diff --git a/.DS_Store b/.DS_Store index 3adcc36..292ebfd 100644 Binary files a/.DS_Store and b/.DS_Store differ diff --git a/MRobot.py b/MRobot.py index a27c581..9bcc590 100644 --- a/MRobot.py +++ b/MRobot.py @@ -712,7 +712,7 @@ class DataInterface(BaseInterface): ) def open_task_config_dialog(self): - from PyQt5.QtWidgets import QDialog, QVBoxLayout, QHBoxLayout, QLabel, QLineEdit, QSpinBox, QPushButton, QTableWidget, QTableWidgetItem, QHeaderView + from PyQt5.QtWidgets import QDialog, QVBoxLayout, QHBoxLayout, QLabel, QLineEdit, QSpinBox, QPushButton, QTableWidget, QTableWidgetItem, QHeaderView, QCheckBox import yaml import os @@ -720,15 +720,16 @@ class DataInterface(BaseInterface): def __init__(self, parent=None, config_path=None): super().__init__(parent) self.setWindowTitle("任务配置") - self.resize(800, 420) + self.resize(900, 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 = QTableWidget(0, 6) + self.table.setHorizontalHeaderLabels(["任务名称", "运行频率", "初始化延迟", "堆栈大小", "任务描述", "频率控制"]) 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.horizontalHeader().setSectionResizeMode(5, QHeaderView.ResizeToContents) self.table.setColumnWidth(4, 320) # 任务描述更宽 layout.addWidget(self.table) btn_layout = QHBoxLayout() @@ -748,6 +749,8 @@ class DataInterface(BaseInterface): cancel_btn.clicked.connect(self.reject) + + # 自动读取配置文件 if config_path and os.path.exists(config_path): try: @@ -761,6 +764,10 @@ class DataInterface(BaseInterface): item = QTableWidgetItem(str(t.get(key, ""))) item.setTextAlignment(Qt.AlignCenter) self.table.setItem(row, col, item) + # 新增频率控制复选框 + freq_ctrl = QCheckBox() + freq_ctrl.setChecked(t.get("freq_control", True)) + self.table.setCellWidget(row, 5, freq_ctrl) except Exception as e: pass # 配置文件损坏时忽略 @@ -774,6 +781,9 @@ class DataInterface(BaseInterface): item = QTableWidgetItem(val) item.setTextAlignment(Qt.AlignCenter) self.table.setItem(row, col, item) + freq_ctrl = QCheckBox() + freq_ctrl.setChecked(True) + self.table.setCellWidget(row, 5, freq_ctrl) def del_row(self): rows = set([i.row() for i in self.table.selectedItems()]) @@ -784,23 +794,31 @@ class DataInterface(BaseInterface): tasks = [] for row in range(self.table.rowCount()): name = self.table.item(row, 0).text().strip() - freq = int(self.table.item(row, 1).text()) + freq = 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() + freq_ctrl = self.table.cellWidget(row, 5).isChecked() # 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({ + task = { "name": name, "function": f"Task_{name}", - "frequency": freq, "delay": delay, "stack": stack, - "description": desc - }) + "description": desc, + "freq_control": freq_ctrl + } + if freq_ctrl: + task["frequency"] = int(freq) + tasks.append(task) 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: @@ -856,19 +874,21 @@ class DataInterface(BaseInterface): init_c_tpl = os.path.join(template_dir, "init.c.template") task_c_tpl = os.path.join(template_dir, "task.c.template") + # 只统计需要频率控制的任务 + freq_tasks = [t for t in task_list if t.get("freq_control", True)] + 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]), + "freq_definitions": "\n".join([f" float {t['name']};" for t in freq_tasks]), "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]), + "last_up_time_definitions": "\n".join([f" float {t['name']};" for t in freq_tasks]), + "task_frequency_definitions": "\n".join([f"#define {t['name'].upper()}_FREQ ({t['frequency']})" for t in freq_tasks]), "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]), @@ -969,17 +989,16 @@ class DataInterface(BaseInterface): 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 + "task_frequency": f"{t['name'].upper()}_FREQ" if t.get("freq_control", True) else None, + "task_delay": f"{t['name'].upper()}_INIT_DELAY", + "task_description": desc_wrapped, + "freq_control": t.get("freq_control", True) } # 渲染模板 with open(task_c_tpl, encoding="utf-8") as f: @@ -990,7 +1009,6 @@ class DataInterface(BaseInterface): 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*\*/", @@ -1007,10 +1025,6 @@ class DataInterface(BaseInterface): 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): diff --git a/User_code/task/task.c.template b/User_code/task/task.c.template index 8838a86..e9f49b5 100644 --- a/User_code/task/task.c.template +++ b/User_code/task/task.c.template @@ -22,13 +22,16 @@ void {{task_function}}(void *argument) { (void)argument; /* 未使用argument，消除警告 */ + {% if freq_control %} /* 计算任务运行到指定频率需要等待的tick数 */ const uint32_t delay_tick = osKernelGetTickFreq() / {{task_frequency}}; osDelay({{task_delay}}); /* 延时一段时间再开启任务 */ - /* USER CODE INIT BEGIN */ - /* USER CODE INIT END */ + /* USER CODE INIT BEGIN*/ + + /* USER CODE INIT END*/ + uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ @@ -37,4 +40,18 @@ void {{task_function}}(void *argument) { /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ } -} + {% else %} + osDelay({{task_delay}}); /* 延时一段时间再开启任务 */ + + /* USER CODE INIT BEGIN*/ + + /* USER CODE INIT END*/ + + while (1) { + /* USER CODE BEGIN */ + + /* USER CODE END */ + osDelay(1); /* 默认1ms延时，防止死循环卡死CPU */ + } + {% endif %} +} \ No newline at end of file