        self.addSubInterface(self.functionFitInterface, FIF.ROBOT, self.tr('函数拟合'))
+        self.addSubInterface(self.partLibraryInterface, FIF.DOWNLOAD, self.tr('零件库'))
+        self.addSubInterface(self.dataInterface, FIF.DOWNLOAD, self.tr('代码生成'))
+        # self.navigationInterface.addWidget(
+        #     'startGameButton',
+        #     NavigationBarPushButton(FIF.PLAY, '启动游戏', isSelectable=False),
+        #     self.startGame,
+        #     NavigationItemPosition.BOTTOM)
+
+        # self.navigationInterface.addWidget(
+        #     'themeButton',
+        #     NavigationBarPushButton(FIF.BRUSH, '主题', isSelectable=False),
+        #     lambda: toggleTheme(lazy=True),
+        #     NavigationItemPosition.BOTTOM)
+
+        self.themeBtn = NavigationPushButton(FIF.BRUSH, "切换主题", False, self.navigationInterface)
+        self.themeBtn.clicked.connect(lambda: toggleTheme(lazy=True))
+        self.navigationInterface.addWidget(
+            'themeButton',
+            self.themeBtn,
+            None,
+            NavigationItemPosition.BOTTOM
+        )
+
+        # self.navigationInterface.addWidget(
+        #     'avatar',
+        #     NavigationBarPushButton(FIF.HEART, '赞赏', isSelectable=False),
+        #     lambda: MessageBoxSupport(
+        #         '支持作者🥰',
+        #         '此程序为免费开源项目，如果你付了钱请立刻退款\n如果喜欢本项目，可以微信赞赏送作者一杯咖啡☕\n您的支持就是作者开发和维护项目的动力🚀',
+        #         './assets/app/images/sponsor.jpg',
+        #         self
+        #     ).exec(),
+        #     NavigationItemPosition.BOTTOM
+        # )
+
+        # self.addSubInterface(self.settingInterface, FIF.SETTING, self.tr('设置'), position=NavigationItemPosition.BOTTOM)
+
+        # self.splashScreen.finish() # 结束启动画面
+        # self.themeListener = checkThemeChange(self)
+
+        # if not cfg.get_value(base64.b64decode("YXV0b191cGRhdGU=").decode("utf-8")):
+        #     disclaimer(self)
+
+
+    # main_window.py 只需修改关闭事件
+    def closeEvent(self, e):
+        if self.themeListener and self.themeListener.isRunning():
+            self.themeListener.terminate()
+            self.themeListener.deleteLater()
+        super().closeEvent(e)

app/part_library_interface.py

@@ -0,0 +1,212 @@
+from PyQt5.QtCore import Qt, QThread, pyqtSignal
+from PyQt5.QtWidgets import QVBoxLayout, QHBoxLayout, QWidget
+from qfluentwidgets import SubtitleLabel, BodyLabel, HorizontalSeparator, PushButton, TreeWidget, ProgressBar, Dialog, InfoBar, InfoBarPosition, FluentIcon
+import requests
+import shutil
+import os
+from urllib.parse import quote
+
+class DownloadThread(QThread):
+    progressChanged = pyqtSignal(int)
+    finished = pyqtSignal(list, list)  # success, fail
+
+    def __init__(self, files, server_url, secret_key, local_dir, parent=None):
+        super().__init__(parent)
+        self.files = files
+        self.server_url = server_url
+        self.secret_key = secret_key
+        self.local_dir = local_dir
+
+    def run(self):
+        success, fail = [], []
+        total = len(self.files)
+        max_retry = 3
+        for idx, rel_path in enumerate(self.files):
+            retry = 0
+            while retry < max_retry:
+                try:
+                    rel_path_unix = rel_path.replace("\\", "/")
+                    encoded_path = quote(rel_path_unix)
+                    url = f"{self.server_url}/download/{encoded_path}"
+                    params = {"key": self.secret_key}
+                    resp = requests.get(url, params=params, stream=True, timeout=10)
+                    if resp.status_code == 200:
+                        local_path = os.path.join(self.local_dir, rel_path)
+                        os.makedirs(os.path.dirname(local_path), exist_ok=True)
+                        with open(local_path, "wb") as f:
+                            shutil.copyfileobj(resp.raw, f)
+                        success.append(rel_path)
+                        break
+                    else:
+                        retry += 1
+                except Exception:
+                    retry += 1
+            else:
+                fail.append(rel_path)
+            self.progressChanged.emit(int((idx + 1) / total * 100))
+        self.finished.emit(success, fail)
+
+class PartLibraryInterface(QWidget):
+    SERVER_URL = "http://154.37.215.220:5000"
+    SECRET_KEY = "MRobot_Download"
+    LOCAL_LIB_DIR = "mech_lib"
+
+    def __init__(self, parent=None):
+        super().__init__(parent=parent)
+        self.setObjectName("partLibraryInterface")
+        layout = QVBoxLayout(self)
+        layout.setSpacing(16)
+
+        layout.addWidget(SubtitleLabel("零件库（在线bate版）"))
+        layout.addWidget(HorizontalSeparator())
+        layout.addWidget(BodyLabel("感谢重庆邮电大学整理的零件库，选择需要的文件下载到本地。（如无法使用或者下载失败，请尝试重新下载或检查网络连接）"))
+
+        btn_layout = QHBoxLayout()
+        refresh_btn = PushButton(FluentIcon.SYNC, "刷新列表")
+        refresh_btn.clicked.connect(self.refresh_list)
+        btn_layout.addWidget(refresh_btn)
+
+        open_local_btn = PushButton(FluentIcon.FOLDER, "打开本地零件库")
+        open_local_btn.clicked.connect(self.open_local_lib)
+        btn_layout.addWidget(open_local_btn)
+        btn_layout.addStretch()
+        layout.addLayout(btn_layout)
+
+        self.tree = TreeWidget(self)
+        self.tree.setHeaderLabels(["名称", "类型"])
+        self.tree.setSelectionMode(self.tree.ExtendedSelection)
+        self.tree.header().setSectionResizeMode(0, self.tree.header().Stretch)
+        self.tree.header().setSectionResizeMode(1, self.tree.header().ResizeToContents)
+        self.tree.setCheckedColor("#0078d4", "#2d7d9a")
+        self.tree.setBorderRadius(8)
+        self.tree.setBorderVisible(True)
+        layout.addWidget(self.tree, stretch=1)
+
+        download_btn = PushButton(FluentIcon.DOWNLOAD, "下载选中文件")
+        download_btn.clicked.connect(self.download_selected_files)
+        layout.addWidget(download_btn)
+
+        self.refresh_list(first=True)
+
+    def refresh_list(self, first=False):
+        self.tree.clear()
+        try:
+            resp = requests.get(
+                f"{self.SERVER_URL}/list",
+                params={"key": self.SECRET_KEY},
+                timeout=5
+            )
+            resp.raise_for_status()
+            tree = resp.json()
+            self.populate_tree(self.tree, tree, "")
+            if not first:
+                InfoBar.success(
+                    title="刷新成功",
+                    content="零件库已经是最新的！",
+                    parent=self,
+                    position=InfoBarPosition.TOP,
+                    duration=2000
+                )
+        except Exception as e:
+            InfoBar.error(
+                title="刷新失败",
+                content=f"获取零件库失败: {e}",
+                parent=self,
+                position=InfoBarPosition.TOP,
+                duration=3000
+            )
+
+    def populate_tree(self, parent, node, path_prefix):
+        from PyQt5.QtWidgets import QTreeWidgetItem
+        for dname, dnode in node.get("dirs", {}).items():
+            item = QTreeWidgetItem([dname, "文件夹"])
+            if isinstance(parent, TreeWidget):
+                parent.addTopLevelItem(item)
+            else:
+                parent.addChild(item)
+            self.populate_tree(item, dnode, os.path.join(path_prefix, dname))
+        for fname in node.get("files", []):
+            item = QTreeWidgetItem([fname, "文件"])
+            item.setFlags(item.flags() | Qt.ItemIsUserCheckable)
+            item.setCheckState(0, Qt.Unchecked)
+            item.setData(0, Qt.UserRole, os.path.join(path_prefix, fname))
+            if isinstance(parent, TreeWidget):
+                parent.addTopLevelItem(item)
+            else:
+                parent.addChild(item)
+
+    def get_checked_files(self):
+        files = []
+        def _traverse(item):
+            for i in range(item.childCount()):
+                child = item.child(i)
+                if child.text(1) == "文件" and child.checkState(0) == Qt.Checked:
+                    files.append(child.data(0, Qt.UserRole))
+                _traverse(child)
+        root = self.tree.invisibleRootItem()
+        for i in range(root.childCount()):
+            _traverse(root.child(i))
+        return files
+
+    def download_selected_files(self):
+        files = self.get_checked_files()
+        if not files:
+            InfoBar.info(
+                title="提示",
+                content="请先勾选要下载的文件。",
+                parent=self,
+                position=InfoBarPosition.TOP,
+                duration=2000
+            )
+            return
+
+        self.progress_dialog = Dialog(
+            title="正在下载",
+            content="正在下载选中文件，请稍候...",
+            parent=self
+        )
+        self.progress_bar = ProgressBar()
+        self.progress_bar.setValue(0)
+        self.progress_dialog.textLayout.addWidget(self.progress_bar)
+        self.progress_dialog.show()
+
+        self.download_thread = DownloadThread(
+            files, self.SERVER_URL, self.SECRET_KEY, self.LOCAL_LIB_DIR
+        )
+        self.download_thread.progressChanged.connect(self.progress_bar.setValue)
+        self.download_thread.finished.connect(self.on_download_finished)
+        self.download_thread.finished.connect(self.download_thread.deleteLater)
+        self.download_thread.start()
+
+    def on_download_finished(self, success, fail):
+        self.progress_dialog.close()
+        msg = f"成功下载: {len(success)} 个文件\n失败: {len(fail)} 个文件"
+        dialog = Dialog(
+            title="下载结果",
+            content=msg,
+            parent=self
+        )
+        open_btn = PushButton("打开文件夹")
+        def open_folder():
+            folder = os.path.abspath(self.LOCAL_LIB_DIR)
+            import platform, subprocess
+            if platform.system() == "Darwin":
+                subprocess.call(["open", folder])
+            elif platform.system() == "Windows":
+                subprocess.call(["explorer", folder])
+            else:
+                subprocess.call(["xdg-open", folder])
+            dialog.close()
+        open_btn.clicked.connect(open_folder)
+        dialog.textLayout.addWidget(open_btn)
+        dialog.exec()
+
+    def open_local_lib(self):
+        folder = os.path.abspath(self.LOCAL_LIB_DIR)
+        import platform, subprocess
+        if platform.system() == "Darwin":
+            subprocess.call(["open", folder])
+        elif platform.system() == "Windows":
+            subprocess.call(["explorer", folder])
+        else:
+            subprocess.call(["xdg-open", folder])

app/serial_terminal_interface.py

@@ -0,0 +1,167 @@
+import serial
+import serial.tools.list_ports
+from PyQt5.QtCore import Qt, QThread, pyqtSignal
+from PyQt5.QtGui import QTextCursor
+from PyQt5.QtWidgets import QVBoxLayout, QHBoxLayout, QSizePolicy
+from PyQt5.QtWidgets import QWidget
+from qfluentwidgets import (
+    FluentIcon, PushButton, ComboBox, TextEdit, LineEdit, CheckBox,
+    SubtitleLabel, BodyLabel, HorizontalSeparator
+)
+
+class SerialReadThread(QThread):
+    data_received = pyqtSignal(str)
+
+    def __init__(self, ser):
+        super().__init__()
+        self.ser = ser
+        self._running = True
+
+    def run(self):
+        while self._running: 
+            if self.ser and self.ser.is_open and self.ser.in_waiting:
+                try:
+                    data = self.ser.readline().decode(errors='ignore')
+                    self.data_received.emit(data)
+                except Exception:
+                    pass
+
+    def stop(self):
+        self._running = False
+        self.wait()
+
+class SerialTerminalInterface(QWidget):
+    def __init__(self, parent=None):
+        super().__init__(parent=parent)
+        self.setObjectName("serialTerminalInterface")
+        main_layout = QVBoxLayout(self)
+        main_layout.setSpacing(12)
+
+        # 顶部：串口设置区
+        top_hbox = QHBoxLayout()
+        top_hbox.addWidget(BodyLabel("串口:"))
+        self.port_combo = ComboBox()
+        self.refresh_ports()
+        top_hbox.addWidget(self.port_combo)
+        top_hbox.addWidget(BodyLabel("波特率:"))
+        self.baud_combo = ComboBox()
+        self.baud_combo.addItems(['9600', '115200', '57600', '38400', '19200', '4800'])
+        top_hbox.addWidget(self.baud_combo)
+        self.connect_btn = PushButton("连接")
+        self.connect_btn.clicked.connect(self.toggle_connection)
+        top_hbox.addWidget(self.connect_btn)
+        self.refresh_btn = PushButton(FluentIcon.SYNC, "刷新")
+        self.refresh_btn.clicked.connect(self.refresh_ports)
+        top_hbox.addWidget(self.refresh_btn)
+        top_hbox.addStretch()
+        main_layout.addLayout(top_hbox)
+
+        main_layout.addWidget(HorizontalSeparator())
+
+        # 中部：左侧预设命令，右侧显示区
+        center_hbox = QHBoxLayout()
+        # 左侧：预设命令竖排
+        preset_vbox = QVBoxLayout()
+        preset_vbox.addWidget(SubtitleLabel("快捷指令"))
+        preset_vbox.setAlignment(Qt.AlignmentFlag.AlignCenter)
+        self.preset_commands = [
+            ("线程监视器", "htop"),
+            ("陀螺仪校准", "cali_gyro"),
+            ("性能监视", "htop"),
+            ("重启", "reset"),
+            ("显示所有设备", "ls /dev"),
+            ("查询id", "id"),
+        ]
+        for label, cmd in self.preset_commands:
+            btn = PushButton(label)
+            btn.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Preferred)
+            btn.clicked.connect(lambda _, c=cmd: self.send_preset_command(c))
+            preset_vbox.addWidget(btn)
+        preset_vbox.addStretch()
+        main_layout.addLayout(center_hbox, stretch=1)
+
+        # 右侧：串口数据显示区
+        self.text_edit = TextEdit()
+        self.text_edit.setReadOnly(True)
+        self.text_edit.setMinimumWidth(400)
+        center_hbox.addWidget(self.text_edit, 3)
+        center_hbox.addLayout(preset_vbox, 1)
+
+        main_layout.addWidget(HorizontalSeparator())
+
+        # 底部：输入区
+        bottom_hbox = QHBoxLayout()
+        self.input_line = LineEdit()
+        self.input_line.setPlaceholderText("输入内容，回车发送")
+        self.input_line.returnPressed.connect(self.send_data)
+        bottom_hbox.addWidget(self.input_line, 4)
+        send_btn = PushButton("发送")
+        send_btn.clicked.connect(self.send_data)
+        bottom_hbox.addWidget(send_btn, 1)
+        self.auto_enter_checkbox = CheckBox("自动回车   ")
+        self.auto_enter_checkbox.setChecked(True)
+        bottom_hbox.addWidget(self.auto_enter_checkbox)
+        bottom_hbox.addStretch()
+        main_layout.addLayout(bottom_hbox)
+
+        self.ser = None
+        self.read_thread = None
+
+    def send_preset_command(self, cmd):
+        self.input_line.setText(cmd)
+        self.send_data()
+
+    def refresh_ports(self):
+        self.port_combo.clear()
+        ports = serial.tools.list_ports.comports()
+        for port in ports:
+            self.port_combo.addItem(port.device)
+
+    def toggle_connection(self):
+        if self.ser and self.ser.is_open:
+            self.disconnect_serial()
+        else:
+            self.connect_serial()
+
+    def connect_serial(self):
+        port = self.port_combo.currentText()
+        baud = int(self.baud_combo.currentText())
+        try:
+            self.ser = serial.Serial(port, baud, timeout=0.1)
+            self.connect_btn.setText("断开")
+            self.text_edit.append(f"已连接到 {port} @ {baud}")
+            self.read_thread = SerialReadThread(self.ser)
+            self.read_thread.data_received.connect(self.display_data)
+            self.read_thread.start()
+        except Exception as e:
+            self.text_edit.append(f"连接失败: {e}")
+
+    def disconnect_serial(self):
+        if self.read_thread:
+            self.read_thread.stop()
+            self.read_thread = None
+        if self.ser:
+            self.ser.close()
+            self.ser = None
+        self.connect_btn.setText("连接")
+        self.text_edit.append("已断开连接")
+
+    def display_data(self, data):
+        self.text_edit.moveCursor(QTextCursor.End)
+        self.text_edit.insertPlainText(data)
+        self.text_edit.moveCursor(QTextCursor.End)
+
+    def send_data(self):
+        if self.ser and self.ser.is_open:
+            text = self.input_line.text()
+            try:
+                if not text:
+                    self.ser.write('\n'.encode())
+                else:
+                    for char in text:
+                        self.ser.write(char.encode())
+                    if self.auto_enter_checkbox.isChecked():
+                        self.ser.write('\n'.encode())
+            except Exception as e:
+                self.text_edit.append(f"发送失败: {e}")
+            self.input_line.clear()

fluent.py

@@ -0,0 +1,136 @@
+import os
+import sys
+# 将当前工作目录设置为程序所在的目录，确保无论从哪里执行，其工作目录都正确设置为程序本身的位置，避免路径错误。
+os.chdir(os.path.dirname(sys.executable) if getattr(sys, 'frozen', False)else os.path.dirname(os.path.abspath(__file__)))
+
+import pyuac
+if not pyuac.isUserAdmin():
+    try:
+        pyuac.runAsAdmin(False)
+        sys.exit(0)
+    except Exception:
+        sys.exit(1)
+
+import atexit
+import base64
+
+
+
+
+def first_run():
+    # if not cfg.get_value(base64.b64decode("YXV0b191cGRhdGU=").decode("utf-8")):
+    #     log.error("首次使用请先打开图形界面 March7th Launcher.exe")
+        input("按回车键关闭窗口. . .")
+        sys.exit(0)
+
+
+def run_main_actions():
+    while True:
+        version.start()
+        game.start()
+        reward.start_specific("dispatch")
+        Daily.start()
+        reward.start()
+        game.stop(True)
+
+
+def run_sub_task(action):
+    game.start()
+    sub_tasks = {
+        "daily": lambda: (Daily.run(), reward.start()),
+        "power": Power.run,
+        "fight": Fight.start,
+        "universe": Universe.start,
+        "forgottenhall": lambda: challenge.start("memoryofchaos"),
+        "purefiction": lambda: challenge.start("purefiction"),
+        "apocalyptic": lambda: challenge.start("apocalyptic"),
+        "redemption": Redemption.start
+    }
+    task = sub_tasks.get(action)
+    if task:
+        task()
+    game.stop(False)
+
+
+def run_sub_task_gui(action):
+    gui_tasks = {
+        "universe_gui": Universe.gui,
+        "fight_gui": Fight.gui
+    }
+    task = gui_tasks.get(action)
+    if task and not task():
+        input("按回车键关闭窗口. . .")
+    sys.exit(0)
+
+
+def run_sub_task_update(action):
+    update_tasks = {
+        "universe_update": Universe.update,
+        "fight_update": Fight.update
+    }
+    task = update_tasks.get(action)
+    if task:
+        task()
+    input("按回车键关闭窗口. . .")
+    sys.exit(0)
+
+
+def run_notify_action():
+    notif.notify(cfg.notify_template['TestMessage'], "./assets/app/images/March7th.jpg")
+    input("按回车键关闭窗口. . .")
+    sys.exit(0)
+
+
+def main(action=None):
+    first_run()
+
+    # 完整运行
+    if action is None or action == "main":
+        run_main_actions()
+
+    # 子任务
+    elif action in ["daily", "power", "fight", "universe", "forgottenhall", "purefiction", "apocalyptic", "redemption"]:
+        run_sub_task(action)
+
+    # 子任务 原生图形界面
+    elif action in ["universe_gui", "fight_gui"]:
+        run_sub_task_gui(action)
+
+    # 子任务 更新项目
+    elif action in ["universe_update", "fight_update"]:
+        run_sub_task_update(action)
+
+    elif action in ["screenshot", "plot"]:
+        tool.start(action)
+
+    elif action == "game":
+        game.start()
+
+    elif action == "notify":
+        run_notify_action()
+
+    else:
+        log.error(f"未知任务: {action}")
+        input("按回车键关闭窗口. . .")
+        sys.exit(1)
+
+
+# 程序结束时的处理器
+def exit_handler():
+    """注册程序退出时的处理函数，用于清理OCR资源."""
+    ocr.exit_ocr()
+
+
+if __name__ == "__main__":
+    try:
+        atexit.register(exit_handler)
+        main(sys.argv[1]) if len(sys.argv) > 1 else main()
+    except KeyboardInterrupt:
+        log.error("发生错误: 手动强制停止")
+        input("按回车键关闭窗口. . .")
+        sys.exit(1)
+    except Exception as e:
+        log.error(cfg.notify_template['ErrorOccurred'].format(error=e))
+        notif.notify(cfg.notify_template['ErrorOccurred'].format(error=e))
+        input("按回车键关闭窗口. . .")
+        sys.exit(1)