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12 Commits
v1.0.1 ... main

Author SHA1 Message Date
a7c46ca9fc 新版本 2025-08-01 02:49:15 +08:00
89fbaf8e55 修改模版代码 2025-07-31 04:48:01 +08:00
b4a4d87909 修好ui了 2025-07-31 03:52:22 +08:00
88ec1517fb 修改了 2025-07-31 02:47:48 +08:00
08193b8093 奇怪的bug 2025-07-31 02:22:58 +08:00
7951dae760 修改版本 2025-07-26 01:24:50 +08:00
501a9ddff4 重构完代码结构了 2025-07-26 01:22:52 +08:00
47e0b8419f 优化了ai个零件库 2025-07-25 16:39:32 +08:00
9fc6b4577a 继续改 2025-07-25 02:54:03 +08:00
78661f450b 重构架构 2025-07-24 21:23:51 +08:00
62b4b07912 修改保留用户区域逻辑 2025-06-21 14:25:50 +08:00
f2fedac360 修复task.c 2025-06-20 01:13:04 +08:00
104 changed files with 2298 additions and 1785 deletions

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@ -8,10 +8,11 @@ OutputBaseFilename=MRobotInstaller
[Files]
Source: "dist\MRobot.exe"; DestDir: "{app}"; Flags: ignoreversion
Source: "img\*"; DestDir: "{app}\img"; Flags: ignoreversion recursesubdirs
Source: "User_code\*"; DestDir: "{app}\User_code"; Flags: ignoreversion recursesubdirs
Source: "mech_lib\*"; DestDir: "{app}\mech_lib"; Flags: ignoreversion recursesubdirs
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}\img\M.ico"
Name: "{userdesktop}\MRobot"; Filename: "{app}\MRobot.exe"; IconFilename: "{app}\img\M.ico"
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"

1751
MRobot.py

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@ -122,4 +122,17 @@ pyinstaller --noconfirm --onefile --windowed --add-data "img;img" --add-data "Us
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 --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"

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@ -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

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@ -1,2 +0,0 @@
uart,要求开启dma和中断
can,要求开启can的中断
1 uart 要求开启dma和中断
2 can 要求开启can的中断

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app/about_interface.py Normal file
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@ -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
)

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app/ai_interface.py Normal file
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@ -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("", 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

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app/data_interface.py Normal file
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@ -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"{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

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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
)

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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)

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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)

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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")

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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])

View File

@ -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()

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14
app/tools/check_update.py Normal file
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@ -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")

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@ -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)

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@ -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;
}

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

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View File

@ -24,9 +24,9 @@
*/
void Task_Init(void *argument) {
(void)argument; /* 未使用argument消除警告 */
/* USER CODE BEGIN Task_Init */
/* USER CODE INIT BEGIN */
/* USER CODE END Task_Init */
/* USER CODE INIT END */
osKernelLock(); /* 锁定内核,防止任务切换 */
/* 创建任务线程 */

View File

@ -5,17 +5,17 @@
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN*/
/* USER INCLUDE BEGIN */
/* USER INCLUDE END*/
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN*/
/* USER STRUCT BEGIN */
/* USER STRUCT END*/
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
@ -28,11 +28,11 @@ void {{task_function}}(void *argument) {
osDelay({{task_delay}}); /* 延时一段时间再开启任务 */
/* USER CODE INIT BEGIN*/
/* USER CODE INIT END*/
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* 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 */
@ -43,15 +43,14 @@ void {{task_function}}(void *argument) {
{% else %}
osDelay({{task_delay}}); /* 延时一段时间再开启任务 */
/* USER CODE INIT BEGIN*/
/* USER CODE INIT BEGIN */
/* USER CODE INIT END*/
/* USER CODE INIT END */
while (1) {
/* USER CODE BEGIN */
/* USER CODE END */
osDelay(1); /* 默认1ms延时防止死循环卡死CPU */
}
{% endif %}
}
}

View File

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

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

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