0.02版本

.gitignore

@@ -28,3 +28,7 @@ Examples/
 !*.axf
 !*.bin
 !*.hex
+
+build/
+dist/
+*.spec

README.md

@@ -87,4 +87,5 @@
 使用以下命令构建可执行文件：
 
 ```bash
-pyinstaller --onefile --windowed 
+pyinstaller --onefile --windowed 
+pyinstaller MR_Toolbox.py --onefile --noconsole --icon=img\M.ico --add-data "mr_tool_img\MRobot.png;mr_tool_img"

polynomial.py

@@ -0,0 +1,286 @@
+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 <math.h>", "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 <cmath>", "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_())

src/freertos.c

@@ -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 */
-