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https://github.com/goldenfishs/MRobot.git
synced 2025-07-04 22:44:16 +08:00
添加了可选运行频率方案
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parent
606bd7e054
commit
e9eb169547
60
MRobot.py
60
MRobot.py
@ -712,7 +712,7 @@ class DataInterface(BaseInterface):
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)
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def open_task_config_dialog(self):
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from PyQt5.QtWidgets import QDialog, QVBoxLayout, QHBoxLayout, QLabel, QLineEdit, QSpinBox, QPushButton, QTableWidget, QTableWidgetItem, QHeaderView
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from PyQt5.QtWidgets import QDialog, QVBoxLayout, QHBoxLayout, QLabel, QLineEdit, QSpinBox, QPushButton, QTableWidget, QTableWidgetItem, QHeaderView, QCheckBox
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import yaml
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import os
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@ -720,15 +720,16 @@ class DataInterface(BaseInterface):
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def __init__(self, parent=None, config_path=None):
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super().__init__(parent)
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self.setWindowTitle("任务配置")
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self.resize(800, 420)
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self.resize(900, 420)
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layout = QVBoxLayout(self)
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self.table = QTableWidget(0, 5)
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self.table.setHorizontalHeaderLabels(["任务名称", "运行频率", "初始化延迟", "堆栈大小", "任务描述"])
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self.table = QTableWidget(0, 6)
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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"])
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self.table.horizontalHeader().setSectionResizeMode(0, QHeaderView.Stretch)
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self.table.horizontalHeader().setSectionResizeMode(1, QHeaderView.Stretch)
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self.table.horizontalHeader().setSectionResizeMode(2, QHeaderView.Stretch)
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self.table.horizontalHeader().setSectionResizeMode(3, QHeaderView.Stretch)
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self.table.horizontalHeader().setSectionResizeMode(4, QHeaderView.Stretch)
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self.table.horizontalHeader().setSectionResizeMode(5, QHeaderView.ResizeToContents)
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self.table.setColumnWidth(4, 320) # 任务描述更宽
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layout.addWidget(self.table)
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btn_layout = QHBoxLayout()
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@ -748,6 +749,8 @@ class DataInterface(BaseInterface):
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cancel_btn.clicked.connect(self.reject)
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# 自动读取配置文件
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if config_path and os.path.exists(config_path):
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try:
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@ -761,6 +764,10 @@ class DataInterface(BaseInterface):
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item = QTableWidgetItem(str(t.get(key, "")))
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item.setTextAlignment(Qt.AlignCenter)
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self.table.setItem(row, col, item)
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# 新增频率控制复选框
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freq_ctrl = QCheckBox()
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freq_ctrl.setChecked(t.get("freq_control", True))
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self.table.setCellWidget(row, 5, freq_ctrl)
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except Exception as e:
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pass # 配置文件损坏时忽略
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@ -774,6 +781,9 @@ class DataInterface(BaseInterface):
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item = QTableWidgetItem(val)
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item.setTextAlignment(Qt.AlignCenter)
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self.table.setItem(row, col, item)
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freq_ctrl = QCheckBox()
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freq_ctrl.setChecked(True)
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self.table.setCellWidget(row, 5, freq_ctrl)
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def del_row(self):
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rows = set([i.row() for i in self.table.selectedItems()])
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@ -784,23 +794,31 @@ class DataInterface(BaseInterface):
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tasks = []
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for row in range(self.table.rowCount()):
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name = self.table.item(row, 0).text().strip()
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freq = int(self.table.item(row, 1).text())
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freq = self.table.item(row, 1).text()
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delay = int(self.table.item(row, 2).text())
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stack = int(self.table.item(row, 3).text())
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desc = self.table.item(row, 4).text().strip()
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freq_ctrl = self.table.cellWidget(row, 5).isChecked()
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# 校验 stack 必须为 128*2^n
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if stack < 128 or (stack & (stack - 1)) != 0 or stack % 128 != 0:
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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）")
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tasks.append({
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task = {
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"name": name,
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"function": f"Task_{name}",
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"frequency": freq,
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"delay": delay,
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"stack": stack,
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"description": desc
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})
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"description": desc,
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"freq_control": freq_ctrl
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}
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if freq_ctrl:
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task["frequency"] = int(freq)
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tasks.append(task)
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return tasks
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config_path = os.path.join(self.project_path, "User", "task", "config.yaml")
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dlg = TaskConfigDialog(self, config_path=config_path)
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if dlg.exec() == QDialog.Accepted:
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@ -856,19 +874,21 @@ class DataInterface(BaseInterface):
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init_c_tpl = os.path.join(template_dir, "init.c.template")
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task_c_tpl = os.path.join(template_dir, "task.c.template")
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# 只统计需要频率控制的任务
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freq_tasks = [t for t in task_list if t.get("freq_control", True)]
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def render_template(path, context):
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with open(path, encoding="utf-8") as f:
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tpl = Template(f.read())
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return tpl.render(**context)
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# 构造模板上下文
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context_h = {
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"thread_definitions": "\n".join([f" osThreadId_t {t['name']};" for t in task_list]),
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"freq_definitions": "\n".join([f" float {t['name']};" for t in task_list]),
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"freq_definitions": "\n".join([f" float {t['name']};" for t in freq_tasks]),
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"stack_definitions": "\n".join([f" UBaseType_t {t['name']};" for t in task_list]),
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"last_up_time_definitions": "\n".join([f" float {t['name']};" for t in task_list]),
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"task_frequency_definitions": "\n".join([f"#define {t['name'].upper()}_FREQ ({t['frequency']})" for t in task_list]),
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"last_up_time_definitions": "\n".join([f" float {t['name']};" for t in freq_tasks]),
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"task_frequency_definitions": "\n".join([f"#define {t['name'].upper()}_FREQ ({t['frequency']})" for t in freq_tasks]),
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"task_init_delay_definitions": "\n".join([f"#define {t['name'].upper()}_INIT_DELAY ({t['delay']})" for t in task_list]),
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"task_attr_declarations": "\n".join([f"extern const osThreadAttr_t attr_{t['name']};" for t in task_list]),
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"task_function_declarations": "\n".join([f"void {t['function']}(void *argument);" for t in task_list]),
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@ -969,17 +989,16 @@ class DataInterface(BaseInterface):
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f.write(init_c)
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# ----------- 生成 task.c -----------
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task_c_tpl = os.path.join(template_dir, "task.c.template")
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for t in task_list:
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# 自动换行任务描述
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desc = t.get("description", "")
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desc_wrapped = "\n ".join(textwrap.wrap(desc, 20))
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context_task = {
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"task_name": t["name"],
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"task_function": t["function"],
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"task_frequency": f"{t['name'].upper()}_FREQ", # 使用宏定义
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"task_delay": f"{t['name'].upper()}_INIT_DELAY", # 使用宏定义
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"task_description": desc_wrapped
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"task_frequency": f"{t['name'].upper()}_FREQ" if t.get("freq_control", True) else None,
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"task_delay": f"{t['name'].upper()}_INIT_DELAY",
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"task_description": desc_wrapped,
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"freq_control": t.get("freq_control", True)
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}
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# 渲染模板
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with open(task_c_tpl, encoding="utf-8") as f:
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@ -990,7 +1009,6 @@ class DataInterface(BaseInterface):
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if os.path.exists(task_c_path):
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with open(task_c_path, "r", encoding="utf-8") as f:
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old_code = f.read()
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# 只保留USER区域
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def preserve_user_region(new_code, old_code, region_name):
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pattern = re.compile(
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rf"/\*\s*{region_name}\s*BEGIN\s*\*/(.*?)/\*\s*{region_name}\s*END\s*\*/",
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@ -1007,10 +1025,6 @@ class DataInterface(BaseInterface):
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code = preserve_user_region(code, old_code, region)
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with open(task_c_path, "w", encoding="utf-8") as f:
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f.write(code)
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# ----------- 保存任务配置到 config.yaml -----------
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config_path = os.path.join(output_dir, "config.yaml")
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with open(config_path, "w", encoding="utf-8") as f:
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yaml.dump(task_list, f, allow_unicode=True)
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# ===================== 串口终端界面 =====================
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class SerialReadThread(QThread):
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@ -22,13 +22,16 @@
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void {{task_function}}(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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{% if freq_control %}
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / {{task_frequency}};
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osDelay({{task_delay}}); /* 延时一段时间再开启任务 */
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/* USER CODE INIT BEGIN*/
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/* USER CODE INIT END*/
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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@ -37,4 +40,18 @@ void {{task_function}}(void *argument) {
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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{% else %}
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osDelay({{task_delay}}); /* 延时一段时间再开启任务 */
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/* USER CODE INIT BEGIN*/
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/* USER CODE INIT END*/
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while (1) {
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/* USER CODE BEGIN */
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/* USER CODE END */
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osDelay(1); /* 默认1ms延时，防止死循环卡死CPU */
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}
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{% endif %}
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}
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