新版本

.gitignore

@@ -31,4 +31,5 @@ Examples/
 
 build/
 dist/
-*.spec
+*.spec
+*.exe

MRobot.iss

@@ -0,0 +1,18 @@
+[Setup]
+AppName=MRobot
+AppVersion=1.0.1
+DefaultDirName={userappdata}\MRobot
+DefaultGroupName=MRobot
+OutputDir=.
+OutputBaseFilename=MRobotInstaller
+
+[Files]
+Source: "dist\MRobot.exe"; DestDir: "{app}"; Flags: ignoreversion
+Source: "assets\logo\*"; DestDir: "{app}\assets\logo"; Flags: ignoreversion recursesubdirs
+Source: "assets\User_code\*"; DestDir: "{app}\assets\User_code"; Flags: ignoreversion recursesubdirs
+Source: "assets\mech_lib\*"; DestDir: "{app}\assets\mech_lib"; Flags: ignoreversion recursesubdirs
+Source: "assets\logo\M.ico"; DestDir: "{app}\assets\logo"; Flags: ignoreversion
+
+[Icons]
+Name: "{group}\MRobot"; Filename: "{app}\MRobot.exe"; IconFilename: "{app}\assets\logo\M.ico"
+Name: "{userdesktop}\MRobot"; Filename: "{app}\MRobot.exe"; IconFilename: "{app}\assets\logo\M.ico"

MRobot.py

@@ -1,668 +1,23 @@
-import sys
 import os
-import serial
-import serial.tools.list_ports
+import sys
+# 将当前工作目录设置为程序所在的目录，确保无论从哪里执行，其工作目录都正确设置为程序本身的位置，避免路径错误。
+os.chdir(os.path.dirname(sys.executable) if getattr(sys, 'frozen', False)else os.path.dirname(os.path.abspath(__file__)))
 
-from PyQt5.QtCore import Qt, pyqtSignal, QThread
-from PyQt5.QtGui import QTextCursor
-from PyQt5.QtWidgets import (
-    QApplication, QWidget, QVBoxLayout, QHBoxLayout, QGridLayout, QGroupBox,
-    QComboBox, QPushButton, QTextEdit, QLineEdit, QLabel, QSizePolicy,
-    QFileDialog, QMessageBox, QStackedLayout
-)
-
-from qfluentwidgets import (
-    Theme, setTheme, FluentIcon, SwitchButton, BodyLabel, SubtitleLabel,
-    StrongBodyLabel, HorizontalSeparator, InfoBar, MessageDialog, Dialog,
-    AvatarWidget, NavigationItemPosition, FluentWindow, NavigationAvatarWidget,
-    PushButton, TextEdit, LineEdit, ComboBox, ImageLabel
-)
-from qfluentwidgets import FluentIcon as FIF
-import requests
-import shutil
 from PyQt5.QtCore import Qt
-from PyQt5.QtWidgets import QTreeWidget, QTreeWidgetItem, QAbstractItemView, QHeaderView
+from PyQt5.QtWidgets import QApplication
+from app.main_window import MainWindow
 
-from qfluentwidgets import (
-    TreeWidget, InfoBar, InfoBarPosition, MessageDialog, TreeItemDelegate
-)
-from qfluentwidgets import CheckBox
-from qfluentwidgets import TreeWidget
-from PyQt5.QtCore import QThread, pyqtSignal
-from PyQt5.QtWidgets import QFileDialog
-from qfluentwidgets import ProgressBar
 
-# ===================== 页面基类 =====================
-class BaseInterface(QWidget):
-    def __init__(self, parent=None):
-        super().__init__(parent=parent)
+# 启用 DPI 缩放
+QApplication.setHighDpiScaleFactorRoundingPolicy(Qt.HighDpiScaleFactorRoundingPolicy.PassThrough)
+QApplication.setAttribute(Qt.AA_EnableHighDpiScaling) # 启用高 DPI 缩放
+QApplication.setAttribute(Qt.AA_UseHighDpiPixmaps) # 使用高 DPI 图标
 
-# ===================== 首页界面 =====================
-class HomeInterface(BaseInterface):
-    def __init__(self, parent=None):
-        super().__init__(parent=parent)
-        self.setObjectName("homeInterface")
-        layout = QVBoxLayout()
-        layout.setContentsMargins(60, 60, 60, 60)
-        layout.setSpacing(32)
-        self.setLayout(layout)
-
-        # 顶部logo和欢迎区
-        top_layout = QHBoxLayout()
-        logo = ImageLabel('img/MRobot.png')
-        logo.setFixedSize(260, 80)
-        top_layout.addWidget(logo, alignment=Qt.AlignmentFlag.AlignTop)
-        title_layout = QVBoxLayout()
-        title_layout.addWidget(StrongBodyLabel("欢迎使用 MRobot Toolbox"))
-        title_layout.addWidget(SubtitleLabel("让你的机器人开发更高效、更智能"))
-        top_layout.addLayout(title_layout)
-        top_layout.addStretch()
-        layout.addLayout(top_layout)
-
-        layout.addWidget(HorizontalSeparator())
-
-        # 项目简介
-        layout.addWidget(BodyLabel(
-            "MRobot Toolbox 是一款集成化的机器人开发辅助工具，"
-            "支持代码生成、串口终端、主题切换等多种实用功能。\n"
-            "点击左侧导航栏可快速切换各功能页面。"
-        ))
-
-        # 开发者与项目目标
-        layout.addWidget(HorizontalSeparator())
-        layout.addWidget(SubtitleLabel("开发者与项目目标"))
-        layout.addWidget(BodyLabel("开发团队：QUT 青岛理工大学 MOVE 战队"))
-        layout.addWidget(BodyLabel("项目目标：为所有 rmer 和 rcer 提供现代化、简单、高效的机器人开发方式，"
-                                  "让机器人开发变得更轻松、更智能。"))
-        layout.addWidget(BodyLabel("适用于 RM、RC、各类嵌入式机器人项目。"))
-
-        # layout.addStretch()
-
-# ===================== 代码生成页面 =====================
-class DataInterface(BaseInterface):
-    def __init__(self, parent=None):
-        super().__init__(parent=parent)
-        self.setObjectName("dataInterface")
-        self.stacked_layout = QStackedLayout()
-        self.setLayout(self.stacked_layout)
-
-        # --- 页面1：工程路径选择 ---
-        self.select_widget = QWidget()
-        select_layout = QVBoxLayout(self.select_widget)
-        select_layout.addSpacing(40)
-        select_layout.addWidget(SubtitleLabel("MRobot 代码生成"))
-        select_layout.addWidget(HorizontalSeparator())
-        select_layout.addSpacing(10)
-        select_layout.addWidget(BodyLabel("请选择包含 .ioc 文件的工程文件夹，点击下方按钮进行选择。"))
-        select_layout.addSpacing(20)
-        self.choose_btn = PushButton("选择工程路径")
-        self.choose_btn.clicked.connect(self.choose_project_folder)
-        select_layout.addWidget(self.choose_btn)
-        select_layout.addStretch()
-        self.stacked_layout.addWidget(self.select_widget)
-
-        # --- 页面2：代码配置 ---
-        self.config_widget = QWidget()
-        self.config_layout = QVBoxLayout(self.config_widget)
-        # 左上角小返回按钮
-        top_bar = QHBoxLayout()
-        self.back_btn = PushButton('返回', icon=FluentIcon.SKIP_BACK)
-        # self.back_btn.setFixedSize(32, 32)
-        self.back_btn.clicked.connect(self.back_to_select)
-        self.back_btn.setToolTip("返回")
-        top_bar.addWidget(self.back_btn, alignment=Qt.AlignmentFlag.AlignLeft)
-        top_bar.addStretch()
-        self.config_layout.addLayout(top_bar)
-        self.config_layout.addWidget(SubtitleLabel("工程配置信息"))
-        self.config_layout.addWidget(HorizontalSeparator())
-        self.project_info_labels = []
-        self.config_layout.addStretch()
-        self.stacked_layout.addWidget(self.config_widget)
-
-        # 默认显示选择页面
-        self.stacked_layout.setCurrentWidget(self.select_widget)
-
-    def choose_project_folder(self):
-        folder = QFileDialog.getExistingDirectory(self, "请选择代码项目文件夹")
-        if not folder:
-            return
-        ioc_files = [f for f in os.listdir(folder) if f.endswith('.ioc')]
-        if not ioc_files:
-            QMessageBox.warning(self, "提示", "未找到.ioc文件，请确认项目文件夹。")
-            return
-        self.project_path = folder
-        self.project_name = os.path.basename(folder)
-        self.ioc_file = os.path.join(folder, ioc_files[0])
-        self.show_config_page()
-
-    def show_config_page(self):
-        # 清理旧内容
-        for label in self.project_info_labels:
-            self.config_layout.removeWidget(label)
-            label.deleteLater()
-        self.project_info_labels.clear()
-        # 显示项目信息
-        l1 = BodyLabel(f"项目名称: {self.project_name}")
-        l2 = BodyLabel(f"项目路径: {self.project_path}")
-        l3 = BodyLabel(f"IOC 文件: {self.ioc_file}")
-        self.config_layout.insertWidget(2, l1)
-        self.config_layout.insertWidget(3, l2)
-        self.config_layout.insertWidget(4, l3)
-        self.project_info_labels.extend([l1, l2, l3])
-        self.stacked_layout.setCurrentWidget(self.config_widget)
-
-    def back_to_select(self):
-        self.stacked_layout.setCurrentWidget(self.select_widget)
-
-
-# ===================== 串口终端界面 =====================
-class SerialReadThread(QThread):
-    data_received = pyqtSignal(str)
-
-    def __init__(self, ser):
-        super().__init__()
-        self.ser = ser
-        self._running = True
-
-    def run(self):
-        while self._running:
-            if self.ser and self.ser.is_open and self.ser.in_waiting:
-                try:
-                    data = self.ser.readline().decode(errors='ignore')
-                    self.data_received.emit(data)
-                except Exception:
-                    pass
-
-    def stop(self):
-        self._running = False
-        self.wait()
-
-class SerialTerminalInterface(BaseInterface):
-    def __init__(self, parent=None):
-        super().__init__(parent=parent)
-        self.setObjectName("serialTerminalInterface")
-        main_layout = QVBoxLayout(self)
-        main_layout.setSpacing(12)
-
-        # 顶部：串口设置区
-        top_hbox = QHBoxLayout()
-        top_hbox.addWidget(BodyLabel("串口:"))
-        self.port_combo = ComboBox()
-        self.refresh_ports()
-        top_hbox.addWidget(self.port_combo)
-        top_hbox.addWidget(BodyLabel("波特率:"))
-        self.baud_combo = ComboBox()
-        self.baud_combo.addItems(['9600', '115200', '57600', '38400', '19200', '4800'])
-        top_hbox.addWidget(self.baud_combo)
-        self.connect_btn = PushButton("连接")
-        self.connect_btn.clicked.connect(self.toggle_connection)
-        top_hbox.addWidget(self.connect_btn)
-        self.refresh_btn = PushButton(FluentIcon.SYNC, "刷新")
-        self.refresh_btn.clicked.connect(self.refresh_ports)
-        top_hbox.addWidget(self.refresh_btn)
-        top_hbox.addStretch()
-        main_layout.addLayout(top_hbox)
-
-        main_layout.addWidget(HorizontalSeparator())
-
-        # 中部：左侧预设命令，右侧显示区
-        center_hbox = QHBoxLayout()
-        # 左侧：预设命令竖排
-        preset_vbox = QVBoxLayout()
-        preset_vbox.addWidget(SubtitleLabel("快捷指令"))
-        #快捷指令居中
-        preset_vbox.setAlignment(Qt.AlignmentFlag.AlignCenter)
-        self.preset_commands = [
-            ("线程监视器", "RESET"),
-            ("陀螺仪校准", "GET_VERSION"),
-            ("性能监视", "START"),
-            ("重启", "STOP"),
-            ("显示所有设备", "SELF_TEST"),
-            ("查询id", "STATUS"),
-        ]
-        for label, cmd in self.preset_commands:
-            btn = PushButton(label)
-            btn.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Preferred)
-            btn.clicked.connect(lambda _, c=cmd: self.send_preset_command(c))
-            preset_vbox.addWidget(btn)
-        preset_vbox.addStretch()
-        main_layout.addLayout(center_hbox, stretch=1)
-        
-
-        # 右侧：串口数据显示区
-        self.text_edit = TextEdit()
-        self.text_edit.setReadOnly(True)
-        self.text_edit.setMinimumWidth(400)
-        center_hbox.addWidget(self.text_edit, 3)
-        center_hbox.addLayout(preset_vbox, 1)
-
-        main_layout.addWidget(HorizontalSeparator())
-
-        # 底部：输入区
-        bottom_hbox = QHBoxLayout()
-        self.input_line = LineEdit()
-        self.input_line.setPlaceholderText("输入内容，回车发送")
-        self.input_line.returnPressed.connect(self.send_data)
-        bottom_hbox.addWidget(self.input_line, 4)
-        send_btn = PushButton("发送")
-        send_btn.clicked.connect(self.send_data)
-        bottom_hbox.addWidget(send_btn, 1)
-        self.auto_enter_checkbox = CheckBox("自动回车")
-        self.auto_enter_checkbox.setChecked(True)
-        bottom_hbox.addWidget(self.auto_enter_checkbox)
-        bottom_hbox.addStretch()
-        main_layout.addLayout(bottom_hbox)
-
-        self.ser = None
-        self.read_thread = None
-
-    def send_preset_command(self, cmd):
-        self.input_line.setText(cmd)
-        self.send_data()
-
-    def refresh_ports(self):
-        self.port_combo.clear()
-        ports = serial.tools.list_ports.comports()
-        for port in ports:
-            self.port_combo.addItem(port.device)
-
-    def toggle_connection(self):
-        if self.ser and self.ser.is_open:
-            self.disconnect_serial()
-        else:
-            self.connect_serial()
-
-    def connect_serial(self):
-        port = self.port_combo.currentText()
-        baud = int(self.baud_combo.currentText())
-        try:
-            self.ser = serial.Serial(port, baud, timeout=0.1)
-            self.connect_btn.setText("断开")
-            self.text_edit.append(f"已连接到 {port} @ {baud}")
-            self.read_thread = SerialReadThread(self.ser)
-            self.read_thread.data_received.connect(self.display_data)
-            self.read_thread.start()
-        except Exception as e:
-            self.text_edit.append(f"连接失败: {e}")
-
-    def disconnect_serial(self):
-        if self.read_thread:
-            self.read_thread.stop()
-            self.read_thread = None
-        if self.ser:
-            self.ser.close()
-            self.ser = None
-        self.connect_btn.setText("连接")
-        self.text_edit.append("已断开连接")
-
-    def display_data(self, data):
-        self.text_edit.moveCursor(QTextCursor.End)
-        self.text_edit.insertPlainText(data)
-        self.text_edit.moveCursor(QTextCursor.End)
-
-    def send_data(self):
-        if self.ser and self.ser.is_open:
-            text = self.input_line.text()
-            try:
-                if not text:
-                    self.ser.write('\n'.encode())
-                else:
-                    for char in text:
-                        self.ser.write(char.encode())
-                    # 判断是否自动回车
-                    if self.auto_enter_checkbox.isChecked():
-                        self.ser.write('\n'.encode())
-            except Exception as e:
-                self.text_edit.append(f"发送失败: {e}")
-            self.input_line.clear()
-# ===================== 零件库页面 =====================
-class DownloadThread(QThread):
-    progressChanged = pyqtSignal(int)
-    finished = pyqtSignal(list, list)  # success, fail
-
-    def __init__(self, files, server_url, secret_key, local_dir, parent=None):
-        super().__init__(parent)
-        self.files = files
-        self.server_url = server_url
-        self.secret_key = secret_key
-        self.local_dir = local_dir
-
-    def run(self):
-        success, fail = [], []
-        total = len(self.files)
-        max_retry = 3  # 最大重试次数
-        for idx, rel_path in enumerate(self.files):
-            retry = 0
-            while retry < max_retry:
-                try:
-                    url = f"{self.server_url}/download/{rel_path}"
-                    params = {"key": self.secret_key}
-                    resp = requests.get(url, params=params, stream=True, timeout=10)
-                    if resp.status_code == 200:
-                        local_path = os.path.join(self.local_dir, rel_path)
-                        os.makedirs(os.path.dirname(local_path), exist_ok=True)
-                        with open(local_path, "wb") as f:
-                            shutil.copyfileobj(resp.raw, f)
-                        success.append(rel_path)
-                        break  # 下载成功，跳出重试循环
-                    else:
-                        print(f"下载失败({resp.status_code}): {rel_path}，第{retry+1}次尝试")
-                        retry += 1
-                except Exception as e:
-                    print(f"下载异常: {rel_path}，第{retry+1}次尝试，错误: {e}")
-                    retry += 1
-            else:
-                fail.append(rel_path)
-            self.progressChanged.emit(int((idx + 1) / total * 100))
-        self.finished.emit(success, fail)
-class PartLibraryInterface(BaseInterface):
-    SERVER_URL = "http://154.37.215.220:5000"
-    SECRET_KEY = "MRobot_Download"
-    LOCAL_LIB_DIR = "mech_lib"
-
-    def __init__(self, parent=None):
-        super().__init__(parent=parent)
-        self.setObjectName("partLibraryInterface")
-        layout = QVBoxLayout(self)
-        layout.setSpacing(16)
-
-        layout.addWidget(SubtitleLabel("零件库（在线bate版）"))
-        layout.addWidget(HorizontalSeparator())
-        layout.addWidget(BodyLabel("可浏览服务器零件库，选择需要的文件下载到本地。（如无法使用或者下载失败，请尝试重新下载或检查网络连接）"))
-
-        btn_layout = QHBoxLayout()
-        refresh_btn = PushButton(FluentIcon.SYNC, "刷新列表")
-        refresh_btn.clicked.connect(self.refresh_list)
-        btn_layout.addWidget(refresh_btn)
-
-        # 新增：打开本地零件库按钮
-        open_local_btn = PushButton(FluentIcon.FOLDER, "打开本地零件库")
-        open_local_btn.clicked.connect(self.open_local_lib)
-        btn_layout.addWidget(open_local_btn)
-        btn_layout.addStretch()
-        layout.addLayout(btn_layout)
-
-        self.tree = TreeWidget(self)
-
-        self.tree.setHeaderLabels(["名称", "类型"])
-        self.tree.setSelectionMode(self.tree.ExtendedSelection)
-        self.tree.header().setSectionResizeMode(0, QHeaderView.Stretch)
-        self.tree.header().setSectionResizeMode(1, QHeaderView.ResizeToContents)
-        self.tree.setCheckedColor("#0078d4", "#2d7d9a")
-        self.tree.setBorderRadius(8)
-        self.tree.setBorderVisible(True)
-        layout.addWidget(self.tree, stretch=1)
-
-        download_btn = PushButton(FluentIcon.DOWNLOAD, "下载选中文件")
-        download_btn.clicked.connect(self.download_selected_files)
-        layout.addWidget(download_btn)
-
-        self.refresh_list(first=True)
-
-    def refresh_list(self, first=False):
-        self.tree.clear()
-        try:
-            resp = requests.get(
-                f"{self.SERVER_URL}/list",
-                params={"key": self.SECRET_KEY},
-                timeout=5
-            )
-            resp.raise_for_status()
-            tree = resp.json()
-            self.populate_tree(self.tree, tree, "")
-            if not first:
-                InfoBar.success(
-                    title="刷新成功",
-                    content="零件库已经是最新的！",
-                    parent=self,
-                    position=InfoBarPosition.TOP,
-                    duration=2000
-                )
-        except Exception as e:
-            InfoBar.error(
-                title="刷新失败",
-                content=f"获取零件库失败: {e}",
-                parent=self,
-                position=InfoBarPosition.TOP,
-                duration=3000
-            )
-
-    def populate_tree(self, parent, node, path_prefix):
-        from PyQt5.QtWidgets import QTreeWidgetItem
-        for dname, dnode in node.get("dirs", {}).items():
-            item = QTreeWidgetItem([dname, "文件夹"])
-            if isinstance(parent, TreeWidget):
-                parent.addTopLevelItem(item)
-            else:
-                parent.addChild(item)
-            self.populate_tree(item, dnode, os.path.join(path_prefix, dname))
-        for fname in node.get("files", []):
-            item = QTreeWidgetItem([fname, "文件"])
-            item.setFlags(item.flags() | Qt.ItemIsUserCheckable)
-            item.setCheckState(0, Qt.Unchecked)
-            item.setData(0, Qt.UserRole, os.path.join(path_prefix, fname))
-            if isinstance(parent, TreeWidget):
-                parent.addTopLevelItem(item)
-            else:
-                parent.addChild(item)
-
-    def get_checked_files(self):
-        files = []
-        def _traverse(item):
-            for i in range(item.childCount()):
-                child = item.child(i)
-                if child.text(1) == "文件" and child.checkState(0) == Qt.Checked:
-                    files.append(child.data(0, Qt.UserRole))
-                _traverse(child)
-        root = self.tree.invisibleRootItem()
-        for i in range(root.childCount()):
-            _traverse(root.child(i))
-        return files
-
-    def download_selected_files(self):
-        files = self.get_checked_files()
-        if not files:
-            InfoBar.info(
-                title="提示",
-                content="请先勾选要下载的文件。",
-                parent=self,
-                position=InfoBarPosition.TOP,
-                duration=2000
-            )
-            return
-
-        # 进度条对话框
-        self.progress_dialog = Dialog(
-            title="正在下载",
-            content="正在下载选中文件，请稍候...",
-            parent=self
-        )
-        self.progress_bar = ProgressBar()
-        self.progress_bar.setValue(0)
-        # 插入进度条到内容布局
-        self.progress_dialog.textLayout.addWidget(self.progress_bar)
-        self.progress_dialog.show()
-
-        # 启动下载线程
-        self.download_thread = DownloadThread(
-            files, self.SERVER_URL, self.SECRET_KEY, self.LOCAL_LIB_DIR
-        )
-        self.download_thread.progressChanged.connect(self.progress_bar.setValue)
-        self.download_thread.finished.connect(self.on_download_finished)
-        self.download_thread.finished.connect(self.download_thread.deleteLater)
-        self.download_thread.start()
-
-    def on_download_finished(self, success, fail):
-        self.progress_dialog.close()
-        msg = f"成功下载: {len(success)} 个文件\n失败: {len(fail)} 个文件"
-        dialog = Dialog(
-            title="下载结果",
-            content=msg,
-            parent=self
-        )
-        # 添加“打开文件夹”按钮
-        open_btn = PushButton("打开文件夹")
-        def open_folder():
-            folder = os.path.abspath(self.LOCAL_LIB_DIR)
-            # 打开文件夹（macOS用open，Windows用explorer，Linux用xdg-open）
-            import platform, subprocess
-            if platform.system() == "Darwin":
-                subprocess.call(["open", folder])
-            elif platform.system() == "Windows":
-                subprocess.call(["explorer", folder])
-            else:
-                subprocess.call(["xdg-open", folder])
-            dialog.close()
-        open_btn.clicked.connect(open_folder)
-        # 添加按钮到Dialog布局
-        dialog.textLayout.addWidget(open_btn)
-        dialog.exec()
-
-    def open_local_lib(self):
-        folder = os.path.abspath(self.LOCAL_LIB_DIR)
-        import platform, subprocess
-        if platform.system() == "Darwin":
-            subprocess.call(["open", folder])
-        elif platform.system() == "Windows":
-            subprocess.call(["explorer", folder])
-        else:
-            subprocess.call(["xdg-open", folder])
-
-# ===================== 设置界面 =====================
-class SettingInterface(BaseInterface):
-    themeSwitchRequested = pyqtSignal()
-
-    def __init__(self, parent=None):
-        super().__init__(parent=parent)
-        self.setObjectName("settingInterface")
-        layout = QVBoxLayout()
-        self.setLayout(layout)
-
-        # 标题
-        layout.addSpacing(10)
-        layout.addWidget(SubtitleLabel("设置中心"))
-        layout.addSpacing(10)
-        layout.addWidget(HorizontalSeparator())
-
-        # 主题切换区域
-        theme_title = StrongBodyLabel("外观设置")
-        theme_desc = BodyLabel("切换夜间/白天模式，适应不同环境。")
-        theme_desc.setWordWrap(True)
-        layout.addSpacing(10)
-        layout.addWidget(theme_title)
-        layout.addWidget(theme_desc)
-
-        theme_box = QHBoxLayout()
-        self.theme_label = BodyLabel("夜间模式")
-        self.theme_switch = SwitchButton()
-        self.theme_switch.setChecked(Theme.DARK == Theme.DARK)
-        self.theme_switch.checkedChanged.connect(self.on_theme_switch)
-        theme_box.addWidget(self.theme_label)
-        theme_box.addWidget(self.theme_switch)
-        theme_box.addStretch()
-        layout.addLayout(theme_box)
-
-        layout.addSpacing(15)
-        layout.addWidget(HorizontalSeparator())
-
-        # 其它设置区域（示例）
-        other_title = StrongBodyLabel("其它设置")
-        other_desc = BodyLabel("更多功能正在开发中，敬请期待。")
-        other_desc.setWordWrap(True)
-        layout.addSpacing(10)
-        layout.addWidget(other_title)
-        layout.addWidget(other_desc)
-
-        # 版权信息
-        layout.addStretch()
-        copyright_label = BodyLabel("© 2025 MRobot Toolbox")
-        copyright_label.setAlignment(Qt.AlignmentFlag.AlignHCenter)
-        layout.addWidget(copyright_label)
-        layout.addSpacing(10)
-
-    def on_theme_switch(self, checked):
-        self.themeSwitchRequested.emit()
-
-# ===================== 帮助与关于界面 =====================
-class HelpInterface(BaseInterface):
-    def __init__(self, parent=None):
-        super().__init__(parent=parent)
-        self.setObjectName("helpInterface")
-        layout = QVBoxLayout()
-        self.setLayout(layout)
-
-class AboutInterface(BaseInterface):
-    def __init__(self, parent=None):
-        super().__init__(parent=parent)
-        self.setObjectName("aboutInterface")
-        layout = QVBoxLayout()
-        self.setLayout(layout)
-
-# ===================== 主窗口与导航 =====================
-class MainWindow(FluentWindow):
-    themeChanged = pyqtSignal(Theme)
-
-    def __init__(self):
-        super().__init__()
-        self.setWindowTitle("MR_ToolBox")
-        self.resize(1000, 700)
-        self.setMinimumSize(800, 600)
-
-        # 记录当前主题
-        self.current_theme = Theme.DARK
-
-        # 创建页面实例
-        self.setting_page = SettingInterface(self)
-        self.setting_page.themeSwitchRequested.connect(self.toggle_theme)
-
-        self.page_registry = [
-            (HomeInterface(self), FIF.HOME, "首页", NavigationItemPosition.TOP),
-            (DataInterface(self), FIF.LIBRARY, "MRobot代码生成", NavigationItemPosition.SCROLL),
-            (SerialTerminalInterface(self), FIF.COMMAND_PROMPT, "Mini_Shell", NavigationItemPosition.SCROLL),
-            (PartLibraryInterface(self), FIF.DOWNLOAD, "零件库", NavigationItemPosition.SCROLL),  # ← 加上这一行
-            (self.setting_page, FIF.SETTING, "设置", NavigationItemPosition.BOTTOM),
-            (HelpInterface(self), FIF.HELP, "帮助", NavigationItemPosition.BOTTOM),
-            (AboutInterface(self), FIF.INFO, "关于", NavigationItemPosition.BOTTOM),
-        ]
-        self.initNavigation()
-
-    def initNavigation(self):
-        for page, icon, name, position in self.page_registry:
-            self.addSubInterface(page, icon, name, position)
-        self.navigationInterface.addSeparator()
-        avatar = NavigationAvatarWidget('用户', ':/qfluentwidgets/images/avatar.png')
-        self.navigationInterface.addWidget(
-            routeKey='avatar',
-            widget=avatar,
-            onClick=self.show_user_info,  # 这里改为 self.show_user_info
-            position=NavigationItemPosition.BOTTOM
-        )
-
-    def toggle_theme(self):
-        # 切换主题
-        if self.current_theme == Theme.DARK:
-            self.current_theme = Theme.LIGHT
-        else:
-            self.current_theme = Theme.DARK
-        setTheme(self.current_theme)
-        # 同步设置界面按钮状态
-        self.setting_page.theme_switch.setChecked(self.current_theme == Theme.DARK)
-    
-    def show_user_info(self):
-        dialog = Dialog(
-            title="用户信息",
-            content="用户：MRobot至尊VIP用户",
-            parent=self
-        )
-        dialog.exec()
-
-# ===================== 程序入口 =====================
-def main():
+if __name__ == "__main__":
     app = QApplication(sys.argv)
-    setTheme(Theme.DARK)
-    window = MainWindow()
-    window.show()
-    sys.exit(app.exec_())
+    app.setAttribute(Qt.AA_DontCreateNativeWidgetSiblings) # 避免创建原生窗口小部件的兄弟窗口
 
-if __name__ == '__main__':
-    main()
+    w = MainWindow()
+
+    sys.exit(app.exec_()) # 启动应用程序并进入主事件循环
+    # 注意：在 PyQt5 中，exec_() 是一个阻塞调用，直到应用程序退出。

MRobot_old.py

@@ -1,719 +0,0 @@
-import tkinter as tk
-from tkinter import ttk
-from PIL import Image, ImageTk
-import sys
-import os
-import threading
-import shutil
-import re
-from git import Repo
-from collections import defaultdict
-import csv
-import xml.etree.ElementTree as ET
-
-# 配置常量
-REPO_DIR = "MRobot_repo"
-REPO_URL = "http://gitea.qutrobot.top/robofish/MRobot.git"
-if getattr(sys, 'frozen', False):  # 检查是否为打包后的环境
-    CURRENT_DIR = os.path.dirname(sys.executable)  # 使用可执行文件所在目录
-else:
-    CURRENT_DIR = os.path.dirname(os.path.abspath(__file__))  # 使用脚本所在目录
-
-MDK_ARM_DIR = os.path.join(CURRENT_DIR, "MDK-ARM")
-USER_DIR = os.path.join(CURRENT_DIR, "User")
-
-class MRobotApp:
-    def __init__(self):
-        self.ioc_data = None
-        self.add_gitignore_var = None  # 延迟初始化
-        self.header_file_vars = {}
-        self.task_vars = []  # 用于存储任务的变量
-
-    # 初始化
-    def initialize(self):
-        print("初始化中，正在克隆仓库...")
-        self.clone_repo()
-        self.ioc_data = self.find_and_read_ioc_file()
-        print("初始化完成，启动主窗口...")
-        self.show_main_window()
-
-    # 克隆仓库
-    def clone_repo(self):
-        try:
-            if os.path.exists(REPO_DIR):
-                shutil.rmtree(REPO_DIR)
-            print(f"正在克隆仓库到 {REPO_DIR}（仅克隆当前文件内容）...")
-            Repo.clone_from(REPO_URL, REPO_DIR, multi_options=["--depth=1"])
-            print("仓库克隆成功！")
-        except Exception as e:
-            print(f"克隆仓库时出错: {e}")
-
-    # 删除克隆的仓库
-    def delete_repo(self):
-        try:
-            if os.path.exists(REPO_DIR):
-                shutil.rmtree(REPO_DIR)
-                print(f"已删除克隆的仓库目录: {REPO_DIR}")
-        except Exception as e:
-            print(f"删除仓库目录时出错: {e}")
-
-
-    # 复制文件
-    def copy_file_from_repo(self, src_path, dest_path):
-        try:
-            # 修复路径拼接问题，确保 src_path 不重复包含 REPO_DIR
-            if src_path.startswith(REPO_DIR):
-                full_src_path = src_path
-            else:
-                full_src_path = os.path.join(REPO_DIR, src_path.lstrip(os.sep))
-
-            # 检查源文件是否存在
-            if not os.path.exists(full_src_path):
-                print(f"文件 {full_src_path} 不存在！（检查路径或仓库内容）")
-                return
-
-            # 检查目标路径是否有效
-            if not dest_path or not dest_path.strip():
-                print("目标路径为空或无效，无法复制文件！")
-                return
-
-            # 创建目标目录（如果不存在）
-            dest_dir = os.path.dirname(dest_path)
-            if dest_dir and not os.path.exists(dest_dir):
-                os.makedirs(dest_dir, exist_ok=True)
-
-            # 执行文件复制
-            shutil.copy(full_src_path, dest_path)
-            print(f"文件已从 {full_src_path} 复制到 {dest_path}")
-        except Exception as e:
-            print(f"复制文件时出错: {e}")
-
-    # 查找并读取 .ioc 文件
-    def find_and_read_ioc_file(self):
-        try:
-            for file in os.listdir("."):
-                if file.endswith(".ioc"):
-                    print(f"找到 .ioc 文件: {file}")
-                    with open(file, "r", encoding="utf-8") as f:
-                        return f.read()
-            print("未找到 .ioc 文件！")
-        except Exception as e:
-            print(f"读取 .ioc 文件时出错: {e}")
-        return None
-
-    # 检查是否启用了 FreeRTOS
-    def check_freertos_enabled(self, ioc_data):
-        try:
-            return bool(re.search(r"Mcu\.IP\d+=FREERTOS", ioc_data))
-        except Exception as e:
-            print(f"检查 FreeRTOS 配置时出错: {e}")
-            return False
-
-    # 生成操作
-    def generate_action(self):
-        def task():
-            # 检查并创建目录
-            self.create_directories()
-    
-            if self.add_gitignore_var.get():
-                self.copy_file_from_repo(".gitignore", ".gitignore")
-            if self.ioc_data and self.check_freertos_enabled(self.ioc_data):
-                self.copy_file_from_repo("src/freertos.c", os.path.join("Core", "Src", "freertos.c"))
-    
-            # 定义需要处理的文件夹
-            folders = ["bsp", "component", "device", "module"]
-    
-            # 遍历每个文件夹，复制选中的 .h 和 .c 文件
-            for folder in folders:
-                folder_dir = os.path.join(REPO_DIR, "User", folder)
-                if not os.path.exists(folder_dir):
-                    continue  # 如果文件夹不存在，跳过
-    
-                for file_name in os.listdir(folder_dir):
-                    file_base, file_ext = os.path.splitext(file_name)
-                    if file_ext not in [".h", ".c"]:
-                        continue  # 只处理 .h 和 .c 文件
-    
-                    # 强制复制与文件夹同名的文件
-                    if file_base == folder:
-                        src_path = os.path.join(folder_dir, file_name)
-                        dest_path = os.path.join("User", folder, file_name)
-                        self.copy_file_from_repo(src_path, dest_path)
-                        continue  # 跳过后续检查，直接复制
-    
-                    # 检查是否选中了对应的文件
-                    if file_base in self.header_file_vars and self.header_file_vars[file_base].get():
-                        src_path = os.path.join(folder_dir, file_name)
-                        dest_path = os.path.join("User", folder, file_name)
-                        self.copy_file_from_repo(src_path, dest_path)
-    
-        threading.Thread(target=task).start()
-
-
-
-    # 创建必要的目录
-    def create_directories(self):
-        try:
-            directories = [
-                "User/bsp",
-                "User/component",
-                "User/device",
-                "User/module",
-            ]
-            # 根据是否启用 FreeRTOS 决定是否创建 User/task
-            if self.ioc_data and self.check_freertos_enabled(self.ioc_data):
-                directories.append("User/task")
-
-            for directory in directories:
-                if not os.path.exists(directory):
-                    os.makedirs(directory, exist_ok=True)
-                    print(f"已创建目录: {directory}")
-                else:
-                    print(f"目录已存在: {directory}")
-        except Exception as e:
-            print(f"创建目录时出错: {e}")
-
-
-    # 更新 FreeRTOS 状态标签
-    def update_freertos_status(self, label):
-        if self.ioc_data:
-            status = "已启用" if self.check_freertos_enabled(self.ioc_data) else "未启用"
-        else:
-            status = "未检测到 .ioc 文件"
-        label.config(text=f"FreeRTOS 状态: {status}")
-
-
-
-    # 显示主窗口
-    # ...existing code...
-    # ...existing code...
-    
-    # 显示主窗口
-    def show_main_window(self):
-        root = tk.Tk()
-        root.title("MRobot 自动生成脚本")
-        root.geometry("1000x650")  # 调整窗口大小以适应布局
-    
-        # 在窗口关闭时调用 on_closing 方法
-        root.protocol("WM_DELETE_WINDOW", lambda: self.on_closing(root))
-    
-        # 初始化 BooleanVar
-        self.add_gitignore_var = tk.BooleanVar(value=False)
-        self.auto_configure_var = tk.BooleanVar(value=False)  # 新增复选框变量
-    
-        # 创建主框架
-        main_frame = ttk.Frame(root)
-        main_frame.pack(fill="both", expand=True)
-    
-        # 添加标题
-        title_label = ttk.Label(main_frame, text="MRobot 自动生成脚本", font=("Arial", 16, "bold"))
-        title_label.pack(pady=10)
-    
-        # 添加 FreeRTOS 状态标签
-        freertos_status_label = ttk.Label(main_frame, text="FreeRTOS 状态: 检测中...", font=("Arial", 12))
-        freertos_status_label.pack(pady=10)
-        self.update_freertos_status(freertos_status_label)
-    
-        # 模块文件选择和任务管理框架（添加滚动功能）
-        module_task_frame = ttk.Frame(main_frame)
-        module_task_frame.pack(fill="both", expand=True, padx=10, pady=10)
-    
-        # 创建 Canvas 和 Scrollbar
-        canvas = tk.Canvas(module_task_frame)
-        scrollbar = ttk.Scrollbar(module_task_frame, orient="vertical", command=canvas.yview)
-        scrollable_frame = ttk.Frame(canvas)
-    
-        # 配置滚动区域
-        scrollable_frame.bind(
-            "<Configure>",
-            lambda e: canvas.configure(scrollregion=canvas.bbox("all"))
-        )
-        canvas.create_window((0, 0), window=scrollable_frame, anchor="nw")
-        canvas.configure(yscrollcommand=scrollbar.set)
-    
-        # 绑定鼠标滚轮事件
-        def on_mouse_wheel(event):
-            canvas.yview_scroll(-1 * int(event.delta / 120), "units")
-    
-        canvas.bind_all("<MouseWheel>", on_mouse_wheel)
-    
-        # 布局 Canvas 和 Scrollbar
-        canvas.pack(side="left", fill="both", expand=True)
-        scrollbar.pack(side="right", fill="y")
-    
-        # 左右布局：模块文件选择框和任务管理框
-        left_frame = ttk.Frame(scrollable_frame)
-        left_frame.pack(side="left", fill="both", expand=True, padx=5, pady=5)
-    
-        right_frame = ttk.Frame(scrollable_frame)
-        right_frame.pack(side="right", fill="both", expand=True, padx=5, pady=5)
-    
-        # 模块文件选择框
-        header_files_frame = ttk.LabelFrame(left_frame, text="模块文件选择", padding=(10, 10))
-        header_files_frame.pack(fill="both", expand=True, padx=5)
-        self.header_files_frame = header_files_frame
-        self.update_header_files()
-    
-        # 任务管理框
-        if self.ioc_data and self.check_freertos_enabled(self.ioc_data):
-            task_frame = ttk.LabelFrame(right_frame, text="任务管理", padding=(10, 10))
-            task_frame.pack(fill="both", expand=True, padx=5)
-            self.task_frame = task_frame
-            self.update_task_ui()
-    
-        # 添加消息框和生成按钮在同一行
-        bottom_frame = ttk.Frame(main_frame)
-        bottom_frame.pack(fill="x", pady=10, side="bottom")
-    
-        # 消息框
-        self.message_box = tk.Text(bottom_frame, wrap="word", state="disabled", height=5, width=60)
-        self.message_box.pack(side="left", fill="x", expand=True, padx=5, pady=5)
-    
-        # 生成按钮和复选框选项
-        button_frame = ttk.Frame(bottom_frame)
-        button_frame.pack(side="right", padx=10)
-    
-        # 添加复选框容器（横向排列复选框）
-        checkbox_frame = ttk.Frame(button_frame)
-        checkbox_frame.pack(side="top", pady=5)
-    
-        # 添加 .gitignore 复选框（左侧）
-        ttk.Checkbutton(checkbox_frame, text=".gitignore", variable=self.add_gitignore_var).pack(side="left", padx=5)
-    
-        # 添加自动配置环境复选框（右侧）
-        ttk.Checkbutton(checkbox_frame, text="自动环境", variable=self.auto_configure_var).pack(side="left", padx=5)
-    
-        # 添加生成按钮（竖向排列在复选框下方）
-        generate_button = ttk.Button(button_frame, text="一键生成MRobot代码", command=self.generate_action)
-        generate_button.pack(side="top", pady=10)
-        generate_button.config(width=25)  # 设置按钮宽度
-    
-        # 重定向输出到消息框
-        self.redirect_output()
-    
-        # 打印欢迎信息
-        print("欢迎使用 MRobot 自动生成脚本！")
-        print("请根据需要选择模块文件和任务。")
-        print("点击“一键生成MRobot代码”按钮开始生成。")
-    
-        # 启动 Tkinter 主事件循环
-        root.mainloop()
-    
-    # ...existing code...
-    # ...existing code...
-
-    def redirect_output(self):
-        """
-        重定向标准输出到消息框
-        """
-        class TextRedirector:
-            def __init__(self, text_widget):
-                self.text_widget = text_widget
-
-            def write(self, message):
-                self.text_widget.config(state="normal")
-                self.text_widget.insert("end", message)
-                self.text_widget.see("end")
-                self.text_widget.config(state="disabled")
-
-            def flush(self):
-                pass
-
-        sys.stdout = TextRedirector(self.message_box)
-        sys.stderr = TextRedirector(self.message_box)
-
-    # 修改 update_task_ui 方法
-    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")
-        if os.path.exists(task_dir):
-            for file_name in os.listdir(task_dir):
-                file_base, file_ext = os.path.splitext(file_name)
-                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]:
-                    frequency = 100  # 默认频率
-                    user_task_header_path = os.path.join("User", "task", "user_task.h")
-                    if os.path.exists(user_task_header_path):
-                        try:
-                            with open(user_task_header_path, "r", encoding="utf-8") as f:
-                                content = f.read()
-                                pattern = rf"#define\s+TASK_FREQ_{file_base.upper()}\s*\((\d+)[uU]?\)"
-                                match = re.search(pattern, content)
-                                if match:
-                                    frequency = int(match.group(1))
-                                    print(f"从 user_task.h 文件中读取到任务 {file_base} 的频率: {frequency}")
-                        except Exception as e:
-                            print(f"读取 user_task.h 文件时出错: {e}")
-
-                    new_task_var = tk.StringVar(value=file_base)
-                    self.task_vars.append((new_task_var, tk.IntVar(value=frequency)))
-
-        # 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)
-
-        # 显示任务列表
-        for i, (task_var, freq_var) in enumerate(self.task_vars):
-            task_row = ttk.Frame(self.task_frame, width=400)
-            task_row.pack(fill="x", pady=5)
-
-            ttk.Entry(task_row, textvariable=task_var, width=20).pack(side="left", padx=5)
-            ttk.Label(task_row, text="频率:").pack(side="left", padx=5)
-            ttk.Spinbox(task_row, from_=1, to=1000, textvariable=freq_var, width=5).pack(side="left", padx=5)
-            ttk.Button(task_row, text="删除", command=lambda idx=i: self.remove_task(idx)).pack(side="left", padx=5)
-
-        # 添加新任务按钮
-        add_task_button = ttk.Button(self.task_frame, text="添加任务", command=self.add_task)
-        add_task_button.pack(pady=10)
-
-
-    # 修改 add_task 方法
-    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.update_task_ui()
-    
-    # 修改 remove_task 方法
-    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():
-            widget.destroy()
-    
-        folders = ["User/bsp", "User/component", "User/device", "User/module"]
-        # if self.ioc_data and self.check_freertos_enabled(self.ioc_data):
-        #     folders.append("User/task")
-    
-        for folder in folders:
-            # 去掉 "User/" 前缀
-            display_name = folder.replace("User/", "")
-            tk.Label(self.folder_frame, text=display_name).pack()
-
-    # 更新 .h 文件复选框
-    def update_header_files(self):
-        for widget in self.header_files_frame.winfo_children():
-            widget.destroy()
-
-        folders = ["bsp", "component", "device", "module"]
-        dependencies = defaultdict(list)
-
-        for folder in folders:
-            folder_dir = os.path.join(REPO_DIR, "User", folder)
-            if os.path.exists(folder_dir):
-                dependencies_file = os.path.join(folder_dir, "dependencies.csv")
-                if os.path.exists(dependencies_file):
-                    with open(dependencies_file, "r", encoding="utf-8") as f:
-                        reader = csv.reader(f)
-                        for row in reader:
-                            if len(row) == 2:
-                                dependencies[row[0]].append(row[1])
-
-        # 创建复选框
-        for folder in folders:
-            folder_dir = os.path.join(REPO_DIR, "User", folder)
-            if os.path.exists(folder_dir):
-                module_frame = ttk.LabelFrame(self.header_files_frame, text=folder.capitalize(), padding=(10, 10))
-                module_frame.pack(fill="x", pady=5)
-
-                row, col = 0, 0
-                for file in os.listdir(folder_dir):
-                    file_base, file_ext = os.path.splitext(file)
-                    if file_ext == ".h" and file_base != folder:
-                        var = tk.BooleanVar(value=False)
-                        self.header_file_vars[file_base] = var
-
-                        checkbox = ttk.Checkbutton(
-                            module_frame,
-                            text=file_base,
-                            variable=var,
-                            command=lambda fb=file_base: self.handle_dependencies(fb, dependencies)
-                        )
-                        checkbox.grid(row=row, column=col, padx=5, pady=5, sticky="w")
-                        col += 1
-                        if col >= 6:
-                            col = 0
-                            row += 1
-
-
-
-    def handle_dependencies(self, file_base, dependencies):
-        """
-        根据依赖关系自动勾选相关模块
-        """
-        if file_base in self.header_file_vars and self.header_file_vars[file_base].get():
-            # 如果当前模块被选中，自动勾选其依赖项
-            for dependency in dependencies.get(file_base, []):
-                dep_base = os.path.basename(dependency)
-                if dep_base in self.header_file_vars:
-                    self.header_file_vars[dep_base].set(True)
-
-    # 在 MRobotApp 类中添加以下方法
-    def generate_task_files(self):
-        try:
-            template_file_path = os.path.join(REPO_DIR, "User", "task", "task.c.template")
-            task_dir = os.path.join("User", "task")
-    
-            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
-    
-            os.makedirs(task_dir, exist_ok=True)
-    
-            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
-                task_name = f"Task_{task_var.get()}"  # 添加前缀 Task_
-                task_file_path = os.path.join(task_dir, f"{task_var.get().lower()}.c")  # 文件名保持原始小写
-    
-                # 替换模板中的占位符
-                task_content = template_content.replace("{{task_name}}", task_name)
-                task_content = task_content.replace("{{task_function}}", task_name)
-                task_content = task_content.replace(
-                    "{{task_frequency}}", f"TASK_FREQ_{task_var.get().upper()}"
-                )  # 替换为 user_task.h 中的宏定义
-                task_content = task_content.replace("{{task_delay}}", f"TASK_INIT_DELAY_{task_var.get().upper()}")
-    
-                with open(task_file_path, "w", encoding="utf-8") as f:
-                    f.write(task_content)
-    
-                print(f"已成功生成 {task_file_path} 文件！")
-        except Exception as e:
-            print(f"生成 task.c 文件时出错: {e}")
-    # 修改 user_task.c 文件
-    def modify_user_task_file(self):
-        try:
-            template_file_path = os.path.join(REPO_DIR, "User", "task", "user_task.c.template")
-            generated_task_file_path = os.path.join("User", "task", "user_task.c")
-    
-            if not os.path.exists(template_file_path):
-                print(f"模板文件 {template_file_path} 不存在，无法生成 user_task.c 文件！")
-                return
-    
-            os.makedirs(os.path.dirname(generated_task_file_path), exist_ok=True)
-    
-            with open(template_file_path, "r", encoding="utf-8") as f:
-                template_content = f.read()
-    
-            # 生成任务属性定义
-            task_attr_definitions = "\n".join([
-                f"""const osThreadAttr_t attr_{task_var.get().lower()} = {{
-        .name = "{task_var.get()}",
-        .priority = osPriorityNormal,
-        .stack_size = 128 * 4,
-    }};"""
-                for task_var, _ in self.task_vars  # 解包元组
-            ])
-    
-            # 替换模板中的占位符
-            task_content = template_content.replace("{{task_attr_definitions}}", task_attr_definitions)
-    
-            with open(generated_task_file_path, "w", encoding="utf-8") as f:
-                f.write(task_content)
-    
-            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}")
-    # ...existing code...
-    
-    def generate_user_task_header(self):
-        try:
-            template_file_path = os.path.join(REPO_DIR, "User", "task", "user_task.h.template")
-            header_file_path = os.path.join("User", "task", "user_task.h")
-    
-            if not os.path.exists(template_file_path):
-                print(f"模板文件 {template_file_path} 不存在，无法生成 user_task.h 文件！")
-                return
-    
-            os.makedirs(os.path.dirname(header_file_path), exist_ok=True)
-    
-            # 如果 user_task.h 已存在，提取 /* USER MESSAGE BEGIN */ 和 /* USER MESSAGE END */ 区域内容
-            existing_msgq_content = ""
-            if os.path.exists(header_file_path):
-                with open(header_file_path, "r", encoding="utf-8") as f:
-                    content = f.read()
-                    # 提取 /* USER MESSAGE BEGIN */ 和 /* USER MESSAGE END */ 区域内容
-                    match = re.search(r"/\* USER MESSAGE BEGIN \*/\s*(.*?)\s*/\* USER MESSAGE END \*/", content, re.DOTALL)
-                    if match:
-                        existing_msgq_content = match.group(1).strip()
-                        print("已存在的 msgq 区域内容:")
-                        print(existing_msgq_content)
-    
-            with open(template_file_path, "r", encoding="utf-8") as f:
-                template_content = f.read()
-    
-            # 定义占位符内容
-            thread_definitions = "\n".join([f"        osThreadId_t {task_var.get().lower()};" for task_var, _ in self.task_vars])
-            msgq_definitions = existing_msgq_content if existing_msgq_content else "        osMessageQueueId_t default_msgq;"
-            freq_definitions = "\n".join([f"        float {task_var.get().lower()};" for task_var, _ in self.task_vars])
-            last_up_time_definitions = "\n".join([f"        uint32_t {task_var.get().lower()};" 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_{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()} ({freq_var.get()}u)"
-                for task_var, freq_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])
-            task_handle_definitions = "\n".join([f"    osThreadId_t {task_var.get().lower()};" for task_var, _ in self.task_vars])
-    
-            # 替换模板中的占位符
-            header_content = template_content.replace("{{thread_definitions}}", thread_definitions)
-            header_content = header_content.replace("{{msgq_definitions}}", msgq_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_attr_declarations}}", task_attr_declarations)
-            header_content = header_content.replace("{{task_function_declarations}}", task_function_declarations)
-            header_content = header_content.replace("{{task_frequency_definitions}}", task_frequency_definitions)
-            header_content = header_content.replace("{{task_init_delay_definitions}}", task_init_delay_definitions)
-            header_content = header_content.replace("{{task_handle_definitions}}", task_handle_definitions)
-    
-            # 如果存在 /* USER MESSAGE BEGIN */ 区域内容，则保留
-            if existing_msgq_content:
-                header_content = re.sub(
-                    r"/\* USER MESSAGE BEGIN \*/\s*.*?\s*/\* USER MESSAGE END \*/",
-                    f"/* USER MESSAGE BEGIN */\n\n    {existing_msgq_content}\n\n    /* USER MESSAGE END */",
-                    header_content,
-                    flags=re.DOTALL
-                )
-    
-            with open(header_file_path, "w", encoding="utf-8") as f:
-                f.write(header_content)
-    
-            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}")
-
-    def generate_init_file(self):
-        try:
-            template_file_path = os.path.join(REPO_DIR, "User", "task", "init.c.template")
-            generated_file_path = os.path.join("User", "task", "init.c")
-    
-            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
-    
-            os.makedirs(os.path.dirname(generated_file_path), exist_ok=True)
-    
-            # 如果 init.c 已存在，提取 /* USER MESSAGE BEGIN */ 和 /* USER MESSAGE END */ 区域内容
-            existing_msgq_content = ""
-            if os.path.exists(generated_file_path):
-                with open(generated_file_path, "r", encoding="utf-8") as f:
-                    content = f.read()
-                    # 提取 /* USER MESSAGE BEGIN */ 和 /* USER MESSAGE END */ 区域内容
-                    match = re.search(r"/\* USER MESSAGE BEGIN \*/\s*(.*?)\s*/\* USER MESSAGE END \*/", content, re.DOTALL)
-                    if match:
-                        existing_msgq_content = match.group(1).strip()
-                        print("已存在的消息队列区域内容:")
-                        print(existing_msgq_content)
-    
-            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_{task_var.get()}, NULL, &attr_{task_var.get().lower()});"
-                for task_var, _ in self.task_vars  # 解包元组
-            ])
-    
-            # 替换模板中的占位符
-            init_content = template_content.replace("{{thread_creation_code}}", thread_creation_code)
-    
-            # 如果存在 /* USER MESSAGE BEGIN */ 区域内容，则保留
-            if existing_msgq_content:
-                init_content = re.sub(
-                    r"/\* USER MESSAGE BEGIN \*/\s*.*?\s*/\* USER MESSAGE END \*/",
-                    f"/* USER MESSAGE BEGIN */\n  {existing_msgq_content}\n  /* USER MESSAGE END */",
-                    init_content,
-                    flags=re.DOTALL
-                )
-    
-            with open(generated_file_path, "w", encoding="utf-8") as f:
-                f.write(init_content)
-    
-            print(f"已成功生成 {generated_file_path} 文件！")
-        except Exception as e:
-            print(f"生成 init.c 文件时出错: {e}")
-
-    # 修改 generate_action 方法
-    
-    def generate_action(self):
-        def task():
-            # 检查并创建目录（与 FreeRTOS 状态无关的模块始终创建）
-            self.create_directories()
-
-            # 复制 .gitignore 文件
-            if self.add_gitignore_var.get():
-                self.copy_file_from_repo(".gitignore", ".gitignore")
-
-            # 如果启用了 FreeRTOS，复制相关文件
-            if self.ioc_data and self.check_freertos_enabled(self.ioc_data):
-                self.copy_file_from_repo("src/freertos.c", os.path.join("Core", "Src", "freertos.c"))
-
-            # 定义需要处理的文件夹（与 FreeRTOS 状态无关）
-            folders = ["bsp", "component", "device", "module"]
-
-            # 遍历每个文件夹，复制选中的 .h 和 .c 文件
-            for folder in folders:
-                folder_dir = os.path.join(REPO_DIR, "User", folder)
-                if not os.path.exists(folder_dir):
-                    continue  # 如果文件夹不存在，跳过
-
-                for file_name in os.listdir(folder_dir):
-                    file_base, file_ext = os.path.splitext(file_name)
-                    if file_ext not in [".h", ".c"]:
-                        continue  # 只处理 .h 和 .c 文件
-
-                    # 强制复制与文件夹同名的文件
-                    if file_base == folder:
-                        src_path = os.path.join(folder_dir, file_name)
-                        dest_path = os.path.join("User", folder, file_name)
-                        self.copy_file_from_repo(src_path, dest_path)
-                        print(f"强制复制与文件夹同名的文件: {file_name}")
-                        continue  # 跳过后续检查，直接复制
-
-                    # 检查是否选中了对应的文件
-                    if file_base in self.header_file_vars and self.header_file_vars[file_base].get():
-                        src_path = os.path.join(folder_dir, file_name)
-                        dest_path = os.path.join("User", folder, file_name)
-                        self.copy_file_from_repo(src_path, dest_path)
-
-            # 如果启用了 FreeRTOS，执行任务相关的生成逻辑
-            if self.ioc_data and self.check_freertos_enabled(self.ioc_data):
-                # 修改 user_task.c 文件
-                self.modify_user_task_file()
-
-                # 生成 user_task.h 文件
-                self.generate_user_task_header()
-
-                # 生成 init.c 文件
-                self.generate_init_file()
-
-                # 生成 task.c 文件
-                self.generate_task_files()
-            
-            # # 自动配置环境
-            # if self.auto_configure_var.get():
-                
-            #     self.auto_configure_environment()
-
-
-        threading.Thread(target=task).start()
-
-    # 程序关闭时清理
-    def on_closing(self, root):
-        self.delete_repo()
-        root.destroy()
-
-
-# 程序入口
-if __name__ == "__main__":
-    app = MRobotApp()
-    app.initialize()

README.md

@@ -90,4 +90,49 @@
 pyinstaller --onefile --windowed 
 pyinstaller MR_Toolbox.py --onefile --noconsole --icon=img\M.ico --add-data "mr_tool_img\MRobot.png;mr_tool_img"
 
-pyinstaller MR_Tool.py --onefile --noconsole --icon=img\M.ico --add-data "mr_tool_img\MRobot.png;mr_tool_img" --add-data "src;src" --add-data "User;User"
+pyinstaller MR_Tool.py --onefile --noconsole --icon=img\M.ico --add-data "mr_tool_img\MRobot.png;mr_tool_img" --add-data "src;src" --add-data "User;User"
+
+pyinstaller --noconfirm --onefile --windowed ^
+  --add-data "User_code;User_code" ^
+  --add-data "img;img" ^
+  --icon "img\M.ico" ^
+  MRobot.py
+
+
+pyinstaller --noconfirm --onefile --windowed --add-data "img;img" --add-data "User_code;User_code" --add-data "mech_lib;mech_lib" --icon=img/MRobot.ico MRobot.py
+
+python3 -m PyInstaller --noconfirm --onefile --windowed \
+  --add-data "img:img" \
+  --add-data "User_code:User_code" \
+  --add-data "mech_lib:mech_lib" \
+  --icon=img/MRobot.ico \
+  MRobot.py
+
+  
+python3 -m PyInstaller --windowed --name MRobot \
+  --add-data "img:MRobot.app/Contents/Resources/img" \
+  --add-data "User_code:MRobot.app/Contents/Resources/User_code" \
+  --add-data "mech_lib:MRobot.app/Contents/Resources/mech_lib" \
+  MRobot.py
+
+
+
+pyinstaller --noconfirm --onefile --windowed --add-data "img;img" --add-data "User_code;User_code" --icon=img/M.ico MRobot.py
+
+
+pyinstaller MRobot.py
+
+pyinstaller --noconfirm --onefile --windowed --icon=img/M.ico --add-data "img;img" --add-data "User_code;User_code" --add-data "mech_lib;mech_lib" MRobot.py
+
+
+pyinstaller --onefile --windowed --icon=assets/logo/M.ico --add-data "assets/logo:assets/logo" --add-data "assets/User_code:assets/User_code" --add-data "assets/mech_lib:assets/mech_lib" --collect-all pandas MRobot.py
+
+pyinstaller --onefile --windowed --icon=assets/logo/M.ico --add-data "assets/logo:assets/logo" --add-data "assets/User_code:assets/User_code" --add-data "assets/mech_lib:assets/mech_lib" MRobot.py
+
+python3 -m pyinstaller MRobot.py --onefile --windowed --add-data "assets:assets" --add-data "app:app" --add-data "app/tools:app/tools"
+
+python -m pyinstaller MRobot.py --onefile --windowed --add-data "assets;assets" --add-data "app;app" --add-data "app/tools;app/tools"
+
+/Users/lvzucheng/Library/Python/3.9/bin/pyinstaller MRobot.py --onefile --windowed --add-data "assets:assets" --add-data "app:app" --add-data "app/tools:app/tools"
+
+pyinstaller MRobot.py --onefile --windowed --add-data "assets;assets" --add-data "app;app" --add-data "app/tools;app/tools"

User_code/bsp/delay.h

@@ -1,24 +0,0 @@
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ----------------------------------------------------------------- */
-#include <stdint.h>
-
-#include "bsp/bsp.h"
-
-/* Exported constants ------------------------------------------------------- */
-/* Exported macro ----------------------------------------------------------- */
-/* Exported types ----------------------------------------------------------- */
-/* Exported functions prototypes -------------------------------------------- */
-int8_t BSP_Delay(uint32_t ms);
-
-int8_t BSP_Delay_Init(void);
-int8_t BSP_Delay_us(uint32_t us);
-int8_t BSP_Delay_ms(uint32_t ms);
-
-#ifdef __cplusplus
-}
-#endif

User_code/task/user_task.h.template

@@ -1,59 +0,0 @@
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <cmsis_os2.h>
-#include "FreeRTOS.h"
-#include "task.h"
-
-// 定义任务运行时结构体
-typedef struct {
-    /* 各任务，也可以叫做线程 */
-    struct {
-{{thread_definitions}}
-    } thread;
-
-    /* USER MESSAGE BEGIN */
-
-    struct {
-        osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
-    } msgq;
-
-    /* USER MESSAGE END */
-
-    struct {
-{{freq_definitions}}
-    } freq; /* 任务运行频率 */
-
-    struct {
-{{last_up_time_definitions}}
-    } last_up_time; /* 任务最近运行时间 */
-} Task_Runtime_t;
-
-// 任务频率
-{{task_frequency_definitions}}
-// 任务初始化延时
-#define TASK_INIT_DELAY (100u)
-{{task_init_delay_definitions}}
-
-// 任务句柄
-typedef struct {
-{{task_handle_definitions}}
-} Task_Handles_t;
-
-// 任务运行时结构体
-extern Task_Runtime_t task_runtime;
-
-// 初始化任务句柄
-extern const osThreadAttr_t attr_init;
-{{task_attr_declarations}}
-
-// 任务函数声明
-void Task_Init(void *argument);
-{{task_function_declarations}}
-
-#ifdef __cplusplus
-}
-#endif

app/about_interface.py

@@ -0,0 +1,65 @@
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QMessageBox
+from PyQt5.QtCore import Qt, QUrl
+from PyQt5.QtGui import QDesktopServices
+
+from qfluentwidgets import PrimaryPushSettingCard, FluentIcon
+from qfluentwidgets import InfoBar, InfoBarPosition, SubtitleLabel
+
+from .function_fit_interface import FunctionFitInterface
+from app.tools.check_update import check_update
+
+__version__ = "1.0.3"
+
+class AboutInterface(QWidget):
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.setObjectName("aboutInterface")
+
+        layout = QVBoxLayout(self)
+        layout.setAlignment(Qt.AlignTop)
+        layout.setContentsMargins(20, 30, 20, 20)  # 添加边距
+
+        title = SubtitleLabel("MRobot 帮助页面", self)
+        title.setAlignment(Qt.AlignCenter)
+        layout.addWidget(title)
+        # 添加空间隔
+        layout.addSpacing(10)
+
+        card = PrimaryPushSettingCard(
+            text="检查更新",
+            icon=FluentIcon.DOWNLOAD,
+            title="更新",
+            content=f"MRobot_Toolbox 当前版本：{__version__}",
+        )
+        card.clicked.connect(self.on_check_update_clicked)
+        layout.addWidget(card)
+
+    def on_check_update_clicked(self):
+        try:
+            latest = check_update(__version__)
+            if latest:
+                # 直接用浏览器打开下载链接
+                QDesktopServices.openUrl(QUrl("https://github.com/goldenfishs/MRobot/releases/latest"))
+                InfoBar.success(
+                    title="发现新版本",
+                    content=f"检测到新版本：{latest}，已为你打开下载页面。",
+                    parent=self,
+                    position=InfoBarPosition.TOP,
+                    duration=5000
+                )
+            elif latest is None:
+                InfoBar.info(
+                    title="已是最新版本",
+                    content="当前已是最新版本，无需更新。",
+                    parent=self,
+                    position=InfoBarPosition.TOP,
+                    duration=3000
+                )
+        except Exception:
+            InfoBar.error(
+                title="检查更新失败",
+                content="无法获取最新版本，请检查网络连接。",
+                parent=self,
+                position=InfoBarPosition.TOP,
+                duration=4000
+            )

app/ai_interface.py

@@ -0,0 +1,182 @@
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel
+from PyQt5.QtCore import Qt, QThread, pyqtSignal
+
+from qfluentwidgets import TextEdit, LineEdit, PushButton, TitleLabel, SubtitleLabel, FluentIcon, InfoBar, InfoBarPosition
+import requests
+import json
+
+class AIWorker(QThread):
+    response_signal = pyqtSignal(str)
+    done_signal = pyqtSignal()
+    error_signal = pyqtSignal(str)  # 新增
+
+    def __init__(self, prompt, parent=None):
+        super().__init__(parent)
+        self.prompt = prompt
+
+    def run(self):
+        url = "http://154.37.215.220:11434/api/generate"
+        payload = {
+            "model": "qwen3:0.6b",
+            "prompt": self.prompt
+        }
+        try:
+            response = requests.post(url, json=payload, stream=True, timeout=60)
+            got_response = False
+            for line in response.iter_lines():
+                if line:
+                    got_response = True
+                    try:
+                        data = json.loads(line.decode('utf-8'))
+                        self.response_signal.emit(data.get("response", ""))
+                        if data.get("done", False):
+                            self.done_signal.emit()
+                            break
+                    except Exception:
+                        continue
+            if not got_response:
+                self.error_signal.emit("服务器繁忙，请稍后再试。")
+                self.done_signal.emit()
+        except requests.ConnectionError:
+            self.error_signal.emit("网络连接失败，请检查网络设置。")
+            self.done_signal.emit()
+        except Exception as e:
+            self.error_signal.emit(f"[错误]: {str(e)}")
+            self.done_signal.emit()
+
+
+class AIInterface(QWidget):
+    MAX_HISTORY = 20  # 新增最大对话条数
+
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.setObjectName("aiPage")
+        self.layout = QVBoxLayout(self)
+        self.layout.setContentsMargins(20, 20, 20, 20)
+        self.layout.setSpacing(10)
+
+        self.title = SubtitleLabel("MRobot AI小助手", self)
+        self.title.setAlignment(Qt.AlignCenter)
+        self.layout.addWidget(self.title)
+
+        self.chat_display = TextEdit(self)
+        self.chat_display.setReadOnly(True)
+
+        self.layout.addWidget(self.chat_display, stretch=1)
+
+        input_layout = QHBoxLayout()
+        self.input_box = LineEdit(self)
+        self.input_box.setPlaceholderText("请输入你的问题...")
+        input_layout.addWidget(self.input_box, stretch=1)
+
+        # self.send_btn = PushButton("发送", self)
+        self.send_btn = PushButton("发送", icon=FluentIcon.SEND, parent=self)
+
+        self.send_btn.setFixedWidth(80)
+        input_layout.addWidget(self.send_btn)
+
+        self.layout.addLayout(input_layout)
+
+        self.send_btn.clicked.connect(self.send_message)
+        self.input_box.returnPressed.connect(self.send_message)
+
+        self.worker = None
+        self.is_waiting = False
+        self.history = []
+        self.chat_display.setText(
+            "<b>MRobot:</b> 欢迎使用MRobot AI小助手!"
+        )
+
+    def send_message(self):
+        if self.is_waiting:
+            return
+        prompt = self.input_box.text().strip()
+        if not prompt:
+            return
+        if len(prompt) > 1000:
+            InfoBar.warning(
+                title='警告',
+                content="每条发送内容不能超过1000字，请精简后再发送。",
+                orient=Qt.Horizontal,
+                isClosable=True,
+                position=InfoBarPosition.BOTTOM,
+                duration=-1,
+                parent=self
+            )
+            return
+        if len(self.history) >= self.MAX_HISTORY:
+            InfoBar.warning(
+                title='警告',
+                content="对话条数已达上限，请清理历史或重新开始。",
+                orient=Qt.Horizontal,
+                isClosable=True,
+                position=InfoBarPosition.BOTTOM,
+                duration=-1,
+                parent=self
+            )
+            return
+        self.append_chat("你", prompt)
+        self.input_box.clear()
+        self.append_chat("MRobot", "", new_line=False)
+        self.is_waiting = True
+
+        # 只在首次对话时加入身份提示
+        if not self.history:
+            system_prompt = (
+                "你是MRobot，是QUT青岛理工大学机器人战队的AI机器人。"
+                "请以此身份与用户进行交流。"
+            )
+        else:
+            system_prompt = ""
+
+        self.history.append({"role": "user", "content": prompt})
+        context = system_prompt + "\n" if system_prompt else ""
+        for msg in self.history:
+            if msg["role"] == "user":
+                context += f"你: {msg['content']}\n"
+            else:
+                context += f"AI: {msg['content']}\n"
+
+        self.worker = AIWorker(context)
+        self.worker.response_signal.connect(self.stream_response)
+        self.worker.done_signal.connect(self.finish_response)
+        self.worker.error_signal.connect(self.show_error)  # 新增
+        self.worker.start()
+
+
+    def append_chat(self, sender, message, new_line=True):
+        if new_line:
+            self.chat_display.append(f"<b>{sender}:</b> {message}")
+        else:
+            self.chat_display.append(f"<b>{sender}:</b> ")
+        self.chat_display.moveCursor(self.chat_display.textCursor().End)
+        # 新增：保存AI回复到历史
+        if sender == "AI" and message:
+            self.history.append({"role": "ai", "content": message})
+
+    def stream_response(self, text):
+        cursor = self.chat_display.textCursor()
+        cursor.movePosition(cursor.End)
+        cursor.insertText(text)
+        self.chat_display.setTextCursor(cursor)
+        # 新增：流式保存AI回复
+        if self.history and self.history[-1]["role"] == "ai":
+            self.history[-1]["content"] += text
+        elif text:
+            self.history.append({"role": "ai", "content": text})
+
+    def finish_response(self):
+        self.chat_display.append("")  # 换行
+        self.is_waiting = False
+    
+    def show_error(self, msg):  # 新增
+        InfoBar.error(
+            title='失败',
+            content=msg,
+            orient=Qt.Vertical,
+            isClosable=True,
+            position=InfoBarPosition.TOP,
+            duration=-1,
+            parent=self
+        )
+        self.is_waiting = False

app/data_interface.py

@@ -0,0 +1,978 @@
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QStackedLayout, QFileDialog, QHeaderView
+from PyQt5.QtCore import Qt
+from PyQt5.QtWidgets import QTreeWidgetItem as TreeItem
+from qfluentwidgets import TitleLabel, BodyLabel, SubtitleLabel, StrongBodyLabel, HorizontalSeparator, PushButton, TreeWidget, InfoBar,FluentIcon, Dialog,SubtitleLabel,BodyLabel
+from PyQt5.QtWidgets import QDialog, QVBoxLayout, QHBoxLayout, QLabel, QLineEdit, QSpinBox, QPushButton, QTableWidget, QTableWidgetItem, QHeaderView, QCheckBox
+from qfluentwidgets import CardWidget, LineEdit, SpinBox, CheckBox, TextEdit, PrimaryPushButton, PushButton, InfoBar, DoubleSpinBox
+from qfluentwidgets import HeaderCardWidget
+from PyQt5.QtWidgets import QScrollArea, QWidget
+from qfluentwidgets import theme, Theme
+from PyQt5.QtWidgets import QDoubleSpinBox
+
+import os
+import requests
+import zipfile
+import io
+import re
+import shutil
+import yaml
+import textwrap
+from jinja2 import Template
+
+def preserve_all_user_regions(new_code, old_code):
+    """
+    自动保留所有 /* USER XXX BEGIN */ ... /* USER XXX END */ 区域内容。
+    new_code: 模板生成的新代码
+    old_code: 旧代码
+    返回：合并后的代码
+    """
+    import re
+    pattern = re.compile(
+        r"/\*\s*(USER [A-Z0-9_ ]+)\s*BEGIN\s*\*/(.*?)/\*\s*\1\s*END\s*\*/",
+        re.DOTALL
+    )
+    old_regions = {m.group(1): m.group(2) for m in pattern.finditer(old_code or "")}
+    def repl(m):
+        region = m.group(1)
+        old_content = old_regions.get(region)
+        if old_content is not None:
+            return m.group(0).replace(m.group(2), old_content)
+        return m.group(0)
+    return pattern.sub(repl, new_code)
+
+def save_with_preserve(path, new_code):
+    """
+    写入文件，自动保留所有用户自定义区域
+    """
+    if os.path.exists(path):
+        with open(path, "r", encoding="utf-8") as f:
+            old_code = f.read()
+        new_code = preserve_all_user_regions(new_code, old_code)
+    with open(path, "w", encoding="utf-8") as f:
+        f.write(new_code)
+
+class IocConfig:
+    def __init__(self, ioc_path):
+        self.ioc_path = ioc_path
+        self.config = {}
+        self._parse()
+
+    def _parse(self):
+        with open(self.ioc_path, encoding='utf-8') as f:
+            for line in f:
+                line = line.strip()
+                if not line or line.startswith('#'):
+                    continue
+                if '=' in line:
+                    key, value = line.split('=', 1)
+                    self.config[key.strip()] = value.strip()
+
+    def is_freertos_enabled(self):
+        ip_keys = [k for k in self.config if k.startswith('Mcu.IP')]
+        for k in ip_keys:
+            if self.config[k] == 'FREERTOS':
+                return True
+        for k in self.config:
+            if k.startswith('FREERTOS.'):
+                return True
+        return False
+
+class DataInterface(QWidget):
+    def __init__(self, parent=None):
+        super().__init__(parent=parent)
+        self.setObjectName("dataInterface")
+
+        # 属性初始化
+        self.project_path = ""
+        self.project_name = ""
+        self.ioc_file = ""
+        self.freertos_enabled = False  # 新增属性
+
+        # 主布局
+        self.stacked_layout = QStackedLayout(self)
+        self.setLayout(self.stacked_layout)
+
+        # --- 页面1：工程路径选择 ---
+        self.select_widget = QWidget()
+        outer_layout = QVBoxLayout(self.select_widget)
+        outer_layout.setContentsMargins(0, 0, 0, 0)
+        outer_layout.addStretch()
+
+        # 直接用布局和控件，无卡片
+        content_layout = QVBoxLayout()
+        content_layout.setSpacing(28)
+        content_layout.setContentsMargins(48, 48, 48, 48)
+
+        # 主标题
+        title = TitleLabel("MRobot 代码生成")
+        title.setAlignment(Qt.AlignCenter)
+        content_layout.addWidget(title)
+
+        # 副标题
+        subtitle = BodyLabel("请选择您的由CUBEMX生成的工程路径（.ico所在的目录），然后开启代码之旅！")
+        subtitle.setAlignment(Qt.AlignCenter)
+        content_layout.addWidget(subtitle)
+
+        # 简要说明
+        desc = BodyLabel("支持自动配置和生成任务，自主选择模块代码倒入，自动识别cubemx配置！")
+        desc.setAlignment(Qt.AlignCenter)
+        content_layout.addWidget(desc)
+
+        content_layout.addSpacing(18)
+
+        # 选择项目路径按钮
+        self.choose_btn = PushButton(FluentIcon.FOLDER, "选择项目路径")
+        self.choose_btn.setFixedWidth(200)
+        self.choose_btn.clicked.connect(self.choose_project_folder)
+        content_layout.addWidget(self.choose_btn, alignment=Qt.AlignmentFlag.AlignCenter)
+
+        # 更新代码库按钮
+        self.update_template_btn = PushButton(FluentIcon.SYNC, "更新代码库")
+        self.update_template_btn.setFixedWidth(200)
+        self.update_template_btn.clicked.connect(self.update_user_template)
+        content_layout.addWidget(self.update_template_btn, alignment=Qt.AlignmentFlag.AlignCenter)
+
+        content_layout.addSpacing(10)
+        content_layout.addStretch()
+
+        
+        outer_layout.addLayout(content_layout)
+        outer_layout.addStretch()
+
+        self.stacked_layout.addWidget(self.select_widget)
+
+
+        # --- 页面2：主配置页面 ---
+        self.config_widget = QWidget()
+        main_layout = QVBoxLayout(self.config_widget)
+        main_layout.setContentsMargins(32, 32, 32, 32)
+        main_layout.setSpacing(18)
+
+        # 顶部项目信息
+        info_layout = QHBoxLayout()
+        self.back_btn = PushButton(FluentIcon.SKIP_BACK, "返回")
+        self.back_btn.setFixedWidth(90)
+        self.back_btn.clicked.connect(self.back_to_select)
+        info_layout.addWidget(self.back_btn)  # 返回按钮放最左
+        self.project_name_label = StrongBodyLabel()
+        self.project_path_label = BodyLabel()
+        self.ioc_file_label = BodyLabel()
+        self.freertos_label = BodyLabel()
+        info_layout.addWidget(self.project_name_label)
+        info_layout.addWidget(self.project_path_label)
+        info_layout.addWidget(self.ioc_file_label)
+        info_layout.addWidget(self.freertos_label)
+        info_layout.addStretch()
+        main_layout.addLayout(info_layout)
+        main_layout.addWidget(HorizontalSeparator())
+
+        # ======= 新增：左右分栏 =======
+        content_hbox = QHBoxLayout()
+        content_hbox.setSpacing(24)
+
+        # 左侧：文件树
+        left_vbox = QVBoxLayout()
+        left_vbox.addWidget(SubtitleLabel("用户代码模块选择"))
+        left_vbox.addWidget(HorizontalSeparator())
+        self.file_tree = TreeWidget()
+        self.file_tree.setHeaderLabels(["模块名"])
+        self.file_tree.setSelectionMode(self.file_tree.ExtendedSelection)
+        self.file_tree.header().setSectionResizeMode(0, QHeaderView.Stretch)
+        self.file_tree.setCheckedColor("#0078d4", "#2d7d9a")
+        self.file_tree.setBorderRadius(8)
+        self.file_tree.setBorderVisible(True)
+        left_vbox.addWidget(self.file_tree, stretch=1)
+        content_hbox.addLayout(left_vbox, 2)
+
+        # 右侧：操作按钮和说明
+        right_vbox = QVBoxLayout()
+        right_vbox.setSpacing(18)
+        right_vbox.addWidget(SubtitleLabel("操作区"))
+        right_vbox.addWidget(HorizontalSeparator())
+
+        # 操作按钮分组
+        btn_group = QVBoxLayout()
+        # 自动环境配置按钮
+        self.env_btn = PushButton("自动环境配置")
+        self.env_btn.setFixedWidth(200)
+        self.env_btn.setToolTip("自动检测并配置常用开发环境（功能开发中）")
+        self.env_btn.clicked.connect(self.auto_env_config)
+        btn_group.addWidget(self.env_btn)
+        # FreeRTOS相关按钮
+        self.freertos_task_btn = PushButton("自动生成FreeRTOS任务")
+        self.freertos_task_btn.setFixedWidth(200)
+        self.freertos_task_btn.setToolTip("自动在 freertos.c 中插入任务创建代码")
+        self.freertos_task_btn.clicked.connect(self.on_freertos_task_btn_clicked)
+        btn_group.addWidget(self.freertos_task_btn)
+        self.task_code_btn = PushButton("配置并生成任务代码")
+        self.task_code_btn.setFixedWidth(200)
+        self.task_code_btn.setToolTip("配置任务参数并一键生成任务代码文件")
+        self.task_code_btn.clicked.connect(self.on_task_code_btn_clicked)
+        btn_group.addWidget(self.task_code_btn)
+        self.generate_btn = PushButton(FluentIcon.CODE, "生成代码")
+        self.generate_btn.setFixedWidth(200)
+        self.generate_btn.setToolTip("将选中的用户模块代码复制到工程 User 目录")
+        self.generate_btn.clicked.connect(self.generate_code)
+        btn_group.addWidget(self.generate_btn)
+        btn_group.addSpacing(10)
+        right_vbox.addLayout(btn_group)
+        right_vbox.addStretch()
+
+        content_hbox.addLayout(right_vbox, 1)
+        main_layout.addLayout(content_hbox, stretch=1)
+        self.stacked_layout.addWidget(self.config_widget)
+        self.file_tree.itemChanged.connect(self.on_tree_item_changed)
+
+    def auto_env_config(self):
+        InfoBar.info(
+            title="敬请期待",
+            content="自动环境配置功能暂未实现，等待后续更新。",
+            parent=self,
+            duration=2000
+        )
+
+    def choose_project_folder(self):
+        folder = QFileDialog.getExistingDirectory(self, "请选择代码项目文件夹")
+        if not folder:
+            return
+        ioc_files = [f for f in os.listdir(folder) if f.endswith('.ioc')]
+        if not ioc_files:
+            InfoBar.warning(
+                title="提示",
+                content="未找到.ioc文件，请确认项目文件夹。",
+                parent=self,
+                duration=2000
+            )
+            return
+        self.project_path = folder
+        self.project_name = os.path.basename(folder)
+        self.ioc_file = os.path.join(folder, ioc_files[0])
+        self.show_config_page()
+
+    def show_config_page(self):
+        # 更新项目信息
+        self.project_name_label.setText(f"项目名称: {self.project_name}")
+        self.project_path_label.setText(f"项目路径: {self.project_path}")
+        # self.ioc_file_label.setText(f"IOC 文件: {self.ioc_file}")
+        try:
+            ioc = IocConfig(self.ioc_file)
+            self.freertos_enabled = ioc.is_freertos_enabled()  # 记录状态
+            freertos_status = "已启用" if self.freertos_enabled else "未启用"
+            self.freertos_label.setText(f"FreeRTOS: {freertos_status}")
+            # self.freertos_task_btn.setEnabled(self.freertos_enabled)
+        except Exception as e:
+            self.freertos_label.setText(f"IOC解析失败: {e}")
+            self.freertos_task_btn.hide()
+            self.freertos_enabled = False
+        self.show_user_code_files()
+        self.stacked_layout.setCurrentWidget(self.config_widget)
+
+    def on_freertos_task_btn_clicked(self):
+        if not self.freertos_enabled:
+            InfoBar.warning(
+                title="未开启 FreeRTOS",
+                content="请先在 CubeMX 中开启 FreeRTOS！",
+                parent=self,
+                duration=2000
+            )
+            return
+        self.generate_freertos_task()
+
+    def on_task_code_btn_clicked(self):
+        if not self.freertos_enabled:
+            InfoBar.warning(
+                title="未开启 FreeRTOS",
+                content="请先在 CubeMX 中开启 FreeRTOS！",
+                parent=self,
+                duration=2000
+            )
+            return
+        self.open_task_config_dialog()
+
+    def back_to_select(self):
+        self.stacked_layout.setCurrentWidget(self.select_widget)
+
+    def update_user_template(self):
+        url = "http://gitea.qutrobot.top/robofish/MRobot/archive/User_code.zip"
+        local_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../assets/User_code")
+        try:
+            resp = requests.get(url, timeout=30)
+            resp.raise_for_status()
+            z = zipfile.ZipFile(io.BytesIO(resp.content))
+            if os.path.exists(local_dir):
+                shutil.rmtree(local_dir)
+            for member in z.namelist():
+                rel_path = os.path.relpath(member, z.namelist()[0])
+                if rel_path == ".":
+                    continue
+                target_path = os.path.join(local_dir, rel_path)
+                if member.endswith('/'):
+                    os.makedirs(target_path, exist_ok=True)
+                else:
+                    os.makedirs(os.path.dirname(target_path), exist_ok=True)
+                    with open(target_path, "wb") as f:
+                        f.write(z.read(member))
+            InfoBar.success(
+                title="更新成功",
+                content="用户模板已更新到最新版本！",
+                parent=self,
+                duration=2000
+            )
+        except Exception as e:
+            InfoBar.error(
+                title="更新失败",
+                content=f"用户模板更新失败: {e}",
+                parent=self,
+                duration=3000
+            )
+
+    def show_user_code_files(self):
+        self.file_tree.clear()
+        base_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../assets/User_code")
+        user_dir = os.path.join(self.project_path, "User")
+        sub_dirs = ["bsp", "component", "device", "module"]
+    
+        # 读取所有 describe.csv 和 dependencies.csv
+        describe_map = {}
+        dependencies_map = {}
+        for sub in sub_dirs:
+            dir_path = os.path.join(base_dir, sub)
+            if not os.path.isdir(dir_path):
+                continue
+            # describe
+            desc_path = os.path.join(dir_path, "describe.csv")
+            if os.path.exists(desc_path):
+                with open(desc_path, encoding="utf-8") as f:
+                    for line in f:
+                        if "," in line:
+                            k, v = line.strip().split(",", 1)
+                            describe_map[f"{sub}/{k.strip()}"] = v.strip()
+            # dependencies
+            dep_path = os.path.join(dir_path, "dependencies.csv")
+            if os.path.exists(dep_path):
+                with open(dep_path, encoding="utf-8") as f:
+                    for line in f:
+                        if "," in line:
+                            a, b = line.strip().split(",", 1)
+                            dependencies_map.setdefault(f"{sub}/{a.strip()}", []).append(b.strip())
+    
+        self._describe_map = describe_map
+        self._dependencies_map = dependencies_map
+    
+        self.file_tree.setHeaderLabels(["模块名", "描述"])
+        self.file_tree.setSelectionMode(self.file_tree.ExtendedSelection)
+        self.file_tree.header().setSectionResizeMode(0, QHeaderView.Interactive)
+        self.file_tree.header().setSectionResizeMode(1, QHeaderView.Interactive)
+        self.file_tree.setBorderRadius(8)
+        self.file_tree.setBorderVisible(True)
+    
+        for sub in sub_dirs:
+            dir_path = os.path.join(base_dir, sub)
+            if not os.path.isdir(dir_path):
+                continue
+            group_item = TreeItem([sub, ""])
+            self.file_tree.addTopLevelItem(group_item)
+            has_file = False
+            for root, _, files in os.walk(dir_path):
+                rel_root = os.path.relpath(root, base_dir)
+                for f in sorted(files):
+                    if f.endswith(".c"):
+                        mod_name = os.path.splitext(f)[0]
+                        rel_c = os.path.join(rel_root, f)
+                        key = f"{rel_root}/{mod_name}".replace("\\", "/")
+                        desc = describe_map.get(key, "")
+                        file_item = TreeItem([mod_name, desc])
+                        file_item.setFlags(file_item.flags() | Qt.ItemIsUserCheckable)
+                        file_item.setData(0, Qt.UserRole, rel_c)
+                        file_item.setData(0, Qt.UserRole + 1, key)  # 存模块key
+                        file_item.setToolTip(1, desc)
+                        file_item.setTextAlignment(1, Qt.AlignLeft | Qt.AlignVCenter)
+                        group_item.addChild(file_item)
+                        dst_c = os.path.join(user_dir, rel_c)
+                        if os.path.exists(dst_c):
+                            file_item.setCheckState(0, Qt.Unchecked)
+                            file_item.setText(0, f"{mod_name}（已存在）")
+                            file_item.setForeground(0, Qt.gray)
+                        else:
+                            file_item.setCheckState(0, Qt.Unchecked)
+                        group_item.addChild(file_item)
+                        has_file = True
+            if not has_file:
+                empty_item = TreeItem(["（无 .c 文件）", ""])
+                group_item.addChild(empty_item)
+        self.file_tree.expandAll()
+    
+    # 勾选依赖自动勾选
+    def on_tree_item_changed(self, item, column):
+        if column != 0:
+            return
+        if item.childCount() > 0:
+            return  # 只处理叶子
+        if item.checkState(0) == Qt.Checked:
+            key = item.data(0, Qt.UserRole + 1)
+            deps = self._dependencies_map.get(key, [])
+            if deps:
+                checked = []
+                root = self.file_tree.invisibleRootItem()
+                for i in range(root.childCount()):
+                    group = root.child(i)
+                    for j in range(group.childCount()):
+                        child = group.child(j)
+                        ckey = child.data(0, Qt.UserRole + 1)
+                        if ckey in deps and child.checkState(0) != Qt.Checked:
+                            child.setCheckState(0, Qt.Checked)
+                            checked.append(ckey)
+                if checked:
+                    descs = [self._describe_map.get(dep, dep) for dep in checked]
+                    InfoBar.info(
+                        title="依赖自动勾选",
+                        content="已自动勾选依赖模块: " + "，".join(descs),
+                        parent=self,
+                        duration=2000
+                    )
+    
+
+    def get_checked_files(self):
+        files = []
+        def _traverse(item):
+            for i in range(item.childCount()):
+                child = item.child(i)
+                if child.childCount() == 0 and child.checkState(0) == Qt.Checked:
+                    files.append(child.data(0, Qt.UserRole))
+                _traverse(child)
+        root = self.file_tree.invisibleRootItem()
+        for i in range(root.childCount()):
+            _traverse(root.child(i))
+        return files
+
+    def generate_code(self):
+        import shutil
+        base_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../assets/User_code")
+        user_dir = os.path.join(self.project_path, "User")
+        copied = []
+        files = self.get_checked_files()
+        skipped = []
+        for rel_c in files:
+            rel_h = rel_c[:-2] + ".h"
+            src_c = os.path.join(base_dir, rel_c)
+            src_h = os.path.join(base_dir, rel_h)
+            dst_c = os.path.join(user_dir, rel_c)
+            dst_h = os.path.join(user_dir, rel_h)
+            # 如果目标文件已存在则跳过
+            if os.path.exists(dst_c):
+                skipped.append(dst_c)
+            else:
+                os.makedirs(os.path.dirname(dst_c), exist_ok=True)
+                shutil.copy2(src_c, dst_c)
+                copied.append(dst_c)
+            if os.path.exists(src_h):
+                if os.path.exists(dst_h):
+                    skipped.append(dst_h)
+                else:
+                    os.makedirs(os.path.dirname(dst_h), exist_ok=True)
+                    shutil.copy2(src_h, dst_h)
+                    copied.append(dst_h)
+        msg = f"已拷贝 {len(copied)} 个文件到 User 目录"
+        if skipped:
+            msg += f"\n{len(skipped)} 个文件已存在，未覆盖"
+        InfoBar.success(
+            title="生成完成",
+            content=msg,
+            parent=self,
+            duration=2000
+        )
+        # 生成后刷新文件树，更新标记
+        self.show_user_code_files()
+
+    def generate_freertos_task(self):
+        import re
+        freertos_path = os.path.join(self.project_path, "Core", "Src", "freertos.c")
+        if not os.path.exists(freertos_path):
+            InfoBar.error(
+                title="未找到 freertos.c",
+                content="未找到 Core/Src/freertos.c 文件，请确认工程路径。",
+                parent=self,
+                duration=2500
+            )
+            return
+        with open(freertos_path, "r", encoding="utf-8") as f:
+            code = f.read()
+    
+        changed = False
+        error_msgs = []
+    
+        # 1. 添加 #include "task/user_task.h"
+        include_line = '#include "task/user_task.h"'
+        if include_line not in code:
+            # 只插入到 USER CODE BEGIN Includes 区域
+            include_pattern = r'(\/\* *USER CODE BEGIN Includes *\*\/\s*)'
+            if re.search(include_pattern, code):
+                code = re.sub(
+                    include_pattern,
+                    r'\1' + include_line + '\n',
+                    code
+                )
+                changed = True
+            else:
+                error_msgs.append("未找到 /* USER CODE BEGIN Includes */ 区域，无法插入 include。")
+    
+        # 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'
+        if match:
+            threads_code = match.group(2)
+            if 'Task_Init' not in threads_code:
+                # 保留原有内容，追加新行
+                new_threads_code = match.group(1) + threads_code + task_line + match.group(3)
+                code = code[:match.start()] + new_threads_code + code[match.end():]
+                changed = True
+        else:
+            error_msgs.append("未找到 /* USER CODE BEGIN RTOS_THREADS */ 区域，无法插入任务创建代码。")
+    
+        # 3. 清空 StartDefaultTask 的 USER CODE 区域，只保留 osThreadTerminate
+        sdt_pattern = r'(\/\* *USER CODE BEGIN StartDefaultTask *\*\/\s*)(.*?)(\/\* *USER CODE END StartDefaultTask *\*\/)'
+        match = re.search(sdt_pattern, code, re.DOTALL)
+        if match:
+            if 'osThreadTerminate(osThreadGetId());' not in match.group(2):
+                new_sdt_code = match.group(1) + '  osThreadTerminate(osThreadGetId());\n' + match.group(3)
+                code = code[:match.start()] + new_sdt_code + code[match.end():]
+                changed = True
+        else:
+            error_msgs.append("未找到 /* USER CODE BEGIN StartDefaultTask */ 区域，无法插入终止代码。")
+    
+        if changed:
+            with open(freertos_path, "w", encoding="utf-8") as f:
+                f.write(code)
+            InfoBar.success(
+                title="生成成功",
+                content="FreeRTOS任务代码已自动生成！",
+                parent=self,
+                duration=2000
+            )
+        elif error_msgs:
+            InfoBar.error(
+                title="生成失败",
+                content="\n".join(error_msgs),
+                parent=self,
+                duration=3000
+            )
+        else:
+            InfoBar.info(
+                title="无需修改",
+                content="FreeRTOS任务相关代码已存在，无需重复生成。",
+                parent=self,
+                duration=2000
+            )
+
+    def open_task_config_dialog(self):
+        config_path = os.path.join(self.project_path, "User", "task", "config.yaml")
+        dlg = TaskConfigDialog(self, config_path=config_path)
+        if dlg.exec() == QDialog.Accepted:
+            try:
+                tasks = dlg.get_tasks()
+            except Exception as e:
+                InfoBar.error(
+                    title="参数错误",
+                    content=str(e),
+                    parent=self,
+                    duration=3000
+                )
+                return
+            if not tasks:
+                InfoBar.warning(
+                    title="未配置任务",
+                    content="请至少添加一个任务！",
+                    parent=self,
+                    duration=2000
+                )
+                return
+            try:
+                self.generate_task_code(tasks)
+                InfoBar.success(
+                    title="生成成功",
+                    content="任务代码已生成到 User/task 目录！",
+                    parent=self,
+                    duration=2000
+                )
+            except Exception as e:
+                InfoBar.error(
+                    title="生成失败",
+                    content=f"任务代码生成失败: {e}",
+                    parent=self,
+                    duration=3000
+                )
+
+    
+    def generate_task_code(self, task_list):
+        base_dir = os.path.dirname(os.path.abspath(__file__))
+        template_dir = os.path.join(base_dir, "../assets/User_code/task")
+        output_dir = os.path.join(self.project_path, "User", "task")
+        os.makedirs(output_dir, exist_ok=True)
+    
+        user_task_h_tpl = os.path.join(template_dir, "user_task.h.template")
+        user_task_c_tpl = os.path.join(template_dir, "user_task.c.template")
+        init_c_tpl = os.path.join(template_dir, "init.c.template")
+        task_c_tpl = os.path.join(template_dir, "task.c.template")
+    
+        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)
+    
+        # ----------- 生成 user_task.h -----------
+        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]),
+            "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]),
+            "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]),
+        }
+        user_task_h_path = os.path.join(output_dir, "user_task.h")
+        new_user_task_h = render_template(user_task_h_tpl, context_h)
+        save_with_preserve(user_task_h_path, new_user_task_h)
+    
+        # ----------- 生成 user_task.c -----------
+        context_c = {
+            "task_attr_definitions": "\n".join([
+                f"const osThreadAttr_t attr_{t['name']} = {{\n"
+                f"    .name = \"{t['name']}\",\n"
+                f"    .priority = osPriorityNormal,\n"
+                f"    .stack_size = {t['stack']} * 4,\n"
+                f"}};"
+                for t in task_list
+            ])
+        }
+        user_task_c_path = os.path.join(output_dir, "user_task.c")
+        user_task_c = render_template(user_task_c_tpl, context_c)
+        save_with_preserve(user_task_c_path, user_task_c)
+    
+        # ----------- 生成 init.c -----------
+        thread_creation_code = "\n".join([
+            f"  task_runtime.thread.{t['name']} = osThreadNew({t['function']}, NULL, &attr_{t['name']});"
+            for t in task_list
+        ])
+        context_init = {
+            "thread_creation_code": thread_creation_code,
+        }
+        init_c_path = os.path.join(output_dir, "init.c")
+        init_c = render_template(init_c_tpl, context_init)
+        save_with_preserve(init_c_path, init_c)
+    
+        # ----------- 生成 task.c -----------
+        for t in task_list:
+            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_delay": f"{t['name'].upper()}_INIT_DELAY",
+                "task_description": desc_wrapped,
+                "freq_control": t.get("freq_control", True)
+            }
+            with open(task_c_tpl, encoding="utf-8") as f:
+                tpl = Template(f.read())
+            code = tpl.render(**context_task)
+            task_c_path = os.path.join(output_dir, f"{t['name']}.c")
+            save_with_preserve(task_c_path, code)
+    
+        # ----------- 保存任务配置到 config.yaml -----------
+        config_yaml_path = os.path.join(output_dir, "config.yaml")
+        with open(config_yaml_path, "w", encoding="utf-8") as f:
+            yaml.safe_dump(task_list, f, allow_unicode=True)
+
+
+class TaskConfigDialog(QDialog):
+    def __init__(self, parent=None, config_path=None):
+        super().__init__(parent)
+        self.setWindowTitle("任务配置")
+        self.resize(900, 520)
+
+        # 设置背景色跟随主题
+        if theme() == Theme.DARK:
+            self.setStyleSheet("background-color: #232323;")
+        else:
+            self.setStyleSheet("background-color: #f7f9fc;")
+
+        # 主布局
+        main_layout = QVBoxLayout(self)
+        main_layout.setContentsMargins(16, 16, 16, 16)
+        main_layout.setSpacing(12)
+
+        # 顶部横向分栏
+        self.top_layout = QHBoxLayout()
+        self.top_layout.setSpacing(16)
+
+        # ----------- 左侧任务按钮区 -----------
+        self.left_widget = QWidget()
+        self.left_layout = QVBoxLayout(self.left_widget)
+        self.left_layout.setContentsMargins(0, 0, 0, 0)
+        self.left_layout.setSpacing(8)
+        self.task_list_label = BodyLabel("任务列表")
+        # self.left_layout.addWidget(self.task_list_label)
+        # 添加任务列表居中
+        self.task_list_label.setAlignment(Qt.AlignCenter)
+        self.left_layout.addWidget(self.task_list_label, alignment=Qt.AlignCenter)
+
+        # 添加一个水平分割线
+        self.left_layout.addWidget(HorizontalSeparator())
+
+        # 任务按钮区
+        self.task_btn_area = QScrollArea()
+        self.task_btn_area.setWidgetResizable(True)
+        self.task_btn_area.setFrameShape(QScrollArea.NoFrame)
+        self.task_btn_container = QWidget()
+        self.task_btn_layout = QVBoxLayout(self.task_btn_container)
+        self.task_btn_layout.setContentsMargins(0, 0, 0, 0)
+        self.task_btn_layout.setSpacing(4)
+        self.task_btn_layout.addStretch()
+        self.task_btn_area.setWidget(self.task_btn_container)
+        self.left_layout.addWidget(self.task_btn_area, stretch=1)
+
+        self.left_widget.setFixedWidth(180)
+        self.top_layout.addWidget(self.left_widget, stretch=0)
+        # ----------- 左侧任务按钮区 END -----------
+
+        main_layout.addLayout(self.top_layout, stretch=1)
+
+        # 下方按钮区
+        btn_layout = QHBoxLayout()
+
+        # 左下角：添加/删除任务
+        self.add_btn = PrimaryPushButton("创建新任务")
+        self.add_btn.setAutoDefault(False)  # 禁止回车触发
+        self.add_btn.setDefault(False)
+        self.del_btn = PushButton("删除当前任务")
+        self.del_btn.setAutoDefault(False)  # 禁止回车触发
+        self.del_btn.setDefault(False)
+        self.add_btn.clicked.connect(self.add_task)
+        self.del_btn.clicked.connect(self.delete_current_task)
+        btn_layout.addWidget(self.add_btn)
+        btn_layout.addWidget(self.del_btn)
+        btn_layout.addStretch()  # 添加/删除靠左，stretch在中间
+
+        # 右下角：生成/取消
+        self.ok_btn = PrimaryPushButton("生成任务")
+        self.ok_btn.setAutoDefault(False)  # 允许回车触发
+        self.ok_btn.setDefault(False)  # 设置为默认按钮
+        self.cancel_btn = PushButton("取消")
+        self.cancel_btn.setAutoDefault(False)  # 禁止回车触发
+        self.cancel_btn.setDefault(False)
+        btn_layout.addWidget(self.ok_btn)
+        btn_layout.addWidget(self.cancel_btn)
+        main_layout.addLayout(btn_layout)
+
+        self.ok_btn.clicked.connect(self.accept)
+        self.cancel_btn.clicked.connect(self.reject)
+
+        self.tasks = []
+        self.current_index = -1
+
+        if config_path and os.path.exists(config_path):
+            try:
+                with open(config_path, "r", encoding="utf-8") as f:
+                    tasks = yaml.safe_load(f)
+                if tasks:
+                    for t in tasks:
+                        self.tasks.append(self._make_task_obj(t))
+            except Exception:
+                pass
+        # 允许没有任何任务
+        self.current_index = 0 if self.tasks else -1
+        self.refresh_task_btns()
+        if self.tasks:
+            self.show_task_form(self.tasks[self.current_index])
+        else:
+            self.show_task_form(None)
+
+    def refresh_task_btns(self):
+        # 清空旧按钮
+        while self.task_btn_layout.count():
+            item = self.task_btn_layout.takeAt(0)
+            w = item.widget()
+            if w:
+                w.deleteLater()
+        # 重新添加按钮
+        for idx, t in enumerate(self.tasks):
+            btn = PushButton(t["name"])
+            btn.setCheckable(True)
+            btn.setChecked(idx == self.current_index)
+            btn.clicked.connect(lambda checked, i=idx: self.select_task(i))
+            self.task_btn_layout.addWidget(btn)
+        self.task_btn_layout.addStretch()
+
+    def add_task(self):
+        self.save_form()
+        new_idx = len(self.tasks)
+        self.tasks.append(self._make_task_obj({"name": f"Task{new_idx+1}"}))
+        self.current_index = new_idx
+        self.refresh_task_btns()
+        self.show_task_form(self.tasks[self.current_index])
+
+    def delete_current_task(self):
+        if self.current_index < 0 or not self.tasks:
+            return
+        del self.tasks[self.current_index]
+        if not self.tasks:
+            self.current_index = -1
+            self.refresh_task_btns()
+            self.show_task_form(None)
+            return
+        if self.current_index >= len(self.tasks):
+            self.current_index = len(self.tasks) - 1
+        self.refresh_task_btns()
+        self.show_task_form(self.tasks[self.current_index])
+
+    def select_task(self, idx):
+        self.save_form()
+        self.current_index = idx
+        self.refresh_task_btns()
+        self.show_task_form(self.tasks[idx])
+
+    def show_task_form(self, task):
+        # 先移除旧的 form_widget
+        if hasattr(self, "form_widget") and self.form_widget is not None:
+            self.top_layout.removeWidget(self.form_widget)
+            self.form_widget.deleteLater()
+            self.form_widget = None
+
+        # 新建 form_widget 和 form_layout
+        self.form_widget = QWidget()
+        self.form_layout = QVBoxLayout(self.form_widget)
+        self.form_layout.setContentsMargins(0, 0, 0, 0)
+        self.form_layout.setSpacing(12)
+
+        # 添加到右侧
+        self.top_layout.addWidget(self.form_widget, stretch=1)
+
+        if not task:
+            label = TitleLabel("暂无任务，请点击下方“添加任务”。")
+            label.setAlignment(Qt.AlignCenter)
+            self.form_layout.addStretch()
+            self.form_layout.addWidget(label)
+            self.form_layout.addStretch()
+            return
+
+        # 任务名称
+        row1 = QHBoxLayout()
+        label_name = BodyLabel("任务名称")
+        self.name_edit = LineEdit()
+        self.name_edit.setText(task["name"])
+        self.name_edit.setPlaceholderText("任务名称")
+        # 新增：名称编辑完成后刷新按钮
+        self.name_edit.editingFinished.connect(self.on_name_edit_finished)
+        row1.addWidget(label_name)
+        row1.addWidget(self.name_edit)
+        self.form_layout.addLayout(row1)
+
+        # 频率
+        row2 = QHBoxLayout()
+        label_freq = BodyLabel("任务运行频率")
+        self.freq_spin = DoubleSpinBox()
+        self.freq_spin.setRange(0, 10000)
+        self.freq_spin.setDecimals(3)
+        self.freq_spin.setSingleStep(1)
+        self.freq_spin.setSuffix(" Hz")
+        self.freq_spin.setValue(float(task.get("frequency", 500)))
+        row2.addWidget(label_freq)
+        row2.addWidget(self.freq_spin)
+        self.form_layout.addLayout(row2)
+
+        # 延迟
+        row3 = QHBoxLayout()
+        label_delay = BodyLabel("初始化延时")
+        self.delay_spin = SpinBox()
+        self.delay_spin.setRange(0, 10000)
+        self.delay_spin.setSuffix(" ms")
+        self.delay_spin.setValue(task.get("delay", 0))
+        row3.addWidget(label_delay)
+        row3.addWidget(self.delay_spin)
+        self.form_layout.addLayout(row3)
+
+        # 堆栈
+        row4 = QHBoxLayout()
+        label_stack = BodyLabel("堆栈大小")
+        self.stack_spin = SpinBox()
+        self.stack_spin.setRange(128, 8192)
+        self.stack_spin.setSingleStep(128)
+        self.stack_spin.setSuffix(" Byte")  # 添加单位
+        self.stack_spin.setValue(task.get("stack", 256))
+        row4.addWidget(label_stack)
+        row4.addWidget(self.stack_spin)
+        self.form_layout.addLayout(row4)
+
+        # 频率控制
+        row5 = QHBoxLayout()
+        self.freq_ctrl = CheckBox("启用默认频率控制")
+        self.freq_ctrl.setChecked(task.get("freq_control", True))
+        row5.addWidget(self.freq_ctrl)
+        self.form_layout.addLayout(row5)
+
+        # 描述
+        label_desc = BodyLabel("任务描述")
+        self.desc_edit = TextEdit()
+        self.desc_edit.setText(task.get("description", ""))
+        self.desc_edit.setPlaceholderText("任务描述")
+        self.form_layout.addWidget(label_desc)
+        self.form_layout.addWidget(self.desc_edit)
+
+        self.form_layout.addStretch()
+
+    def on_name_edit_finished(self):
+        # 保存当前表单内容
+        self.save_form()
+        # 刷新左侧按钮名称
+        self.refresh_task_btns()
+
+    def _make_task_obj(self, task=None):
+        return {
+            "name": task["name"] if task else f"Task1",
+            "frequency": task.get("frequency", 500) if task else 500,
+            "delay": task.get("delay", 0) if task else 0,
+            "stack": task.get("stack", 256) if task else 256,
+            "description": task.get("description", "") if task else "",
+            "freq_control": task.get("freq_control", True) if task else True,
+        }
+
+    def save_form(self):
+        if self.current_index < 0 or self.current_index >= len(self.tasks):
+            return
+        t = self.tasks[self.current_index]
+        t["name"] = self.name_edit.text().strip()
+        t["frequency"] = float(self.freq_spin.value())  # 支持小数
+        t["delay"] = self.delay_spin.value()
+        t["stack"] = self.stack_spin.value()
+        t["description"] = self.desc_edit.toPlainText().strip()
+        t["freq_control"] = self.freq_ctrl.isChecked()
+
+
+    def get_tasks(self):
+        self.save_form()
+        tasks = []
+        for idx, t in enumerate(self.tasks):
+            name = t["name"].strip()
+            freq = t["frequency"]
+            delay = t["delay"]
+            stack = t["stack"]
+            desc = t["description"].strip()
+            freq_ctrl = t["freq_control"]
+            if stack < 128 or (stack & (stack - 1)) != 0 or stack % 128 != 0:
+                raise ValueError(f"第{idx+1}个任务“{name}”的堆栈大小必须为128、256、512、1024等（128*2^n）")
+            task = {
+                "name": name,
+                "function": f"Task_{name}",
+                "delay": delay,
+                "stack": stack,
+                "description": desc,
+                "freq_control": freq_ctrl
+            }
+            if freq_ctrl:
+                task["frequency"] = freq
+            tasks.append(task)
+        return tasks

app/function_fit_interface.py

@@ -0,0 +1,260 @@
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QPushButton, QFileDialog, QTableWidgetItem, QApplication
+from PyQt5.QtCore import Qt
+from qfluentwidgets import TitleLabel, BodyLabel, TableWidget, PushButton, SubtitleLabel, SpinBox, ComboBox, InfoBar,InfoBarPosition, FluentIcon
+from openpyxl import load_workbook, Workbook
+
+import numpy as np
+from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
+from matplotlib.figure import Figure
+from PyQt5.QtWebEngineWidgets import QWebEngineView
+import plotly.graph_objs as go
+import plotly.io as pio
+
+import matplotlib
+matplotlib.rcParams['font.sans-serif'] = ['Arial Unicode MS', 'Source Han Sans', 'STHeiti', 'Heiti TC']
+matplotlib.rcParams['axes.unicode_minus'] = False
+
+
+class FunctionFitInterface(QWidget):
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.setObjectName("functionFitInterface")
+
+        main_layout = QHBoxLayout(self)
+        main_layout.setSpacing(24)
+
+        # 左侧：数据输入区
+        left_layout = QVBoxLayout()
+        left_layout.setSpacing(16)
+
+        self.dataTable = TableWidget(self)
+        self.dataTable.setColumnCount(2)
+        self.dataTable.setHorizontalHeaderLabels(["x", "y"])
+        self.dataTable.setColumnWidth(0, 125)
+        self.dataTable.setColumnWidth(1, 125)
+        left_layout.addWidget(self.dataTable)
+
+        btn_layout = QHBoxLayout()
+        add_row_btn = PushButton("添加一行")
+        add_row_btn.clicked.connect(self.add_row)
+
+        del_row_btn = PushButton("删除选中行")  # 新增按钮
+        del_row_btn.clicked.connect(self.delete_selected_row)  # 绑定槽函数
+        btn_layout.addWidget(add_row_btn)
+
+        btn_layout.addWidget(del_row_btn)  # 添加到布局
+        left_layout.addLayout(btn_layout)
+
+
+
+        btn_layout = QHBoxLayout()
+        import_btn = PushButton("导入 Excel")
+        import_btn.clicked.connect(self.import_excel)
+        export_btn = PushButton("导出 Excel")
+        export_btn.clicked.connect(self.export_excel)
+        btn_layout.addWidget(import_btn)
+        btn_layout.addWidget(export_btn)
+        left_layout.addLayout(btn_layout)
+
+        self.dataTable.setMinimumWidth(280)
+        self.dataTable.setMaximumWidth(280)
+        main_layout.addLayout(left_layout, 1)
+
+        self.add_row()
+
+        # 右侧：图像展示区
+        right_layout = QVBoxLayout()
+        right_layout.setSpacing(12)
+        right_layout.addWidget(SubtitleLabel("函数图像预览"))
+
+        self.figure = Figure(figsize=(5, 4))
+        self.canvas = FigureCanvas(self.figure)
+        right_layout.addWidget(self.canvas, stretch=1)
+
+        self.resultLabel = BodyLabel("")
+        self.resultLabel.setWordWrap(True)  # 自动换行
+        right_layout.addWidget(self.resultLabel)
+
+
+        # 拟合阶数和输出语言选择（合并到同一行）
+        options_layout = QHBoxLayout()
+        self.spinBox = SpinBox()
+        self.spinBox.setRange(1, 10)
+        self.spinBox.setValue(2)
+        options_layout.addWidget(SubtitleLabel("拟合阶数"))
+        options_layout.addWidget(self.spinBox)
+
+        self.langBox = ComboBox()
+        self.langBox.addItems(["C/C++", "Python"])
+        options_layout.addWidget(SubtitleLabel("输出语言"))
+        options_layout.addWidget(self.langBox)
+
+
+        right_layout.addLayout(options_layout)
+
+
+        # 代码显示和复制按钮
+        self.codeLabel = BodyLabel("")
+        self.codeLabel.setWordWrap(True)  # 自动换行
+        right_layout.addWidget(self.codeLabel)
+
+        btn_layout = QHBoxLayout()  # 新增一行布局
+        fit_btn = PushButton(FluentIcon.UNIT,"拟合并绘图")
+        fit_btn.clicked.connect(self.fit_and_plot)
+        btn_layout.addWidget(fit_btn)
+        copy_btn = PushButton(FluentIcon.COPY, "复制代码")
+        copy_btn.clicked.connect(self.copy_code)
+        btn_layout.addWidget(copy_btn)
+        right_layout.addLayout(btn_layout)
+
+
+        main_layout.addLayout(right_layout, 2)
+
+        # 默认显示空图像
+        self.figure.clear()
+        ax = self.figure.add_subplot(111)
+        ax.set_xlabel('x')
+        ax.set_ylabel('y')
+        self.canvas.draw()
+
+    def add_row(self):
+        row = self.dataTable.rowCount()
+        self.dataTable.insertRow(row)
+        # 可选：初始化为空字符串
+        self.dataTable.setItem(row, 0, QTableWidgetItem(""))
+        self.dataTable.setItem(row, 1, QTableWidgetItem(""))
+
+    def delete_selected_row(self):
+        selected = self.dataTable.selectedItems()
+        if selected:
+            rows = set(item.row() for item in selected)
+            for row in sorted(rows, reverse=True):
+                self.dataTable.removeRow(row)
+
+    def import_excel(self):
+        path, _ = QFileDialog.getOpenFileName(self, "导入 Excel", "", "Excel Files (*.xlsx)")
+        if path:
+            wb = load_workbook(path)
+            ws = wb.active
+            self.dataTable.setRowCount(0)
+            for row_data in ws.iter_rows(min_row=2, values_only=True):  # 跳过表头
+                row = self.dataTable.rowCount()
+                self.dataTable.insertRow(row)
+                for col, value in enumerate(row_data[:2]):
+                    item = QTableWidgetItem(str(value) if value is not None else "")
+                    self.dataTable.setItem(row, col, item)
+
+
+    def export_excel(self):
+        path, _ = QFileDialog.getSaveFileName(self, "导出 Excel", "", "Excel Files (*.xlsx)")
+        if path:
+            data = self.parse_data()
+            if data is not None:
+                wb = Workbook()
+                ws = wb.active
+                ws.append(["x", "y"])
+                for row in data:
+                    ws.append(row)
+                wb.save(path)
+
+    def parse_data(self):
+        data = []
+        row_count = self.dataTable.rowCount()
+        for row in range(row_count):
+            try:
+                x_item = self.dataTable.item(row, 0)
+                y_item = self.dataTable.item(row, 1)
+                if x_item is None or y_item is None:
+                    continue
+                x = float(x_item.text())
+                y = float(y_item.text())
+                data.append([x, y])
+            except Exception:
+                continue
+        return data if data else None
+
+    def fit_and_plot(self):
+        data = self.parse_data()
+        if not data:
+            self.resultLabel.setText("数据格式错误或为空")
+            self.codeLabel.setText("")
+            return
+
+        x = np.array([d[0] for d in data])
+        y = np.array([d[1] for d in data])
+        degree = self.spinBox.value()
+        coeffs = np.polyfit(x, y, degree)
+
+        # 用更密集的横坐标画拟合曲线
+        x_fit = np.linspace(x.min(), x.max(), 100)
+        y_fit = np.polyval(coeffs, x_fit)
+
+        self.figure.clear()
+        ax = self.figure.add_subplot(111)
+        ax.scatter(x, y, color='blue', label='raw data')
+        ax.plot(x_fit, y_fit, color='red', label=f'Fitted curve')
+        ax.set_title('graph of a function')
+        ax.set_xlabel('x')
+        ax.set_ylabel('y')
+        ax.legend()
+        self.canvas.draw()
+
+        formula = self.poly_formula(coeffs)
+        self.resultLabel.setText(f"拟合公式: {formula}")
+
+        lang = self.langBox.currentText()
+        code = self.generate_code(coeffs, lang)
+        self.codeLabel.setText(code)
+
+    def poly_formula(self, coeffs):
+        terms = []
+        degree = len(coeffs) - 1
+        for i, c in enumerate(coeffs):
+            power = degree - i
+            if abs(c) < 1e-8:
+                continue
+            if power == 0:
+                terms.append(f"{c:.6g}")
+            elif power == 1:
+                terms.append(f"{c:.6g}*x")
+            else:
+                terms.append(f"{c:.6g}*x^{power}")
+        return " + ".join(terms)
+
+    def generate_code(self, coeffs, lang):
+        degree = len(coeffs) - 1
+        if lang == "C/C++":
+            code = "double poly(double x) {\n    return "
+        elif lang == "Python":
+            code = "def poly(x):\n    return "
+        else:
+            code = ""
+        terms = []
+        for i, c in enumerate(coeffs):
+            power = degree - i
+            if abs(c) < 1e-8:
+                continue
+            if power == 0:
+                terms.append(f"{c:.6g}")
+            elif power == 1:
+                terms.append(f"{c:.6g}*x")
+            else:
+                terms.append(f"{c:.6g}*pow(x,{power})" if lang == "C/C++" else f"{c:.6g}*x**{power}")
+        code += " + ".join(terms)
+        code += ";\n}" if lang == "C/C++" else ""
+        return code
+
+
+    def copy_code(self):
+        clipboard = QApplication.clipboard()
+        clipboard.setText(self.codeLabel.text())
+        # 弹出提示
+        InfoBar.success(
+            title='复制成功',
+            content="代码已复制到剪贴板！",
+            orient=Qt.Horizontal,
+            isClosable=True,
+            position=InfoBarPosition.TOP,
+            duration=2000,
+            parent=self
+        )

app/home_interface.py

@@ -0,0 +1,65 @@
+from PyQt5.QtWidgets import QWidget, QVBoxLayout
+from PyQt5.QtCore import Qt
+from qfluentwidgets import SubtitleLabel, BodyLabel, HorizontalSeparator, ImageLabel, FluentLabelBase, TitleLabel
+import sys
+import os
+
+def resource_path(relative_path):
+    """获取资源文件的绝对路径，兼容打包和开发环境"""
+    if hasattr(sys, '_MEIPASS'):
+        # PyInstaller 打包后的临时目录
+        return os.path.join(sys._MEIPASS, relative_path)
+    return os.path.join(os.path.abspath("."), relative_path)
+
+class HomeInterface(QWidget):
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.setObjectName("homeInterface")
+
+        # 外层居中布局
+        outer_layout = QVBoxLayout(self)
+        outer_layout.setContentsMargins(0, 0, 0, 0)
+        outer_layout.setSpacing(0)
+        outer_layout.addStretch()
+
+        # 内容布局
+        content_layout = QVBoxLayout()
+        content_layout.setSpacing(24)
+        content_layout.setContentsMargins(48, 48, 48, 48)
+
+        # Logo
+        logo = ImageLabel(resource_path('assets/logo/MRobot.png'))
+        logo.scaledToHeight(80)
+        content_layout.addWidget(logo, alignment=Qt.AlignHCenter) # 居中对齐
+
+        content_layout.addSpacing(8)
+        content_layout.addStretch()
+
+        # 主标题
+        title = TitleLabel("MRobot Toolbox")
+        title.setAlignment(Qt.AlignCenter)
+        content_layout.addWidget(title)
+
+        # 副标题
+        subtitle = BodyLabel("现代化，多功能机器人开发工具箱")
+        subtitle.setAlignment(Qt.AlignCenter)
+        content_layout.addWidget(subtitle)
+
+        # 欢迎语
+        welcome = BodyLabel("欢迎使用 MRobot Toolbox！一站式支持代码生成、硬件管理、串口调试与零件库下载。")
+        welcome.setAlignment(Qt.AlignCenter)
+        content_layout.addWidget(welcome)
+
+        content_layout.addSpacing(16)
+        content_layout.addStretch()
+
+        # 加到主布局
+        outer_layout.addLayout(content_layout)
+        outer_layout.addStretch()
+
+        # 版权信息置底
+        copyright_label = BodyLabel("© 2025 MRobot | Powered by QUT RM&RCer")
+        copyright_label.setAlignment(Qt.AlignCenter)
+        copyright_label.setStyleSheet("font-size: 13px;")
+        outer_layout.addWidget(copyright_label)
+        outer_layout.addSpacing(18)

app/main_window.py

@@ -0,0 +1,112 @@
+from PyQt5.QtCore import Qt, QSize
+from PyQt5.QtGui import QIcon
+from PyQt5.QtWidgets import QApplication
+
+from contextlib import redirect_stdout
+with redirect_stdout(None):
+    from qfluentwidgets import NavigationItemPosition, FluentWindow, SplashScreen, setThemeColor, NavigationBarPushButton, toggleTheme, setTheme, Theme, NavigationAvatarWidget, NavigationToolButton ,NavigationPushButton
+    from qfluentwidgets import FluentIcon as FIF
+    from qfluentwidgets import InfoBar, InfoBarPosition
+
+from .home_interface import HomeInterface
+from .serial_terminal_interface import SerialTerminalInterface
+from .part_library_interface import PartLibraryInterface
+from .data_interface import DataInterface
+from .mini_tool_interface import MiniToolInterface
+from .about_interface import AboutInterface
+import base64
+
+
+class MainWindow(FluentWindow):
+    def __init__(self):
+        super().__init__()
+        self.initWindow()
+        self.initInterface()
+        self.initNavigation()
+
+        # 检查更新
+        # checkUpdate(self, flag=True)
+        # checkAnnouncement(self) # 检查公告
+
+    def initWindow(self):
+        self.setMicaEffectEnabled(False)
+        setThemeColor('#f18cb9', lazy=True)
+        setTheme(Theme.AUTO, lazy=True)
+
+        self.resize(960, 640)
+        self.setWindowIcon(QIcon('./assets/logo/M2.ico'))
+        self.setWindowTitle("MRobot Toolbox")
+
+
+        desktop = QApplication.desktop().availableGeometry() # 获取可用屏幕大小
+        w, h = desktop.width(), desktop.height()
+        self.move(w // 2 - self.width() // 2, h // 2 - self.height() // 2)
+
+        self.show()
+        QApplication.processEvents()
+
+    def initInterface(self):
+        self.homeInterface = HomeInterface(self)
+        self.serialTerminalInterface = SerialTerminalInterface(self)
+        self.partLibraryInterface = PartLibraryInterface(self)
+        self.dataInterface = DataInterface(self)
+        self.miniToolInterface = MiniToolInterface(self)
+
+
+    def initNavigation(self):
+        self.addSubInterface(self.homeInterface, FIF.HOME, self.tr('主页'))
+        self.addSubInterface(self.dataInterface, FIF.CODE, self.tr('代码生成'))
+        self.addSubInterface(self.serialTerminalInterface, FIF.COMMAND_PROMPT,self.tr('串口助手'))
+        self.addSubInterface(self.partLibraryInterface, FIF.DOWNLOAD, self.tr('零件库'))
+        self.addSubInterface(self.miniToolInterface, FIF.LIBRARY, self.tr('迷你工具箱'))
+        self.addSubInterface(AboutInterface(self), FIF.INFO, self.tr('关于'), position=NavigationItemPosition.BOTTOM)
+
+
+        # self.navigationInterface.addWidget(
+        #     'startGameButton',
+        #     NavigationBarPushButton(FIF.PLAY, '启动游戏', isSelectable=False),
+        #     self.startGame,
+        #     NavigationItemPosition.BOTTOM)
+
+        # self.navigationInterface.addWidget(
+        #     'themeButton',
+        #     NavigationBarPushButton(FIF.BRUSH, '主题', isSelectable=False),
+        #     lambda: toggleTheme(lazy=True),
+        #     NavigationItemPosition.BOTTOM)
+
+        self.themeBtn = NavigationPushButton(FIF.BRUSH, "切换主题", False, self.navigationInterface)
+        self.themeBtn.clicked.connect(lambda: toggleTheme(lazy=True))
+        self.navigationInterface.addWidget(
+            'themeButton',
+            self.themeBtn,
+            None,
+            NavigationItemPosition.BOTTOM
+        )
+
+        # self.navigationInterface.addWidget(
+        #     'avatar',
+        #     NavigationBarPushButton(FIF.HEART, '赞赏', isSelectable=False),
+        #     lambda: MessageBoxSupport(
+        #         '支持作者🥰',
+        #         '此程序为免费开源项目，如果你付了钱请立刻退款\n如果喜欢本项目，可以微信赞赏送作者一杯咖啡☕\n您的支持就是作者开发和维护项目的动力🚀',
+        #         './assets/app/images/sponsor.jpg',
+        #         self
+        #     ).exec(),
+        #     NavigationItemPosition.BOTTOM
+        # )
+
+        # self.addSubInterface(self.settingInterface, FIF.SETTING, self.tr('设置'), position=NavigationItemPosition.BOTTOM)
+
+        # self.splashScreen.finish() # 结束启动画面
+        # self.themeListener = checkThemeChange(self)
+
+        # if not cfg.get_value(base64.b64decode("YXV0b191cGRhdGU=").decode("utf-8")):
+        #     disclaimer(self)
+
+
+    # main_window.py 只需修改关闭事件
+    def closeEvent(self, e):
+        # if self.themeListener and self.themeListener.isRunning():
+        #     self.themeListener.terminate()
+        #     self.themeListener.deleteLater()
+        super().closeEvent(e)

app/mini_tool_interface.py

@@ -0,0 +1,104 @@
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QStackedWidget, QSizePolicy
+from PyQt5.QtCore import Qt
+from qfluentwidgets import PushSettingCard, FluentIcon, TabBar
+
+from .function_fit_interface import FunctionFitInterface
+from .ai_interface import AIInterface
+
+class MiniToolInterface(QWidget):
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.setObjectName("minitoolInterface")
+        self.vBoxLayout = QVBoxLayout(self)
+        self.vBoxLayout.setAlignment(Qt.AlignTop)
+        self.vBoxLayout.setContentsMargins(10, 0, 10, 10) # 设置外边距
+
+        # 顶部标签栏，横向拉伸
+        self.tabBar = TabBar(self)
+        self.tabBar.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)
+        self.vBoxLayout.addWidget(self.tabBar)  # 移除 Qt.AlignLeft
+
+        self.stackedWidget = QStackedWidget(self)
+        self.vBoxLayout.addWidget(self.stackedWidget)  # 加入布局
+
+
+        # 初始主页面
+        self.mainPage = QWidget(self)
+        mainLayout = QVBoxLayout(self.mainPage)
+        mainLayout.setAlignment(Qt.AlignTop)  # 卡片靠顶部
+        self.card = PushSettingCard(
+            text="▶ 启动",
+            icon=FluentIcon.UNIT,
+            title="曲线拟合工具",
+            content="简单的曲线拟合工具，支持多种函数类型",
+        )
+        mainLayout.addWidget(self.card)
+
+        self.mainPage.setLayout(mainLayout)
+        self.aiCard = PushSettingCard(
+            text="▶ 启动",
+            icon=FluentIcon.ROBOT,
+            title="MRobot AI助手",
+            content="与 MRobot 进行图一乐交流, 使用开源模型qwen3:0.6b。",
+        )
+        mainLayout.addWidget(self.aiCard)
+        self.aiCard.clicked.connect(self.open_ai_tab)
+        # 添加主页面到堆叠窗口
+        self.addSubInterface(self.mainPage, "mainPage", "工具箱主页")
+
+        self.setLayout(self.vBoxLayout)
+
+        # 信号连接
+        self.stackedWidget.currentChanged.connect(self.onCurrentIndexChanged)
+        # self.tabBar.tabAddRequested.connect(self.onAddNewTab)
+        self.tabBar.tabCloseRequested.connect(self.onCloseTab)
+        self.card.clicked.connect(self.open_fit_tab)
+
+    def addSubInterface(self, widget: QWidget, objectName: str, text: str):
+        widget.setObjectName(objectName)
+        self.stackedWidget.addWidget(widget)
+        self.tabBar.addTab(
+            routeKey=objectName,
+            text=text,
+            onClick=lambda: self.stackedWidget.setCurrentWidget(widget)
+        )
+
+    def onCurrentIndexChanged(self, index):
+        widget = self.stackedWidget.widget(index)
+        self.tabBar.setCurrentTab(widget.objectName())
+
+    def onAddNewTab(self):
+        pass  # 可自定义添加新标签页逻辑
+
+    def onCloseTab(self, index: int):
+        item = self.tabBar.tabItem(index)
+        widget = self.findChild(QWidget, item.routeKey())
+        self.stackedWidget.removeWidget(widget)
+        self.tabBar.removeTab(index)
+        widget.deleteLater()
+
+    def open_fit_tab(self):
+        # 检查是否已存在标签页，避免重复添加
+        for i in range(self.stackedWidget.count()):
+            widget = self.stackedWidget.widget(i)
+            if widget.objectName() == "fitPage":
+                self.stackedWidget.setCurrentWidget(widget)
+                self.tabBar.setCurrentTab("fitPage")
+                return
+        fit_page = FunctionFitInterface(self)
+        self.addSubInterface(fit_page, "fitPage", "曲线拟合")
+        self.stackedWidget.setCurrentWidget(fit_page)
+        self.tabBar.setCurrentTab("fitPage")
+
+    def open_ai_tab(self):
+        # 检查是否已存在标签页，避免重复添加
+        for i in range(self.stackedWidget.count()):
+            widget = self.stackedWidget.widget(i)
+            if widget.objectName() == "aiPage":
+                self.stackedWidget.setCurrentWidget(widget)
+                self.tabBar.setCurrentTab("aiPage")
+                return
+        ai_page = AIInterface(self)
+        self.addSubInterface(ai_page, "aiPage", "AI问答")
+        self.stackedWidget.setCurrentWidget(ai_page)
+        self.tabBar.setCurrentTab("aiPage")

app/part_library_interface.py

@@ -0,0 +1,205 @@
+from PyQt5.QtCore import Qt
+from PyQt5.QtWidgets import QVBoxLayout, QHBoxLayout, QWidget
+from qfluentwidgets import SubtitleLabel, BodyLabel, HorizontalSeparator, PushButton, TreeWidget, ProgressBar, Dialog, InfoBar, InfoBarPosition, FluentIcon, ProgressRing, Dialog
+import requests
+import shutil
+import os
+from .tools.part_download import DownloadThread  # 新增导入
+
+from urllib.parse import quote
+class PartLibraryInterface(QWidget):
+    SERVER_URL = "http://154.37.215.220:5000"
+    SECRET_KEY = "MRobot_Download"
+    LOCAL_LIB_DIR = "assets/mech_lib"
+
+    def __init__(self, parent=None):
+        super().__init__(parent=parent)
+        self.setObjectName("partLibraryInterface")
+        layout = QVBoxLayout(self)
+        layout.setContentsMargins(20, 20, 20, 20)  # 添加边距
+        layout.setSpacing(16)
+
+        layout.addWidget(SubtitleLabel("零件库（在线bate版）"))
+        layout.addWidget(HorizontalSeparator())
+        layout.addWidget(BodyLabel("感谢重庆邮电大学整理的零件库，选择需要的文件下载到本地。（如无法使用或者下载失败，请尝试重新下载或检查网络连接）"))
+
+        btn_layout = QHBoxLayout()
+        refresh_btn = PushButton(FluentIcon.SYNC, "刷新列表")
+        refresh_btn.clicked.connect(self.refresh_list)
+        btn_layout.addWidget(refresh_btn)
+
+        open_local_btn = PushButton(FluentIcon.FOLDER, "打开本地零件库")
+        open_local_btn.clicked.connect(self.open_local_lib)
+        btn_layout.addWidget(open_local_btn)
+        btn_layout.addStretch()
+        layout.addLayout(btn_layout)
+
+        self.tree = TreeWidget(self)
+        self.tree.setHeaderLabels(["名称", "类型"])
+        self.tree.setSelectionMode(self.tree.ExtendedSelection)
+        self.tree.header().setSectionResizeMode(0, self.tree.header().Stretch)
+        self.tree.header().setSectionResizeMode(1, self.tree.header().ResizeToContents)
+        self.tree.setCheckedColor("#0078d4", "#2d7d9a")
+        self.tree.setBorderRadius(8)
+        self.tree.setBorderVisible(True)
+        layout.addWidget(self.tree, stretch=1)
+
+        download_btn = PushButton(FluentIcon.DOWNLOAD, "下载选中文件")
+        download_btn.clicked.connect(self.download_selected_files)
+        layout.addWidget(download_btn)
+
+        self.refresh_list(first=True)
+
+    def refresh_list(self, first=False):
+        self.tree.clear()
+        try:
+            resp = requests.get(
+                f"{self.SERVER_URL}/list",
+                params={"key": self.SECRET_KEY},
+                timeout=5
+            )
+            resp.raise_for_status()
+            tree = resp.json()
+            self.populate_tree(self.tree, tree, "")
+            if not first:
+                InfoBar.success(
+                    title="刷新成功",
+                    content="零件库已经是最新的！",
+                    parent=self,
+                    position=InfoBarPosition.TOP,
+                    duration=2000
+                )
+        except Exception as e:
+            InfoBar.error(
+                title="刷新失败",
+                content=f"获取零件库失败: {e}",
+                parent=self,
+                position=InfoBarPosition.TOP,
+                duration=3000
+            )
+
+    def populate_tree(self, parent, node, path_prefix):
+        from PyQt5.QtWidgets import QTreeWidgetItem
+        for dname, dnode in node.get("dirs", {}).items():
+            item = QTreeWidgetItem([dname, "文件夹"])
+            if isinstance(parent, TreeWidget):
+                parent.addTopLevelItem(item)
+            else:
+                parent.addChild(item)
+            self.populate_tree(item, dnode, os.path.join(path_prefix, dname))
+        for fname in node.get("files", []):
+            item = QTreeWidgetItem([fname, "文件"])
+            item.setFlags(item.flags() | Qt.ItemIsUserCheckable)
+            item.setCheckState(0, Qt.Unchecked)
+            item.setData(0, Qt.UserRole, os.path.join(path_prefix, fname))
+            if isinstance(parent, TreeWidget):
+                parent.addTopLevelItem(item)
+            else:
+                parent.addChild(item)
+
+    def get_checked_files(self):
+        files = []
+        def _traverse(item):
+            for i in range(item.childCount()):
+                child = item.child(i)
+                if child.text(1) == "文件" and child.checkState(0) == Qt.Checked:
+                    files.append(child.data(0, Qt.UserRole))
+                _traverse(child)
+        root = self.tree.invisibleRootItem()
+        for i in range(root.childCount()):
+            _traverse(root.child(i))
+        return files
+
+    def download_selected_files(self):
+        files = self.get_checked_files()
+        if not files:
+            dialog = Dialog(
+                title="温馨提示",
+                content="请先勾选需要下载的文件。",
+                parent=self
+            )
+            dialog.yesButton.setText("知道啦")
+            dialog.cancelButton.hide()
+            dialog.exec()
+            return
+
+        # 创建进度环
+        self.progress_ring = ProgressRing()
+        self.progress_ring.setRange(0, 100)
+        self.progress_ring.setValue(0)
+        self.progress_ring.setTextVisible(True)
+        self.progress_ring.setFixedSize(32, 32)
+        self.progress_ring.setStrokeWidth(4)
+
+        # 展示消息条（关闭按钮即中断下载）
+        self.info_bar = InfoBar(
+            icon=FluentIcon.DOWNLOAD,
+            title="正在下载",
+            content="正在下载选中文件...",
+            parent=self,
+            position=InfoBarPosition.TOP,
+            duration=-1  # 不自动消失
+        )
+        self.info_bar.addWidget(self.progress_ring)
+        self.info_bar.closeButton.clicked.connect(self.stop_download)  # 关闭即中断下载
+        self.info_bar.show()
+
+        # 启动下载线程
+        self.download_thread = DownloadThread(
+            files, self.SERVER_URL, self.SECRET_KEY, self.LOCAL_LIB_DIR
+        )
+        self.download_thread.progressChanged.connect(self.progress_ring.setValue)
+        self.download_thread.finished.connect(self.on_download_finished)
+        self.download_thread.finished.connect(self.download_thread.deleteLater)
+        self.download_thread.start()
+
+    def stop_download(self):
+        if hasattr(self, "download_thread") and self.download_thread.isRunning():
+            self.download_thread.terminate()
+            self.download_thread.wait()
+            self.info_bar.close()
+            InfoBar.warning(
+                title="下载已中断",
+                content="已手动中断下载任务。",
+                parent=self,
+                position=InfoBarPosition.TOP,
+                duration=2000
+            )
+
+    def on_download_finished(self, success, fail):
+        self.info_bar.close()
+        msg = f"成功下载：{len(success)} 个文件，失败：{len(fail)} 个文件"
+
+        # 创建“打开文件夹”按钮
+        open_btn = PushButton("打开文件夹")
+        def open_folder():
+            folder = os.path.abspath(self.LOCAL_LIB_DIR)
+            import platform, subprocess
+            if platform.system() == "Darwin":
+                subprocess.call(["open", folder])
+            elif platform.system() == "Windows":
+                subprocess.call(["explorer", folder])
+            else:
+                subprocess.call(["xdg-open", folder])
+
+        # 展示成功消息条，自动消失
+        self.result_bar = InfoBar.success(
+            title="下载完成",
+            content=msg,
+            parent=self,
+            position=InfoBarPosition.TOP,
+            duration=4000  # 4秒后自动消失
+        )
+        self.result_bar.addWidget(open_btn)
+        open_btn.clicked.connect(open_folder)
+        self.result_bar.show()
+
+    def open_local_lib(self):
+        folder = os.path.abspath(self.LOCAL_LIB_DIR)
+        import platform, subprocess
+        if platform.system() == "Darwin":
+            subprocess.call(["open", folder])
+        elif platform.system() == "Windows":
+            subprocess.call(["explorer", folder])
+        else:
+            subprocess.call(["xdg-open", folder])

app/serial_terminal_interface.py

@@ -0,0 +1,167 @@
+import serial
+import serial.tools.list_ports
+from PyQt5.QtCore import Qt, QThread, pyqtSignal
+from PyQt5.QtGui import QTextCursor
+from PyQt5.QtWidgets import QVBoxLayout, QHBoxLayout, QSizePolicy
+from PyQt5.QtWidgets import QWidget
+from qfluentwidgets import (
+    FluentIcon, PushButton, ComboBox, TextEdit, LineEdit, CheckBox,
+    SubtitleLabel, BodyLabel, HorizontalSeparator
+)
+
+class SerialReadThread(QThread):
+    data_received = pyqtSignal(str)
+
+    def __init__(self, ser):
+        super().__init__()
+        self.ser = ser
+        self._running = True
+
+    def run(self):
+        while self._running: 
+            if self.ser and self.ser.is_open and self.ser.in_waiting:
+                try:
+                    data = self.ser.readline().decode(errors='ignore')
+                    self.data_received.emit(data)
+                except Exception:
+                    pass
+
+    def stop(self):
+        self._running = False
+        self.wait()
+
+class SerialTerminalInterface(QWidget):
+    def __init__(self, parent=None):
+        super().__init__(parent=parent)
+        self.setObjectName("serialTerminalInterface")
+        main_layout = QVBoxLayout(self)
+        main_layout.setSpacing(12)
+
+        # 顶部：串口设置区
+        top_hbox = QHBoxLayout()
+        top_hbox.addWidget(BodyLabel("串口:"))
+        self.port_combo = ComboBox()
+        self.refresh_ports()
+        top_hbox.addWidget(self.port_combo)
+        top_hbox.addWidget(BodyLabel("波特率:"))
+        self.baud_combo = ComboBox()
+        self.baud_combo.addItems(['9600', '115200', '57600', '38400', '19200', '4800'])
+        top_hbox.addWidget(self.baud_combo)
+        self.connect_btn = PushButton("连接")
+        self.connect_btn.clicked.connect(self.toggle_connection)
+        top_hbox.addWidget(self.connect_btn)
+        self.refresh_btn = PushButton(FluentIcon.SYNC, "刷新")
+        self.refresh_btn.clicked.connect(self.refresh_ports)
+        top_hbox.addWidget(self.refresh_btn)
+        top_hbox.addStretch()
+        main_layout.addLayout(top_hbox)
+
+        main_layout.addWidget(HorizontalSeparator())
+
+        # 中部：左侧预设命令，右侧显示区
+        center_hbox = QHBoxLayout()
+        # 左侧：预设命令竖排
+        preset_vbox = QVBoxLayout()
+        preset_vbox.addWidget(SubtitleLabel("快捷指令"))
+        preset_vbox.setAlignment(Qt.AlignmentFlag.AlignCenter)
+        self.preset_commands = [
+            ("线程监视器", "htop"),
+            ("陀螺仪校准", "cali_gyro"),
+            ("性能监视", "htop"),
+            ("重启", "reset"),
+            ("显示所有设备", "ls /dev"),
+            ("查询id", "id"),
+        ]
+        for label, cmd in self.preset_commands:
+            btn = PushButton(label)
+            btn.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Preferred)
+            btn.clicked.connect(lambda _, c=cmd: self.send_preset_command(c))
+            preset_vbox.addWidget(btn)
+        preset_vbox.addStretch()
+        main_layout.addLayout(center_hbox, stretch=1)
+
+        # 右侧：串口数据显示区
+        self.text_edit = TextEdit()
+        self.text_edit.setReadOnly(True)
+        self.text_edit.setMinimumWidth(400)
+        center_hbox.addWidget(self.text_edit, 3)
+        center_hbox.addLayout(preset_vbox, 1)
+
+        main_layout.addWidget(HorizontalSeparator())
+
+        # 底部：输入区
+        bottom_hbox = QHBoxLayout()
+        self.input_line = LineEdit()
+        self.input_line.setPlaceholderText("输入内容，回车发送")
+        self.input_line.returnPressed.connect(self.send_data)
+        bottom_hbox.addWidget(self.input_line, 4)
+        send_btn = PushButton("发送")
+        send_btn.clicked.connect(self.send_data)
+        bottom_hbox.addWidget(send_btn, 1)
+        self.auto_enter_checkbox = CheckBox("自动回车   ")
+        self.auto_enter_checkbox.setChecked(True)
+        bottom_hbox.addWidget(self.auto_enter_checkbox)
+        bottom_hbox.addStretch()
+        main_layout.addLayout(bottom_hbox)
+
+        self.ser = None
+        self.read_thread = None
+
+    def send_preset_command(self, cmd):
+        self.input_line.setText(cmd)
+        self.send_data()
+
+    def refresh_ports(self):
+        self.port_combo.clear()
+        ports = serial.tools.list_ports.comports()
+        for port in ports:
+            self.port_combo.addItem(port.device)
+
+    def toggle_connection(self):
+        if self.ser and self.ser.is_open:
+            self.disconnect_serial()
+        else:
+            self.connect_serial()
+
+    def connect_serial(self):
+        port = self.port_combo.currentText()
+        baud = int(self.baud_combo.currentText())
+        try:
+            self.ser = serial.Serial(port, baud, timeout=0.1)
+            self.connect_btn.setText("断开")
+            self.text_edit.append(f"已连接到 {port} @ {baud}")
+            self.read_thread = SerialReadThread(self.ser)
+            self.read_thread.data_received.connect(self.display_data)
+            self.read_thread.start()
+        except Exception as e:
+            self.text_edit.append(f"连接失败: {e}")
+
+    def disconnect_serial(self):
+        if self.read_thread:
+            self.read_thread.stop()
+            self.read_thread = None
+        if self.ser:
+            self.ser.close()
+            self.ser = None
+        self.connect_btn.setText("连接")
+        self.text_edit.append("已断开连接")
+
+    def display_data(self, data):
+        self.text_edit.moveCursor(QTextCursor.End)
+        self.text_edit.insertPlainText(data)
+        self.text_edit.moveCursor(QTextCursor.End)
+
+    def send_data(self):
+        if self.ser and self.ser.is_open:
+            text = self.input_line.text()
+            try:
+                if not text:
+                    self.ser.write('\n'.encode())
+                else:
+                    for char in text:
+                        self.ser.write(char.encode())
+                    if self.auto_enter_checkbox.isChecked():
+                        self.ser.write('\n'.encode())
+            except Exception as e:
+                self.text_edit.append(f"发送失败: {e}")
+            self.input_line.clear()

app/tools/check_update.py

@@ -0,0 +1,14 @@
+import requests
+from packaging.version import parse as vparse
+
+def check_update(local_version, repo="goldenfishs/MRobot"):
+    url = f"https://api.github.com/repos/{repo}/releases/latest"
+    resp = requests.get(url, timeout=5)
+    if resp.status_code == 200:
+        latest = resp.json()["tag_name"].lstrip("v")
+        if vparse(latest) > vparse(local_version):
+            return latest
+        else:
+            return None
+    else:
+        raise RuntimeError("GitHub API 请求失败")

app/tools/part_download.py

@@ -0,0 +1,45 @@
+from PyQt5.QtCore import QThread, pyqtSignal
+import requests
+import shutil
+import os
+from urllib.parse import quote
+
+class DownloadThread(QThread):
+    progressChanged = pyqtSignal(int)
+    finished = pyqtSignal(list, list)  # success, fail
+
+    def __init__(self, files, server_url, secret_key, local_dir, parent=None):
+        super().__init__(parent)
+        self.files = files
+        self.server_url = server_url
+        self.secret_key = secret_key
+        self.local_dir = local_dir
+
+    def run(self):
+        success, fail = [], []
+        total = len(self.files)
+        max_retry = 3
+        for idx, rel_path in enumerate(self.files):
+            retry = 0
+            while retry < max_retry:
+                try:
+                    rel_path_unix = rel_path.replace("\\", "/")
+                    encoded_path = quote(rel_path_unix)
+                    url = f"{self.server_url}/download/{encoded_path}"
+                    params = {"key": self.secret_key}
+                    resp = requests.get(url, params=params, stream=True, timeout=10)
+                    if resp.status_code == 200:
+                        local_path = os.path.join(self.local_dir, rel_path)
+                        os.makedirs(os.path.dirname(local_path), exist_ok=True)
+                        with open(local_path, "wb") as f:
+                            shutil.copyfileobj(resp.raw, f)
+                        success.append(rel_path)
+                        break
+                    else:
+                        retry += 1
+                except Exception:
+                    retry += 1
+            else:
+                fail.append(rel_path)
+            self.progressChanged.emit(int((idx + 1) / total * 100))
+        self.finished.emit(success, fail)

assets/User_code/bsp/delay.h

@@ -0,0 +1,34 @@
+/* Includes ----------------------------------------------------------------- */
+#include "bsp\delay.h"
+
+#include <cmsis_os2.h>
+#include <main.h>
+
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+/* Private function  -------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+int8_t BSP_Delay(uint32_t ms) {
+  uint32_t tick_period = 1000u / osKernelGetTickFreq();
+  uint32_t ticks = ms / tick_period;
+
+  switch (osKernelGetState()) {
+    case osKernelError:
+    case osKernelReserved:
+    case osKernelLocked:
+    case osKernelSuspended:
+      return BSP_ERR;
+
+    case osKernelRunning:
+      osDelay(ticks ? ticks : 1);
+      break;
+
+    case osKernelInactive:
+    case osKernelReady:
+      HAL_Delay(ms);
+      break;
+  }
+  return BSP_OK;
+}

assets/User_code/bsp/describe.csv

@@ -0,0 +1,3 @@
+uart,要求开启dma和中断
+can,要求开启can的中断
+delay,暂时只有delay_ms函数

assets/User_code/component/describe.csv

@@ -0,0 +1 @@
+pid,好用的

assets/User_code/device/describe.csv

@@ -0,0 +1 @@
+servo,测试消息测试消息测试消息测试消息测试消息测试消息测试消息测试消息测试消息测试消息测试消息测试消息测试消息测试消息测试消息

assets/User_code/module/dependencies.csv

@@ -0,0 +1,5 @@
+oled_i2c,bsp/i2c
+bmp280_i2c,bsp/i2c
+pc_uart,bsp/uart
+key_gpio,bsp/gpio_exti
+servo,bsp/servo_pwm

assets/User_code/task/init.c.template

@@ -1,9 +1,10 @@
 /*
-  初始化任务
+    Init Task
+    任务初始化，创建各个线程任务和消息队列
 */
 
 /* Includes ----------------------------------------------------------------- */
-#include "task\user_task.h"
+#include "task/user_task.h"
 
 /* USER INCLUDE BEGIN */
 
@@ -23,17 +24,19 @@
  */
 void Task_Init(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
+    /* USER CODE INIT BEGIN */
 
-  osKernelLock(); // 锁定内核，防止任务切换
-
-  // 创建线程
+    /* USER CODE INIT END */
+  osKernelLock(); /* 锁定内核，防止任务切换 */
+  
+  /* 创建任务线程 */
 {{thread_creation_code}}
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */
   task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
   /* USER MESSAGE END */
+
   osKernelUnlock(); // 解锁内核
   osThreadTerminate(osThreadGetId()); // 任务完成后结束自身
 }
-

assets/User_code/task/task.c.template

@@ -1,38 +1,56 @@
 /*
     {{task_name}} Task
+    {{task_description}}
 */
 
 /* Includes ----------------------------------------------------------------- */
-#include "task\user_task.h"
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private function --------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
-
-/**
- * \brief {{task_name}} Task
- *
- * \param argument 未使用
- */
 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 */
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+
+  /* USER CODE INIT END */
+  
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
-    
-    /*User code begin*/
-
-    /*User code end*/
+    /* USER CODE BEGIN */
 
+    /* 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 %}
+}

assets/User_code/task/user_task.c.template

@@ -1,4 +1,4 @@
-#include "task\user_task.h"
+#include "task/user_task.h"
 
 Task_Runtime_t task_runtime;
 
@@ -8,5 +8,5 @@ const osThreadAttr_t attr_init = {
     .stack_size = 256 * 4,
 };
 
-// USER TASK 
+/* User_task */
 {{task_attr_definitions}}

assets/User_code/task/user_task.h.template

@@ -0,0 +1,80 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+/* Exported constants ------------------------------------------------------- */
+/* 任务运行频率 */
+{{task_frequency_definitions}}
+
+/* 任务初始化延时ms */
+#define TASK_INIT_DELAY (100u)
+{{task_init_delay_definitions}}
+
+/* Exported defines --------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+/* 任务运行时结构体 */
+typedef struct {
+    /* 各任务，也可以叫做线程 */
+    struct {
+{{thread_definitions}}
+    } thread;
+
+    /* USER MESSAGE BEGIN */
+    struct {
+        osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
+    } msgq;
+    /* USER MESSAGE END */
+
+    /* 机器人状态 */
+    struct {
+        float battery; /* 电池电量百分比 */
+        float vbat; /* 电池电压 */
+        float cpu_temp; /* CPU温度 */
+    } status;
+
+    /* USER CONFIG BEGIN */
+
+    /* USER CONFIG END */
+
+    /* 各任务的stack使用 */
+    struct {
+{{stack_definitions}}
+    } stack_water_mark;
+
+    /* 各任务运行频率 */
+    struct {
+{{freq_definitions}}
+    } freq;
+
+    /* 任务最近运行时间 */
+    struct {
+{{last_up_time_definitions}}
+    } last_up_time;
+
+} Task_Runtime_t;
+
+/* 任务运行时结构体 */
+extern Task_Runtime_t task_runtime;
+
+/* 初始化任务句柄 */
+extern const osThreadAttr_t attr_init;
+{{task_attr_declarations}}
+
+/* 任务函数声明 */
+void Task_Init(void *argument);
+{{task_function_declarations}}
+
+#ifdef __cplusplus
+}
+#endif