.gitignore

@@ -32,4 +32,3 @@ Examples/
 build/
 dist/
 *.spec
-*.exe

MRobot.iss

@@ -1,6 +1,6 @@
 [Setup]
 AppName=MRobot
-AppVersion=1.0.1
+AppVersion=1.0
 DefaultDirName={userappdata}\MRobot
 DefaultGroupName=MRobot
 OutputDir=.

MRobot.py

@@ -52,7 +52,7 @@ from qfluentwidgets import (
 from urllib.parse import quote
 
 from packaging.version import parse as vparse
-__version__ = "1.0.1"
+__version__ = "1.0.0"
 
 # ===================== 页面基类 =====================
 class BaseInterface(QWidget):
@@ -665,7 +665,7 @@ class DataInterface(BaseInterface):
         # 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 = ' osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务\n'
+        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:
@@ -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, QCheckBox
+        from PyQt5.QtWidgets import QDialog, QVBoxLayout, QHBoxLayout, QLabel, QLineEdit, QSpinBox, QPushButton, QTableWidget, QTableWidgetItem, QHeaderView
         import yaml
         import os
 
@@ -720,16 +720,15 @@ class DataInterface(BaseInterface):
             def __init__(self, parent=None, config_path=None):
                 super().__init__(parent)
                 self.setWindowTitle("任务配置")
-                self.resize(900, 420)
+                self.resize(800, 420)
                 layout = QVBoxLayout(self)
-                self.table = QTableWidget(0, 6)
+                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", "频率控制"])
+                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.horizontalHeader().setSectionResizeMode(5, QHeaderView.ResizeToContents)
                 self.table.setColumnWidth(4, 320)  # 任务描述更宽
                 layout.addWidget(self.table)
                 btn_layout = QHBoxLayout()
@@ -749,8 +748,6 @@ 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:
@@ -764,10 +761,6 @@ 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
 
@@ -781,9 +774,6 @@ 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()])
@@ -794,31 +784,23 @@ class DataInterface(BaseInterface):
                 tasks = []
                 for row in range(self.table.rowCount()):
                     name = self.table.item(row, 0).text().strip()
-                    freq = self.table.item(row, 1).text()
+                    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()
-                    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）")
-                    task = {
+                    tasks.append({
                         "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:
@@ -874,21 +856,19 @@ 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 freq_tasks]),
+            "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 freq_tasks]),
+            "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 freq_tasks]),
+            "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]),
@@ -989,16 +969,17 @@ 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" if t.get("freq_control", True) else None,
+                "task_frequency": f"{t['name'].upper()}_FREQ",         # 使用宏定义
-                "task_delay": f"{t['name'].upper()}_INIT_DELAY",
+                "task_delay": f"{t['name'].upper()}_INIT_DELAY",       # 使用宏定义
-                "task_description": desc_wrapped,
+                "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:
@@ -1009,6 +990,7 @@ 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*\*/",
@@ -1025,11 +1007,11 @@ 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_yaml_path = os.path.join(output_dir, "config.yaml")
+        config_path = os.path.join(output_dir, "config.yaml")
-        with open(config_yaml_path, "w", encoding="utf-8") as f:
+        with open(config_path, "w", encoding="utf-8") as f:
-            yaml.safe_dump(task_list, f, allow_unicode=True)
+            yaml.dump(task_list, f, allow_unicode=True)
+
 # ===================== 串口终端界面 =====================
 class SerialReadThread(QThread):
     data_received = pyqtSignal(str)

User_code/task/init.c.template

@@ -40,3 +40,4 @@ void Task_Init(void *argument) {
   osKernelUnlock(); // 解锁内核
   osThreadTerminate(osThreadGetId()); // 任务完成后结束自身
 }
+

User_code/task/task.c.template

@@ -22,16 +22,13 @@
 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 */
-
   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 */
@@ -40,17 +37,4 @@ 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 */
-  }
-  {% endif %}
 }

User_code/task/user_task.c.template

@@ -10,4 +10,3 @@ const osThreadAttr_t attr_init = {
 
 /* User_task */
 {{task_attr_definitions}}
-

User_code/task/user_task.h.template

@@ -78,4 +78,3 @@ void Task_Init(void *argument);
 #ifdef __cplusplus
 }
 #endif
-