From 843936525ffaaba73d9efb2435c55ccdea853724 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Wed, 4 Feb 2026 17:39:12 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8Dmrobot?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .DS_Store                                     | Bin 8196 -> 8196 bytes
 assets/User_code/device/mrobot/mrobot.c       |   8 +--
 assets/User_code/task/task.c.template         |   3 +
 assets/User_code/task/template_task/cli.c     |  52 ++++++++++++++++++
 assets/User_code/task/template_task/task.yaml |  12 +++-
 5 files changed, 70 insertions(+), 5 deletions(-)
 create mode 100644 assets/User_code/task/template_task/cli.c

diff --git a/.DS_Store b/.DS_Store
index d581e4ca6f22e40966dd66e7461deaafd35cda2e..80ccfc36d15482db129e9dd7d19f4ff54a6d438b 100644
GIT binary patch
delta 38
ocmZp1XmOa}&&a<qU^hP_|7IQmLH5bP;#(#*m~Cd45QDOf0qCU+761SM

delta 120
zcmZp1XmOa}&nU1lU^hRbz-Ar+L3V9!2499ChJ1!3ATD9hV<=`QU`S<1_RPsoPRhwo
aVqjnp0AeQ~o;O)YeE(*42{BSN?EwH;i5d<7

diff --git a/assets/User_code/device/mrobot/mrobot.c b/assets/User_code/device/mrobot/mrobot.c
index c46fbc2..3a77112 100644
--- a/assets/User_code/device/mrobot/mrobot.c
+++ b/assets/User_code/device/mrobot/mrobot.c
@@ -169,7 +169,8 @@ static void uart_rx_callback(void) {
         }
     } else if (ch >= 32 && ch < 127 && ctx.cmd_index < sizeof(ctx.cmd_buffer) - 1) {
         ctx.cmd_buffer[ctx.cmd_index++] = ch;
-        BSP_UART_Transmit(BSP_UART_MROBOT, &ch, 1, false);
+        /* 回显：使用静态变量地址，避免异步发送时局部变量已失效 */
+        BSP_UART_Transmit(BSP_UART_MROBOT, &ctx.uart_rx_char, 1, false);
     }
     
     BSP_UART_Receive(BSP_UART_MROBOT, &ctx.uart_rx_char, 1, false);
@@ -483,9 +484,8 @@ void MRobot_Init(void) {
     /* 创建互斥锁 */
     ctx.mutex = xSemaphoreCreateMutex();
     
-    /* 初始化状态 */
-    memset(ctx.devices, 0, sizeof(ctx.devices));
-    ctx.device_count = 0;
+    /* 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
     ctx.custom_cmd_count = 0;
     ctx.state = MROBOT_STATE_IDLE;
     strcpy(ctx.current_path, "/");
diff --git a/assets/User_code/task/task.c.template b/assets/User_code/task/task.c.template
index e238fa2..807631e 100644
--- a/assets/User_code/task/task.c.template
+++ b/assets/User_code/task/task.c.template
@@ -18,6 +18,9 @@
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void {{task_function}}(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
diff --git a/assets/User_code/task/template_task/cli.c b/assets/User_code/task/template_task/cli.c
new file mode 100644
index 0000000..29ae053
--- /dev/null
+++ b/assets/User_code/task/template_task/cli.c
@@ -0,0 +1,52 @@
+/*
+    cli Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "device/mrobot.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+/**
+ * @brief hello 命令回调
+ * @note 命令回调必须返回 0 (pdFALSE) 表示完成，返回非0会继续调用
+ */
+static long Cli_Hello(char *buffer, size_t size, const char *cmd) {
+  (void)cmd; /* 未使用cmd，消除警告 */
+  MRobot_Snprintf(buffer, size, "Ciallo～(∠・ω< )⌒★\r\n");
+  return 0;  /* 返回0表示命令执行完成 */
+}
+/* USER PRIVATE CODE END */
+/* Exported functions ------------------------------------------------------- */
+void Task_cli(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  osDelay(CLI_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  /* USER CODE INIT BEGIN */
+  /* 初始化 MRobot CLI 系统 */
+  MRobot_Init();
+  MRobot_RegisterCommand("hello", " --hello: 打印问候语\r\n", Cli_Hello, -1);
+  /* USER CODE INIT END */
+
+  while (1) {
+    /* USER CODE BEGIN */
+    /* 运行 MRobot 主循环 */
+    MRobot_Run();
+    /* USER CODE END */
+  }
+  
+}
\ No newline at end of file
diff --git a/assets/User_code/task/template_task/task.yaml b/assets/User_code/task/template_task/task.yaml
index 5a6d279..2d63f85 100644
--- a/assets/User_code/task/template_task/task.yaml
+++ b/assets/User_code/task/template_task/task.yaml
@@ -1,7 +1,7 @@
 atti_esti:
   name: "atti_esti"
   frequency: 1000
-  delay: 100
+  delay: 0
   stack: 512
   freq_control: false
   description: |
@@ -16,3 +16,13 @@ atti_esti:
     - 陀螺仪使用前需要校准，校准结果保存在bmi088_cali结构体中
     - 无磁力计版本，适用于干净的电磁环境
     - 需要配置PWM通道用于IMU加热控制
+cli:
+  name: "cli"
+  frequency: 500
+  delay: 0
+  stack: 1024
+  freq_control: false
+  description: |
+    命令行接口任务
+    通过串口实现的虚拟终端，配合putty食用更佳
+    需要freertos_cli组件支持，还有mrobot设备驱动
\ No newline at end of file