添加保留include

MRobot.py

@@ -468,46 +468,68 @@ class MRobotApp:
             print(f"修改 user_task.c 文件时出错: {e}")
 
     # 生成 user_task.h 文件
+    # ...existing code...
     def generate_user_task_header(self):
         try:
             template_file_path = os.path.join(REPO_DIR, "User", "task", "user_task.h.template")
             header_file_path = os.path.join("User", "task", "user_task.h")
-    
+
             if not os.path.exists(template_file_path):
                 print(f"模板文件 {template_file_path} 不存在，无法生成 user_task.h 文件！")
                 return
-    
+
             os.makedirs(os.path.dirname(header_file_path), exist_ok=True)
-    
+
+            # 如果 user_task.h 已存在，提取 /* USER MESSAGE BEGIN */ 和 /* USER MESSAGE END */ 区域内容
+            existing_msgq_content = ""
+            if os.path.exists(header_file_path):
+                with open(header_file_path, "r", encoding="utf-8") as f:
+                    content = f.read()
+                    # 提取 /* USER MESSAGE BEGIN */ 和 /* USER MESSAGE END */ 区域内容
+                    match = re.search(r"/\* USER MESSAGE BEGIN \*/\s*(.*?)\s*/\* USER MESSAGE END \*/", content, re.DOTALL)
+                    if match:
+                        existing_msgq_content = match.group(1).strip()
+                        print("已存在的 msgq 区域内容:")
+                        print(existing_msgq_content)
+
             with open(template_file_path, "r", encoding="utf-8") as f:
                 template_content = f.read()
-    
+
             # 定义占位符内容
             thread_definitions = "\n".join([f"        osThreadId_t {task_var.get()};" for task_var, _ in self.task_vars])
+            msgq_definitions = existing_msgq_content if existing_msgq_content else "        osMessageQueueId_t default_msgq;"
             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()} ({freq_var.get()}u)"
-                for task_var, freq_var in self.task_vars  # 动态获取任务频率
+                for task_var, freq_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("{{msgq_definitions}}", msgq_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)
             header_content = header_content.replace("{{task_attr_declarations}}", task_attr_declarations)
             header_content = header_content.replace("{{task_function_declarations}}", task_function_declarations)
             header_content = header_content.replace("{{task_frequency_definitions}}", task_frequency_definitions)
             header_content = header_content.replace("{{task_init_delay_definitions}}", task_init_delay_definitions)
-    
+
+            # 如果存在 /* USER MESSAGE BEGIN */ 区域内容，则保留
+            if existing_msgq_content:
+                header_content = re.sub(
+                    r"/\* USER MESSAGE BEGIN \*/\s*.*?\s*/\* USER MESSAGE END \*/",
+                    f"/* USER MESSAGE BEGIN */\n\n    {existing_msgq_content}\n\n    /* USER MESSAGE END */",
+                    header_content,
+                    flags=re.DOTALL
+                )
+
             with open(header_file_path, "w", encoding="utf-8") as f:
                 f.write(header_content)
-    
+
             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}")

User/task/init.c.template

@@ -4,6 +4,11 @@
 
 /* Includes ----------------------------------------------------------------- */
 #include "task\user_task.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE BEGIN */
+
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */