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修复bug

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RB
2025-04-30 23:44:27 +08:00
parent e0f60ccb72
commit a66c9ae105
4 changed files with 45 additions and 30 deletions
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53
MRobot.py
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@@ -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):