diff --git a/.DS_Store b/.DS_Store index 7bb6bf5..69696b3 100644 Binary files a/.DS_Store and b/.DS_Store differ diff --git a/MRobot.py b/MRobot.py index ee1f08f..2a1c503 100644 --- a/MRobot.py +++ b/MRobot.py @@ -469,17 +469,19 @@ class MRobotApp: # 生成 user_task.h 文件 # ...existing code... + # ...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): @@ -491,15 +493,15 @@ class MRobotApp: 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]) + thread_definitions = "\n".join([f" osThreadId_t {task_var.get().lower()};" 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]) + freq_definitions = "\n".join([f" float {task_var.get().lower()};" for task_var, _ in self.task_vars]) + last_up_time_definitions = "\n".join([f" uint32_t {task_var.get().lower()};" 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([ @@ -507,7 +509,8 @@ class MRobotApp: 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]) - + task_handle_definitions = "\n".join([f" osThreadId_t {task_var.get().lower()};" 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) @@ -517,7 +520,8 @@ class MRobotApp: 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) - + header_content = header_content.replace("{{task_handle_definitions}}", task_handle_definitions) + # 如果存在 /* USER MESSAGE BEGIN */ 区域内容，则保留 if existing_msgq_content: header_content = re.sub( @@ -526,13 +530,15 @@ class MRobotApp: 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}") + + # ...existing code... def generate_init_file(self): @@ -546,6 +552,18 @@ class MRobotApp: os.makedirs(os.path.dirname(generated_file_path), exist_ok=True) + # 如果 init.c 已存在，提取 /* USER MESSAGE BEGIN */ 和 /* USER MESSAGE END */ 区域内容 + existing_msgq_content = "" + if os.path.exists(generated_file_path): + with open(generated_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("已存在的消息队列区域内容:") + print(existing_msgq_content) + with open(template_file_path, "r", encoding="utf-8") as f: template_content = f.read() @@ -558,6 +576,15 @@ class MRobotApp: # 替换模板中的占位符 init_content = template_content.replace("{{thread_creation_code}}", thread_creation_code) + # 如果存在 /* USER MESSAGE BEGIN */ 区域内容，则保留 + if existing_msgq_content: + init_content = re.sub( + r"/\* USER MESSAGE BEGIN \*/\s*.*?\s*/\* USER MESSAGE END \*/", + f"/* USER MESSAGE BEGIN */\n {existing_msgq_content}\n /* USER MESSAGE END */", + init_content, + flags=re.DOTALL + ) + with open(generated_file_path, "w", encoding="utf-8") as f: f.write(init_content) @@ -565,6 +592,8 @@ class MRobotApp: except Exception as e: print(f"生成 init.c 文件时出错: {e}") + + # 修改 generate_action 方法 def generate_action(self): diff --git a/User/bsp/i2c.c b/User/bsp/i2c.c index 37c619a..6feb849 100644 --- a/User/bsp/i2c.c +++ b/User/bsp/i2c.c @@ -11,10 +11,8 @@ static void (*I2C_Callback[BSP_I2C_NUM][BSP_I2C_CB_NUM])(void); static BSP_I2C_t I2C_Get(I2C_HandleTypeDef *hi2c) { if (hi2c->Instance == I2C1) return BSP_I2C_EXAMPLE; - /* - else if (hi2c->Instance == I2CX) - return BSP_I2C_XXX; - */ + // else if (hi2c->Instance == I2CX) + // return BSP_I2C_XXX; else return BSP_I2C_ERR; } @@ -96,10 +94,8 @@ I2C_HandleTypeDef *BSP_I2C_GetHandle(BSP_I2C_t i2c) { switch (i2c) { case BSP_I2C_EXAMPLE: return &hi2c1; - /* - case BSP_I2C_XXX: - return &hi2cX; - */ + // case BSP_I2C_XXX: + // return &hi2cX; default: return NULL; } diff --git a/User/device/oled_i2c.c b/User/device/oled_i2c.c index e89dc4e..f0100a0 100644 --- a/User/device/oled_i2c.c +++ b/User/device/oled_i2c.c @@ -1,13 +1,3 @@ -/* - * @file oled_i2c.c - * @brief OLED I2C驱动程序 - * @version 1.0 - * @date 2023-10-01 - * @note 本文件实现了OLED显示屏的I2C通信和基本绘图功能。 - */ -*/ - - /* Includes ----------------------------------------------------------------- */ #include "device/oled_i2c.h" #include "bsp/i2c.h"