MRobot.py

@@ -1,5 +1,4 @@
 import tkinter as tk
-import sys
 import os
 import threading
 import shutil
@@ -219,7 +218,7 @@ class MRobotApp:
         root.protocol("WM_DELETE_WINDOW", lambda: self.on_closing(root))
         root.mainloop()
 
-    # 修改 update_task_ui 方法
+    # 更新任务管理 UI
     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")
@@ -227,44 +226,42 @@ class MRobotApp:
             for file_name in os.listdir(task_dir):
                 file_base, file_ext = os.path.splitext(file_name)
                 # 忽略 init 和 user_task 文件
-                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]:
+                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]:
                     # 自动添加已存在的任务名
                     new_task_var = tk.StringVar(value=file_base)
-                    self.task_vars.append((new_task_var, tk.IntVar(value=100)))  # 默认频率为 100
+                    self.task_vars.append(new_task_var)
 
         # 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)  # 将宽度固定为 400 像素
+        self.task_frame.config(width=300)  # 将宽度固定为 300 像素
 
         # 显示任务列表
-        for i, (task_var, freq_var) in enumerate(self.task_vars):
-            task_row = tk.Frame(self.task_frame, width=400)  # 设置任务行的宽度
+        for i, task_var in enumerate(self.task_vars):
+            task_row = tk.Frame(self.task_frame, width=300)  # 设置任务行的宽度
             task_row.pack(fill="x", pady=5)
 
             # 调整输入框和按钮的宽度
-            tk.Entry(task_row, textvariable=task_var, width=20).pack(side="left", padx=5)  # 输入框宽度
-            tk.Label(task_row, text="频率:").pack(side="left", padx=5)
-            tk.Spinbox(task_row, from_=1, to=1000, textvariable=freq_var, width=5).pack(side="left", padx=5)  # 数字选择框
+            tk.Entry(task_row, textvariable=task_var, width=25).pack(side="left", padx=5)  # 输入框宽度
             tk.Button(task_row, text="删除", command=lambda idx=i: self.remove_task(idx), bg="red", fg="white").pack(side="left", padx=5)
 
         # 添加新任务按钮
         add_task_button = tk.Button(self.task_frame, text="添加任务", command=self.add_task, bg="blue", fg="white")
         add_task_button.pack(pady=10)
 
-    # 修改 add_task 方法
+    # 添加任务
     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.task_vars.append(new_task_var)
         self.update_task_ui()
 
-    # 修改 remove_task 方法
+    # 删除任务
     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():
@@ -350,17 +347,20 @@ class MRobotApp:
             template_file_path = os.path.join(REPO_DIR, "User", "task", "task.c.template")
             task_dir = os.path.join("User", "task")
 
+            # 检查模板文件是否存在
             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
 
+            # 创建目标目录（如果不存在）
             os.makedirs(task_dir, exist_ok=True)
 
+            # 读取模板内容
             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
+            for task_var in self.task_vars:
                 task_name = task_var.get()
                 task_file_path = os.path.join(task_dir, f"{task_name.lower()}.c")
 
@@ -371,6 +371,7 @@ class MRobotApp:
                 task_content = task_content.replace("{{task_delay}}", f"TASK_INIT_DELAY_{task_name.upper()}")
                 task_content = task_content.replace("{{task_variable}}", task_name)
 
+                # 写入生成的内容到文件
                 with open(task_file_path, "w", encoding="utf-8") as f:
                     f.write(task_content)
 
@@ -393,6 +394,9 @@ class MRobotApp:
             with open(template_file_path, "r", encoding="utf-8") as f:
                 template_content = f.read()
     
+            # 打印模板内容
+            # print(f"模板内容: {template_content}")
+    
             # 生成任务属性定义
             task_attr_definitions = "\n".join([
                 f"""const osThreadAttr_t attr_{task_var.get().lower()} = {{
@@ -400,9 +404,12 @@ class MRobotApp:
         .priority = osPriorityNormal,
         .stack_size = 128 * 4,
     }};"""
-                for task_var, _ in self.task_vars  # 解包元组
+                for task_var in self.task_vars
             ])
     
+            # 打印生成的任务属性定义
+            # print(f"生成的任务属性定义: {task_attr_definitions}")
+    
             # 替换模板中的占位符
             task_content = template_content.replace("{{task_attr_definitions}}", task_attr_definitions)
     
@@ -412,6 +419,8 @@ class MRobotApp:
             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}")
+            import traceback
+            traceback.print_exc()
    
     # 生成 user_task.h 文件
     def generate_user_task_header(self):
@@ -428,18 +437,34 @@ class MRobotApp:
             with open(template_file_path, "r", encoding="utf-8") as f:
                 template_content = f.read()
     
+            # 打印模板内容
+            # print(f"模板内容: {template_content}")
+    
             # 定义占位符内容
-            thread_definitions = "\n".join([f"        osThreadId_t {task_var.get()};" for task_var, _ in self.task_vars])
-            freq_definitions = "\n".join([f"        float {task_var.get()};" for task_var, _ in self.task_vars])
-            last_up_time_definitions = "\n".join([f"        uint32_t {task_var.get()};" for task_var, _ in self.task_vars])
-            task_handle_definitions = "\n".join([f"    osThreadId_t {task_var.get()};" for task_var, _ in self.task_vars])
-            task_attr_declarations = "\n".join([f"extern const osThreadAttr_t attr_{task_var.get().lower()};" for task_var, _ in self.task_vars])
-            task_function_declarations = "\n".join([f"void {task_var.get()}(void *argument);" for task_var, _ in self.task_vars])
-            task_frequency_definitions = "\n".join([f"#define TASK_FREQ_{task_var.get().upper()} (100u)" for task_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])
+            thread_definitions = "\n".join([f"        osThreadId_t {task_var.get()};" for task_var in self.task_vars])
+            # heap_water_mark_definitions = "\n".join([f"        uint32_t {task_var.get()};" for task_var in self.task_vars])
+            freq_definitions = "\n".join([f"        float {task_var.get()};" for task_var in self.task_vars])
+            last_up_time_definitions = "\n".join([f"        uint32_t {task_var.get()};" for task_var in self.task_vars])
+            task_handle_definitions = "\n".join([f"    osThreadId_t {task_var.get()};" for task_var in self.task_vars])
+            task_attr_declarations = "\n".join([f"extern const osThreadAttr_t attr_{task_var.get().lower()};" for task_var in self.task_vars])
+            task_function_declarations = "\n".join([f"void {task_var.get()}(void *argument);" for task_var in self.task_vars])
+            task_frequency_definitions = "\n".join([f"#define TASK_FREQ_{task_var.get().upper()} (100u)" for task_var in self.task_vars])
+            task_init_delay_definitions = "\n".join([f"#define TASK_INIT_DELAY_{task_var.get().upper()} (100u)" for task_var in self.task_vars])
+    
+            # 打印生成的占位符内容
+            # print(f"thread_definitions: {thread_definitions}")
+            # print(f"heap_water_mark_definitions: {heap_water_mark_definitions}")
+            # print(f"freq_definitions: {freq_definitions}")
+            # print(f"last_up_time_definitions: {last_up_time_definitions}")
+            # print(f"task_handle_definitions: {task_handle_definitions}")
+            # print(f"task_attr_declarations: {task_attr_declarations}")
+            # print(f"task_function_declarations: {task_function_declarations}")
+            # print(f"task_frequency_definitions: {task_frequency_definitions}")
+            # print(f"task_init_delay_definitions: {task_init_delay_definitions}")
     
             # 替换模板中的占位符
             header_content = template_content.replace("{{thread_definitions}}", thread_definitions)
+            # header_content = header_content.replace("{{heap_water_mark_definitions}}", heap_water_mark_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_handle_definitions}}", task_handle_definitions)
@@ -454,30 +479,38 @@ class MRobotApp:
             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}")
+            import traceback
+            traceback.print_exc()
+
 
     def generate_init_file(self):
         try:
+            # 定义模板文件路径和生成文件路径
             template_file_path = os.path.join(REPO_DIR, "User", "task", "init.c.template")
             generated_file_path = os.path.join("User", "task", "init.c")
 
+            # 检查模板文件是否存在
             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
 
+            # 创建目标目录（如果不存在）
             os.makedirs(os.path.dirname(generated_file_path), exist_ok=True)
 
+            # 读取模板内容
             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_var.get()}, NULL, &attr_{task_var.get().lower()});"
-                for task_var, _ in self.task_vars  # 解包元组
+                for task_var in self.task_vars
             ])
 
             # 替换模板中的占位符
             init_content = template_content.replace("{{thread_creation_code}}", thread_creation_code)
 
+            # 写入生成的内容到文件
             with open(generated_file_path, "w", encoding="utf-8") as f:
                 f.write(init_content)
 

MRobot.spec

@@ -1,38 +0,0 @@
-# -*- mode: python ; coding: utf-8 -*-
-
-
-a = Analysis(
-    ['MRobot.py'],
-    pathex=[],
-    binaries=[],
-    datas=[],
-    hiddenimports=[],
-    hookspath=[],
-    hooksconfig={},
-    runtime_hooks=[],
-    excludes=[],
-    noarchive=False,
-    optimize=0,
-)
-pyz = PYZ(a.pure)
-
-exe = EXE(
-    pyz,
-    a.scripts,
-    a.binaries,
-    a.datas,
-    [],
-    name='MRobot',
-    debug=False,
-    bootloader_ignore_signals=False,
-    strip=False,
-    upx=True,
-    upx_exclude=[],
-    runtime_tmpdir=None,
-    console=False,
-    disable_windowed_traceback=False,
-    argv_emulation=False,
-    target_arch=None,
-    codesign_identity=None,
-    entitlements_file=None,
-)

README.md

@@ -1,5 +1,2 @@
 # MRobot
 用于快速生成MRobot代码
-
-# 构建exe
-pyinstaller --onefile --windowed MRobot.py

User/device/dependencies.csv

@@ -1,3 +1 @@
 oled_i2c,bsp/i2c
-bmp280_i2c,bsp/i2c
-pc_uart,bsp/uart

User/device/oled_i2c.c

@@ -1,13 +1,3 @@
-/*
-    * @file    oled_i2c.c
-    * @brief   OLED I2C驱动程序
-    * @version 1.0
-    * @date    2023-10-01
-    * @note    本文件实现了OLED显示屏的I2C通信和基本绘图功能。
-    */
-*/
-
-
 /* Includes ----------------------------------------------------------------- */
 #include "device/oled_i2c.h"
 #include "bsp/i2c.h"

User/device/pc_uart.c

@@ -6,8 +6,6 @@
 #include "bsp\uart.h"
 #include "device.h"
 
-#define UART_HANDLE BSP_UART_GetHandle(BSP_UART_PC)
-
 #define AI_LEN_RX_BUFF (sizeof(UART_RxData_t))
 
 static bool rx_flag = false;
@@ -19,15 +17,14 @@ static void UART_RxCpltCallback(void) { rx_flag = true; }
 int UART_Init(UART_t *huart)
 {
     UNUSED(huart);
-    //注册回调函数
-    HAL_UART_RegisterCallback(UART_HANDLE, BSP_UART_RX_CPLT_CB, UART_RxCpltCallback);
+    HAL_UART_Receive_DMA(&BSP_UART_PC, rxbuf, AI_LEN_RX_BUFF);
     return DEVICE_OK
 }
 
 int UART_StartReceive(UART_t *huart)
 {
     UNUSED(huart);
-    HAL_UART_Receive_DMA(UART_HANDLE, rxbuf, AI_LEN_RX_BUFF);
+    HAL_UART_Receive_DMA(&BSP_UART_PC, rxbuf, AI_LEN_RX_BUFF);
     return DEVICE_OK;
 }
 
@@ -49,7 +46,7 @@ void UART_PackTx(UART_t *huart, UART_TxData_t *tx_data)
 
 int8_t UART_StartSend(UART_t *huart)
 {
-    if (HAL_UART_Transmit_DMA(UART_HANDLE, huart->tx_data, sizeof(UART_TxData_t)) == HAL_OK)
+    if (HAL_UART_Transmit_DMA(&BSP_UART_PC, huart->tx_data, sizeof(UART_TxData_t)) == HAL_OK)
     {
         return DEVICE_OK
     }

build/MRobot/warn-MRobot.txt

@@ -1,61 +0,0 @@
-
-This file lists modules PyInstaller was not able to find. This does not
-necessarily mean this module is required for running your program. Python and
-Python 3rd-party packages include a lot of conditional or optional modules. For
-example the module 'ntpath' only exists on Windows, whereas the module
-'posixpath' only exists on Posix systems.
-
-Types if import:
-* top-level: imported at the top-level - look at these first
-* conditional: imported within an if-statement
-* delayed: imported within a function
-* optional: imported within a try-except-statement
-
-IMPORTANT: Do NOT post this list to the issue-tracker. Use it as a basis for
-            tracking down the missing module yourself. Thanks!
-
-missing module named pyimod02_importers - imported by C:\Users\lvzucheng\AppData\Local\Programs\Python\Python313\Lib\site-packages\PyInstaller\hooks\rthooks\pyi_rth_pkgutil.py (delayed), C:\Users\lvzucheng\AppData\Local\Programs\Python\Python313\Lib\site-packages\PyInstaller\hooks\rthooks\pyi_rth_pkgres.py (delayed)
-missing module named pwd - imported by posixpath (delayed, conditional, optional), shutil (delayed, optional), tarfile (optional), pathlib._local (optional), subprocess (delayed, conditional, optional), getpass (delayed, optional), setuptools._distutils.util (delayed, conditional, optional), netrc (delayed, conditional), setuptools._vendor.backports.tarfile (optional), setuptools._distutils.archive_util (optional), http.server (delayed, optional)
-missing module named grp - imported by shutil (delayed, optional), tarfile (optional), pathlib._local (optional), subprocess (delayed, conditional, optional), setuptools._vendor.backports.tarfile (optional), setuptools._distutils.archive_util (optional)
-missing module named _posixsubprocess - imported by subprocess (conditional), multiprocessing.util (delayed)
-missing module named fcntl - imported by subprocess (optional), _pyrepl.unix_console (top-level)
-missing module named _manylinux - imported by packaging._manylinux (delayed, optional), setuptools._vendor.packaging._manylinux (delayed, optional), setuptools._vendor.wheel.vendored.packaging._manylinux (delayed, optional)
-missing module named posix - imported by os (conditional, optional), posixpath (optional), shutil (conditional), importlib._bootstrap_external (conditional), _pyrepl.unix_console (delayed, optional)
-missing module named resource - imported by posix (top-level)
-missing module named _frozen_importlib_external - imported by importlib._bootstrap (delayed), importlib (optional), importlib.abc (optional), zipimport (top-level)
-missing module named typing_extensions.TypeAlias - imported by setuptools._vendor.typing_extensions (top-level), setuptools._distutils.compilers.C.base (conditional), setuptools._reqs (conditional), setuptools.warnings (conditional), setuptools._path (conditional), setuptools._distutils.dist (conditional), setuptools.config.setupcfg (conditional), setuptools.config._apply_pyprojecttoml (conditional), setuptools.dist (conditional), pkg_resources (conditional), setuptools.command.bdist_egg (conditional), setuptools.compat.py311 (conditional)
-missing module named typing_extensions.Self - imported by setuptools._vendor.typing_extensions (top-level), setuptools.config.expand (conditional), setuptools.config.pyprojecttoml (conditional), setuptools.config._validate_pyproject.error_reporting (conditional), pkg_resources (conditional)
-missing module named asyncio.DefaultEventLoopPolicy - imported by asyncio (delayed, conditional), asyncio.events (delayed, conditional)
-missing module named _posixshmem - imported by multiprocessing.resource_tracker (conditional), multiprocessing.shared_memory (conditional)
-missing module named multiprocessing.set_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
-missing module named multiprocessing.get_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
-missing module named multiprocessing.get_context - imported by multiprocessing (top-level), multiprocessing.pool (top-level), multiprocessing.managers (top-level), multiprocessing.sharedctypes (top-level)
-missing module named multiprocessing.TimeoutError - imported by multiprocessing (top-level), multiprocessing.pool (top-level)
-missing module named _scproxy - imported by urllib.request (conditional)
-missing module named termios - imported by getpass (optional), tty (top-level), _pyrepl.pager (delayed, optional), _pyrepl.unix_console (top-level), _pyrepl.fancy_termios (top-level), _pyrepl.unix_eventqueue (top-level)
-missing module named multiprocessing.BufferTooShort - imported by multiprocessing (top-level), multiprocessing.connection (top-level)
-missing module named multiprocessing.AuthenticationError - imported by multiprocessing (top-level), multiprocessing.connection (top-level)
-missing module named usercustomize - imported by site (delayed, optional)
-missing module named sitecustomize - imported by site (delayed, optional)
-missing module named _curses - imported by curses (top-level), curses.has_key (top-level), _pyrepl.curses (optional)
-missing module named readline - imported by site (delayed, optional), rlcompleter (optional), code (delayed, conditional, optional)
-missing module named trove_classifiers - imported by setuptools.config._validate_pyproject.formats (optional)
-missing module named typing_extensions.Buffer - imported by setuptools._vendor.typing_extensions (top-level), setuptools._vendor.wheel.wheelfile (conditional)
-missing module named typing_extensions.Literal - imported by setuptools._vendor.typing_extensions (top-level), setuptools.config._validate_pyproject.formats (conditional)
-missing module named typing_extensions.deprecated - imported by setuptools._vendor.typing_extensions (top-level), setuptools._distutils.sysconfig (conditional), setuptools._distutils.command.bdist (conditional)
-missing module named typing_extensions.Unpack - imported by setuptools._vendor.typing_extensions (top-level), setuptools._distutils.util (conditional), setuptools._distutils.compilers.C.base (conditional), setuptools._distutils.cmd (conditional)
-missing module named typing_extensions.TypeVarTuple - imported by setuptools._vendor.typing_extensions (top-level), setuptools._distutils.util (conditional), setuptools._distutils.compilers.C.base (conditional), setuptools._distutils.cmd (conditional)
-missing module named '_typeshed.importlib' - imported by pkg_resources (conditional)
-missing module named _typeshed - imported by setuptools._distutils.dist (conditional), pkg_resources (conditional), setuptools.glob (conditional), setuptools.compat.py311 (conditional), git.objects.fun (conditional)
-missing module named jnius - imported by setuptools._vendor.platformdirs.android (delayed, conditional, optional)
-missing module named android - imported by setuptools._vendor.platformdirs.android (delayed, conditional, optional)
-missing module named importlib_resources - imported by setuptools._vendor.jaraco.text (optional)
-missing module named 'collections.abc' - imported by traceback (top-level), inspect (top-level), logging (top-level), typing (top-level), importlib.resources.readers (top-level), selectors (top-level), tracemalloc (top-level), setuptools (top-level), setuptools._distutils.filelist (top-level), setuptools._distutils.util (top-level), setuptools._vendor.jaraco.functools (top-level), setuptools._vendor.more_itertools.more (top-level), setuptools._vendor.more_itertools.recipes (top-level), setuptools._distutils._modified (top-level), setuptools._distutils.compat (top-level), setuptools._distutils.spawn (top-level), setuptools._distutils.compilers.C.base (top-level), setuptools._distutils.fancy_getopt (top-level), setuptools._reqs (top-level), http.client (top-level), setuptools.discovery (top-level), setuptools.dist (top-level), setuptools._distutils.command.bdist (top-level), setuptools._distutils.core (top-level), setuptools._distutils.cmd (top-level), setuptools._distutils.dist (top-level), configparser (top-level), setuptools._distutils.extension (top-level), setuptools.config.setupcfg (top-level), setuptools.config.expand (top-level), setuptools.config.pyprojecttoml (top-level), setuptools.config._apply_pyprojecttoml (top-level), tomllib._parser (top-level), setuptools._vendor.tomli._parser (top-level), pkg_resources (top-level), setuptools._vendor.platformdirs.windows (conditional), setuptools.command.egg_info (top-level), setuptools._distutils.command.build (top-level), setuptools._distutils.command.sdist (top-level), setuptools.glob (top-level), setuptools.command._requirestxt (top-level), setuptools.command.bdist_wheel (top-level), setuptools._vendor.wheel.cli.convert (top-level), setuptools._vendor.wheel.cli.tags (top-level), setuptools._vendor.typing_extensions (top-level), asyncio.base_events (top-level), asyncio.coroutines (top-level), setuptools._distutils.command.build_ext (top-level), _pyrepl.types (top-level), _pyrepl.readline (top-level), setuptools._distutils.compilers.C.msvc (top-level)
-excluded module named _frozen_importlib - imported by importlib (optional), importlib.abc (optional), zipimport (top-level)
-missing module named vms_lib - imported by platform (delayed, optional)
-missing module named 'java.lang' - imported by platform (delayed, optional)
-missing module named java - imported by platform (delayed)
-missing module named _suggestions - imported by traceback (delayed, optional)
-missing module named gitdb_speedups - imported by gitdb.fun (optional)
-missing module named 'gitdb_speedups._perf' - imported by gitdb.stream (optional), gitdb.pack (optional)
-missing module named sha - imported by gitdb.util (delayed, optional)