From c737ec79d478229d2722c4a08c48f28445c14906 Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Thu, 19 Jun 2025 23:42:44 +0800 Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E7=89=88MRobotv1.0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .DS_Store | Bin 8196 -> 8196 bytes MR_Tool.py | 2339 --------------------------- MRobot.iss | 17 + MRobot.py | 1264 +++++++++++++-- MRobot_old.py | 719 -------- README.md | 34 +- User_code/.DS_Store | Bin 6148 -> 6148 bytes User_code/bsp/describe.csv | 2 + User_code/component/describe.csv | 1 + User_code/device/describe.csv | 1 + User_code/module/dependencies.csv | 5 + User_code/module/describe.csv | 0 User_code/task/init.c.template | 14 +- User_code/task/task.c.template | 22 +- User_code/task/user_task.c.template | 4 +- User_code/task/user_task.h.template | 61 +- fluentui.py | 168 -- img/.DS_Store | Bin 6148 -> 6148 bytes img/M.ico | Bin 34573 -> 20389 bytes img/M2.ico | Bin 0 -> 34573 bytes img/m1.png | Bin 0 -> 575880 bytes mech_lib/README.md | 1 + pngico.py | 50 +- polynomial.py | 286 ---- src/freertos.c | 131 -- 25 files changed, 1298 insertions(+), 3821 deletions(-) delete mode 100644 MR_Tool.py create mode 100644 MRobot.iss delete mode 100644 MRobot_old.py create mode 100644 User_code/bsp/describe.csv create mode 100644 User_code/component/describe.csv create mode 100644 User_code/device/describe.csv create mode 100644 User_code/module/dependencies.csv create mode 100644 User_code/module/describe.csv delete mode 100644 fluentui.py create mode 100644 img/M2.ico create mode 100644 img/m1.png create mode 100644 mech_lib/README.md delete mode 100644 polynomial.py delete mode 100644 src/freertos.c diff --git a/.DS_Store b/.DS_Store index e09c1581539dc7daf1f7ed0da0b21dd7edb272df..3adcc36f2cce09f25063cfaeecb7d117447e41d2 100644 GIT binary patch literal 8196 zcmeHL&2G~`5S~o}afpf{0iqHYOI#yJ)09#np^!F*O2DBh<-m`Lk$2X+^Lcl^ogHUPM65A%=7?sA$iT&Asfa42 z@Ns@km5l1S1j&G>pksT1jl0s6uI|tbXa+O`ngPv#X5jB&0Pk#Gj6>f0a#Yuv0nNaF z$pDWJCN3`PN=~E{p#zmj0U&ee76onb=O5DK9guY;CsLvZg-Ix+gff+4FqJzn3CDO{ z=})ATaAIO+JV(vUREEM->cLE*POL7at~CRifoTSK?w+MNxAaCQ zipHbXb}(uU+Jj-(X!jrRyY(RO?1OgO-f+7kt8{)j@CR+z@Ad`2b-GY_c;EG%VAKeP zz7q;;OAZ(XqhOV0$K!>iYT2BhzrI&C$4k{p*{ofw?d=te3zx6nShJpbJAUvAD@S1} z4AG3d|5m?7OWEv%9nZ$<_?YT?*6RCS;BTRaKOj%HX_c0#Nq4D5%{WP!Dm0=SV1URj zb!eL`Y=ld8T%SJUp*JHNHl=^u^ww&NWwW|i`AvGK>`JhDhVIZBI9jIwKQGNq1-Bm} zTou7>ADDr{SgCFc=Z-NfX9~y$YJhoM3Mq{53WKZ1Fa@!?@0h70lzEfb_n8>N5;i$$ zR?!O}qgI`ZAy;v5L#(q6PCR&0AJ6F0bLz%d%;!(6xCi7Gtm|Ozlta(wjUi?b7&!C0 zzy)B|6?3K`;j=LxFJR}Ibc-RrDMZaFY0;$KjH2?qr delta 399 zcmZp1XmOa}FDlHyz`)4BAi%(o$56sh%8<#R$561ba2or>2Hwr=94s7+!jp{zG>v6} z>h%7D0g%POzzkHG%aHDwlb@WFlb-|>0UE*B4W!|!Cie;4m|Q8S!^ij&MfkRm8boLw z%)H6`!kWB58yNZEB9+3byy+;~RtxL$Is!!yy0k@9K_W=HVnuX$*Q4l~E~07-5`pUi zvY8o*8HyN^(cBL5Azanu_ae^?Sr|frDpMJX&{Tqa30DbZ!_`fe7CXj?;0cTCa)Vq9 Y4Uvt7SC}@lOMGLQEGn*zDshns0BT~9>i_@% diff --git a/MR_Tool.py b/MR_Tool.py deleted file mode 100644 index 29bf82c..0000000 --- a/MR_Tool.py +++ /dev/null @@ -1,2339 +0,0 @@ -import sys -import os -import numpy as np -import pandas as pd -import requests -import webbrowser -import serial -import serial.tools.list_ports -from PyQt5.QtWidgets import ( - QApplication, QWidget, QLabel, QPushButton, QTextEdit, QVBoxLayout, - QHBoxLayout, QStackedWidget, QSizePolicy, QFrame, QGraphicsDropShadowEffect, - QSpinBox, QTableWidget, QTableWidgetItem, QFileDialog, QComboBox, QMessageBox, QHeaderView, - QGroupBox, QGridLayout, QLineEdit, QTextBrowser, QCheckBox -) -from PyQt5.QtGui import QPixmap, QFont, QIcon, QPainter, QPen, QColor -from PyQt5.QtCore import Qt, QTimer, QPointF, pyqtSlot -import matplotlib -from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas -from matplotlib.figure import Figure -from PyQt5.QtCore import pyqtSignal, pyqtSlot -from PyQt5.QtWebEngineWidgets import QWebEngineView # 新增 -from PyQt5.QtCore import QUrl -from PyQt5.QtCore import QThread -from PyQt5.QtWebEngineWidgets import QWebEngineProfile -from PyQt5.QtWidgets import QFileDialog -from PyQt5.QtWebEngineWidgets import QWebEngineView -from PyQt5.QtWebEngineWidgets import QWebEngineView, QWebEngineProfile, QWebEnginePage -from PyQt5.QtWebEngineWidgets import QWebEngineView, QWebEnginePage -from PyQt5.QtWidgets import QSplashScreen -from PyQt5.QtCore import Qt, QTimer -from PyQt5.QtGui import QPixmap - - -def resource_path(relative_path): - """兼容PyInstaller打包后资源路径""" - if hasattr(sys, '_MEIPASS'): - return os.path.join(sys._MEIPASS, relative_path) - return os.path.join(os.path.abspath("."), relative_path) - -# --------- 主页 --------- -class HomePage(QWidget): - def __init__(self): - super().__init__() - layout = QVBoxLayout(self) - layout.setContentsMargins(60, 60, 60, 60) - layout.setSpacing(32) - self.setStyleSheet(""" - QWidget { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #f8fbfd, stop:1 #eaf6fb); - border-radius: 18px; - } - """) - - # 欢迎标题 - title = QLabel("欢迎来到 MRobot 工具箱！") - title.setFont(QFont("微软雅黑", 26, QFont.Bold)) - title.setAlignment(Qt.AlignCenter) - title.setStyleSheet("color: #2980b9; letter-spacing: 3px;") - layout.addWidget(title) - # 设置高度 - title.setFixedHeight(120) - - # 分割线 - line = QFrame() - line.setFrameShape(QFrame.HLine) - line.setFrameShadow(QFrame.Sunken) - line.setStyleSheet("color: #d6eaf8; background: #d6eaf8; min-height: 2px;") - layout.addWidget(line) - - # 介绍内容 - desc = QLabel( - "🤖 本工具箱由青岛理工大学（QUT）机器人战队开发，\n" - "涵盖沧溟（Robocon）与MOVE（Robomaster）两支队伍。\n\n" - "集成了常用小工具与助手功能，持续更新中ing！\n" - "👉 可通过左侧选择不同模块，助力更高效的机器人开发，\n" - "节约开发时间，减少繁琐操作。\n\n" - "欢迎反馈建议，共同完善工具箱！" - ) - desc.setFont(QFont("微软雅黑", 16)) - desc.setAlignment(Qt.AlignCenter) - desc.setStyleSheet("color: #34495e;") - desc.setWordWrap(True) - layout.addWidget(desc) - - # 作者&版本信息 - info = QLabel( - "作者： QUT RMer & RCer   |   " - "版本： 0.0.2   |   " - "联系方式： QQ群 : 857466609" - ) - info.setFont(QFont("微软雅黑", 14)) - info.setAlignment(Qt.AlignCenter) - info.setStyleSheet("color: #7f8c8d; margin-top: 24px;") - info.setFixedHeight(100) # 修改为固定高度 - layout.addWidget(info) - - # 页脚 - footer = QLabel("© 2025 MRobot. 保留所有权利。") - footer.setFont(QFont("微软雅黑", 12)) - footer.setAlignment(Qt.AlignCenter) - footer.setStyleSheet("color: #b2bec3; margin-top: 18px;") - footer.setFixedHeight(100) # 修改为固定高度 - layout.addWidget(footer) - -# --------- 功能一：多项式拟合工具页面 --------- -class PolyFitApp(QWidget): - def __init__(self): - super().__init__() - self.setFont(QFont("微软雅黑", 15)) - self.data_x = [] - self.data_y = [] - self.last_coeffs = None - self.last_xmin = None - self.last_xmax = None - - # 统一背景和边框 - self.setStyleSheet(""" - QWidget { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #eaf6fb, stop:1 #d6eaf8); - border-radius: 16px; - border: 1px solid #d6eaf8; - } - """) - - main_layout = QHBoxLayout(self) - main_layout.setContentsMargins(24, 24, 24, 24) - main_layout.setSpacing(24) - left_layout = QVBoxLayout() - left_layout.setSpacing(18) - right_layout = QVBoxLayout() - right_layout.setSpacing(18) - main_layout.addLayout(left_layout, 0) - main_layout.addLayout(right_layout, 1) - - # 标题 - title = QLabel("曲线拟合工具") - # title.setFont(QFont("微软雅黑", 2, QFont.Bold)) - # 设置文字大小 - title.setFont(QFont("微软雅黑", 14, QFont.Bold)) - title.setAlignment(Qt.AlignCenter) - title.setStyleSheet("color: #2980b9; letter-spacing: 2px;") - left_layout.addWidget(title) - - # 数据表 - self.table = QTableWidget(0, 2) - self.table.setFont(QFont("Consolas", 16)) - self.table.setHorizontalHeaderLabels(["x", "y"]) - self.table.horizontalHeader().setSectionResizeMode(QHeaderView.Stretch) - self.table.setSelectionBehavior(QTableWidget.SelectRows) - self.table.setStyleSheet(""" - QTableWidget { - background: #f8fbfd; - border-radius: 10px; - border: 1px solid #d6eaf8; - font-size: 16px; - } - QHeaderView::section { - background-color: #eaf6fb; - color: #2980b9; - font-size: 16px; - font-weight: bold; - border: 1px solid #d6eaf8; - height: 36px; - } - """) - self.table.setMinimumHeight(200) # 设置最小高度 - left_layout.addWidget(self.table, stretch=1) # 让表格尽量撑大 - - # 添加/删除行 - btn_row = QHBoxLayout() - self.add_row_btn = QPushButton("添加数据") - self.add_row_btn.setFont(QFont("微软雅黑", 20, QFont.Bold)) - self.add_row_btn.setMinimumHeight(44) - self.add_row_btn.clicked.connect(self.add_point_row) - self.del_row_btn = QPushButton("删除选中行") - self.del_row_btn.setFont(QFont("微软雅黑", 20, QFont.Bold)) - self.del_row_btn.setMinimumHeight(44) - self.del_row_btn.clicked.connect(self.delete_selected_rows) - for btn in [self.add_row_btn, self.del_row_btn]: - btn.setStyleSheet(""" - QPushButton { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #eaf6fb, stop:1 #d6eaf8); - color: #2980b9; - border-radius: 20px; - font-size: 20px; - font-weight: 600; - padding: 10px 0; - border: 1px solid #d6eaf8; - } - QPushButton:hover { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #f8fffe, stop:1 #cfe7fa); - color: #1a6fae; - border: 1.5px solid #b5d0ea; - } - QPushButton:pressed { - background: #e3f0fa; - color: #2471a3; - border: 1.5px solid #a4cbe3; - } - """) - btn_row.addWidget(self.add_row_btn) - btn_row.addWidget(self.del_row_btn) - left_layout.addLayout(btn_row) - - # 导入/导出 - file_btn_row = QHBoxLayout() - self.import_btn = QPushButton("导入Excel文件") - self.import_btn.setFont(QFont("微软雅黑", 18, QFont.Bold)) - self.import_btn.setMinimumHeight(44) - self.import_btn.clicked.connect(self.load_excel) - self.export_btn = QPushButton("导出Excel文件") - self.export_btn.setFont(QFont("微软雅黑", 18, QFont.Bold)) - self.export_btn.setMinimumHeight(44) - self.export_btn.clicked.connect(self.export_excel_and_plot) - for btn in [self.import_btn, self.export_btn]: - btn.setStyleSheet(""" - QPushButton { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #eaf6fb, stop:1 #d6eaf8); - color: #2980b9; - border-radius: 20px; - font-size: 20px; - font-weight: 600; - padding: 10px 0; - border: 1px solid #d6eaf8; - } - QPushButton:hover { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #f8fffe, stop:1 #cfe7fa); - color: #1a6fae; - border: 1.5px solid #b5d0ea; - } - QPushButton:pressed { - background: #e3f0fa; - color: #2471a3; - border: 1.5px solid #a4cbe3; - } - """) - file_btn_row.addWidget(self.import_btn) - file_btn_row.addWidget(self.export_btn) - left_layout.addLayout(file_btn_row) - - # 阶数选择 - param_layout = QHBoxLayout() - label_order = QLabel("多项式阶数:") - # 文字居中 - label_order.setAlignment(Qt.AlignCenter) - # 文字加粗 - label_order.setStyleSheet("color: #2980b9;") - param_layout.addWidget(label_order) - self.order_spin = QSpinBox() - self.order_spin.setFont(QFont("微软雅黑", 18)) - self.order_spin.setRange(1, 10) - self.order_spin.setValue(2) - self.order_spin.setStyleSheet(""" - QSpinBox { - background: #f8fbfd; - border-radius: 10px; - border: 1px solid #d6eaf8; - font-size: 18px; - padding: 4px 12px; - } - """) - param_layout.addWidget(self.order_spin) - left_layout.addLayout(param_layout) - - # 拟合按钮 - self.fit_btn = QPushButton("拟合并显示") - self.fit_btn.setFont(QFont("微软雅黑", 20, QFont.Bold)) - self.fit_btn.setMinimumHeight(48) - self.fit_btn.clicked.connect(self.fit_and_plot) - self.fit_btn.setStyleSheet(""" - QPushButton { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #eaf6fb, stop:1 #d6eaf8); - color: #2980b9; - border-radius: 20px; - font-size: 22px; - font-weight: 600; - padding: 12px 0; - border: 1px solid #d6eaf8; - } - QPushButton:hover { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #f8fffe, stop:1 #cfe7fa); - color: #1a6fae; - border: 1.5px solid #b5d0ea; - } - QPushButton:pressed { - background: #e3f0fa; - color: #2471a3; - border: 1.5px solid #a4cbe3; - } - """) - left_layout.addWidget(self.fit_btn) - # 输出区 - self.output = QTextEdit() - self.output.setReadOnly(False) - self.output.setFont(QFont("Consolas", 16)) - self.output.setMaximumHeight(160) - self.output.setStyleSheet(""" - QTextEdit { - background: #f4f6f7; - border-radius: 8px; - border: 1px solid #d6eaf8; - font-size: 16px; - color: #2c3e50; - padding: 10px; - } - """) - # self.table.setFixedHeight(400) # 设置表格高度为260像素 - left_layout.addWidget(self.output) - # 代码生成 - code_layout = QHBoxLayout() - label_code = QLabel("输出代码格式:") - # label_code.setFont(QFont("微软雅黑", 18, QFont.Bold)) - label_code.setStyleSheet("color: #2980b9;") - code_layout.addWidget(label_code) - self.code_type = QComboBox() - self.code_type.setFont(QFont("微软雅黑", 18)) - self.code_type.addItems(["C", "C++", "Python"]) - self.code_type.setStyleSheet(""" - QComboBox { - background: #f8fbfd; - border-radius: 10px; - border: 1px solid #d6eaf8; - font-size: 18px; - padding: 4px 12px; - } - """) - code_layout.addWidget(self.code_type) - self.gen_code_btn = QPushButton("生成代码") - self.gen_code_btn.setFont(QFont("微软雅黑", 18, QFont.Bold)) - self.gen_code_btn.setMinimumHeight(44) - self.gen_code_btn.clicked.connect(self.generate_code) - self.gen_code_btn.setStyleSheet(""" - QPushButton { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #eaf6fb, stop:1 #d6eaf8); - color: #2980b9; - border-radius: 20px; - font-size: 20px; - font-weight: 600; - padding: 10px 0; - border: 1px solid #d6eaf8; - } - QPushButton:hover { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #f8fffe, stop:1 #cfe7fa); - color: #1a6fae; - border: 1.5px solid #b5d0ea; - } - QPushButton:pressed { - background: #e3f0fa; - color: #2471a3; - border: 1.5px solid #a4cbe3; - } - """) - code_layout.addWidget(self.gen_code_btn) - left_layout.addLayout(code_layout) - - - # 曲线区加圆角和阴影 - curve_frame = QFrame() - curve_frame.setStyleSheet(""" - QFrame { - background: #fff; - border-radius: 16px; - border: 1px solid #d6eaf8; - } - """) - curve_shadow = QGraphicsDropShadowEffect(self) - curve_shadow.setBlurRadius(24) - curve_shadow.setOffset(0, 4) - curve_shadow.setColor(Qt.gray) - curve_frame.setGraphicsEffect(curve_shadow) - curve_layout = QVBoxLayout(curve_frame) - curve_layout.setContentsMargins(10, 10, 10, 10) - self.figure = Figure(figsize=(6, 5)) - self.canvas = FigureCanvas(self.figure) - curve_layout.addWidget(self.canvas) - right_layout.addWidget(curve_frame) - - # 默认显示空坐标系 - self.figure.clear() - ax = self.figure.add_subplot(111) - # ax.set_title("拟合结果", fontsize=22, fontweight='bold') - ax.set_xlabel("x", fontsize=18) - ax.set_ylabel("y", fontsize=18) - ax.tick_params(labelsize=15) - # ax.set_title("拟合结果", fontsize=22, fontweight='bold') # 中文标题 - self.canvas.draw() - - def add_point_row(self, x_val="", y_val=""): - row = self.table.rowCount() - self.table.insertRow(row) - self.table.setItem(row, 0, QTableWidgetItem(str(x_val))) - self.table.setItem(row, 1, QTableWidgetItem(str(y_val))) - - def delete_selected_rows(self): - selected = self.table.selectionModel().selectedRows() - for idx in sorted(selected, reverse=True): - self.table.removeRow(idx.row()) - - def load_excel(self): - file, _ = QFileDialog.getOpenFileName(self, "选择Excel文件", "", "Excel Files (*.xlsx *.xls)") - if file: - try: - data = pd.read_excel(file, usecols=[0, 1]) - new_x = data.iloc[:, 0].values.tolist() - new_y = data.iloc[:, 1].values.tolist() - for x, y in zip(new_x, new_y): - self.add_point_row(x, y) - QMessageBox.information(self, "成功", "数据导入成功！") - except Exception as e: - QMessageBox.critical(self, "错误", f"读取Excel失败: {e}") - - def export_excel_and_plot(self): - file, _ = QFileDialog.getSaveFileName(self, "导出Excel文件", "", "Excel Files (*.xlsx *.xls)") - if file: - x_list, y_list = [], [] - for row in range(self.table.rowCount()): - try: - x = float(self.table.item(row, 0).text()) - y = float(self.table.item(row, 1).text()) - x_list.append(x) - y_list.append(y) - except Exception: - continue - if not x_list or not y_list: - QMessageBox.warning(self, "导出失败", "没有可导出的数据！") - return - df = pd.DataFrame({'x': x_list, 'y': y_list}) - try: - df.to_excel(file, index=False) - png_file = file - if png_file.lower().endswith('.xlsx') or png_file.lower().endswith('.xls'): - png_file = png_file.rsplit('.', 1)[0] + '.png' - else: - png_file = png_file + '.png' - self.figure.savefig(png_file, dpi=150, bbox_inches='tight') - QMessageBox.information(self, "导出成功", f"数据已成功导出到Excel文件！\n图像已导出为：{png_file}") - except Exception as e: - QMessageBox.critical(self, "导出错误", f"导出Excel或图像失败: {e}") - - def get_manual_points(self): - x_list, y_list = [], [] - for row in range(self.table.rowCount()): - try: - x = float(self.table.item(row, 0).text()) - y = float(self.table.item(row, 1).text()) - x_list.append(x) - y_list.append(y) - except Exception: - continue - return x_list, y_list - - def fit_and_plot(self): - self.data_x, self.data_y = self.get_manual_points() - try: - order = int(self.order_spin.value()) - except ValueError: - QMessageBox.warning(self, "输入错误", "阶数必须为整数！") - return - n_points = len(self.data_x) - if n_points < order + 1: - QMessageBox.warning(self, "数据不足", "数据点数量不足以拟合该阶多项式！") - return - x = np.array(self.data_x, dtype=np.float64) - y = np.array(self.data_y, dtype=np.float64) - x_min, x_max = x.min(), x.max() - if x_max - x_min == 0: - QMessageBox.warning(self, "数据错误", "所有x值都相同，无法拟合！") - return - try: - coeffs = np.polyfit(x, y, order) - except Exception as e: - QMessageBox.critical(self, "拟合错误", f"多项式拟合失败：{e}") - return - poly = np.poly1d(coeffs) - expr = "y = " + " + ".join([f"{c:.6g}*x^{order-i}" for i, c in enumerate(coeffs)]) - self.output.setPlainText(f"{expr}\n") - self.figure.clear() - ax = self.figure.add_subplot(111) - # ax.set_title("拟合结果", fontsize=22, fontweight='bold') - ax.set_xlabel("x", fontsize=18) - ax.set_ylabel("y", fontsize=18) - ax.scatter(x, y, color='red', label='Data') - x_fit = np.linspace(x_min, x_max, 200) - y_fit = poly(x_fit) - ax.plot(x_fit, y_fit, label='Fit Curve') - ax.legend() - self.canvas.draw() - self.last_coeffs = coeffs - self.last_xmin = x_min - self.last_xmax = x_max - - def generate_code(self): - if self.last_coeffs is None: - QMessageBox.warning(self, "未拟合", "请先拟合数据！") - return - coeffs = self.last_coeffs - code_type = self.code_type.currentText() - if code_type == "C": - code = self.create_c_function(coeffs) - elif code_type == "C++": - code = self.create_cpp_function(coeffs) - else: - code = self.create_py_function(coeffs) - self.output.setPlainText(code) - - def create_c_function(self, coeffs): - lines = ["#include ", "double polynomial(double x) {", " return "] - n = len(coeffs) - terms = [] - for i, c in enumerate(coeffs): - exp = n - i - 1 - if exp == 0: - terms.append(f"{c:.8g}") - elif exp == 1: - terms.append(f"{c:.8g}*x") - else: - terms.append(f"{c:.8g}*pow(x,{exp})") - lines[-1] += " + ".join(terms) + ";" - lines.append("}") - return "\n".join(lines) - - def create_cpp_function(self, coeffs): - lines = ["#include ", "double polynomial(double x) {", " return "] - n = len(coeffs) - terms = [] - for i, c in enumerate(coeffs): - exp = n - i - 1 - if exp == 0: - terms.append(f"{c:.8g}") - elif exp == 1: - terms.append(f"{c:.8g}*x") - else: - terms.append(f"{c:.8g}*pow(x,{exp})") - lines[-1] += " + ".join(terms) + ";" - lines.append("}") - return "\n".join(lines) - - def create_py_function(self, coeffs): - n = len(coeffs) - lines = ["def polynomial(x):", " return "] - terms = [] - for i, c in enumerate(coeffs): - exp = n - i - 1 - if exp == 0: - terms.append(f"{c:.8g}") - elif exp == 1: - terms.append(f"{c:.8g}*x") - else: - terms.append(f"{c:.8g}*x**{exp}") - lines[-1] += " + ".join(terms) - return "\n".join(lines) - -# --------- 功能二：下载 --------- -class DownloadPage(QWidget): - def __init__(self): - super().__init__() - self.setFont(QFont("微软雅黑", 15)) - self.setStyleSheet(""" - QWidget { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #eaf6fb, stop:1 #d6eaf8); - border-radius: 18px; - border: 1px solid #d6eaf8; - } - """) - main_layout = QVBoxLayout(self) - main_layout.setContentsMargins(60, 60, 60, 60) - main_layout.setSpacing(32) - - # 标题 - title = QLabel("常用工具下载") - title.setFont(QFont("微软雅黑", 26, QFont.Bold)) - title.setAlignment(Qt.AlignCenter) - title.setStyleSheet("color: #2980b9; letter-spacing: 3px; margin-bottom: 10px;") - main_layout.addWidget(title) - - # 分割线 - line = QFrame() - line.setFrameShape(QFrame.HLine) - line.setFrameShadow(QFrame.Sunken) - line.setStyleSheet("color: #d6eaf8; background: #d6eaf8; min-height: 2px;") - main_layout.addWidget(line) - - # # 说明 - # desc = QLabel("点击下方按钮可直接跳转到常用工具或开发软件的官方下载页面：") - # desc.setFont(QFont("微软雅黑", 17)) - # desc.setAlignment(Qt.AlignCenter) - # desc.setStyleSheet("color: #34495e; margin-bottom: 18px;") - # main_layout.addWidget(desc) - - spacer = QFrame() - spacer.setFixedHeight(4) # 可根据需要调整间隔高度 - spacer.setStyleSheet("background: transparent; border: none;") - main_layout.addWidget(spacer) - - # 小工具类 - tools_tools = [ - ("Geek Uninstaller", "https://geekuninstaller.com/download", "🧹"), - ("Neat Download Manager", "https://www.neatdownloadmanager.com/index.php/en/", "⬇️"), - ("Everything", "https://www.voidtools.com/zh-cn/downloads/", "🔍"), - ("Bandizip", "https://www.bandisoft.com/bandizip/", "🗜️"), - ("PotPlayer", "https://potplayer.daum.net/", "🎬"), - ("Typora", "https://typora.io/", "📝"), - ("Git", "https://git-scm.com/download/win", "🟥"), - ("Python", "https://www.python.org/downloads/", "🐍"), - ] - tools_group = QGroupBox("常用小工具") - tools_group.setFont(QFont("微软雅黑", 14, QFont.Bold)) - tools_group.setStyleSheet(""" - QGroupBox { - border: 2px solid #b5d0ea; - border-radius: 12px; - margin-top: 16px; - background: #f8fbfd; - color: #2471a3; - padding: 10px 0 0 0; - } - QGroupBox:title { - subcontrol-origin: margin; - left: 18px; - top: -10px; - background: transparent; - padding: 0 8px; - } - """) - tools_layout = QGridLayout() - tools_layout.setSpacing(18) - tools_layout.setContentsMargins(24, 24, 24, 24) - for idx, (name, url, icon) in enumerate(tools_tools): - btn = QPushButton(f"{icon} {name}") - btn.setFont(QFont("微软雅黑", 16, QFont.Bold)) - btn.setMinimumHeight(60) - btn.setCursor(Qt.PointingHandCursor) - btn.setStyleSheet(""" - QPushButton { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #eaf6fb, stop:1 #d6eaf8); - color: #2471a3; - border-radius: 14px; - font-size: 16px; - font-weight: 600; - padding: 8px 0; - border: 1.5px solid #d6eaf8; - letter-spacing: 1px; - } - QPushButton:hover { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #f8fffe, stop:1 #cfe7fa); - color: #1a6fae; - border: 2px solid #b5d0ea; - } - QPushButton:pressed { - background: #e3f0fa; - color: #2471a3; - border: 2px solid #a4cbe3; - } - """) - btn.clicked.connect(lambda checked, link=url: webbrowser.open(link)) - row, col = divmod(idx, 4) - tools_layout.addWidget(btn, row, col) - tools_group.setLayout(tools_layout) - main_layout.addWidget(tools_group) - spacer = QFrame() - spacer.setFixedHeight(4) # 可根据需要调整间隔高度 - spacer.setStyleSheet("background: transparent; border: none;") - main_layout.addWidget(spacer) - - # 开发/设计软件类 - dev_tools = [ - ("STM32CubeMX", "https://www.st.com/zh/development-tools/stm32cubemx.html", "🟦"), - ("Keil MDK", "https://www.keil.com/download/product/", "🟩"), - ("Visual Studio Code", "https://code.visualstudio.com/", "🟦"), - ("CLion", "https://www.jetbrains.com/clion/download/", "🟧"), - ("MATLAB", "https://www.mathworks.com/downloads/", "🟨"), - ("SolidWorks", "https://www.solidworks.com/sw/support/downloads.htm", "🟫"), - ("Altium Designer", "https://www.altium.com/zh/altium-designer/downloads", "🟪"), - ("原神", "https://download-porter.hoyoverse.com/download-porter/2025/03/27/GenshinImpact_install_202503072011.exe?trace_key=GenshinImpact_install_ua_679d0b4e9b10", "🟫"), - ] - dev_group = QGroupBox("开发/设计软件") - dev_group.setFont(QFont("微软雅黑", 14, QFont.Bold)) - dev_group.setStyleSheet(""" - QGroupBox { - border: 2px solid #b5d0ea; - border-radius: 12px; - margin-top: 16px; - background: #f8fbfd; - color: #2471a3; - padding: 10px 0 0 0; - } - QGroupBox:title { - subcontrol-origin: margin; - left: 18px; - top: -10px; - background: transparent; - padding: 0 8px; - } - """) - dev_layout = QGridLayout() - dev_layout.setSpacing(18) - dev_layout.setContentsMargins(24, 24, 24, 24) - for idx, (name, url, icon) in enumerate(dev_tools): - btn = QPushButton(f"{icon} {name}") - btn.setFont(QFont("微软雅黑", 16, QFont.Bold)) - btn.setMinimumHeight(60) - btn.setCursor(Qt.PointingHandCursor) - btn.setStyleSheet(""" - QPushButton { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #eaf6fb, stop:1 #d6eaf8); - color: #2471a3; - border-radius: 14px; - font-size: 16px; - font-weight: 600; - padding: 8px 0; - border: 1.5px solid #d6eaf8; - letter-spacing: 1px; - } - QPushButton:hover { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #f8fffe, stop:1 #cfe7fa); - color: #1a6fae; - border: 2px solid #b5d0ea; - } - QPushButton:pressed { - background: #e3f0fa; - color: #2471a3; - border: 2px solid #a4cbe3; - } - """) - btn.clicked.connect(lambda checked, link=url: webbrowser.open(link)) - row, col = divmod(idx, 4) - dev_layout.addWidget(btn, row, col) - dev_group.setLayout(dev_layout) - main_layout.addWidget(dev_group) - - main_layout.addStretch(1) - - # 页脚 - footer = QLabel("如有问题或建议，欢迎反馈至QQ群：857466609") - footer.setFont(QFont("微软雅黑", 13)) - footer.setAlignment(Qt.AlignCenter) - footer.setStyleSheet("color: #b2bec3; margin-top: 18px;") - main_layout.addWidget(footer) - -# --------- 功能三：串口助手 --------- -class SerialAssistant(QWidget): - def __init__(self): - super().__init__() - self.setFont(QFont("微软雅黑", 15)) - self.ser = None - self.timer = None - self.recv_buffer = b"" - self.plot_data = {} - self.curve_colors = ["#e74c3c", "#2980b9", "#27ae60", "#f1c40f", "#8e44ad", "#16a085"] - self.data_types = ["float", "int16", "uint16", "int8", "uint8"] - self.data_type = "float" - self.data_count = 2 - self.sample_idx = 0 - - # 新增：HEX模式复选框 - self.hex_send_chk = QCheckBox("HEX发送") - self.hex_recv_chk = QCheckBox("HEX接收") - self.hex_send_chk.setFont(QFont("微软雅黑", 12)) - self.hex_recv_chk.setFont(QFont("微软雅黑", 12)) - self.hex_send_chk.setChecked(False) - self.hex_recv_chk.setChecked(False) - - # 主体布局 - main_layout = QHBoxLayout(self) - main_layout.setContentsMargins(32, 32, 32, 32) - main_layout.setSpacing(28) - - # 左侧面板 - left_panel = QVBoxLayout() - left_panel.setSpacing(20) - left_panel.setContentsMargins(0, 0, 0, 0) - - # 串口配置区 - config_group = QGroupBox("串口配置") - config_group.setFont(QFont("微软雅黑", 14, QFont.Bold)) - config_group.setStyleSheet(""" - QGroupBox { - border: 2px solid #b5d0ea; - border-radius: 12px; - margin-top: 12px; - background: #f8fbfd; - color: #2471a3; - padding: 8px 0 0 0; - } - QGroupBox:title { - subcontrol-origin: margin; - left: 16px; - top: -8px; - background: transparent; - padding: 0 8px; - } - """) - config_layout = QGridLayout() - config_layout.setSpacing(12) - config_layout.setContentsMargins(16, 16, 16, 16) - config_layout.addWidget(QLabel("串口号:"), 0, 0) - self.port_box = QComboBox() - self.port_box.setMinimumWidth(120) - self.refresh_ports() - config_layout.addWidget(self.port_box, 0, 1) - config_layout.addWidget(QLabel("波特率:"), 1, 0) - self.baud_box = QComboBox() - self.baud_box.addItems(["9600", "115200", "57600", "38400", "19200", "4800"]) - self.baud_box.setCurrentText("115200") - config_layout.addWidget(self.baud_box, 1, 1) - self.refresh_btn = QPushButton("刷新串口") - self.refresh_btn.clicked.connect(self.refresh_ports) - self.refresh_btn.setStyleSheet(self._btn_style()) - config_layout.addWidget(self.refresh_btn, 2, 0) - self.open_btn = QPushButton("打开串口") - self.open_btn.setCheckable(True) - self.open_btn.clicked.connect(self.toggle_serial) - self.open_btn.setStyleSheet(self._btn_style("#27ae60")) - config_layout.addWidget(self.open_btn, 2, 1) - config_group.setLayout(config_layout) - left_panel.addWidget(config_group) - - # 数据协议配置区 - proto_group = QGroupBox("数据协议配置") - proto_group.setFont(QFont("微软雅黑", 14, QFont.Bold)) - proto_group.setStyleSheet(config_group.styleSheet()) - proto_layout = QHBoxLayout() - proto_layout.setSpacing(18) - proto_layout.setContentsMargins(16, 16, 16, 16) - proto_layout.addWidget(QLabel("数据数量:")) - self.data_count_spin = QSpinBox() - self.data_count_spin.setRange(1, 16) - self.data_count_spin.setValue(self.data_count) - self.data_count_spin.setFixedWidth(80) - self.data_count_spin.valueChanged.connect(self.apply_proto_config) - proto_layout.addWidget(self.data_count_spin) - proto_layout.addSpacing(18) - proto_layout.addWidget(QLabel("数据类型:")) - self.data_type_box = QComboBox() - self.data_type_box.addItems(self.data_types) - self.data_type_box.setCurrentText(self.data_type) - self.data_type_box.setFixedWidth(100) - self.data_type_box.currentTextChanged.connect(self.apply_proto_config) - proto_layout.addWidget(self.data_type_box) - # proto_layout.addStretch(1) - proto_group.setLayout(proto_layout) - left_panel.addWidget(proto_group) - - # 发送数据区美化 - send_group = QGroupBox("发送数据") - send_group.setFont(QFont("微软雅黑", 14, QFont.Bold)) - send_group.setStyleSheet(""" - QGroupBox { - border: 2px solid #b5d0ea; - border-radius: 12px; - margin-top: 12px; - background: #f8fbfd; - color: #2471a3; - padding: 8px 0 0 0; - } - QGroupBox:title { - subcontrol-origin: margin; - left: 16px; - top: -8px; - background: transparent; - padding: 0 8px; - } - """) - send_layout = QVBoxLayout() - send_layout.setSpacing(16) - send_layout.setContentsMargins(18, 18, 18, 18) - - # 输入框（多行） - self.send_edit = QTextEdit() - self.send_edit.setFont(QFont("Consolas", 18)) - self.send_edit.setPlaceholderText("输入要发送的数据，可多行（支持HEX/文本）...") - self.send_edit.setMinimumHeight(140) - self.send_edit.setMaximumHeight(220) - self.send_edit.setStyleSheet(""" - QTextEdit { - background: #f8fbfd; - border-radius: 12px; - border: 2px solid #d6eaf8; - font-size: 18px; - padding: 14px 20px; - } - """) - send_layout.addWidget(self.send_edit) - - # HEX复选框和按钮行 - row1 = QHBoxLayout() - row1.setSpacing(24) - self.hex_send_chk.setStyleSheet(""" - QCheckBox { - color: #2471a3; - font-size: 15px; - } - QCheckBox::indicator { - width: 22px; - height: 22px; - } - QCheckBox::indicator:checked { - background-color: #2980b9; - border: 1.5px solid #2980b9; - } - QCheckBox::indicator:unchecked { - background-color: #fff; - border: 1.5px solid #b5d0ea; - } - """) - self.hex_recv_chk.setStyleSheet(self.hex_send_chk.styleSheet()) - row1.addWidget(self.hex_send_chk) - row1.addWidget(self.hex_recv_chk) - row1.addStretch(1) - send_layout.addLayout(row1) - - # 发送和持续发送按钮+频率（优化为“每秒发送次数”） - row2 = QHBoxLayout() - row2.setSpacing(18) - self.send_btn = QPushButton("发送") - self.send_btn.clicked.connect(self.send_data) - self.send_btn.setFont(QFont("微软雅黑", 16, QFont.Bold)) - self.send_btn.setFixedHeight(44) - self.send_btn.setFixedWidth(120) - self.send_btn.setStyleSheet(self._btn_style("#2980b9")) - row2.addWidget(self.send_btn) - - self.cont_send_btn = QPushButton("持续发送") - self.cont_send_btn.setCheckable(True) - self.cont_send_btn.setFont(QFont("微软雅黑", 15)) - self.cont_send_btn.setFixedHeight(44) - self.cont_send_btn.setFixedWidth(120) - self.cont_send_btn.setStyleSheet(self._btn_style("#f1c40f")) - self.cont_send_btn.clicked.connect(self.toggle_cont_send) - row2.addWidget(self.cont_send_btn) - - freq_label = QLabel(" 每秒发送次数:") - freq_label.setFont(QFont("微软雅黑", 8)) - freq_label.setFixedWidth(180) - #文本居中 - # freq_label.setAlignment(Qt.AlignRight | Qt.AlignVCenter) - row2.addWidget(freq_label) - - self.freq_input = QSpinBox() - self.freq_input.setRange(1, 1000) - self.freq_input.setValue(5) - self.freq_input.setFont(QFont("Consolas", 14)) - self.freq_input.setFixedWidth(100) - self.freq_input.setStyleSheet(""" - QSpinBox { - background: #f8fbfd; - border-radius: 8px; - border: 1px solid #d6eaf8; - font-size: 15px; - padding: 2px 8px; - } - """) - row2.addWidget(self.freq_input) - - # freq_unit = QLabel("次/秒") - # freq_unit.setFont(QFont("微软雅黑", 13)) - # freq_unit.setFixedWidth(40) - # row2.addWidget(freq_unit) - row2.addStretch(1) - send_layout.addLayout(row2) - - self.cont_send_timer = QTimer(self) - self.cont_send_timer.timeout.connect(self.send_data) - - send_group.setLayout(send_layout) - left_panel.addWidget(send_group, stretch=1) # 让发送区弹性填充 - - # 使用说明始终在最下方 - usage_group = QGroupBox("使用说明") - usage_group.setFont(QFont("微软雅黑", 13, QFont.Bold)) - usage_group.setStyleSheet(""" - QGroupBox { - border: 2px solid #b5d0ea; - border-radius: 10px; - margin-top: 10px; - background: #f8fbfd; - color: #2471a3; - padding: 6px 0 0 0; - } - QGroupBox:title { - subcontrol-origin: margin; - left: 10px; - top: -8px; - background: transparent; - padding: 0 6px; - } - """) - usage_layout = QVBoxLayout() - usage_label = QLabel( - "1. 在“数据协议配置”中选择数据数量和数据类型。\n" - "2. 下位机发送格式：\n" - " 0x55 + 数据数量(1字节) + 数据 + 校验和(1字节)\n" - " 校验和为包头到最后一个数据字节的累加和的低8位。\n" - "3. 每包数据自动绘制曲线，X轴为采样点（或时间），Y轴为各通道数据。\n" - ) - usage_label.setWordWrap(True) - usage_label.setFont(QFont("微软雅黑", 9)) - usage_layout.addWidget(usage_label) - usage_group.setLayout(usage_layout) - left_panel.addWidget(usage_group) - - # 清空按钮紧贴使用说明 - self.clear_btn = QPushButton("清空接收和曲线") - self.clear_btn.clicked.connect(self.clear_all) - self.clear_btn.setStyleSheet(self._btn_style("#e74c3c")) - self.clear_btn.setFixedHeight(38) - left_panel.addWidget(self.clear_btn) - - main_layout.addLayout(left_panel, 0) - - # 右侧面板 - right_panel = QVBoxLayout() - right_panel.setSpacing(20) - - # 接收区 - recv_group = QGroupBox("串口接收区") - recv_group.setFont(QFont("微软雅黑", 14, QFont.Bold)) - recv_group.setStyleSheet(config_group.styleSheet()) - recv_layout = QVBoxLayout() - self.recv_box = QTextEdit() - self.recv_box.setFont(QFont("Consolas", 13)) - self.recv_box.setReadOnly(True) - self.recv_box.setMinimumHeight(120) - self.recv_box.setStyleSheet(""" - QTextEdit { - background: #f8fbfd; - border-radius: 10px; - border: 1px solid #d6eaf8; - font-size: 15px; - color: #2c3e50; - padding: 8px; - } - """) - recv_layout.addWidget(self.recv_box) - recv_group.setLayout(recv_layout) - right_panel.addWidget(recv_group) - - # 曲线绘图区 - plot_frame = QFrame() - plot_frame.setStyleSheet(""" - QFrame { - background: #fff; - border-radius: 16px; - border: 1px solid #d6eaf8; - } - """) - plot_shadow = QGraphicsDropShadowEffect(self) - plot_shadow.setBlurRadius(18) - plot_shadow.setOffset(0, 4) - plot_shadow.setColor(Qt.gray) - plot_frame.setGraphicsEffect(plot_shadow) - plot_layout2 = QVBoxLayout(plot_frame) - plot_layout2.setContentsMargins(10, 10, 10, 10) - self.figure = Figure(figsize=(7, 4)) - self.canvas = FigureCanvas(self.figure) - plot_layout2.addWidget(self.canvas) - right_panel.addWidget(plot_frame, 2) - - main_layout.addLayout(right_panel, 1) - - # 定时器接收 - self.timer = QTimer(self) - self.timer.timeout.connect(self.read_serial) - - # 新增：正弦波测试定时器 - self.sine_timer = QTimer(self) - self.sine_timer.timeout.connect(self.send_sine_data) - self.sine_phase = 0 - # 默认配置 - self.apply_proto_config() - - def parse_hex_string(self, s): - """支持 0x11 0x22 33 44 格式转bytes""" - s = s.strip().replace(',', ' ').replace(';', ' ') - parts = s.split() - result = [] - for part in parts: - if part.startswith('0x') or part.startswith('0X'): - try: - result.append(int(part, 16)) - except Exception: - pass - else: - try: - result.append(int(part, 16)) - except Exception: - pass - return bytes(result) - - def send_data(self): - if self.ser and self.ser.is_open: - data = self.send_edit.toPlainText() - try: - if self.hex_send_chk.isChecked(): - # 支持 0x11 0x22 33 44 格式 - data_bytes = self.parse_hex_string(data) - if not data_bytes: - self.recv_box.append("HEX格式错误，未发送。") - return - self.ser.write(data_bytes) - self.recv_box.append(f"发送(HEX): {' '.join(['%02X'%b for b in data_bytes])}") - else: - self.ser.write(data.encode('utf-8')) - self.recv_box.append(f"发送: {data}") - except Exception as e: - self.recv_box.append(f"发送失败: {e}") - else: - self.recv_box.append("串口未打开，无法发送。") - - def toggle_cont_send(self): - if self.cont_send_btn.isChecked(): - try: - interval = int(self.freq_box.currentText()) - except Exception: - interval = 200 - self.cont_send_timer.start(interval) - self.cont_send_btn.setText("停止发送") - else: - self.cont_send_timer.stop() - self.cont_send_btn.setText("持续发送") - - def simulate_data(self): - """模拟一包数据并自动解析绘图""" - import struct - import random - # 构造协议包 - head = 0x55 - count = self.data_count - dtype = self.data_type - # 随机生成数据 - if dtype == "float": - vals = [random.uniform(-10, 10) for _ in range(count)] - data_bytes = struct.pack(f"<{count}f", *vals) - elif dtype == "int16": - vals = [random.randint(-30000, 30000) for _ in range(count)] - data_bytes = struct.pack(f"<{count}h", *vals) - elif dtype == "uint16": - vals = [random.randint(0, 65535) for _ in range(count)] - data_bytes = struct.pack(f"<{count}H", *vals) - elif dtype == "int8": - vals = [random.randint(-128, 127) for _ in range(count)] - data_bytes = struct.pack(f"<{count}b", *vals) - elif dtype == "uint8": - vals = [random.randint(0, 255) for _ in range(count)] - data_bytes = struct.pack(f"<{count}B", *vals) - else: - vals = [0] * count - data_bytes = b"\x00" * (count * self._type_size()) - # 拼包 - pkt = bytes([head, count]) + data_bytes - checksum = sum(pkt) & 0xFF - pkt += bytes([checksum]) - # 加入接收缓冲区并解析 - self.recv_buffer += pkt - self.parse_and_plot_bin() - - def _btn_style(self, color="#2980b9"): - return f""" - QPushButton {{ - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #eaf6fb, stop:1 #d6eaf8); - color: {color}; - border-radius: 14px; - font-size: 16px; - font-weight: 600; - padding: 8px 0; - border: 1.5px solid #d6eaf8; - letter-spacing: 1px; - }} - QPushButton:hover {{ - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #f8fffe, stop:1 #cfe7fa); - color: #1a6fae; - border: 2px solid #b5d0ea; - }} - QPushButton:pressed {{ - background: #e3f0fa; - color: {color}; - border: 2px solid #a4cbe3; - }} - """ - - def apply_proto_config(self): - self.data_count = self.data_count_spin.value() - self.data_type = self.data_type_box.currentText() - self.plot_data = {i: [[], []] for i in range(self.data_count)} - self.sample_idx = 0 - self.update_plot() - - def refresh_ports(self): - self.port_box.clear() - ports = serial.tools.list_ports.comports() - for port in ports: - self.port_box.addItem(port.device) - if self.port_box.count() == 0: - self.port_box.addItem("无可用串口") - - def toggle_serial(self): - if self.open_btn.isChecked(): - port = self.port_box.currentText() - baud = int(self.baud_box.currentText()) - try: - self.ser = serial.Serial(port, baud, timeout=0.1) - self.open_btn.setText("关闭串口") - self.recv_box.append(f"已打开串口 {port} @ {baud}bps") - self.timer.start(50) - except Exception as e: - self.recv_box.append(f"打开串口失败: {e}") - self.open_btn.setChecked(False) - else: - if self.ser and self.ser.is_open: - self.ser.close() - self.open_btn.setText("打开串口") - self.recv_box.append("串口已关闭") - self.timer.stop() - - def send_multi_data(self): - if self.ser and self.ser.is_open: - text = self.send_edit.text() - lines = text.split(";") - for line in lines: - if line.strip(): - try: - if self.hex_send_chk.isChecked(): - data_bytes = self.parse_hex_string(line.strip()) - self.ser.write(data_bytes) - self.recv_box.append(f"发送(HEX): {' '.join(['%02X'%b for b in data_bytes])}") - else: - self.ser.write(line.strip().encode('utf-8')) - self.recv_box.append(f"发送: {line.strip()}") - except Exception as e: - self.recv_box.append(f"发送失败: {e}") - else: - self.recv_box.append("串口未打开，无法发送。") - - def read_serial(self): - if self.ser and self.ser.is_open: - try: - data = self.ser.read_all() - if data: - if self.hex_recv_chk.isChecked(): - self.recv_box.append(f"接收(HEX): {data.hex(' ').upper()}") - else: - try: - self.recv_box.append(f"接收: {data.decode('utf-8', errors='replace')}") - except Exception: - self.recv_box.append(f"接收(HEX): {data.hex(' ').upper()}") - self.recv_buffer += data - self.parse_and_plot_bin() - except Exception as e: - self.recv_box.append(f"接收失败: {e}") - - def toggle_sine_test(self): - if self.test_btn.isChecked(): - self.test_btn.setText("停止测试") - self.sine_phase = 0 - self.sine_timer.start(80) # 80ms周期 - else: - self.test_btn.setText("测试正弦波(持续)") - self.sine_timer.stop() - - def send_sine_data(self): - import struct, math - head = 0x55 - count = self.data_count - dtype = self.data_type - t = self.sine_phase - vals = [] - for i in range(count): - # 多通道不同相位 - val = math.sin(t / 10.0 + i * math.pi / 4) * 10 - if dtype == "float": - vals.append(float(val)) - elif dtype == "int16": - vals.append(int(val * 1000)) - elif dtype == "uint16": - vals.append(int(val * 1000 + 20000)) - elif dtype == "int8": - vals.append(int(val * 10)) - elif dtype == "uint8": - vals.append(int(val * 10 + 100)) - # 打包 - if dtype == "float": - data_bytes = struct.pack(f"<{count}f", *vals) - elif dtype == "int16": - data_bytes = struct.pack(f"<{count}h", *vals) - elif dtype == "uint16": - data_bytes = struct.pack(f"<{count}H", *vals) - elif dtype == "int8": - data_bytes = struct.pack(f"<{count}b", *vals) - elif dtype == "uint8": - data_bytes = struct.pack(f"<{count}B", *vals) - else: - data_bytes = b"\x00" * (count * self._type_size()) - pkt = bytes([head, count]) + data_bytes - checksum = sum(pkt) & 0xFF - pkt += bytes([checksum]) - # 直接走接收流程模拟 - self.recv_buffer += pkt - self.parse_and_plot_bin() - # 在接收区实时显示理论值 - self.recv_box.append(f"理论: {['%.3f'%v for v in vals]}") - self.sine_phase += 1 - - def parse_and_plot_bin(self): - # 协议：0x55 + 数据数量(1B) + 数据 + 校验(1B) - min_len = 1 + 1 + self.data_count * self._type_size() + 1 - while len(self.recv_buffer) >= min_len: - idx = self.recv_buffer.find(b'\x55') - if idx == -1: - self.recv_buffer = b"" - break - if idx > 0: - self.recv_buffer = self.recv_buffer[idx:] - if len(self.recv_buffer) < min_len: - break - # 检查数量 - count = self.recv_buffer[1] - if count != self.data_count: - self.recv_buffer = self.recv_buffer[2:] - continue - data_bytes = self.recv_buffer[2:2+count*self._type_size()] - checksum = self.recv_buffer[2+count*self._type_size()] - calc_sum = (sum(self.recv_buffer[:2+count*self._type_size()])) & 0xFF - if checksum != calc_sum: - self.recv_box.append("校验和错误，丢弃包") - self.recv_buffer = self.recv_buffer[1:] - continue - # 解析数据 - values = self._unpack_data(data_bytes, count) - self.recv_box.append(f"接收: {values}") - for i, v in enumerate(values): - self.plot_data[i][0].append(self.sample_idx) - self.plot_data[i][1].append(v) - if len(self.plot_data[i][0]) > 200: - self.plot_data[i][0].pop(0) - self.plot_data[i][1].pop(0) - self.sample_idx += 1 - self.recv_buffer = self.recv_buffer[min_len:] - self.update_plot() - - def _type_size(self): - if self.data_type == "float": - return 4 - elif self.data_type in ("int16", "uint16"): - return 2 - elif self.data_type in ("int8", "uint8"): - return 1 - return 4 - - def _unpack_data(self, data_bytes, count): - import struct - fmt = { - "float": f"<{count}f", - "int16": f"<{count}h", - "uint16": f"<{count}H", - "int8": f"<{count}b", - "uint8": f"<{count}B" - }[self.data_type] - try: - return struct.unpack(fmt, data_bytes) - except Exception: - return [0] * count - - def update_plot(self): - self.figure.clear() - ax = self.figure.add_subplot(111) - ax.set_xlabel("Sample", fontsize=14) - ax.set_ylabel("Value", fontsize=14) - has_curve = False - for idx in range(self.data_count): - color = self.curve_colors[idx % len(self.curve_colors)] - x_list, y_list = self.plot_data.get(idx, ([], [])) - if x_list and y_list: - ax.plot(x_list, y_list, label=f"CH{idx+1}", color=color, linewidth=2) - has_curve = True - if has_curve: - ax.legend() - ax.grid(True, linestyle="--", alpha=0.5) - self.canvas.draw() - - def clear_all(self): - self.recv_box.clear() - self.plot_data = {i: [[], []] for i in range(self.data_count)} - self.sample_idx = 0 - self.update_plot() - -# --------- 功能四：MRobot架构生成 --------- -class GenerateMRobotCode(QWidget): - repo_ready_signal = pyqtSignal() - - def __init__(self): - super().__init__() - self.setFont(QFont("微软雅黑", 15)) - self.setStyleSheet(""" - QWidget { - background: #f8fbfd; - border-radius: 16px; - padding: 20px; - } - """) - # 变量初始化 - self.repo_dir = "MRobot_repo" - self.repo_url = "http://gitea.qutrobot.top/robofish/MRobot.git" - self.header_file_vars = {} - self.task_vars = [] - self.ioc_data = None - self.add_gitignore = False - self.auto_configure = False - self.repo_ready = False # 标志：仓库是否已准备好 - self.init_ui() - self.repo_ready_signal.connect(self.on_repo_ready) - - def showEvent(self, event): - super().showEvent(event) - if not self.repo_ready: - self.log("首次进入，正在克隆MRobot仓库...") - self.clone_repo_and_refresh() - - def clone_repo_and_refresh(self): - import threading - def do_clone(): - self.clone_repo() - self.repo_ready = True - self.ioc_data = self.find_and_read_ioc_file() - self.repo_ready_signal.emit() - threading.Thread(target=do_clone).start() - - @pyqtSlot() - def on_repo_ready(self): - self.update_freertos_status() - self.update_header_files() - self.update_task_ui() - self.log("仓库准备完成！") - - def init_ui(self): - main_layout = QVBoxLayout(self) - main_layout.setSpacing(18) - main_layout.setContentsMargins(32, 32, 32, 32) - self.setStyleSheet(""" - QWidget { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #eaf6fb, stop:1 #d6eaf8); - border-radius: 16px; - } - """) - - # 顶部标题区 - title = QLabel("MRobot 架构生成工具") - title.setFont(QFont("微软雅黑", 22, QFont.Bold)) - title.setAlignment(Qt.AlignCenter) - title.setStyleSheet("color: #2980b9; letter-spacing: 2px; margin-bottom: 2px;") - main_layout.addWidget(title) - - desc = QLabel("快速生成 MRobot 项目代码，自动管理模块、任务与环境配置。") - desc.setFont(QFont("微软雅黑", 13)) - desc.setAlignment(Qt.AlignCenter) - desc.setStyleSheet("color: #34495e; margin-bottom: 8px;") - main_layout.addWidget(desc) - - # 状态与选项区 - status_opt_row = QHBoxLayout() - status_opt_row.setSpacing(24) - - # 状态区 - status_col = QVBoxLayout() - self.freertos_status_label = QLabel("FreeRTOS 状态: 检测中...") - self.freertos_status_label.setFont(QFont("微软雅黑", 12)) - self.freertos_status_label.setStyleSheet("color: #2471a3;") - status_col.addWidget(self.freertos_status_label) - status_col.addStretch(1) - status_opt_row.addLayout(status_col, 1) - - # 选项区 - option_col = QVBoxLayout() - self.gitignore_chk = QCheckBox("生成 .gitignore") - self.gitignore_chk.setFont(QFont("微软雅黑", 12)) - self.gitignore_chk.stateChanged.connect(lambda x: setattr(self, "add_gitignore", x == Qt.Checked)) - option_col.addWidget(self.gitignore_chk) - self.auto_env_chk = QCheckBox("自动环境配置") - self.auto_env_chk.setFont(QFont("微软雅黑", 12)) - self.auto_env_chk.stateChanged.connect(lambda x: setattr(self, "auto_configure", x == Qt.Checked)) - option_col.addWidget(self.auto_env_chk) - option_col.addStretch(1) - status_opt_row.addLayout(option_col, 1) - - status_opt_row.addStretch(2) - main_layout.addLayout(status_opt_row) - - # 主体分区：左侧模块选择，右侧任务管理 - body_layout = QHBoxLayout() - body_layout.setSpacing(24) - - # 左侧：模块文件选择 - left_col = QVBoxLayout() - self.header_group = QGroupBox("模块文件选择") - self.header_group.setFont(QFont("微软雅黑", 15, QFont.Bold)) - self.header_group.setStyleSheet(""" - QGroupBox { - border: 2px solid #b5d0ea; - border-radius: 12px; - margin-top: 8px; - background: #f8fbfd; - color: #2471a3; - padding: 10px 0 0 0; - } - QGroupBox:title { - subcontrol-origin: margin; - left: 18px; - top: -10px; - background: transparent; - padding: 0 8px; - } - """) - self.header_layout = QVBoxLayout(self.header_group) - self.header_layout.setSpacing(8) - left_col.addWidget(self.header_group) - left_col.addStretch(1) - body_layout.addLayout(left_col, 2) - - # 右侧：任务管理 - right_col = QVBoxLayout() - self.task_group = QGroupBox("任务管理 (FreeRTOS)") - self.task_group.setFont(QFont("微软雅黑", 15, QFont.Bold)) - self.task_group.setStyleSheet(self.header_group.styleSheet()) - self.task_layout = QVBoxLayout(self.task_group) - self.task_layout.setSpacing(8) - right_col.addWidget(self.task_group) - right_col.addStretch(1) - body_layout.addLayout(right_col, 2) - - main_layout.addLayout(body_layout) - - # 生成按钮区 - btn_row = QHBoxLayout() - btn_row.addStretch(1) - self.generate_btn = QPushButton("一键生成 MRobot 代码") - self.generate_btn.setFont(QFont("微软雅黑", 18, QFont.Bold)) - self.generate_btn.setMinimumHeight(48) - self.generate_btn.setStyleSheet(""" - QPushButton { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #eaf6fb, stop:1 #d6eaf8); - color: #2980b9; - border-radius: 20px; - font-size: 20px; - font-weight: 600; - padding: 12px 0; - border: 1px solid #d6eaf8; - } - QPushButton:hover { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #f8fffe, stop:1 #cfe7fa); - color: #1a6fae; - border: 1.5px solid #b5d0ea; - } - QPushButton:pressed { - background: #e3f0fa; - color: #2471a3; - border: 1.5px solid #a4cbe3; - } - """) - self.generate_btn.clicked.connect(self.generate_action) - btn_row.addWidget(self.generate_btn) - btn_row.addStretch(1) - main_layout.addLayout(btn_row) - - # 日志输出区 - self.msg_box = QTextEdit() - self.msg_box.setReadOnly(True) - self.msg_box.setFont(QFont("Consolas", 13)) - self.msg_box.setMaximumHeight(100) - self.msg_box.setStyleSheet(""" - QTextEdit { - background: #f4f6f7; - border-radius: 8px; - border: 1px solid #d6eaf8; - font-size: 15px; - color: #2c3e50; - padding: 8px; - } - """) - main_layout.addWidget(self.msg_box) - - # 页脚 - footer = QLabel("如遇问题请反馈至 QUT 机器人战队") - footer.setFont(QFont("微软雅黑", 11)) - footer.setAlignment(Qt.AlignCenter) - footer.setStyleSheet("color: #b2bec3; margin-top: 6px;") - main_layout.addWidget(footer) - - # 初始化内容 - self.update_header_files() - self.update_task_ui() - - # ...其余方法保持不变... - - def log(self, msg): - self.msg_box.append(msg) - - def clone_repo(self): - import shutil - from git import Repo - if os.path.exists(self.repo_dir): - shutil.rmtree(self.repo_dir) - try: - self.log("正在克隆仓库...") - Repo.clone_from(self.repo_url, self.repo_dir, multi_options=["--depth=1"]) - self.log("仓库克隆成功！") - except Exception as e: - self.log(f"克隆仓库失败: {e}") - - def find_and_read_ioc_file(self): - for file in os.listdir("."): - if file.endswith(".ioc"): - with open(file, "r", encoding="utf-8") as f: - return f.read() - self.log("未找到 .ioc 文件！") - return None - - def check_freertos_enabled(self): - import re - if not self.ioc_data: - return False - return bool(re.search(r"Mcu\.IP\d+=FREERTOS", self.ioc_data)) - - def update_freertos_status(self): - if self.ioc_data: - status = "已启用" if self.check_freertos_enabled() else "未启用" - else: - status = "未检测到 .ioc 文件" - self.freertos_status_label.setText(f"FreeRTOS 状态: {status}") - - def update_header_files(self): - for i in reversed(range(self.header_layout.count())): - widget = self.header_layout.itemAt(i).widget() - if widget: - widget.deleteLater() - if not self.repo_ready or not os.path.exists(self.repo_dir): - return - from collections import defaultdict - import csv - folders = ["bsp", "component", "device", "module"] - dependencies = defaultdict(list) - for folder in folders: - folder_dir = os.path.join(self.repo_dir, "User", folder) - dep_file = os.path.join(folder_dir, "dependencies.csv") - if os.path.exists(dep_file): - with open(dep_file, "r", encoding="utf-8") as f: - reader = csv.reader(f) - for row in reader: - if len(row) == 2: - dependencies[row[0]].append(row[1]) - for folder in folders: - folder_dir = os.path.join(self.repo_dir, "User", folder) - if os.path.exists(folder_dir): - group = QGroupBox(folder) - g_layout = QHBoxLayout(group) - for file in os.listdir(folder_dir): - file_base, file_ext = os.path.splitext(file) - if file_ext == ".h" and file_base != folder: - var = QCheckBox(file_base) - var.stateChanged.connect(lambda x, fb=file_base: self.handle_dependencies(fb, dependencies)) - self.header_file_vars[file_base] = var - g_layout.addWidget(var) - self.header_layout.addWidget(group) - - def handle_dependencies(self, file_base, dependencies): - if file_base in self.header_file_vars and self.header_file_vars[file_base].isChecked(): - for dep in dependencies.get(file_base, []): - dep_base = os.path.basename(dep) - if dep_base in self.header_file_vars: - self.header_file_vars[dep_base].setChecked(True) - - def update_task_ui(self): - for i in reversed(range(self.task_layout.count())): - widget = self.task_layout.itemAt(i).widget() - if widget: - widget.deleteLater() - if not self.repo_ready or not self.check_freertos_enabled(): - self.task_group.setVisible(False) - return - self.task_group.setVisible(True) - for i, (task_var, freq_var) in enumerate(self.task_vars): - row = QHBoxLayout() - name_edit = QLineEdit(task_var) - freq_spin = QSpinBox() - freq_spin.setRange(1, 1000) - freq_spin.setValue(freq_var) - del_btn = QPushButton("删除") - del_btn.clicked.connect(lambda _, idx=i: self.remove_task(idx)) - row.addWidget(name_edit) - row.addWidget(QLabel("频率:")) - row.addWidget(freq_spin) - row.addWidget(del_btn) - container = QWidget() - container.setLayout(row) - self.task_layout.addWidget(container) - add_btn = QPushButton("添加任务") - add_btn.clicked.connect(self.add_task) - self.task_layout.addWidget(add_btn) - - def add_task(self): - self.task_vars.append([f"Task_{len(self.task_vars)+1}", 100]) - self.update_task_ui() - - def remove_task(self, idx): - if 0 <= idx < len(self.task_vars): - self.task_vars.pop(idx) - self.update_task_ui() - - def copy_file_from_repo(self, src_path, dest_path): - import shutil - if src_path.startswith(self.repo_dir): - full_src_path = src_path - else: - full_src_path = os.path.join(self.repo_dir, src_path.lstrip(os.sep)) - if not os.path.exists(full_src_path): - self.log(f"文件 {full_src_path} 不存在！") - return - dest_dir = os.path.dirname(dest_path) - if dest_dir and not os.path.exists(dest_dir): - os.makedirs(dest_dir, exist_ok=True) - shutil.copy(full_src_path, dest_path) - self.log(f"已复制 {full_src_path} 到 {dest_path}") - - def generate_action(self): - import threading - def task(): - self.create_directories() - if self.add_gitignore: - self.copy_file_from_repo(".gitignore", ".gitignore") - if self.ioc_data and self.check_freertos_enabled(): - self.copy_file_from_repo("src/freertos.c", os.path.join("Core", "Src", "freertos.c")) - folders = ["bsp", "component", "device", "module"] - for folder in folders: - folder_dir = os.path.join(self.repo_dir, "User", folder) - if not os.path.exists(folder_dir): - continue - for file_name in os.listdir(folder_dir): - file_base, file_ext = os.path.splitext(file_name) - if file_ext not in [".h", ".c"]: - continue - if file_base == folder: - src_path = os.path.join(folder_dir, file_name) - dest_path = os.path.join("User", folder, file_name) - self.copy_file_from_repo(src_path, dest_path) - continue - if file_base in self.header_file_vars and self.header_file_vars[file_base].isChecked(): - src_path = os.path.join(folder_dir, file_name) - dest_path = os.path.join("User", folder, file_name) - self.copy_file_from_repo(src_path, dest_path) - if self.ioc_data and self.check_freertos_enabled(): - self.modify_user_task_file() - self.generate_user_task_header() - self.generate_init_file() - self.generate_task_files() - self.log("生成完成！") - threading.Thread(target=task).start() - - def create_directories(self): - dirs = [ - "User/bsp", - "User/component", - "User/device", - "User/module", - ] - if self.ioc_data and self.check_freertos_enabled(): - dirs.append("User/task") - for d in dirs: - if not os.path.exists(d): - os.makedirs(d, exist_ok=True) - self.log(f"已创建目录: {d}") - - def generate_task_files(self): - try: - import re - template_file_path = os.path.join(self.repo_dir, "User", "task", "task.c.template") - task_dir = os.path.join("User", "task") - if not os.path.exists(template_file_path): - self.log(f"模板文件 {template_file_path} 不存在，无法生成 task.c 文件！") - return - os.makedirs(task_dir, exist_ok=True) - with open(template_file_path, "r", encoding="utf-8") as f: - template_content = f.read() - for task in self.task_vars: - if isinstance(task, (list, tuple)): - task_name = str(task[0]) - else: - task_name = str(task) - task_file_path = os.path.join(task_dir, f"{task_name.lower()}.c") - task_content = template_content.replace("{{task_name}}", task_name) - task_content = task_content.replace("{{task_function}}", task_name) - task_content = task_content.replace( - "{{task_frequency}}", f"TASK_FREQ_{task_name.upper()}" - ) - task_content = task_content.replace("{{task_delay}}", f"TASK_INIT_DELAY_{task_name.upper()}") - with open(task_file_path, "w", encoding="utf-8") as f2: - f2.write(task_content) - self.log(f"已成功生成 {task_file_path} 文件！") - except Exception as e: - self.log(f"生成 task.c 文件时出错: {e}") - - def modify_user_task_file(self): - try: - import re - template_file_path = os.path.join(self.repo_dir, "User", "task", "user_task.c.template") - generated_task_file_path = os.path.join("User", "task", "user_task.c") - if not os.path.exists(template_file_path): - self.log(f"模板文件 {template_file_path} 不存在，无法生成 user_task.c 文件！") - return - os.makedirs(os.path.dirname(generated_task_file_path), exist_ok=True) - with open(template_file_path, "r", encoding="utf-8") as f: - template_content = f.read() - task_attr_definitions = "\n".join([ - f"""const osThreadAttr_t attr_{str(task[0]).lower()} = {{ - .name = "{str(task[0])}", - .priority = osPriorityNormal, - .stack_size = 128 * 4, -}};""" - for task in self.task_vars - ]) - task_content = template_content.replace("{{task_attr_definitions}}", task_attr_definitions) - with open(generated_task_file_path, "w", encoding="utf-8") as f2: - f2.write(task_content) - self.log(f"已成功生成 {generated_task_file_path} 文件！") - except Exception as e: - self.log(f"修改 user_task.c 文件时出错: {e}") - - def generate_user_task_header(self): - try: - import re - template_file_path = os.path.join(self.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): - self.log(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) - existing_msgq_content = "" - if os.path.exists(header_file_path): - with open(header_file_path, "r", encoding="utf-8") as f: - content = f.read() - match = re.search(r"/\* USER MESSAGE BEGIN \*/\s*(.*?)\s*/\* USER MESSAGE END \*/", content, re.DOTALL) - if match: - existing_msgq_content = match.group(1).strip() - self.log("已存在的 msgq 区域内容已保留") - with open(template_file_path, "r", encoding="utf-8") as f: - template_content = f.read() - thread_definitions = "\n".join([f" osThreadId_t {str(task[0]).lower()};" for task in self.task_vars]) - msgq_definitions = existing_msgq_content if existing_msgq_content else " osMessageQueueId_t default_msgq;" - freq_definitions = "\n".join([f" float {str(task[0]).lower()};" for task in self.task_vars]) - last_up_time_definitions = "\n".join([f" uint32_t {str(task[0]).lower()};" for task in self.task_vars]) - task_attr_declarations = "\n".join([f"extern const osThreadAttr_t attr_{str(task[0]).lower()};" for task in self.task_vars]) - task_function_declarations = "\n".join([f"void {str(task[0])}(void *argument);" for task in self.task_vars]) - task_frequency_definitions = "\n".join([ - f"#define TASK_FREQ_{str(task[0]).upper()} ({int(task[1])}u)" - for task in self.task_vars - ]) - task_init_delay_definitions = "\n".join([f"#define TASK_INIT_DELAY_{str(task[0]).upper()} (0u)" for task in self.task_vars]) - task_handle_definitions = "\n".join([f" osThreadId_t {str(task[0]).lower()};" for task in self.task_vars]) - 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_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) - header_content = header_content.replace("{{task_handle_definitions}}", task_handle_definitions) - 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 f2: - f2.write(header_content) - self.log(f"已成功生成 {header_file_path} 文件！") - except Exception as e: - self.log(f"生成 user_task.h 文件时出错: {e}") - - def generate_init_file(self): - try: - import re - template_file_path = os.path.join(self.repo_dir, "User", "task", "init.c.template") - generated_file_path = os.path.join("User", "task", "init.c") - if not os.path.exists(template_file_path): - self.log(f"模板文件 {template_file_path} 不存在，无法生成 init.c 文件！") - return - os.makedirs(os.path.dirname(generated_file_path), exist_ok=True) - existing_msgq_content = "" - if os.path.exists(generated_file_path): - with open(generated_file_path, "r", encoding="utf-8") as f: - content = f.read() - match = re.search(r"/\* USER MESSAGE BEGIN \*/\s*(.*?)\s*/\* USER MESSAGE END \*/", content, re.DOTALL) - if match: - existing_msgq_content = match.group(1).strip() - self.log("已存在的消息队列区域内容已保留") - with open(template_file_path, "r", encoding="utf-8") as f: - template_content = f.read() - thread_creation_code = "\n".join([ - f" task_runtime.thread.{str(task[0]).lower()} = osThreadNew({str(task[0])}, NULL, &attr_{str(task[0]).lower()});" - for task in self.task_vars - ]) - init_content = template_content.replace("{{thread_creation_code}}", thread_creation_code) - 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 f2: - f2.write(init_content) - self.log(f"已成功生成 {generated_file_path} 文件！") - except Exception as e: - self.log(f"生成 init.c 文件时出错: {e}") - -# --------- 功能五：零件库 --------- - -class CustomWebView(QWebEngineView): - def __init__(self, parent=None, popup_list=None): - super().__init__(parent) - self.popup_list = popup_list - self._progress_dialog = None - self.page().profile().downloadRequested.connect(self.handle_download) - self.setStyleSheet(""" - QWebEngineView { - border-radius: 12px; - background: #f8fbfd; - border: 1px solid #d6eaf8; - } - """) - - def handle_download(self, download_item): - from PyQt5.QtWidgets import QFileDialog, QProgressDialog - - # 防止重复弹窗 - if hasattr(download_item, "_handled") and download_item._handled: - return - download_item._handled = True - - suggested = download_item.suggestedFileName() - path, _ = QFileDialog.getSaveFileName(self, "保存文件", suggested) - if not path: - download_item.cancel() - return - - download_item.setPath(path) - download_item.accept() - - # 创建进度对话框 - self._progress_dialog = QProgressDialog(f"正在下载: {suggested}", "取消", 0, 100, self) - self._progress_dialog.setWindowTitle("下载进度") - self._progress_dialog.setWindowModality(Qt.WindowModal) - self._progress_dialog.setMinimumDuration(0) - self._progress_dialog.setValue(0) - self._progress_dialog.canceled.connect(download_item.cancel) - self._progress_dialog.show() - - def on_progress(received, total): - if total > 0: - percent = int(received * 100 / total) - self._progress_dialog.setValue(percent) - else: - self._progress_dialog.setValue(0) - - download_item.downloadProgress.connect(on_progress) - - def on_finished(): - self._progress_dialog.setValue(100) - self._progress_dialog.close() - if self.parent() and isinstance(self.parent(), CustomWebView): - self.parent().close() - elif self.popup_list and self in self.popup_list: - self.close() - self.popup_list.remove(self) - - download_item.finished.connect(on_finished) - - def createWindow(self, _type): - popup = CustomWebView(popup_list=self.popup_list) - popup.setAttribute(Qt.WA_DeleteOnClose) - popup.setWindowTitle("下载") - popup.resize(900, 600) - popup.show() - if self.popup_list is not None: - self.popup_list.append(popup) - return popup - -class MachineryLibrary(QWidget): - def __init__(self): - super().__init__() - self.popup_windows = [] - self.setFont(QFont("微软雅黑", 15)) - self.setStyleSheet(""" - QWidget { - background: #f8fbfd; - border-radius: 16px; - padding: 20px; - } - """) - self.init_ui() - - def init_ui(self): - main_layout = QVBoxLayout(self) - main_layout.setSpacing(18) - main_layout.setContentsMargins(32, 32, 32, 32) - - # 标题区 - title = QLabel("MRobot 零件库") - title.setFont(QFont("微软雅黑", 22, QFont.Bold)) - title.setAlignment(Qt.AlignCenter) - title.setStyleSheet("color: #2980b9; letter-spacing: 2px; margin-bottom: 2px;") - main_layout.addWidget(title) - - desc = QLabel("零件库账号：Engineer（无密码）") - desc.setFont(QFont("微软雅黑", 13)) - desc.setAlignment(Qt.AlignCenter) - desc.setStyleSheet("color: #34495e; margin-bottom: 8px;") - main_layout.addWidget(desc) - - # 加载提示 - self.loading_label = QLabel("正在加载零件库网页，请稍候...") - self.loading_label.setAlignment(Qt.AlignCenter) - self.loading_label.setFont(QFont("微软雅黑", 14)) - self.loading_label.setStyleSheet("color: #888; margin-bottom: 8px;") - main_layout.addWidget(self.loading_label) - - # 网页视图 - self.webview = CustomWebView(parent=self, popup_list=self.popup_windows) - self.webview.setAttribute(Qt.WA_TranslucentBackground, True) - self.webview.setMinimumHeight(480) - self.webview.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) - self.webview.loadFinished.connect(self.on_webview_loaded) - main_layout.addWidget(self.webview, stretch=10) - - # 刷新按钮 - btn_row = QHBoxLayout() - btn_row.addStretch(1) - self.refresh_btn = QPushButton("刷新零件库") - self.refresh_btn.setFont(QFont("微软雅黑", 13, QFont.Bold)) - self.refresh_btn.setFixedWidth(140) - self.refresh_btn.setStyleSheet(""" - QPushButton { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #eaf6fb, stop:1 #d6eaf8); - color: #2980b9; - border-radius: 14px; - font-size: 15px; - font-weight: 600; - padding: 8px 0; - border: 1.5px solid #d6eaf8; - } - QPushButton:hover { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #f8fffe, stop:1 #cfe7fa); - color: #1a6fae; - border: 2px solid #b5d0ea; - } - QPushButton:pressed { - background: #e3f0fa; - color: #2471a3; - border: 2px solid #a4cbe3; - } - """) - self.refresh_btn.clicked.connect(self.reload_webview) - btn_row.addWidget(self.refresh_btn) - btn_row.addStretch(1) - main_layout.addLayout(btn_row) - - # 自动加载网页 - QTimer.singleShot(200, lambda: self.webview.setUrl(QUrl("http://alist.qutrobot.top"))) - self.webview.show() - - # 定时刷新（可选，防止页面假死） - self.refresh_timer = QTimer(self) - self.refresh_timer.setInterval(100) - self.refresh_timer.timeout.connect(self.webview.update) - self.refresh_timer.start() - - def reload_webview(self): - self.loading_label.show() - self.webview.setUrl(QUrl("http://alist.qutrobot.top")) - - def on_webview_loaded(self): - self.loading_label.hide() - - def closeEvent(self, event): - self.refresh_timer.stop() - super().closeEvent(event) -# --------- 主工具箱UI --------- -class ToolboxUI(QWidget): - def __init__(self): - super().__init__() - self.setWindowTitle("MRobot 工具箱") - self.resize(1920, 1080) - self.setMinimumSize(900, 600) - self.setStyleSheet(""" - QWidget { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #eaf6fb, stop:1 #d6eaf8); - border-radius: 16px; - } - """) - self.init_ui() - - def init_ui(self): - main_layout = QHBoxLayout(self) - main_layout.setContentsMargins(20, 20, 20, 20) - main_layout.setSpacing(20) - - # 左侧导航 - left_frame = QFrame() - left_frame.setFrameShape(QFrame.StyledPanel) - left_frame.setStyleSheet(""" - QFrame { - background: #f8fbfd; - border-radius: 14px; - border: 1px solid #d6eaf8; - } - """) - left_shadow = QGraphicsDropShadowEffect(self) - left_shadow.setBlurRadius(16) - left_shadow.setOffset(0, 4) - left_shadow.setColor(Qt.gray) - left_frame.setGraphicsEffect(left_shadow) - - left_layout = QVBoxLayout(left_frame) - left_layout.setSpacing(24) - left_layout.setContentsMargins(18, 18, 18, 18) - left_frame.setFixedWidth(260) - main_layout.addWidget(left_frame) - - # Logo - logo_label = QLabel() - logo_pixmap = QPixmap(resource_path("mr_tool_img/MRobot.png")) - if not logo_pixmap.isNull(): - logo_label.setPixmap(logo_pixmap.scaled(180, 80, Qt.KeepAspectRatio, Qt.SmoothTransformation)) - else: - logo_label.setText("MRobot") - logo_label.setAlignment(Qt.AlignCenter) - logo_label.setFont(QFont("Arial", 36, QFont.Bold)) - logo_label.setStyleSheet("color: #3498db;") - logo_label.setFixedHeight(120) - left_layout.addWidget(logo_label) - - # 按钮区 - self.button_names = ["主页", "曲线拟合", "Mini串口助手", "MR架构配置", "零件库", "软件指南"] - self.buttons = [] - for idx, name in enumerate(self.button_names): - btn = QPushButton(name) - btn.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed) - btn.setMinimumHeight(48) - btn.setStyleSheet(""" - QPushButton { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #eaf6fb, stop:1 #d6eaf8); - color: #2980b9; - border-radius: 20px; - font-size: 22px; - font-weight: 600; - padding: 14px 0; - border: 1px solid #d6eaf8; - letter-spacing: 2px; - } - QPushButton:hover { - background: qlineargradient(x1:0, y1:0, x2:1, y2:1, - stop:0 #f8fffe, stop:1 #cfe7fa); - color: #1a6fae; - border: 1.5px solid #b5d0ea; - } - QPushButton:pressed { - background: #e3f0fa; - color: #2471a3; - border: 1.5px solid #a4cbe3; - } - """) - btn.clicked.connect(lambda checked, i=idx: self.switch_function(i)) - self.buttons.append(btn) - left_layout.addWidget(btn) - - left_layout.addStretch(1) - - # 文本输出框 - self.output_box = QTextEdit() - self.output_box.setReadOnly(True) - self.output_box.setFixedHeight(180) - self.output_box.setStyleSheet(""" - QTextEdit { - background: #f4f6f7; - border-radius: 8px; - border: 1px solid #d6eaf8; - font-size: 16px; - color: #2c3e50; - padding: 10px; - } - """) - left_layout.addWidget(self.output_box) - - # 右侧功能区 - self.stack = QStackedWidget() - self.stack.setStyleSheet(""" - QStackedWidget { - background: #fff; - border-radius: 16px; - border: 1px solid #d6eaf8; - } - """) - right_shadow = QGraphicsDropShadowEffect(self) - right_shadow.setBlurRadius(24) - right_shadow.setOffset(0, 4) - right_shadow.setColor(Qt.gray) - self.stack.setGraphicsEffect(right_shadow) - - # 功能页面注册（后续扩展只需在这里添加页面类即可） - self.page_widgets = { - 0: HomePage(), # 主页 - 1: PolyFitApp(), # 多项式拟合 - 2: SerialAssistant(), # 串口助手 - 3: GenerateMRobotCode(), # MRobot架构生成 - 4: MachineryLibrary(), # 零件库 - 5: DownloadPage(), # 下载页面 - } - for i in range(len(self.button_names)): - self.stack.addWidget(self.page_widgets[i]) - main_layout.addWidget(self.stack) - - self.output_box.append("欢迎使用 MRobot 工具箱！请选择左侧功能。") - - - - def placeholder_page(self, text): - page = QWidget() - layout = QVBoxLayout(page) - label = QLabel(text) - label.setAlignment(Qt.AlignCenter) - label.setFont(QFont("微软雅黑", 22, QFont.Bold)) - label.setStyleSheet("color: #2980b9;") - layout.addStretch(1) - layout.addWidget(label) - layout.addStretch(1) - return page - - def switch_function(self, idx): - self.stack.setCurrentIndex(idx) - self.output_box.append(f"已切换到功能：{self.button_names[idx]}") - -if __name__ == "__main__": - - from PyQt5.QtWidgets import QSplashScreen, QGraphicsDropShadowEffect - from PyQt5.QtCore import Qt, QTimer, QRect - from PyQt5.QtGui import QPixmap, QPainter, QColor, QFont, QLinearGradient, QBrush - - class CustomSplash(QSplashScreen): - def __init__(self, pixmap): - super().__init__(QPixmap(640, 400)) - self.setWindowFlags(Qt.WindowStaysOnTopHint | Qt.FramelessWindowHint) - self.setAttribute(Qt.WA_TranslucentBackground) - self.logo = pixmap.scaled(360, 240, Qt.KeepAspectRatio, Qt.SmoothTransformation) - self.title = "MRobot 工具箱" - self.subtitle = "欢迎使用 MRobot，正在启动中..." - self.title_color = QColor("#2471a3") - self.subtitle_color = QColor("#2980b9") - self.bg_gradient = QLinearGradient(0, 0, 0, 400) - self.bg_gradient.setColorAt(0, QColor("#f8fbfd")) - self.bg_gradient.setColorAt(1, QColor("#eaf6fb")) - self.border_color = QColor("#2980b9") - self.setFixedSize(640, 400) - # 阴影 - effect = QGraphicsDropShadowEffect(self) - effect.setBlurRadius(36) - effect.setOffset(0, 10) - effect.setColor(QColor(80, 120, 180, 80)) - self.setGraphicsEffect(effect) - - def paintEvent(self, event): - painter = QPainter(self) - painter.setRenderHint(QPainter.Antialiasing) - # 渐变背景 - painter.setBrush(QBrush(self.bg_gradient)) - painter.setPen(Qt.NoPen) - painter.drawRoundedRect(0, 0, self.width(), self.height(), 44, 44) - # 边框 - pen = painter.pen() - pen.setColor(self.border_color) - pen.setWidth(3) - painter.setPen(pen) - painter.drawRoundedRect(2, 2, self.width()-4, self.height()-4, 44, 44) - # LOGO - logo_x = (self.width() - self.logo.width()) // 2 - logo_y = 80 - painter.drawPixmap(logo_x, logo_y, self.logo) - # 主标题 - # painter.setFont(QFont("微软雅黑", 24, QFont.Bold)) - # painter.setPen(self.title_color) - # painter.drawText(QRect(0, 200, self.width(), 48), Qt.AlignCenter, self.title) - # 副标题 - painter.setFont(QFont("微软雅黑", 12)) - painter.setPen(self.subtitle_color) - painter.drawText(QRect(0, 250, self.width(), 36), Qt.AlignCenter, self.subtitle) - # 版权 - painter.setFont(QFont("微软雅黑", 10)) - painter.setPen(QColor("#b2bec3")) - painter.drawText(QRect(0, 360, self.width(), 30), Qt.AlignCenter, "© 2025 MRobot. All rights reserved.") - - app = QApplication(sys.argv) - - # 立即显示Splash - logo_pix = QPixmap(resource_path("mr_tool_img/MRobot.png")) - splash = CustomSplash(logo_pix) - splash.show() - app.processEvents() # 强制立即刷新Splash - - # 异步加载主窗口 - def load_main(): - win = ToolboxUI() - splash.finish(win) - win.show() - - QTimer.singleShot(100, load_main) - - sys.exit(app.exec_()) \ No newline at end of file diff --git a/MRobot.iss b/MRobot.iss new file mode 100644 index 0000000..450a7f2 --- /dev/null +++ b/MRobot.iss @@ -0,0 +1,17 @@ +[Setup] +AppName=MRobot +AppVersion=1.0 +DefaultDirName={userappdata}\MRobot +DefaultGroupName=MRobot +OutputDir=. +OutputBaseFilename=MRobotInstaller + +[Files] +Source: "dist\MRobot.exe"; DestDir: "{app}"; Flags: ignoreversion +Source: "img\*"; DestDir: "{app}\img"; Flags: ignoreversion recursesubdirs +Source: "User_code\*"; DestDir: "{app}\User_code"; Flags: ignoreversion recursesubdirs +Source: "mech_lib\*"; DestDir: "{app}\mech_lib"; Flags: ignoreversion recursesubdirs + +[Icons] +Name: "{group}\MRobot"; Filename: "{app}\MRobot.exe"; IconFilename: "{app}\img\M.ico" +Name: "{userdesktop}\MRobot"; Filename: "{app}\MRobot.exe"; IconFilename: "{app}\img\M.ico" \ No newline at end of file diff --git a/MRobot.py b/MRobot.py index c22b7df..ecb626e 100644 --- a/MRobot.py +++ b/MRobot.py @@ -6,121 +6,375 @@ import serial.tools.list_ports from PyQt5.QtCore import Qt, pyqtSignal, QThread from PyQt5.QtGui import QTextCursor from PyQt5.QtWidgets import ( - QApplication, QWidget, QVBoxLayout, QHBoxLayout, QGridLayout, QGroupBox, - QComboBox, QPushButton, QTextEdit, QLineEdit, QLabel, QSizePolicy, + QApplication, QWidget, QVBoxLayout, QHBoxLayout, + QSizePolicy, QFileDialog, QMessageBox, QStackedLayout ) from qfluentwidgets import ( - Theme, setTheme, FluentIcon, SwitchButton, BodyLabel, SubtitleLabel, + Theme, setTheme, FluentIcon, SwitchButton, BodyLabel, SubtitleLabel,TitleLabel, StrongBodyLabel, HorizontalSeparator, InfoBar, MessageDialog, Dialog, AvatarWidget, NavigationItemPosition, FluentWindow, NavigationAvatarWidget, - PushButton, TextEdit, LineEdit, ComboBox, ImageLabel + PushButton, TextEdit, LineEdit, ComboBox, ImageLabel, ) from qfluentwidgets import FluentIcon as FIF import requests import shutil from PyQt5.QtCore import Qt -from PyQt5.QtWidgets import QTreeWidget, QTreeWidgetItem, QAbstractItemView, QHeaderView +from PyQt5.QtWidgets import QHeaderView from qfluentwidgets import ( - TreeWidget, InfoBar, InfoBarPosition, MessageDialog, TreeItemDelegate + TreeWidget, InfoBar, InfoBarPosition, ) from qfluentwidgets import CheckBox from qfluentwidgets import TreeWidget from PyQt5.QtCore import QThread, pyqtSignal from PyQt5.QtWidgets import QFileDialog from qfluentwidgets import ProgressBar +import zipfile +import io +import jinja2 +from PyQt5.QtWidgets import QTreeWidgetItem as TreeItem +import yaml # 确保已安装 pyyaml +import requests +from PyQt5.QtCore import Qt, QTimer +from qfluentwidgets import ( + SettingCardGroup, SettingCard, ExpandSettingCard, HyperlinkButton, PushButton, + SubtitleLabel, StrongBodyLabel, BodyLabel, HorizontalSeparator, FluentIcon, InfoBar, InfoBarPosition +) +from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout + +from qfluentwidgets import ( + SettingCardGroup, ExpandSettingCard, SubtitleLabel, BodyLabel, HorizontalSeparator, FluentIcon, InfoBar + +) +# 添加quote +from urllib.parse import quote + +from packaging.version import parse as vparse +__version__ = "1.0.0" # ===================== 页面基类 ===================== class BaseInterface(QWidget): def __init__(self, parent=None): super().__init__(parent=parent) +# ===================== 启动界面 ===================== +from qfluentwidgets import ImageLabel, TitleLabel, BodyLabel, ProgressBar, PushSettingCard, HyperlinkCard +from PyQt5.QtWidgets import QDialog, QVBoxLayout, QSpacerItem, QSizePolicy +from PyQt5.QtCore import Qt +# ...existing code... + +from qfluentwidgets import isDarkTheme # 加入主题判断 + +class SplashScreen(QDialog): + def __init__(self, parent=None): + super().__init__(parent) + # 自动适配主题 + dark = isDarkTheme() + bg_color = "#23272e" if dark else "#f7fafd" + text_color = "#e9f6ff" if dark else "#2d7d9a" + sub_color = "#b0b8c1" if dark else "#6b7b8c" + border_color = "#3a3f4b" if dark else "#e0e6ef" + + self.setWindowFlags(Qt.FramelessWindowHint | Qt.Dialog) + self.setModal(True) + self.setFixedSize(420, 260) + self.setStyleSheet(f""" + QDialog {{ + background: {bg_color}; + border-radius: 18px; + border: 1px solid {border_color}; + }} + """) + layout = QVBoxLayout(self) + layout.setContentsMargins(36, 36, 36, 36) + layout.setSpacing(18) + + layout.addSpacerItem(QSpacerItem(20, 20, QSizePolicy.Minimum, QSizePolicy.Expanding)) + + # Logo + self.logo = ImageLabel('img/MRobot.png') + self.logo.setFixedSize(220, 56) + self.logo.setAlignment(Qt.AlignCenter) + layout.addWidget(self.logo, alignment=Qt.AlignCenter) + + # 应用名 + self.title = TitleLabel("MRobot Toolbox") + self.title.setAlignment(Qt.AlignCenter) + self.title.setStyleSheet(f"font-size: 26px; font-weight: bold; color: {text_color};") + layout.addWidget(self.title) + + # 状态文本 + self.status = BodyLabel("正在启动...") + self.status.setAlignment(Qt.AlignCenter) + self.status.setStyleSheet(f"font-size: 15px; color: {sub_color};") + layout.addWidget(self.status) + + # 进度条 + self.progress = ProgressBar() + self.progress.setRange(0, 100) + self.progress.setValue(0) + self.progress.setFixedHeight(10) + layout.addWidget(self.progress) + + layout.addSpacerItem(QSpacerItem(20, 20, QSizePolicy.Minimum, QSizePolicy.Expanding)) + + def set_status(self, text, value=None): + self.status.setText(text) + if value is not None: + self.progress.setValue(value) + # ===================== 首页界面 ===================== class HomeInterface(BaseInterface): def __init__(self, parent=None): super().__init__(parent=parent) self.setObjectName("homeInterface") - layout = QVBoxLayout() - layout.setContentsMargins(60, 60, 60, 60) - layout.setSpacing(32) - self.setLayout(layout) - # 顶部logo和欢迎区 - top_layout = QHBoxLayout() + # 外层居中布局 + outer_layout = QVBoxLayout(self) + outer_layout.setContentsMargins(0, 0, 0, 0) + outer_layout.setSpacing(0) + outer_layout.addStretch() + + # 直接用布局和控件，无卡片 + content_layout = QVBoxLayout() + content_layout.setSpacing(24) + content_layout.setContentsMargins(48, 48, 48, 48) + + # Logo logo = ImageLabel('img/MRobot.png') - logo.setFixedSize(260, 80) - top_layout.addWidget(logo, alignment=Qt.AlignmentFlag.AlignTop) - title_layout = QVBoxLayout() - title_layout.addWidget(StrongBodyLabel("欢迎使用 MRobot Toolbox")) - title_layout.addWidget(SubtitleLabel("让你的机器人开发更高效、更智能")) - top_layout.addLayout(title_layout) - top_layout.addStretch() - layout.addLayout(top_layout) + logo.setFixedSize(320, 80) + logo.setAlignment(Qt.AlignCenter) + content_layout.addWidget(logo, alignment=Qt.AlignHCenter) - layout.addWidget(HorizontalSeparator()) + content_layout.addSpacing(8) + content_layout.addStretch() + # 主标题 + title = SubtitleLabel("MRobot Toolbox") + title.setAlignment(Qt.AlignCenter) + title.setStyleSheet("font-size: 32px; font-weight: bold;") + content_layout.addWidget(title) - # 项目简介 - layout.addWidget(BodyLabel( - "MRobot Toolbox 是一款集成化的机器人开发辅助工具，" - "支持代码生成、串口终端、主题切换等多种实用功能。\n" - "点击左侧导航栏可快速切换各功能页面。" - )) + # 副标题 + subtitle = BodyLabel("现代化，多功能机器人开发工具箱") + subtitle.setAlignment(Qt.AlignCenter) + subtitle.setStyleSheet("font-size: 18px; color: #4a6fa5;") + content_layout.addWidget(subtitle) - # 开发者与项目目标 - layout.addWidget(HorizontalSeparator()) - layout.addWidget(SubtitleLabel("开发者与项目目标")) - layout.addWidget(BodyLabel("开发团队：QUT 青岛理工大学 MOVE 战队")) - layout.addWidget(BodyLabel("项目目标：为所有 rmer 和 rcer 提供现代化、简单、高效的机器人开发方式，" - "让机器人开发变得更轻松、更智能。")) - layout.addWidget(BodyLabel("适用于 RM、RC、各类嵌入式机器人项目。")) + # 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) + welcome.setStyleSheet("font-size: 15px;") + content_layout.addWidget(welcome) - # layout.addStretch() + content_layout.addSpacing(16) + content_layout.addStretch() + + # 直接加到主布局 + 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) # ===================== 代码生成页面 ===================== +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): + # 判断是否开启FreeRTOS + 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 + + # 可扩展：添加更多参数获取方法 + def get_parameter(self, key, default=None): + return self.config.get(key, default) + + def get_all_with_prefix(self, prefix): + return {k: v for k, v in self.config.items() if k.startswith(prefix)} + class DataInterface(BaseInterface): def __init__(self, parent=None): super().__init__(parent=parent) self.setObjectName("dataInterface") - self.stacked_layout = QStackedLayout() + + # 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() - select_layout = QVBoxLayout(self.select_widget) - select_layout.addSpacing(40) - select_layout.addWidget(SubtitleLabel("MRobot 代码生成")) - select_layout.addWidget(HorizontalSeparator()) - select_layout.addSpacing(10) - select_layout.addWidget(BodyLabel("请选择包含 .ioc 文件的工程文件夹，点击下方按钮进行选择。")) - select_layout.addSpacing(20) - self.choose_btn = PushButton("选择工程路径") + 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) - select_layout.addWidget(self.choose_btn) - select_layout.addStretch() + 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：代码配置 --- - self.config_widget = QWidget() - self.config_layout = QVBoxLayout(self.config_widget) - # 左上角小返回按钮 - top_bar = QHBoxLayout() - self.back_btn = PushButton('返回', icon=FluentIcon.SKIP_BACK) - # self.back_btn.setFixedSize(32, 32) - self.back_btn.clicked.connect(self.back_to_select) - self.back_btn.setToolTip("返回") - top_bar.addWidget(self.back_btn, alignment=Qt.AlignmentFlag.AlignLeft) - top_bar.addStretch() - self.config_layout.addLayout(top_bar) - self.config_layout.addWidget(SubtitleLabel("工程配置信息")) - self.config_layout.addWidget(HorizontalSeparator()) - self.project_info_labels = [] - self.config_layout.addStretch() - self.stacked_layout.addWidget(self.config_widget) - # 默认显示选择页面 - self.stacked_layout.setCurrentWidget(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") @@ -128,7 +382,12 @@ class DataInterface(BaseInterface): return ioc_files = [f for f in os.listdir(folder) if f.endswith('.ioc')] if not ioc_files: - QMessageBox.warning(self, "提示", "未找到.ioc文件，请确认项目文件夹。") + 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) @@ -136,24 +395,622 @@ class DataInterface(BaseInterface): self.show_config_page() def show_config_page(self): - # 清理旧内容 - for label in self.project_info_labels: - self.config_layout.removeWidget(label) - label.deleteLater() - self.project_info_labels.clear() - # 显示项目信息 - l1 = BodyLabel(f"项目名称: {self.project_name}") - l2 = BodyLabel(f"项目路径: {self.project_path}") - l3 = BodyLabel(f"IOC 文件: {self.ioc_file}") - self.config_layout.insertWidget(2, l1) - self.config_layout.insertWidget(3, l2) - self.config_layout.insertWidget(4, l3) - self.project_info_labels.extend([l1, l2, l3]) + # 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 = ' initTaskHandle = 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 + 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(800, 420) + layout = QVBoxLayout(self) + self.table = QTableWidget(0, 5) + self.table.setHorizontalHeaderLabels(["任务名称", "运行频率", "初始化延迟", "堆栈大小", "任务描述"]) + 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.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) + 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) + + 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 = int(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() + # 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）") + tasks.append({ + "name": name, + "function": f"Task_{name}", + "frequency": freq, + "delay": delay, + "stack": stack, + "description": desc + }) + 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 generate_task_code(self, task_list): + import os + from jinja2 import Template + import yaml + import re + import textwrap + + 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) + + # 模板路径 + 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") + + def render_template(path, context): + with open(path, encoding="utf-8") as f: + tpl = Template(f.read()) + return tpl.render(**context) + + + # 构造模板上下文 + 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 task_list]), + "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 task_list]), + "task_frequency_definitions": "\n".join([f"#define {t['name'].upper()}_FREQ ({t['frequency']})" for t in task_list]), + "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]), + } + + # ----------- 用户区域保护函数 ----------- + def preserve_user_region(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) + + # ----------- 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) + + # 检查并保留所有用户区域 + if os.path.exists(user_task_h_path): + with open(user_task_h_path, "r", encoding="utf-8") as f: + old_code = f.read() + # 只保留有内容的用户区域 + for region in ["USER INCLUDE", "USER MESSAGE", "USER CONFIG"]: + # 如果旧文件该区域有内容，则保留 + 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 = preserve_user_region(new_user_task_h, old_code, region) + # 写入 + 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 ----------- + # 线程创建代码 + 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, + } + # 渲染模板 + init_c = render_template(init_c_tpl, context_init) + + # 保留 USER MESSAGE 区域 + def preserve_user_region(new_code, old_code, region_name): + 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 + old_content = old_match.group(1) + def repl(m): + return m.group(0).replace(m.group(1), old_content) + return pattern.sub(repl, new_code, count=1) + + 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() + # 保留 USER MESSAGE 区域 + init_c = preserve_user_region(init_c, old_code, "USER MESSAGE") + + with open(init_c_path, "w", encoding="utf-8") as f: + f.write(init_c) + + # ----------- 生成 task.c ----------- + task_c_tpl = os.path.join(template_dir, "task.c.template") + for t in task_list: + # 自动换行任务描述 + 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", # 使用宏定义 + "task_delay": f"{t['name'].upper()}_INIT_DELAY", # 使用宏定义 + "task_description": desc_wrapped + } + # 渲染模板 + with open(task_c_tpl, encoding="utf-8") as f: + tpl = Template(f.read()) + code = tpl.render(**context_task) + # 保留USER区域 + 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() + # 只保留USER区域 + def preserve_user_region(new_code, old_code, region_name): + 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 + old_content = old_match.group(1) + def repl(m): + return m.group(0).replace(m.group(1), old_content) + return pattern.sub(repl, new_code, count=1) + for region in ["USER INCLUDE", "USER STRUCT", "USER CODE"]: + code = 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_path = os.path.join(output_dir, "config.yaml") + with open(config_path, "w", encoding="utf-8") as f: + yaml.dump(task_list, f, allow_unicode=True) # ===================== 串口终端界面 ===================== class SerialReadThread(QThread): @@ -213,12 +1070,12 @@ class SerialTerminalInterface(BaseInterface): #快捷指令居中 preset_vbox.setAlignment(Qt.AlignmentFlag.AlignCenter) self.preset_commands = [ - ("线程监视器", "RESET"), - ("陀螺仪校准", "GET_VERSION"), - ("性能监视", "START"), - ("重启", "STOP"), - ("显示所有设备", "SELF_TEST"), - ("查询id", "STATUS"), + ("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) @@ -247,7 +1104,7 @@ class SerialTerminalInterface(BaseInterface): 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 = CheckBox("自动回车 ") self.auto_enter_checkbox.setChecked(True) bottom_hbox.addWidget(self.auto_enter_checkbox) bottom_hbox.addStretch() @@ -315,6 +1172,7 @@ class SerialTerminalInterface(BaseInterface): except Exception as e: self.text_edit.append(f"发送失败: {e}") self.input_line.clear() + # ===================== 零件库页面 ===================== class DownloadThread(QThread): progressChanged = pyqtSignal(int) @@ -335,7 +1193,10 @@ class DownloadThread(QThread): retry = 0 while retry < max_retry: try: - url = f"{self.server_url}/download/{rel_path}" + # 先统一分隔符，再编码 + 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: @@ -368,7 +1229,7 @@ class PartLibraryInterface(BaseInterface): layout.addWidget(SubtitleLabel("零件库（在线bate版）")) layout.addWidget(HorizontalSeparator()) - layout.addWidget(BodyLabel("可浏览服务器零件库，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）")) + 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") @@ -399,6 +1260,8 @@ class PartLibraryInterface(BaseInterface): self.refresh_list(first=True) + + def refresh_list(self, first=False): self.tree.clear() try: @@ -584,12 +1447,138 @@ class SettingInterface(BaseInterface): self.themeSwitchRequested.emit() # ===================== 帮助与关于界面 ===================== + +# ...existing code... + + +# 注意：PushSettingCard、HyperlinkCard 已由你的 SettingCard 文件定义 + +# ...existing code... + +from PyQt5.QtWidgets import QScrollArea, QWidget, QVBoxLayout, QMessageBox +from qfluentwidgets import ScrollArea, VBoxLayout +from qfluentwidgets import VBoxLayout class HelpInterface(BaseInterface): def __init__(self, parent=None): super().__init__(parent=parent) self.setObjectName("helpInterface") + layout = QVBoxLayout() - self.setLayout(layout) + layout.setContentsMargins(0, 0, 0, 0) + layout.setSpacing(0) + self.setLayout(layout) + + content_widget = QWidget() + main_layout = VBoxLayout(content_widget) + main_layout.setContentsMargins(32, 32, 32, 32) + main_layout.setSpacing(18) + # 标题 + main_layout.addWidget(SubtitleLabel("帮助中心")) + main_layout.addWidget(HorizontalSeparator()) + + # 版本与更新 + version_card = PushSettingCard( + "检查更新", + FluentIcon.INFO, + f"当前版本：MRobot Toolbox v{__version__}", + "点击按钮检查是否有新版本。", + parent=self + ) + version_card.clicked.connect(self.check_update) + main_layout.addWidget(version_card) + + # FAQ分组 + faq_group = SettingCardGroup("常见问题", self) + faq_card1 = PushSettingCard( + "查看解决方法", + FluentIcon.HELP, + "启动报错/界面异常怎么办？", + "遇到启动问题请尝试重启、检查依赖，或加入交流群获取帮助。", + parent=self + ) + faq_card1.clicked.connect(lambda: self.show_info( + "启动报错/界面异常解决方法", + "1. 尝试重启软件。\n2. 检查Python和依赖库版本。\n3. 如仍有问题，请在GitHub提交Issue。" + )) + faq_group.addSettingCard(faq_card1) + + faq_card2 = PushSettingCard( + "查看解决方法", + FluentIcon.LIBRARY, + "零件库无法下载怎么办？", + "如遇网络问题或下载失败，请多次尝试或联系管理员。", + parent=self + ) + faq_card2.clicked.connect(lambda: self.show_info( + "零件库无法下载解决方法", + "1. 检查网络连接。\n2. 多次刷新或重启软件。\n3. 若仍无法下载，请加入QQ群：857466609 反馈。" + )) + faq_group.addSettingCard(faq_card2) + + # faq_card3 = PushSettingCard( + # "获取下载链接", + # FluentIcon.DOWNLOAD, + # "如何下载最新版？", + # "点击按钮获取最新版下载地址。", + # parent=self + # ) + # faq_card3.clicked.connect(lambda: self.show_info( + # "最新版下载地址", + # "GitHub发布页：https://github.com/goldenfishs/MRobot/releases\n如遇下载问题，请联系QQ群：857466609" + # )) + # faq_group.addSettingCard(faq_card3) + main_layout.addWidget(faq_group) + + # 联系方式 + contact_group = SettingCardGroup("联系方式", self) + contact_card = PushSettingCard( + "复制邮箱", + FluentIcon.MESSAGE, + "联系开发团队", + "点击按钮复制邮箱地址：support@mrobot.com", + parent=self + ) + contact_card.clicked.connect(lambda: self.copy_text("support@mrobot.com", "邮箱已复制：1683502971@qq.com")) + contact_group.addSettingCard(contact_card) + main_layout.addWidget(contact_group) + + main_layout.addStretch() + # 不使用滚动区，直接添加内容区 + layout.addWidget(content_widget) + + def copy_text(self, text, message): + clipboard = QApplication.clipboard() + clipboard.setText(text) + InfoBar.info( + title="已复制", + content=message, + parent=self, + position=InfoBarPosition.TOP, + duration=2000 + ) + + def check_update(self): + latest = check_update() + if latest: + self.show_info( + "发现新版本", + f"检测到新版本 {latest}，请前往 GitHub 下载：\nhttps://github.com/goldenfishs/MRobot/releases" + ) + else: + InfoBar.info( + title="已是最新版", + content="当前已是最新版本。", + parent=self, + duration=2000 + ) + + def show_info(self, title, content): + dialog = Dialog( + title=title, + content=content, + parent=self + ) + dialog.exec() class AboutInterface(BaseInterface): def __init__(self, parent=None): @@ -605,24 +1594,31 @@ class MainWindow(FluentWindow): def __init__(self): super().__init__() self.setWindowTitle("MR_ToolBox") - self.resize(1000, 700) - self.setMinimumSize(800, 600) - + self.resize(800, 600) + self.setMinimumSize(640, 480) + self.setWindowFlag(Qt.Window) # 记录当前主题 self.current_theme = Theme.DARK - + latest = check_update() + if latest: + InfoBar.info( + title="发现新版本", + content=f"检测到新版本 {latest}，请前往 GitHub 下载更新。", + parent=self, + duration=5000 + ) # 创建页面实例 self.setting_page = SettingInterface(self) self.setting_page.themeSwitchRequested.connect(self.toggle_theme) self.page_registry = [ - (HomeInterface(self), FIF.HOME, "首页", NavigationItemPosition.TOP), - (DataInterface(self), FIF.LIBRARY, "MRobot代码生成", NavigationItemPosition.SCROLL), - (SerialTerminalInterface(self), FIF.COMMAND_PROMPT, "Mini_Shell", NavigationItemPosition.SCROLL), - (PartLibraryInterface(self), FIF.DOWNLOAD, "零件库", NavigationItemPosition.SCROLL), # ← 加上这一行 - (self.setting_page, FIF.SETTING, "设置", NavigationItemPosition.BOTTOM), - (HelpInterface(self), FIF.HELP, "帮助", NavigationItemPosition.BOTTOM), - (AboutInterface(self), FIF.INFO, "关于", NavigationItemPosition.BOTTOM), + (HomeInterface(self), FluentIcon.HOME, "首页", NavigationItemPosition.TOP), + (DataInterface(self), FluentIcon.LIBRARY, "MRobot代码生成", NavigationItemPosition.SCROLL), + (SerialTerminalInterface(self), FluentIcon.COMMAND_PROMPT, "Mini_Shell", NavigationItemPosition.SCROLL), + (PartLibraryInterface(self), FluentIcon.DOWNLOAD, "零件库", NavigationItemPosition.SCROLL), # ← 加上这一行 + (self.setting_page, FluentIcon.SETTING, "设置", NavigationItemPosition.BOTTOM), + (HelpInterface(self), FluentIcon.HELP, "帮助", NavigationItemPosition.BOTTOM), + # (AboutInterface(self), FluentIcon.INFO, "关于", NavigationItemPosition.BOTTOM), ] self.initNavigation() @@ -650,18 +1646,82 @@ class MainWindow(FluentWindow): def show_user_info(self): dialog = Dialog( - title="用户信息", - content="用户：MRobot至尊VIP用户", + title="MRobot", + content="账号：VIP内测版", parent=self ) dialog.exec() +def check_update(): + try: + repo = "goldenfishs/MRobot" + url = f"https://api.github.com/repos/{repo}/releases/latest" + resp = requests.get(url, timeout=5) + if resp.status_code == 200: + latest = resp.json()["tag_name"].lstrip("v") + print(f"本地版本: {__version__}, 最新版本: {latest}") # 调试用 + if vparse(latest) > vparse(__version__): + return latest + except Exception as e: + print(f"检查更新失败: {e}") + return None + # ===================== 程序入口 ===================== def main(): + from PyQt5.QtWidgets import QApplication # <-- 移到这里，所有平台都能用 + import platform + if platform.system() == "Windows": + try: + from PyQt5.QtCore import Qt + import ctypes + ctypes.windll.shcore.SetProcessDpiAwareness(1) + except Exception: + pass + QApplication.setAttribute(Qt.AA_EnableHighDpiScaling) + QApplication.setAttribute(Qt.AA_UseHighDpiPixmaps) + app = QApplication(sys.argv) + # 跟随系统主题 setTheme(Theme.DARK) + splash = SplashScreen() + setTheme(Theme.DARK) + splash.show() + setTheme(Theme.DARK) + app.processEvents() + + # 步骤1：获取零件库 + splash.set_status("正在获取零件仓库...", 20) + try: + import requests + resp = requests.get("http://154.37.215.220:5000/list", params={"key": "MRobot_Download"}, timeout=5) + resp.raise_for_status() + except Exception: + pass + app.processEvents() + + # 步骤2：检查更新 + splash.set_status("正在检查软件更新...", 60) + latest = check_update() + app.processEvents() + + # 步骤3：加载主窗口 + splash.set_status("正在加载主界面...", 90) window = MainWindow() window.show() + setTheme(Theme.DARK) + splash.set_status("启动完成", 100) + from PyQt5.QtCore import QTimer + QTimer.singleShot(500, splash.close) + + # 有新版本弹窗 + if latest: + InfoBar.info( + title="发现新版本", + content=f"检测到新版本 {latest}，请前往帮助页面下载新版。", + parent=window, + duration=5000 + ) + sys.exit(app.exec_()) if __name__ == '__main__': diff --git a/MRobot_old.py b/MRobot_old.py deleted file mode 100644 index c85ba8c..0000000 --- a/MRobot_old.py +++ /dev/null @@ -1,719 +0,0 @@ -import tkinter as tk -from tkinter import ttk -from PIL import Image, ImageTk -import sys -import os -import threading -import shutil -import re -from git import Repo -from collections import defaultdict -import csv -import xml.etree.ElementTree as ET - -# 配置常量 -REPO_DIR = "MRobot_repo" -REPO_URL = "http://gitea.qutrobot.top/robofish/MRobot.git" -if getattr(sys, 'frozen', False): # 检查是否为打包后的环境 - CURRENT_DIR = os.path.dirname(sys.executable) # 使用可执行文件所在目录 -else: - CURRENT_DIR = os.path.dirname(os.path.abspath(__file__)) # 使用脚本所在目录 - -MDK_ARM_DIR = os.path.join(CURRENT_DIR, "MDK-ARM") -USER_DIR = os.path.join(CURRENT_DIR, "User") - -class MRobotApp: - def __init__(self): - self.ioc_data = None - self.add_gitignore_var = None # 延迟初始化 - self.header_file_vars = {} - self.task_vars = [] # 用于存储任务的变量 - - # 初始化 - def initialize(self): - print("初始化中，正在克隆仓库...") - self.clone_repo() - self.ioc_data = self.find_and_read_ioc_file() - print("初始化完成，启动主窗口...") - self.show_main_window() - - # 克隆仓库 - def clone_repo(self): - try: - if os.path.exists(REPO_DIR): - shutil.rmtree(REPO_DIR) - print(f"正在克隆仓库到 {REPO_DIR}（仅克隆当前文件内容）...") - Repo.clone_from(REPO_URL, REPO_DIR, multi_options=["--depth=1"]) - print("仓库克隆成功！") - except Exception as e: - print(f"克隆仓库时出错: {e}") - - # 删除克隆的仓库 - def delete_repo(self): - try: - if os.path.exists(REPO_DIR): - shutil.rmtree(REPO_DIR) - print(f"已删除克隆的仓库目录: {REPO_DIR}") - except Exception as e: - print(f"删除仓库目录时出错: {e}") - - - # 复制文件 - def copy_file_from_repo(self, src_path, dest_path): - try: - # 修复路径拼接问题，确保 src_path 不重复包含 REPO_DIR - if src_path.startswith(REPO_DIR): - full_src_path = src_path - else: - full_src_path = os.path.join(REPO_DIR, src_path.lstrip(os.sep)) - - # 检查源文件是否存在 - if not os.path.exists(full_src_path): - print(f"文件 {full_src_path} 不存在！（检查路径或仓库内容）") - return - - # 检查目标路径是否有效 - if not dest_path or not dest_path.strip(): - print("目标路径为空或无效，无法复制文件！") - return - - # 创建目标目录（如果不存在） - dest_dir = os.path.dirname(dest_path) - if dest_dir and not os.path.exists(dest_dir): - os.makedirs(dest_dir, exist_ok=True) - - # 执行文件复制 - shutil.copy(full_src_path, dest_path) - print(f"文件已从 {full_src_path} 复制到 {dest_path}") - except Exception as e: - print(f"复制文件时出错: {e}") - - # 查找并读取 .ioc 文件 - def find_and_read_ioc_file(self): - try: - for file in os.listdir("."): - if file.endswith(".ioc"): - print(f"找到 .ioc 文件: {file}") - with open(file, "r", encoding="utf-8") as f: - return f.read() - print("未找到 .ioc 文件！") - except Exception as e: - print(f"读取 .ioc 文件时出错: {e}") - return None - - # 检查是否启用了 FreeRTOS - def check_freertos_enabled(self, ioc_data): - try: - return bool(re.search(r"Mcu\.IP\d+=FREERTOS", ioc_data)) - except Exception as e: - print(f"检查 FreeRTOS 配置时出错: {e}") - return False - - # 生成操作 - def generate_action(self): - def task(): - # 检查并创建目录 - self.create_directories() - - if self.add_gitignore_var.get(): - self.copy_file_from_repo(".gitignore", ".gitignore") - if self.ioc_data and self.check_freertos_enabled(self.ioc_data): - self.copy_file_from_repo("src/freertos.c", os.path.join("Core", "Src", "freertos.c")) - - # 定义需要处理的文件夹 - folders = ["bsp", "component", "device", "module"] - - # 遍历每个文件夹，复制选中的 .h 和 .c 文件 - for folder in folders: - folder_dir = os.path.join(REPO_DIR, "User", folder) - if not os.path.exists(folder_dir): - continue # 如果文件夹不存在，跳过 - - for file_name in os.listdir(folder_dir): - file_base, file_ext = os.path.splitext(file_name) - if file_ext not in [".h", ".c"]: - continue # 只处理 .h 和 .c 文件 - - # 强制复制与文件夹同名的文件 - if file_base == folder: - src_path = os.path.join(folder_dir, file_name) - dest_path = os.path.join("User", folder, file_name) - self.copy_file_from_repo(src_path, dest_path) - continue # 跳过后续检查，直接复制 - - # 检查是否选中了对应的文件 - if file_base in self.header_file_vars and self.header_file_vars[file_base].get(): - src_path = os.path.join(folder_dir, file_name) - dest_path = os.path.join("User", folder, file_name) - self.copy_file_from_repo(src_path, dest_path) - - threading.Thread(target=task).start() - - - - # 创建必要的目录 - def create_directories(self): - try: - directories = [ - "User/bsp", - "User/component", - "User/device", - "User/module", - ] - # 根据是否启用 FreeRTOS 决定是否创建 User/task - if self.ioc_data and self.check_freertos_enabled(self.ioc_data): - directories.append("User/task") - - for directory in directories: - if not os.path.exists(directory): - os.makedirs(directory, exist_ok=True) - print(f"已创建目录: {directory}") - else: - print(f"目录已存在: {directory}") - except Exception as e: - print(f"创建目录时出错: {e}") - - - # 更新 FreeRTOS 状态标签 - def update_freertos_status(self, label): - if self.ioc_data: - status = "已启用" if self.check_freertos_enabled(self.ioc_data) else "未启用" - else: - status = "未检测到 .ioc 文件" - label.config(text=f"FreeRTOS 状态: {status}") - - - - # 显示主窗口 - # ...existing code... - # ...existing code... - - # 显示主窗口 - def show_main_window(self): - root = tk.Tk() - root.title("MRobot 自动生成脚本") - root.geometry("1000x650") # 调整窗口大小以适应布局 - - # 在窗口关闭时调用 on_closing 方法 - root.protocol("WM_DELETE_WINDOW", lambda: self.on_closing(root)) - - # 初始化 BooleanVar - self.add_gitignore_var = tk.BooleanVar(value=False) - self.auto_configure_var = tk.BooleanVar(value=False) # 新增复选框变量 - - # 创建主框架 - main_frame = ttk.Frame(root) - main_frame.pack(fill="both", expand=True) - - # 添加标题 - title_label = ttk.Label(main_frame, text="MRobot 自动生成脚本", font=("Arial", 16, "bold")) - title_label.pack(pady=10) - - # 添加 FreeRTOS 状态标签 - freertos_status_label = ttk.Label(main_frame, text="FreeRTOS 状态: 检测中...", font=("Arial", 12)) - freertos_status_label.pack(pady=10) - self.update_freertos_status(freertos_status_label) - - # 模块文件选择和任务管理框架（添加滚动功能） - module_task_frame = ttk.Frame(main_frame) - module_task_frame.pack(fill="both", expand=True, padx=10, pady=10) - - # 创建 Canvas 和 Scrollbar - canvas = tk.Canvas(module_task_frame) - scrollbar = ttk.Scrollbar(module_task_frame, orient="vertical", command=canvas.yview) - scrollable_frame = ttk.Frame(canvas) - - # 配置滚动区域 - scrollable_frame.bind( - "", - lambda e: canvas.configure(scrollregion=canvas.bbox("all")) - ) - canvas.create_window((0, 0), window=scrollable_frame, anchor="nw") - canvas.configure(yscrollcommand=scrollbar.set) - - # 绑定鼠标滚轮事件 - def on_mouse_wheel(event): - canvas.yview_scroll(-1 * int(event.delta / 120), "units") - - canvas.bind_all("", on_mouse_wheel) - - # 布局 Canvas 和 Scrollbar - canvas.pack(side="left", fill="both", expand=True) - scrollbar.pack(side="right", fill="y") - - # 左右布局：模块文件选择框和任务管理框 - left_frame = ttk.Frame(scrollable_frame) - left_frame.pack(side="left", fill="both", expand=True, padx=5, pady=5) - - right_frame = ttk.Frame(scrollable_frame) - right_frame.pack(side="right", fill="both", expand=True, padx=5, pady=5) - - # 模块文件选择框 - header_files_frame = ttk.LabelFrame(left_frame, text="模块文件选择", padding=(10, 10)) - header_files_frame.pack(fill="both", expand=True, padx=5) - self.header_files_frame = header_files_frame - self.update_header_files() - - # 任务管理框 - if self.ioc_data and self.check_freertos_enabled(self.ioc_data): - task_frame = ttk.LabelFrame(right_frame, text="任务管理", padding=(10, 10)) - task_frame.pack(fill="both", expand=True, padx=5) - self.task_frame = task_frame - self.update_task_ui() - - # 添加消息框和生成按钮在同一行 - bottom_frame = ttk.Frame(main_frame) - bottom_frame.pack(fill="x", pady=10, side="bottom") - - # 消息框 - self.message_box = tk.Text(bottom_frame, wrap="word", state="disabled", height=5, width=60) - self.message_box.pack(side="left", fill="x", expand=True, padx=5, pady=5) - - # 生成按钮和复选框选项 - button_frame = ttk.Frame(bottom_frame) - button_frame.pack(side="right", padx=10) - - # 添加复选框容器（横向排列复选框） - checkbox_frame = ttk.Frame(button_frame) - checkbox_frame.pack(side="top", pady=5) - - # 添加 .gitignore 复选框（左侧） - ttk.Checkbutton(checkbox_frame, text=".gitignore", variable=self.add_gitignore_var).pack(side="left", padx=5) - - # 添加自动配置环境复选框（右侧） - ttk.Checkbutton(checkbox_frame, text="自动环境", variable=self.auto_configure_var).pack(side="left", padx=5) - - # 添加生成按钮（竖向排列在复选框下方） - generate_button = ttk.Button(button_frame, text="一键生成MRobot代码", command=self.generate_action) - generate_button.pack(side="top", pady=10) - generate_button.config(width=25) # 设置按钮宽度 - - # 重定向输出到消息框 - self.redirect_output() - - # 打印欢迎信息 - print("欢迎使用 MRobot 自动生成脚本！") - print("请根据需要选择模块文件和任务。") - print("点击“一键生成MRobot代码”按钮开始生成。") - - # 启动 Tkinter 主事件循环 - root.mainloop() - - # ...existing code... - # ...existing code... - - def redirect_output(self): - """ - 重定向标准输出到消息框 - """ - class TextRedirector: - def __init__(self, text_widget): - self.text_widget = text_widget - - def write(self, message): - self.text_widget.config(state="normal") - self.text_widget.insert("end", message) - self.text_widget.see("end") - self.text_widget.config(state="disabled") - - def flush(self): - pass - - sys.stdout = TextRedirector(self.message_box) - sys.stderr = TextRedirector(self.message_box) - - # 修改 update_task_ui 方法 - def update_task_ui(self): - # 检查是否有已存在的任务文件 - task_dir = os.path.join("User", "task") - if os.path.exists(task_dir): - for file_name in os.listdir(task_dir): - file_base, file_ext = os.path.splitext(file_name) - if file_ext == ".c" and file_base not in ["init", "user_task"] and file_base not in [task_var.get() for task_var, _ in self.task_vars]: - frequency = 100 # 默认频率 - user_task_header_path = os.path.join("User", "task", "user_task.h") - if os.path.exists(user_task_header_path): - try: - with open(user_task_header_path, "r", encoding="utf-8") as f: - content = f.read() - pattern = rf"#define\s+TASK_FREQ_{file_base.upper()}\s*\((\d+)[uU]?\)" - match = re.search(pattern, content) - if match: - frequency = int(match.group(1)) - print(f"从 user_task.h 文件中读取到任务 {file_base} 的频率: {frequency}") - except Exception as e: - print(f"读取 user_task.h 文件时出错: {e}") - - new_task_var = tk.StringVar(value=file_base) - self.task_vars.append((new_task_var, tk.IntVar(value=frequency))) - - # 清空任务框架中的所有子组件 - for widget in self.task_frame.winfo_children(): - widget.destroy() - - - # 设置任务管理框的固定宽度 - self.task_frame.config(width=400) - - # 显示任务列表 - for i, (task_var, freq_var) in enumerate(self.task_vars): - task_row = ttk.Frame(self.task_frame, width=400) - task_row.pack(fill="x", pady=5) - - ttk.Entry(task_row, textvariable=task_var, width=20).pack(side="left", padx=5) - ttk.Label(task_row, text="频率:").pack(side="left", padx=5) - ttk.Spinbox(task_row, from_=1, to=1000, textvariable=freq_var, width=5).pack(side="left", padx=5) - ttk.Button(task_row, text="删除", command=lambda idx=i: self.remove_task(idx)).pack(side="left", padx=5) - - # 添加新任务按钮 - add_task_button = ttk.Button(self.task_frame, text="添加任务", command=self.add_task) - add_task_button.pack(pady=10) - - - # 修改 add_task 方法 - def add_task(self): - new_task_var = tk.StringVar(value=f"Task_{len(self.task_vars) + 1}") - new_freq_var = tk.IntVar(value=100) # 默认频率为 100 - self.task_vars.append((new_task_var, new_freq_var)) - self.update_task_ui() - - # 修改 remove_task 方法 - def remove_task(self, idx): - del self.task_vars[idx] - self.update_task_ui() - - # 更新文件夹显示 - def update_folder_display(self): - for widget in self.folder_frame.winfo_children(): - widget.destroy() - - folders = ["User/bsp", "User/component", "User/device", "User/module"] - # if self.ioc_data and self.check_freertos_enabled(self.ioc_data): - # folders.append("User/task") - - for folder in folders: - # 去掉 "User/" 前缀 - display_name = folder.replace("User/", "") - tk.Label(self.folder_frame, text=display_name).pack() - - # 更新 .h 文件复选框 - def update_header_files(self): - for widget in self.header_files_frame.winfo_children(): - widget.destroy() - - folders = ["bsp", "component", "device", "module"] - dependencies = defaultdict(list) - - for folder in folders: - folder_dir = os.path.join(REPO_DIR, "User", folder) - if os.path.exists(folder_dir): - dependencies_file = os.path.join(folder_dir, "dependencies.csv") - if os.path.exists(dependencies_file): - with open(dependencies_file, "r", encoding="utf-8") as f: - reader = csv.reader(f) - for row in reader: - if len(row) == 2: - dependencies[row[0]].append(row[1]) - - # 创建复选框 - for folder in folders: - folder_dir = os.path.join(REPO_DIR, "User", folder) - if os.path.exists(folder_dir): - module_frame = ttk.LabelFrame(self.header_files_frame, text=folder.capitalize(), padding=(10, 10)) - module_frame.pack(fill="x", pady=5) - - row, col = 0, 0 - for file in os.listdir(folder_dir): - file_base, file_ext = os.path.splitext(file) - if file_ext == ".h" and file_base != folder: - var = tk.BooleanVar(value=False) - self.header_file_vars[file_base] = var - - checkbox = ttk.Checkbutton( - module_frame, - text=file_base, - variable=var, - command=lambda fb=file_base: self.handle_dependencies(fb, dependencies) - ) - checkbox.grid(row=row, column=col, padx=5, pady=5, sticky="w") - col += 1 - if col >= 6: - col = 0 - row += 1 - - - - def handle_dependencies(self, file_base, dependencies): - """ - 根据依赖关系自动勾选相关模块 - """ - if file_base in self.header_file_vars and self.header_file_vars[file_base].get(): - # 如果当前模块被选中，自动勾选其依赖项 - for dependency in dependencies.get(file_base, []): - dep_base = os.path.basename(dependency) - if dep_base in self.header_file_vars: - self.header_file_vars[dep_base].set(True) - - # 在 MRobotApp 类中添加以下方法 - def generate_task_files(self): - try: - template_file_path = os.path.join(REPO_DIR, "User", "task", "task.c.template") - task_dir = os.path.join("User", "task") - - if not os.path.exists(template_file_path): - print(f"模板文件 {template_file_path} 不存在，无法生成 task.c 文件！") - return - - os.makedirs(task_dir, exist_ok=True) - - with open(template_file_path, "r", encoding="utf-8") as f: - template_content = f.read() - - # 为每个任务生成对应的 task.c 文件 - for task_var, _ in self.task_vars: # 解包元组 - task_name = f"Task_{task_var.get()}" # 添加前缀 Task_ - task_file_path = os.path.join(task_dir, f"{task_var.get().lower()}.c") # 文件名保持原始小写 - - # 替换模板中的占位符 - task_content = template_content.replace("{{task_name}}", task_name) - task_content = task_content.replace("{{task_function}}", task_name) - task_content = task_content.replace( - "{{task_frequency}}", f"TASK_FREQ_{task_var.get().upper()}" - ) # 替换为 user_task.h 中的宏定义 - task_content = task_content.replace("{{task_delay}}", f"TASK_INIT_DELAY_{task_var.get().upper()}") - - with open(task_file_path, "w", encoding="utf-8") as f: - f.write(task_content) - - print(f"已成功生成 {task_file_path} 文件！") - except Exception as e: - print(f"生成 task.c 文件时出错: {e}") - # 修改 user_task.c 文件 - def modify_user_task_file(self): - try: - template_file_path = os.path.join(REPO_DIR, "User", "task", "user_task.c.template") - generated_task_file_path = os.path.join("User", "task", "user_task.c") - - 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.c 文件！") - return - - os.makedirs(os.path.dirname(generated_task_file_path), exist_ok=True) - - with open(template_file_path, "r", encoding="utf-8") as f: - template_content = f.read() - - # 生成任务属性定义 - task_attr_definitions = "\n".join([ - f"""const osThreadAttr_t attr_{task_var.get().lower()} = {{ - .name = "{task_var.get()}", - .priority = osPriorityNormal, - .stack_size = 128 * 4, - }};""" - for task_var, _ in self.task_vars # 解包元组 - ]) - - # 替换模板中的占位符 - task_content = template_content.replace("{{task_attr_definitions}}", task_attr_definitions) - - with open(generated_task_file_path, "w", encoding="utf-8") as f: - f.write(task_content) - - print(f"已成功生成 {generated_task_file_path} 文件！") - except Exception as e: - print(f"修改 user_task.c 文件时出错: {e}") - # ...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().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().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_{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 - ]) - 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) - 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_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) - 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( - 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}") - - def generate_init_file(self): - try: - template_file_path = os.path.join(REPO_DIR, "User", "task", "init.c.template") - generated_file_path = os.path.join("User", "task", "init.c") - - if not os.path.exists(template_file_path): - print(f"模板文件 {template_file_path} 不存在，无法生成 init.c 文件！") - return - - 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() - - # 生成任务创建代码 - thread_creation_code = "\n".join([ - f" task_runtime.thread.{task_var.get().lower()} = osThreadNew(Task_{task_var.get()}, NULL, &attr_{task_var.get().lower()});" - for task_var, _ in self.task_vars # 解包元组 - ]) - - # 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) - - print(f"已成功生成 {generated_file_path} 文件！") - 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): - def task(): - # 检查并创建目录（与 FreeRTOS 状态无关的模块始终创建） - self.create_directories() - - # 复制 .gitignore 文件 - if self.add_gitignore_var.get(): - self.copy_file_from_repo(".gitignore", ".gitignore") - - # 如果启用了 FreeRTOS，复制相关文件 - if self.ioc_data and self.check_freertos_enabled(self.ioc_data): - self.copy_file_from_repo("src/freertos.c", os.path.join("Core", "Src", "freertos.c")) - - # 定义需要处理的文件夹（与 FreeRTOS 状态无关） - folders = ["bsp", "component", "device", "module"] - - # 遍历每个文件夹，复制选中的 .h 和 .c 文件 - for folder in folders: - folder_dir = os.path.join(REPO_DIR, "User", folder) - if not os.path.exists(folder_dir): - continue # 如果文件夹不存在，跳过 - - for file_name in os.listdir(folder_dir): - file_base, file_ext = os.path.splitext(file_name) - if file_ext not in [".h", ".c"]: - continue # 只处理 .h 和 .c 文件 - - # 强制复制与文件夹同名的文件 - if file_base == folder: - src_path = os.path.join(folder_dir, file_name) - dest_path = os.path.join("User", folder, file_name) - self.copy_file_from_repo(src_path, dest_path) - print(f"强制复制与文件夹同名的文件: {file_name}") - continue # 跳过后续检查，直接复制 - - # 检查是否选中了对应的文件 - if file_base in self.header_file_vars and self.header_file_vars[file_base].get(): - src_path = os.path.join(folder_dir, file_name) - dest_path = os.path.join("User", folder, file_name) - self.copy_file_from_repo(src_path, dest_path) - - # 如果启用了 FreeRTOS，执行任务相关的生成逻辑 - if self.ioc_data and self.check_freertos_enabled(self.ioc_data): - # 修改 user_task.c 文件 - self.modify_user_task_file() - - # 生成 user_task.h 文件 - self.generate_user_task_header() - - # 生成 init.c 文件 - self.generate_init_file() - - # 生成 task.c 文件 - self.generate_task_files() - - # # 自动配置环境 - # if self.auto_configure_var.get(): - - # self.auto_configure_environment() - - - threading.Thread(target=task).start() - - # 程序关闭时清理 - def on_closing(self, root): - self.delete_repo() - root.destroy() - - -# 程序入口 -if __name__ == "__main__": - app = MRobotApp() - app.initialize() \ No newline at end of file diff --git a/README.md b/README.md index f1f246a..bf02c41 100644 --- a/README.md +++ b/README.md @@ -90,4 +90,36 @@ pyinstaller --onefile --windowed pyinstaller MR_Toolbox.py --onefile --noconsole --icon=img\M.ico --add-data "mr_tool_img\MRobot.png;mr_tool_img" -pyinstaller MR_Tool.py --onefile --noconsole --icon=img\M.ico --add-data "mr_tool_img\MRobot.png;mr_tool_img" --add-data "src;src" --add-data "User;User" \ No newline at end of file +pyinstaller MR_Tool.py --onefile --noconsole --icon=img\M.ico --add-data "mr_tool_img\MRobot.png;mr_tool_img" --add-data "src;src" --add-data "User;User" + +pyinstaller --noconfirm --onefile --windowed ^ + --add-data "User_code;User_code" ^ + --add-data "img;img" ^ + --icon "img\M.ico" ^ + MRobot.py + + +pyinstaller --noconfirm --onefile --windowed --add-data "img;img" --add-data "User_code;User_code" --add-data "mech_lib;mech_lib" --icon=img/MRobot.ico MRobot.py + +python3 -m PyInstaller --noconfirm --onefile --windowed \ + --add-data "img:img" \ + --add-data "User_code:User_code" \ + --add-data "mech_lib:mech_lib" \ + --icon=img/MRobot.ico \ + MRobot.py + + +python3 -m PyInstaller --windowed --name MRobot \ + --add-data "img:MRobot.app/Contents/Resources/img" \ + --add-data "User_code:MRobot.app/Contents/Resources/User_code" \ + --add-data "mech_lib:MRobot.app/Contents/Resources/mech_lib" \ + MRobot.py + + + +pyinstaller --noconfirm --onefile --windowed --add-data "img;img" --add-data "User_code;User_code" --icon=img/M.ico MRobot.py + + +pyinstaller MRobot.py + +pyinstaller --noconfirm --onefile --windowed --icon=img/M.ico --add-data "img;img" --add-data "User_code;User_code" --add-data "mech_lib;mech_lib" MRobot.py \ No newline at end of file diff --git a/User_code/.DS_Store b/User_code/.DS_Store index cf5987b9c9d08da25e3fdbab18b482108d144043..1a99dbad946c35ed019ee191f5672a6bb04984d1 100644 GIT binary patch delta 109 zcmZoMXfc=|#>AjHu~68Ik%57Mg`tEYk)fC&JEb@|Cn-Na2P6mtOc06z#06pj2DtoY sK@KsN%?cb7m^ZU?@N)po0*ZWRp3E@~ literal 6148 zcmeH~&u-H|5XNU4liE~BIe_Q|$r9HH(h^WBE+&)%SB&5QDA=_HR$XrtJI%q0@Qibmx#n@mh2Gqh{%PrI=4~$!+4y1%{EMr z2NgVrJdAT0qs7x%vji-G|D6Eu-44Z6(&TmC+P^O_^5~B;wFnax&&!F~R*s_S2X4KUGLO&eQT#4T=i}bpm$Im$tVpLSAxlz( ze0-l3iJXt*tVl|g8|neqbG>nIyRLWl_WS%qI(TLlNfcA$%21BG76}OTZFn z6X@t>kI(;C7vKNeNw#GPSOPbSfN&1NgAtZw&epZX@mcG`Kf~ELuF #include "FreeRTOS.h" #include "task.h" -// 定义任务运行时结构体 +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ +/* Exported constants ------------------------------------------------------- */ +/* 任务运行频率 */ +{{task_frequency_definitions}} + +/* 任务初始化延时ms */ +#define TASK_INIT_DELAY (100u) +{{task_init_delay_definitions}} + +/* Exported defines --------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ + +/* 任务运行时结构体 */ typedef struct { /* 各任务，也可以叫做线程 */ struct { @@ -16,41 +31,47 @@ typedef struct { } thread; /* USER MESSAGE BEGIN */ - struct { osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */ } msgq; - /* USER MESSAGE END */ + /* 机器人状态 */ + struct { + float battery; /* 电池电量百分比 */ + float vbat; /* 电池电压 */ + float cpu_temp; /* CPU温度 */ + } status; + + /* USER CONFIG BEGIN */ + + /* USER CONFIG END */ + + /* 各任务的stack使用 */ + struct { +{{stack_definitions}} + } stack_water_mark; + + /* 各任务运行频率 */ struct { {{freq_definitions}} - } freq; /* 任务运行频率 */ + } freq; + /* 任务最近运行时间 */ struct { {{last_up_time_definitions}} - } last_up_time; /* 任务最近运行时间 */ + } last_up_time; + } Task_Runtime_t; -// 任务频率 -{{task_frequency_definitions}} -// 任务初始化延时 -#define TASK_INIT_DELAY (100u) -{{task_init_delay_definitions}} - -// 任务句柄 -typedef struct { -{{task_handle_definitions}} -} Task_Handles_t; - -// 任务运行时结构体 +/* 任务运行时结构体 */ extern Task_Runtime_t task_runtime; -// 初始化任务句柄 +/* 初始化任务句柄 */ extern const osThreadAttr_t attr_init; {{task_attr_declarations}} -// 任务函数声明 +/* 任务函数声明 */ void Task_Init(void *argument); {{task_function_declarations}} diff --git a/fluentui.py b/fluentui.py deleted file mode 100644 index c434363..0000000 --- a/fluentui.py +++ /dev/null @@ -1,168 +0,0 @@ -import sys -import webbrowser -import serial -import serial.tools.list_ports - -from PyQt5.QtCore import Qt, QSize, pyqtSignal -from PyQt5.QtGui import QPixmap, QFont -from PyQt5.QtWidgets import ( - QWidget, QVBoxLayout, QApplication, QLabel, QGroupBox, QGridLayout, QFrame, - QHBoxLayout, QComboBox, QTextEdit, QLineEdit -) - -from qfluentwidgets import ( - NavigationInterface, NavigationItemPosition, MessageBox, - setTheme, Theme, FluentWindow, NavigationAvatarWidget, - InfoBar, InfoBarPosition, PushButton, FluentIcon -) -from qfluentwidgets import FluentIcon as FIF - -# ===================== 页面基类 ===================== -class BaseInterface(QWidget): - """所有页面的基类，页面内容完全自定义""" - def __init__(self, parent=None): - super().__init__(parent=parent) - -# ===================== 首页界面 ===================== -class HomeInterface(BaseInterface): - def __init__(self, parent=None): - super().__init__(parent=parent) - self.setObjectName("homeInterface") - layout = QVBoxLayout() - self.setLayout(layout) -# ===================== 代码生成页面 ===================== -class DataInterface(BaseInterface): - def __init__(self, parent=None): - super().__init__(parent=parent) - self.setObjectName("dataInterface") - # 空页面示例 - layout = QVBoxLayout() - self.setLayout(layout) - -# ===================== 串口终端界面 ===================== -class SerialTerminalInterface(BaseInterface): - def __init__(self, parent=None): - super().__init__(parent=parent) - self.setObjectName("serialTerminalInterface") - layout = QVBoxLayout() - -# ===================== 设置界面 ===================== -class SettingInterface(BaseInterface): - def __init__(self, parent=None): - super().__init__(parent=parent) - self.setObjectName("settingInterface") - layout = QVBoxLayout() - self.themeBtn = PushButton( - "切换夜间", self, FluentIcon.BRUSH - ) - self.themeBtn.setFixedWidth(120) - self.themeBtn.clicked.connect(self.onThemeBtnClicked) - layout.addWidget(self.themeBtn) - layout.addStretch(1) - self.setLayout(layout) - - # 监听主题变化 - mw = self.window() - if hasattr(mw, "themeChanged"): - mw.themeChanged.connect(self.updateThemeBtn) - - def onThemeBtnClicked(self): - mw = self.window() - if hasattr(mw, "toggleTheme"): - mw.toggleTheme() - - def updateThemeBtn(self, theme): - if theme == Theme.LIGHT: - self.themeBtn.setText("切换夜间") - else: - self.themeBtn.setText("切换白天") -# ===================== 帮助与关于界面 ===================== -class HelpInterface(BaseInterface): - def __init__(self, parent=None): - super().__init__(parent=parent) - self.setObjectName("helpInterface") - layout = QVBoxLayout() - self.setLayout(layout) - -class AboutInterface(BaseInterface): - def __init__(self, parent=None): - super().__init__(parent=parent) - self.setObjectName("aboutInterface") - layout = QVBoxLayout() - self.setLayout(layout) - -# ===================== 主窗口与导航 ===================== -class MainWindow(FluentWindow): - themeChanged = pyqtSignal(Theme) - - def __init__(self): - super().__init__() - self.setWindowTitle("MR_ToolBox") - self.resize(1000, 700) - self.setMinimumSize(800, 600) - setTheme(Theme.LIGHT) - self.theme = Theme.LIGHT - - self.page_registry = [ - (HomeInterface(self), FIF.HOME, "首页", NavigationItemPosition.TOP), - (DataInterface(self), FIF.LIBRARY, "MRobot代码生成", NavigationItemPosition.SCROLL), - (SerialTerminalInterface(self), FIF.COMMAND_PROMPT, "串口终端", NavigationItemPosition.SCROLL), - (SettingInterface(self), FIF.SETTING, "设置", NavigationItemPosition.BOTTOM), - (HelpInterface(self), FIF.HELP, "帮助", NavigationItemPosition.BOTTOM), - (AboutInterface(self), FIF.INFO, "关于", NavigationItemPosition.BOTTOM), - ] - self.initNavigation() - - # 把切换主题按钮放到标题栏右侧 - self.themeBtn = PushButton("切换夜间", self, FluentIcon.BRUSH) - self.themeBtn.setFixedWidth(120) - self.themeBtn.clicked.connect(self.toggleTheme) - self.addTitleBarWidget(self.themeBtn, align=Qt.AlignRight) - - def initNavigation(self): - for page, icon, name, position in self.page_registry: - self.addSubInterface(page, icon, name, position) - self.navigationInterface.addSeparator() - avatar = NavigationAvatarWidget('用户', ':/qfluentwidgets/images/avatar.png') - self.navigationInterface.addWidget( - routeKey='avatar', - widget=avatar, - onClick=self.showUserInfo, - position=NavigationItemPosition.BOTTOM - ) - - def toggleTheme(self): - if self.theme == Theme.LIGHT: - setTheme(Theme.DARK) - self.theme = Theme.DARK - self.themeBtn.setText("切换白天") - else: - setTheme(Theme.LIGHT) - self.theme = Theme.LIGHT - self.themeBtn.setText("切换夜间") - self.themeChanged.emit(self.theme) - self.refreshStyle() - - def refreshStyle(self): - def refresh(widget): - widget.setStyleSheet(widget.styleSheet()) - for child in widget.findChildren(QWidget): - refresh(child) - refresh(self) - - def showUserInfo(self): - MessageBox("用户信息", "当前登录用户：管理员", self).exec() -# ===================== 程序入口 ===================== -def main(): - QApplication.setHighDpiScaleFactorRoundingPolicy( - Qt.HighDpiScaleFactorRoundingPolicy.PassThrough) - QApplication.setAttribute(Qt.ApplicationAttribute.AA_EnableHighDpiScaling) - QApplication.setAttribute(Qt.ApplicationAttribute.AA_UseHighDpiPixmaps) - - app = QApplication(sys.argv) - window = MainWindow() - 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zjN1>p%zp$$|7j!}{kQvkDpzIpDOm0d2C&%|O^sU%S_oyIVot<+19sb8oL)|Q;eLOF zh5Y;+>w-mqMSw+sMSw+sMd1G=Fo^s9aL>+CScd6%Zd(e3^EN&*i_C zX)J441Xu)E1Xu)E1Xu)E1Xu)E1pYb%qILf|wy-Q=5nvJcHz44Ah-W80@6kroK-#~- z{jhFnU%N7;^7J>gR0my&%jjZ>v2(SpS2(SpS z2>cHcXpoZN-EN*^jaeo0Gw1bx@P=4Tvk0&Vun4dSun7E12(0`|T46Q9BETZRBETZR zBETZRBJl4?;IXd8k?lL2WBo6S0E+;N06;(_{^EI7 zEC8!3un4dSun4dSun4dS{9h*U?;jxfe;EMl>;K0HumT1C$I!DHW)WZ!U=d&uU=d&u zU=d&u_i( literal 0 HcmV?d00001 diff --git a/mech_lib/README.md b/mech_lib/README.md new file mode 100644 index 0000000..e476d43 --- /dev/null +++ b/mech_lib/README.md @@ -0,0 +1 @@ +# 机械常用零件库 \ No newline at end of file diff --git a/pngico.py b/pngico.py index 8a74659..cc04b03 100644 --- a/pngico.py +++ b/pngico.py @@ -1,42 +1,18 @@ from PIL import Image import os -def crop_transparent_background(input_path, output_path): - """ - 裁切 PNG 图片的透明背景并保存。 - - :param input_path: 输入图片路径 - :param output_path: 输出图片路径 - """ - try: - # 打开图片 - img = Image.open(input_path) - - # 确保图片是 RGBA 模式 - if img.mode != "RGBA": - img = img.convert("RGBA") - - # 获取图片的 alpha 通道 - bbox = img.getbbox() - - if bbox: - # 裁切图片 - cropped_img = img.crop(bbox) - # 保存裁切后的图片 - cropped_img.save(output_path, format="PNG") - print(f"图片已保存到: {output_path}") - else: - print("图片没有透明背景或为空。") - except Exception as e: - print(f"处理图片时出错: {e}") +def png_to_ico(png_path, ico_path=None, sizes=[(256,256), (128,128), (64,64), (32,32), (16,16)]): + if not os.path.isfile(png_path): + print(f"文件不存在: {png_path}") + return + if ico_path is None: + ico_path = os.path.splitext(png_path)[0] + ".ico" + img = Image.open(png_path) + img.save(ico_path, format='ICO', sizes=sizes) + print(f"已生成: {ico_path}") if __name__ == "__main__": - # 示例：输入和输出路径 - input_file = "C:\Mac\Home\Desktop\MRobot\img\M.png" # 替换为你的输入图片路径 - output_file = "C:\Mac\Home\Desktop\MRobot\img\M.png" # 替换为你的输出图片路径 - - # 检查文件是否存在 - if os.path.exists(input_file): - crop_transparent_background(input_file, output_file) - else: - print(f"输入文件不存在: {input_file}") \ No newline at end of file + # 直接写死路径 + png = r"C:\Mac\Home\Documents\R\MRobot\img\m1.png" + ico = r"c:\Mac\Home\Documents\R\MRobot\img\M1.ico" + png_to_ico(png, ico) \ No newline at end of file diff --git a/polynomial.py b/polynomial.py deleted file mode 100644 index f7057eb..0000000 --- a/polynomial.py +++ /dev/null @@ -1,286 +0,0 @@ -import sys -import numpy as np -import pandas as pd -from PyQt5.QtWidgets import ( - QApplication, QWidget, QVBoxLayout, QHBoxLayout, QPushButton, QSpinBox, - QLabel, QTableWidget, QTableWidgetItem, QFileDialog, QTextEdit, - QComboBox, QMessageBox, QHeaderView -) -from PyQt5.QtGui import QFont -from PyQt5.QtCore import Qt -import matplotlib -from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas -from matplotlib.figure import Figure - -class PolyFitApp(QWidget): - def __init__(self): - super().__init__() - self.setWindowTitle("MRobot 多项式拟合工具") - self.resize(1440, 1280) - self.setFont(QFont("微软雅黑", 11)) - self.center() - - self.data_x = [] - self.data_y = [] - self.last_coeffs = None - self.last_xmin = None - self.last_xmax = None - - # 主布局 - main_layout = QHBoxLayout(self) - main_layout.setContentsMargins(20, 20, 20, 20) - main_layout.setSpacing(20) - left_layout = QVBoxLayout() - left_layout.setSpacing(12) - right_layout = QVBoxLayout() - right_layout.setSpacing(12) - main_layout.addLayout(left_layout, 0) - main_layout.addLayout(right_layout, 1) - - # 数据输入区 - self.table = QTableWidget(0, 2) - self.table.setFont(QFont("Consolas", 11)) - self.table.setHorizontalHeaderLabels(["x", "y"]) - self.table.horizontalHeader().setSectionResizeMode(QHeaderView.Stretch) - self.table.setSelectionBehavior(QTableWidget.SelectRows) - left_layout.addWidget(self.table) - - btn_row = QHBoxLayout() - self.add_row_btn = QPushButton("添加数据") - self.add_row_btn.setStyleSheet("color: #333;") - self.add_row_btn.clicked.connect(self.add_point_row) - btn_row.addWidget(self.add_row_btn) - - self.del_row_btn = QPushButton("删除选中行") - self.del_row_btn.setStyleSheet("color: #333;") - self.del_row_btn.clicked.connect(self.delete_selected_rows) - btn_row.addWidget(self.del_row_btn) - left_layout.addLayout(btn_row) - - # 导入导出按钮区 - file_btn_row = QHBoxLayout() - self.import_btn = QPushButton("导入Excel文件") - self.import_btn.setStyleSheet("font-weight: bold; color: #333;") - self.import_btn.clicked.connect(self.load_excel) - file_btn_row.addWidget(self.import_btn) - - self.export_btn = QPushButton("导出Excel文件") - self.export_btn.setStyleSheet("font-weight: bold; color: #333;") - self.export_btn.clicked.connect(self.export_excel_and_plot) - file_btn_row.addWidget(self.export_btn) - left_layout.addLayout(file_btn_row) - - # 拟合参数区 - param_layout = QHBoxLayout() - param_layout.addWidget(QLabel("多项式阶数:")) - self.order_spin = QSpinBox() - self.order_spin.setRange(1, 10) - self.order_spin.setValue(2) - param_layout.addWidget(self.order_spin) - left_layout.addLayout(param_layout) - - self.fit_btn = QPushButton("拟合并显示") - self.fit_btn.setStyleSheet("font-weight: bold; color: #333;") - self.fit_btn.clicked.connect(self.fit_and_plot) - left_layout.addWidget(self.fit_btn) - - # 输出区 - self.output = QTextEdit() - self.output.setReadOnly(False) - self.output.setFont(QFont("Consolas", 10)) - self.output.setMaximumHeight(150) - left_layout.addWidget(self.output) - - code_layout = QHBoxLayout() - code_layout.addWidget(QLabel("输出代码格式:")) - self.code_type = QComboBox() - self.code_type.addItems(["C", "C++", "Python"]) - code_layout.addWidget(self.code_type) - self.gen_code_btn = QPushButton("生成函数代码") - self.gen_code_btn.setStyleSheet("color: #333;") - self.gen_code_btn.clicked.connect(self.generate_code) - code_layout.addWidget(self.gen_code_btn) - left_layout.addLayout(code_layout) - - # 拟合曲线区 - self.figure = Figure(figsize=(5, 4)) - self.canvas = FigureCanvas(self.figure) - right_layout.addWidget(self.canvas) - - def center(self): - qr = self.frameGeometry() - cp = QApplication.desktop().availableGeometry().center() - qr.moveCenter(cp) - self.move(qr.topLeft()) - - def add_point_row(self, x_val="", y_val=""): - row = self.table.rowCount() - self.table.insertRow(row) - self.table.setItem(row, 0, QTableWidgetItem(str(x_val))) - self.table.setItem(row, 1, QTableWidgetItem(str(y_val))) - - def delete_selected_rows(self): - selected = self.table.selectionModel().selectedRows() - for idx in sorted(selected, reverse=True): - self.table.removeRow(idx.row()) - - def load_excel(self): - file, _ = QFileDialog.getOpenFileName(self, "选择Excel文件", "", "Excel Files (*.xlsx *.xls)") - if file: - try: - data = pd.read_excel(file, usecols=[0, 1]) - new_x = data.iloc[:, 0].values.tolist() - new_y = data.iloc[:, 1].values.tolist() - for x, y in zip(new_x, new_y): - self.add_point_row(x, y) - QMessageBox.information(self, "成功", "数据导入成功！") - except Exception as e: - QMessageBox.critical(self, "错误", f"读取Excel失败: {e}") - - def export_excel_and_plot(self): - file, _ = QFileDialog.getSaveFileName(self, "导出Excel文件", "", "Excel Files (*.xlsx *.xls)") - if file: - x_list, y_list = [], [] - for row in range(self.table.rowCount()): - try: - x = float(self.table.item(row, 0).text()) - y = float(self.table.item(row, 1).text()) - x_list.append(x) - y_list.append(y) - except Exception: - continue - if not x_list or not y_list: - QMessageBox.warning(self, "导出失败", "没有可导出的数据！") - return - df = pd.DataFrame({'x': x_list, 'y': y_list}) - try: - df.to_excel(file, index=False) - # 导出同名png图像 - png_file = file - if png_file.lower().endswith('.xlsx') or png_file.lower().endswith('.xls'): - png_file = png_file.rsplit('.', 1)[0] + '.png' - else: - png_file = png_file + '.png' - self.figure.savefig(png_file, dpi=150, bbox_inches='tight') - QMessageBox.information(self, "导出成功", f"数据已成功导出到Excel文件！\n图像已导出为：{png_file}") - except Exception as e: - QMessageBox.critical(self, "导出错误", f"导出Excel或图像失败: {e}") - - def get_manual_points(self): - x_list, y_list = [], [] - for row in range(self.table.rowCount()): - try: - x = float(self.table.item(row, 0).text()) - y = float(self.table.item(row, 1).text()) - x_list.append(x) - y_list.append(y) - except Exception: - continue - return x_list, y_list - - def fit_and_plot(self): - matplotlib.rcParams['font.sans-serif'] = ['SimHei', 'Microsoft YaHei'] - matplotlib.rcParams['axes.unicode_minus'] = False - matplotlib.rcParams['font.size'] = 14 - self.data_x, self.data_y = self.get_manual_points() - try: - order = int(self.order_spin.value()) - except ValueError: - QMessageBox.warning(self, "输入错误", "阶数必须为整数！") - return - n_points = len(self.data_x) - if n_points < order + 1: - QMessageBox.warning(self, "数据不足", "数据点数量不足以拟合该阶多项式！") - return - x = np.array(self.data_x, dtype=np.float64) - y = np.array(self.data_y, dtype=np.float64) - x_min, x_max = x.min(), x.max() - if x_max - x_min == 0: - QMessageBox.warning(self, "数据错误", "所有x值都相同，无法拟合！") - return - try: - coeffs = np.polyfit(x, y, order) - except Exception as e: - QMessageBox.critical(self, "拟合错误", f"多项式拟合失败：{e}") - return - poly = np.poly1d(coeffs) - expr = "y = " + " + ".join([f"{c:.6g}*x^{order-i}" for i, c in enumerate(coeffs)]) - self.output.setPlainText(f"{expr}\n") - self.figure.clear() - ax = self.figure.add_subplot(111) - ax.scatter(x, y, color='red', label='数据点') - x_fit = np.linspace(x_min, x_max, 200) - y_fit = poly(x_fit) - ax.plot(x_fit, y_fit, label='拟合曲线') - ax.legend() - self.canvas.draw() - self.last_coeffs = coeffs - self.last_xmin = x_min - self.last_xmax = x_max - - def generate_code(self): - if self.last_coeffs is None: - QMessageBox.warning(self, "未拟合", "请先拟合数据！") - return - coeffs = self.last_coeffs - code_type = self.code_type.currentText() - if code_type == "C": - code = self.create_c_function(coeffs) - elif code_type == "C++": - code = self.create_cpp_function(coeffs) - else: - code = self.create_py_function(coeffs) - self.output.setPlainText(code) - - def create_c_function(self, coeffs): - lines = ["#include ", "double polynomial(double x) {", " return "] - n = len(coeffs) - terms = [] - for i, c in enumerate(coeffs): - exp = n - i - 1 - if exp == 0: - terms.append(f"{c:.8g}") - elif exp == 1: - terms.append(f"{c:.8g}*x") - else: - terms.append(f"{c:.8g}*pow(x,{exp})") - lines[-1] += " + ".join(terms) + ";" - lines.append("}") - return "\n".join(lines) - - def create_cpp_function(self, coeffs): - lines = ["#include ", "double polynomial(double x) {", " return "] - n = len(coeffs) - terms = [] - for i, c in enumerate(coeffs): - exp = n - i - 1 - if exp == 0: - terms.append(f"{c:.8g}") - elif exp == 1: - terms.append(f"{c:.8g}*x") - else: - terms.append(f"{c:.8g}*pow(x,{exp})") - lines[-1] += " + ".join(terms) + ";" - lines.append("}") - return "\n".join(lines) - - def create_py_function(self, coeffs): - n = len(coeffs) - lines = ["def polynomial(x):", " return "] - terms = [] - for i, c in enumerate(coeffs): - exp = n - i - 1 - if exp == 0: - terms.append(f"{c:.8g}") - elif exp == 1: - terms.append(f"{c:.8g}*x") - else: - terms.append(f"{c:.8g}*x**{exp}") - lines[-1] += " + ".join(terms) - return "\n".join(lines) - -if __name__ == "__main__": - app = QApplication(sys.argv) - win = PolyFitApp() - win.show() - sys.exit(app.exec_()) \ No newline at end of file diff --git a/src/freertos.c b/src/freertos.c deleted file mode 100644 index c7fefe5..0000000 --- a/src/freertos.c +++ /dev/null @@ -1,131 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * File Name : freertos.c - * Description : Code for freertos applications - ****************************************************************************** - * @attention - * - * Copyright (c) 2025 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Includes ------------------------------------------------------------------*/ -#include "FreeRTOS.h" -#include "task.h" -#include "main.h" -#include "cmsis_os.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include "task/user_task.h" -/* USER CODE END Includes */ - -/* Private typedef -----------------------------------------------------------*/ -/* USER CODE BEGIN PTD */ - -/* USER CODE END PTD */ - -/* Private define ------------------------------------------------------------*/ -/* USER CODE BEGIN PD */ - -/* USER CODE END PD */ - -/* Private macro -------------------------------------------------------------*/ -/* USER CODE BEGIN PM */ - -/* USER CODE END PM */ - -/* Private variables ---------------------------------------------------------*/ -/* USER CODE BEGIN Variables */ -osThreadId_t initTaskHandle; // 定义 Task_Init 的任务句柄 -/* USER CODE END Variables */ -/* Definitions for defaultTask */ -osThreadId_t defaultTaskHandle; -const osThreadAttr_t defaultTask_attributes = { - .name = "defaultTask", - .stack_size = 128 * 4, - .priority = (osPriority_t) osPriorityNormal, -}; - -/* Private function prototypes -----------------------------------------------*/ -/* USER CODE BEGIN FunctionPrototypes */ - -/* USER CODE END FunctionPrototypes */ - -void StartDefaultTask(void *argument); - -void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ - -/** - * @brief FreeRTOS initialization - * @param None - * @retval None - */ -void MX_FREERTOS_Init(void) { - /* USER CODE BEGIN Init */ - - /* USER CODE END Init */ - - /* USER CODE BEGIN RTOS_MUTEX */ - /* add mutexes, ... */ - /* USER CODE END RTOS_MUTEX */ - - /* USER CODE BEGIN RTOS_SEMAPHORES */ - /* add semaphores, ... */ - /* USER CODE END RTOS_SEMAPHORES */ - - /* USER CODE BEGIN RTOS_TIMERS */ - /* start timers, add new ones, ... */ - /* USER CODE END RTOS_TIMERS */ - - /* USER CODE BEGIN RTOS_QUEUES */ - /* add queues, ... */ - /* USER CODE END RTOS_QUEUES */ - - /* Create the thread(s) */ - /* creation of defaultTask */ - defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes); - - /* USER CODE BEGIN RTOS_THREADS */ - initTaskHandle = osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务 - /* add threads, ... */ - /* USER CODE END RTOS_THREADS */ - - /* USER CODE BEGIN RTOS_EVENTS */ - /* add events, ... */ - /* USER CODE END RTOS_EVENTS */ - -} - -/* USER CODE BEGIN Header_StartDefaultTask */ -/** - * @brief Function implementing the defaultTask thread. - * @param argument: Not used - * @retval None - */ -/* USER CODE END Header_StartDefaultTask */ -void StartDefaultTask(void *argument) -{ - /* USER CODE BEGIN StartDefaultTask */ - /* Infinite loop */ - // for(;;) - // { - // osDelay(1); - // } - osThreadTerminate(osThreadGetId()); // 结束自身 - /* USER CODE END StartDefaultTask */ -} - -/* Private application code --------------------------------------------------*/ -/* USER CODE BEGIN Application */ - -/* USER CODE END Application */ -