import sys
import os
import numpy as np
import pandas as pd
import requests
import webbrowser
import serial
import serial.tools.list_ports
from PyQt5.QtWidgets import (
    QApplication, QWidget, QLabel, QPushButton, QTextEdit, QVBoxLayout,
    QHBoxLayout, QStackedWidget, QSizePolicy, QFrame, QGraphicsDropShadowEffect,
    QSpinBox, QTableWidget, QTableWidgetItem, QFileDialog, QComboBox, QMessageBox, QHeaderView,
    QGroupBox, QGridLayout, QLineEdit, QTextBrowser, QCheckBox
)
from PyQt5.QtGui import QPixmap, QFont, QIcon, QPainter, QPen, QColor
from PyQt5.QtCore import Qt, QTimer, QPointF, pyqtSlot
import matplotlib
from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
from matplotlib.figure import Figure
from PyQt5.QtCore import pyqtSignal, pyqtSlot

def resource_path(relative_path):
    """兼容PyInstaller打包后资源路径"""
    if hasattr(sys, '_MEIPASS'):
        return os.path.join(sys._MEIPASS, relative_path)
    return os.path.join(os.path.abspath("."), relative_path)

# --------- 主页 ---------
class HomePage(QWidget):
    def __init__(self):
        super().__init__()
        layout = QVBoxLayout(self)
        layout.setContentsMargins(60, 60, 60, 60)
        layout.setSpacing(32)
        self.setStyleSheet("""
            QWidget {
                background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                    stop:0 #f8fbfd, stop:1 #eaf6fb);
                border-radius: 18px;
            }
        """)

        # 欢迎标题
        title = QLabel("欢迎来到 MRobot 工具箱！")
        title.setFont(QFont("微软雅黑", 26, QFont.Bold))
        title.setAlignment(Qt.AlignCenter)
        title.setStyleSheet("color: #2980b9; letter-spacing: 3px;")
        layout.addWidget(title)
        # 设置高度
        title.setFixedHeight(120)

        # 分割线
        line = QFrame()
        line.setFrameShape(QFrame.HLine)
        line.setFrameShadow(QFrame.Sunken)
        line.setStyleSheet("color: #d6eaf8; background: #d6eaf8; min-height: 2px;")
        layout.addWidget(line)

        # 介绍内容
        desc = QLabel(
            "🤖 本工具箱由青岛理工大学（QUT）机器人战队开发，\n"
            "涵盖沧溟（Robocon）与MOVE（Robomaster）两支队伍。\n\n"
            "集成了常用小工具与助手功能，持续更新中ing！\n"
            "👉 可通过左侧选择不同模块，助力更高效的机器人开发，\n"
            "节约开发时间，减少繁琐操作。\n\n"
            "欢迎反馈建议，共同完善工具箱！"
        )
        desc.setFont(QFont("微软雅黑", 16))
        desc.setAlignment(Qt.AlignCenter)
        desc.setStyleSheet("color: #34495e;")
        desc.setWordWrap(True)
        layout.addWidget(desc)

        # 作者&版本信息
        info = QLabel(
            "<b>作者：</b> QUT RMer & RCer &nbsp;&nbsp;|&nbsp;&nbsp; "
            "<b>版本：</b> 0.0.2 &nbsp;&nbsp;|&nbsp;&nbsp; "
            "<b>联系方式：</b> QQ群 : 857466609"
        )
        info.setFont(QFont("微软雅黑", 14))
        info.setAlignment(Qt.AlignCenter)
        info.setStyleSheet("color: #7f8c8d; margin-top: 24px;")
        info.setFixedHeight(100)  # 修改为固定高度
        layout.addWidget(info)

        # 页脚
        footer = QLabel("© 2025 MRobot. 保留所有权利。")
        footer.setFont(QFont("微软雅黑", 12))
        footer.setAlignment(Qt.AlignCenter)
        footer.setStyleSheet("color: #b2bec3; margin-top: 18px;")
        footer.setFixedHeight(100)  # 修改为固定高度
        layout.addWidget(footer)

# --------- 功能一：多项式拟合工具页面 ---------
class PolyFitApp(QWidget):
    def __init__(self):
        super().__init__()
        self.setFont(QFont("微软雅黑", 15))
        self.data_x = []
        self.data_y = []
        self.last_coeffs = None
        self.last_xmin = None
        self.last_xmax = None

        # 统一背景和边框
        self.setStyleSheet("""
            QWidget {
                background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                    stop:0 #eaf6fb, stop:1 #d6eaf8);
                border-radius: 16px;
                border: 1px solid #d6eaf8;
            }
        """)

        main_layout = QHBoxLayout(self)
        main_layout.setContentsMargins(24, 24, 24, 24)
        main_layout.setSpacing(24)
        left_layout = QVBoxLayout()
        left_layout.setSpacing(18)
        right_layout = QVBoxLayout()
        right_layout.setSpacing(18)
        main_layout.addLayout(left_layout, 0)
        main_layout.addLayout(right_layout, 1)

        # 标题
        title = QLabel("曲线拟合工具")
        # title.setFont(QFont("微软雅黑", 2, QFont.Bold))
        # 设置文字大小  
        title.setFont(QFont("微软雅黑", 14, QFont.Bold))
        title.setAlignment(Qt.AlignCenter)
        title.setStyleSheet("color: #2980b9; letter-spacing: 2px;")
        left_layout.addWidget(title)

        # 数据表
        self.table = QTableWidget(0, 2)
        self.table.setFont(QFont("Consolas", 16))
        self.table.setHorizontalHeaderLabels(["x", "y"])
        self.table.horizontalHeader().setSectionResizeMode(QHeaderView.Stretch)
        self.table.setSelectionBehavior(QTableWidget.SelectRows)
        self.table.setStyleSheet("""
            QTableWidget {
                background: #f8fbfd;
                border-radius: 10px;
                border: 1px solid #d6eaf8;
                font-size: 16px;
            }
            QHeaderView::section {
                background-color: #eaf6fb;
                color: #2980b9;
                font-size: 16px;
                font-weight: bold;
                border: 1px solid #d6eaf8;
                height: 36px;
            }
        """)
        self.table.setMinimumHeight(200)  # 设置最小高度
        left_layout.addWidget(self.table, stretch=1)  # 让表格尽量撑大

        # 添加/删除行
        btn_row = QHBoxLayout()
        self.add_row_btn = QPushButton("添加数据")
        self.add_row_btn.setFont(QFont("微软雅黑", 20, QFont.Bold))
        self.add_row_btn.setMinimumHeight(44)
        self.add_row_btn.clicked.connect(self.add_point_row)
        self.del_row_btn = QPushButton("删除选中行")
        self.del_row_btn.setFont(QFont("微软雅黑", 20, QFont.Bold))
        self.del_row_btn.setMinimumHeight(44)
        self.del_row_btn.clicked.connect(self.delete_selected_rows)
        for btn in [self.add_row_btn, self.del_row_btn]:
            btn.setStyleSheet("""
                QPushButton {
                    background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                        stop:0 #eaf6fb, stop:1 #d6eaf8);
                    color: #2980b9;
                    border-radius: 20px;
                    font-size: 20px;
                    font-weight: 600;
                    padding: 10px 0;
                    border: 1px solid #d6eaf8;
                }
                QPushButton:hover {
                    background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                        stop:0 #f8fffe, stop:1 #cfe7fa);
                    color: #1a6fae;
                    border: 1.5px solid #b5d0ea;
                }
                QPushButton:pressed {
                    background: #e3f0fa;
                    color: #2471a3;
                    border: 1.5px solid #a4cbe3;
                }
            """)
        btn_row.addWidget(self.add_row_btn)
        btn_row.addWidget(self.del_row_btn)
        left_layout.addLayout(btn_row)

        # 导入/导出
        file_btn_row = QHBoxLayout()
        self.import_btn = QPushButton("导入Excel文件")
        self.import_btn.setFont(QFont("微软雅黑", 18, QFont.Bold))
        self.import_btn.setMinimumHeight(44)
        self.import_btn.clicked.connect(self.load_excel)
        self.export_btn = QPushButton("导出Excel文件")
        self.export_btn.setFont(QFont("微软雅黑", 18, QFont.Bold))
        self.export_btn.setMinimumHeight(44)
        self.export_btn.clicked.connect(self.export_excel_and_plot)
        for btn in [self.import_btn, self.export_btn]:
            btn.setStyleSheet("""
                QPushButton {
                    background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                        stop:0 #eaf6fb, stop:1 #d6eaf8);
                    color: #2980b9;
                    border-radius: 20px;
                    font-size: 20px;
                    font-weight: 600;
                    padding: 10px 0;
                    border: 1px solid #d6eaf8;
                }
                QPushButton:hover {
                    background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                        stop:0 #f8fffe, stop:1 #cfe7fa);
                    color: #1a6fae;
                    border: 1.5px solid #b5d0ea;
                }
                QPushButton:pressed {
                    background: #e3f0fa;
                    color: #2471a3;
                    border: 1.5px solid #a4cbe3;
                }
            """)
        file_btn_row.addWidget(self.import_btn)
        file_btn_row.addWidget(self.export_btn)
        left_layout.addLayout(file_btn_row)

        # 阶数选择
        param_layout = QHBoxLayout()
        label_order = QLabel("多项式阶数:")
        # 文字居中
        label_order.setAlignment(Qt.AlignCenter)
        # 文字加粗
        label_order.setStyleSheet("color: #2980b9;")
        param_layout.addWidget(label_order)
        self.order_spin = QSpinBox()
        self.order_spin.setFont(QFont("微软雅黑", 18))
        self.order_spin.setRange(1, 10)
        self.order_spin.setValue(2)
        self.order_spin.setStyleSheet("""
            QSpinBox {
                background: #f8fbfd;
                border-radius: 10px;
                border: 1px solid #d6eaf8;
                font-size: 18px;
                padding: 4px 12px;
            }
        """)
        param_layout.addWidget(self.order_spin)
        left_layout.addLayout(param_layout)

        # 拟合按钮
        self.fit_btn = QPushButton("拟合并显示")
        self.fit_btn.setFont(QFont("微软雅黑", 20, QFont.Bold))
        self.fit_btn.setMinimumHeight(48)
        self.fit_btn.clicked.connect(self.fit_and_plot)
        self.fit_btn.setStyleSheet("""
            QPushButton {
                background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                    stop:0 #eaf6fb, stop:1 #d6eaf8);
                color: #2980b9;
                border-radius: 20px;
                font-size: 22px;
                font-weight: 600;
                padding: 12px 0;
                border: 1px solid #d6eaf8;
            }
            QPushButton:hover {
                background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                    stop:0 #f8fffe, stop:1 #cfe7fa);
                color: #1a6fae;
                border: 1.5px solid #b5d0ea;
            }
            QPushButton:pressed {
                background: #e3f0fa;
                color: #2471a3;
                border: 1.5px solid #a4cbe3;
            }
        """)
        left_layout.addWidget(self.fit_btn)
        # 输出区
        self.output = QTextEdit()
        self.output.setReadOnly(False)
        self.output.setFont(QFont("Consolas", 16))
        self.output.setMaximumHeight(160)
        self.output.setStyleSheet("""
            QTextEdit {
                background: #f4f6f7;
                border-radius: 8px;
                border: 1px solid #d6eaf8;
                font-size: 16px;
                color: #2c3e50;
                padding: 10px;
            }
        """)
        # self.table.setFixedHeight(400)  # 设置表格高度为260像素
        left_layout.addWidget(self.output)
        # 代码生成
        code_layout = QHBoxLayout()
        label_code = QLabel("输出代码格式:")
        # label_code.setFont(QFont("微软雅黑", 18, QFont.Bold))
        label_code.setStyleSheet("color: #2980b9;")
        code_layout.addWidget(label_code)
        self.code_type = QComboBox()
        self.code_type.setFont(QFont("微软雅黑", 18))
        self.code_type.addItems(["C", "C++", "Python"])
        self.code_type.setStyleSheet("""
            QComboBox {
                background: #f8fbfd;
                border-radius: 10px;
                border: 1px solid #d6eaf8;
                font-size: 18px;
                padding: 4px 12px;
            }
        """)
        code_layout.addWidget(self.code_type)
        self.gen_code_btn = QPushButton("生成代码")
        self.gen_code_btn.setFont(QFont("微软雅黑", 18, QFont.Bold))
        self.gen_code_btn.setMinimumHeight(44)
        self.gen_code_btn.clicked.connect(self.generate_code)
        self.gen_code_btn.setStyleSheet("""
            QPushButton {
                background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                    stop:0 #eaf6fb, stop:1 #d6eaf8);
                color: #2980b9;
                border-radius: 20px;
                font-size: 20px;
                font-weight: 600;
                padding: 10px 0;
                border: 1px solid #d6eaf8;
            }
            QPushButton:hover {
                background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                    stop:0 #f8fffe, stop:1 #cfe7fa);
                color: #1a6fae;
                border: 1.5px solid #b5d0ea;
            }
            QPushButton:pressed {
                background: #e3f0fa;
                color: #2471a3;
                border: 1.5px solid #a4cbe3;
            }
        """)
        code_layout.addWidget(self.gen_code_btn)
        left_layout.addLayout(code_layout)


        # 曲线区加圆角和阴影
        curve_frame = QFrame()
        curve_frame.setStyleSheet("""
            QFrame {
                background: #fff;
                border-radius: 16px;
                border: 1px solid #d6eaf8;
            }
        """)
        curve_shadow = QGraphicsDropShadowEffect(self)
        curve_shadow.setBlurRadius(24)
        curve_shadow.setOffset(0, 4)
        curve_shadow.setColor(Qt.gray)
        curve_frame.setGraphicsEffect(curve_shadow)
        curve_layout = QVBoxLayout(curve_frame)
        curve_layout.setContentsMargins(10, 10, 10, 10)
        self.figure = Figure(figsize=(6, 5))
        self.canvas = FigureCanvas(self.figure)
        curve_layout.addWidget(self.canvas)
        right_layout.addWidget(curve_frame)

        # 默认显示空坐标系
        self.figure.clear()
        ax = self.figure.add_subplot(111)
        # ax.set_title("拟合结果", fontsize=22, fontweight='bold')
        ax.set_xlabel("x", fontsize=18)
        ax.set_ylabel("y", fontsize=18)
        ax.tick_params(labelsize=15)
        # ax.set_title("拟合结果", fontsize=22, fontweight='bold')  # 中文标题
        self.canvas.draw()
        
    def add_point_row(self, x_val="", y_val=""):
        row = self.table.rowCount()
        self.table.insertRow(row)
        self.table.setItem(row, 0, QTableWidgetItem(str(x_val)))
        self.table.setItem(row, 1, QTableWidgetItem(str(y_val)))

    def delete_selected_rows(self):
        selected = self.table.selectionModel().selectedRows()
        for idx in sorted(selected, reverse=True):
            self.table.removeRow(idx.row())

    def load_excel(self):
        file, _ = QFileDialog.getOpenFileName(self, "选择Excel文件", "", "Excel Files (*.xlsx *.xls)")
        if file:
            try:
                data = pd.read_excel(file, usecols=[0, 1])
                new_x = data.iloc[:, 0].values.tolist()
                new_y = data.iloc[:, 1].values.tolist()
                for x, y in zip(new_x, new_y):
                    self.add_point_row(x, y)
                QMessageBox.information(self, "成功", "数据导入成功！")
            except Exception as e:
                QMessageBox.critical(self, "错误", f"读取Excel失败: {e}")

    def export_excel_and_plot(self):
        file, _ = QFileDialog.getSaveFileName(self, "导出Excel文件", "", "Excel Files (*.xlsx *.xls)")
        if file:
            x_list, y_list = [], []
            for row in range(self.table.rowCount()):
                try:
                    x = float(self.table.item(row, 0).text())
                    y = float(self.table.item(row, 1).text())
                    x_list.append(x)
                    y_list.append(y)
                except Exception:
                    continue
            if not x_list or not y_list:
                QMessageBox.warning(self, "导出失败", "没有可导出的数据！")
                return
            df = pd.DataFrame({'x': x_list, 'y': y_list})
            try:
                df.to_excel(file, index=False)
                png_file = file
                if png_file.lower().endswith('.xlsx') or png_file.lower().endswith('.xls'):
                    png_file = png_file.rsplit('.', 1)[0] + '.png'
                else:
                    png_file = png_file + '.png'
                self.figure.savefig(png_file, dpi=150, bbox_inches='tight')
                QMessageBox.information(self, "导出成功", f"数据已成功导出到Excel文件！\n图像已导出为：{png_file}")
            except Exception as e:
                QMessageBox.critical(self, "导出错误", f"导出Excel或图像失败: {e}")

    def get_manual_points(self):
        x_list, y_list = [], []
        for row in range(self.table.rowCount()):
            try:
                x = float(self.table.item(row, 0).text())
                y = float(self.table.item(row, 1).text())
                x_list.append(x)
                y_list.append(y)
            except Exception:
                continue
        return x_list, y_list

    def fit_and_plot(self):
        self.data_x, self.data_y = self.get_manual_points()
        try:
            order = int(self.order_spin.value())
        except ValueError:
            QMessageBox.warning(self, "输入错误", "阶数必须为整数！")
            return
        n_points = len(self.data_x)
        if n_points < order + 1:
            QMessageBox.warning(self, "数据不足", "数据点数量不足以拟合该阶多项式！")
            return
        x = np.array(self.data_x, dtype=np.float64)
        y = np.array(self.data_y, dtype=np.float64)
        x_min, x_max = x.min(), x.max()
        if x_max - x_min == 0:
            QMessageBox.warning(self, "数据错误", "所有x值都相同，无法拟合！")
            return
        try:
            coeffs = np.polyfit(x, y, order)
        except Exception as e:
            QMessageBox.critical(self, "拟合错误", f"多项式拟合失败：{e}")
            return
        poly = np.poly1d(coeffs)
        expr = "y = " + " + ".join([f"{c:.6g}*x^{order-i}" for i, c in enumerate(coeffs)])
        self.output.setPlainText(f"{expr}\n")
        self.figure.clear()
        ax = self.figure.add_subplot(111)
        # ax.set_title("拟合结果", fontsize=22, fontweight='bold')
        ax.set_xlabel("x", fontsize=18)
        ax.set_ylabel("y", fontsize=18)
        ax.scatter(x, y, color='red', label='Data')
        x_fit = np.linspace(x_min, x_max, 200)
        y_fit = poly(x_fit)
        ax.plot(x_fit, y_fit, label='Fit Curve')
        ax.legend()
        self.canvas.draw()
        self.last_coeffs = coeffs
        self.last_xmin = x_min
        self.last_xmax = x_max

    def generate_code(self):
        if self.last_coeffs is None:
            QMessageBox.warning(self, "未拟合", "请先拟合数据！")
            return
        coeffs = self.last_coeffs
        code_type = self.code_type.currentText()
        if code_type == "C":
            code = self.create_c_function(coeffs)
        elif code_type == "C++":
            code = self.create_cpp_function(coeffs)
        else:
            code = self.create_py_function(coeffs)
        self.output.setPlainText(code)

    def create_c_function(self, coeffs):
        lines = ["#include <math.h>", "double polynomial(double x) {", "    return "]
        n = len(coeffs)
        terms = []
        for i, c in enumerate(coeffs):
            exp = n - i - 1
            if exp == 0:
                terms.append(f"{c:.8g}")
            elif exp == 1:
                terms.append(f"{c:.8g}*x")
            else:
                terms.append(f"{c:.8g}*pow(x,{exp})")
        lines[-1] += " + ".join(terms) + ";"
        lines.append("}")
        return "\n".join(lines)

    def create_cpp_function(self, coeffs):
        lines = ["#include <cmath>", "double polynomial(double x) {", "    return "]
        n = len(coeffs)
        terms = []
        for i, c in enumerate(coeffs):
            exp = n - i - 1
            if exp == 0:
                terms.append(f"{c:.8g}")
            elif exp == 1:
                terms.append(f"{c:.8g}*x")
            else:
                terms.append(f"{c:.8g}*pow(x,{exp})")
        lines[-1] += " + ".join(terms) + ";"
        lines.append("}")
        return "\n".join(lines)

    def create_py_function(self, coeffs):
        n = len(coeffs)
        lines = ["def polynomial(x):", "    return "]
        terms = []
        for i, c in enumerate(coeffs):
            exp = n - i - 1
            if exp == 0:
                terms.append(f"{c:.8g}")
            elif exp == 1:
                terms.append(f"{c:.8g}*x")
            else:
                terms.append(f"{c:.8g}*x**{exp}")
        lines[-1] += " + ".join(terms)
        return "\n".join(lines)

# --------- 功能二：下载 ---------
class DownloadPage(QWidget):
    def __init__(self):
        super().__init__()
        self.setFont(QFont("微软雅黑", 15))
        self.setStyleSheet("""
            QWidget {
                background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                    stop:0 #eaf6fb, stop:1 #d6eaf8);
                border-radius: 18px;
                border: 1px solid #d6eaf8;
            }
        """)
        main_layout = QVBoxLayout(self)
        main_layout.setContentsMargins(60, 60, 60, 60)
        main_layout.setSpacing(32)

        # 标题
        title = QLabel("常用工具下载")
        title.setFont(QFont("微软雅黑", 26, QFont.Bold))
        title.setAlignment(Qt.AlignCenter)
        title.setStyleSheet("color: #2980b9; letter-spacing: 3px; margin-bottom: 10px;")
        main_layout.addWidget(title)

        # 分割线
        line = QFrame()
        line.setFrameShape(QFrame.HLine)
        line.setFrameShadow(QFrame.Sunken)
        line.setStyleSheet("color: #d6eaf8; background: #d6eaf8; min-height: 2px;")
        main_layout.addWidget(line)

        # # 说明
        # desc = QLabel("点击下方按钮可直接跳转到常用工具或开发软件的官方下载页面：")
        # desc.setFont(QFont("微软雅黑", 17))
        # desc.setAlignment(Qt.AlignCenter)
        # desc.setStyleSheet("color: #34495e; margin-bottom: 18px;")
        # main_layout.addWidget(desc)

        spacer = QFrame()
        spacer.setFixedHeight(4)  # 可根据需要调整间隔高度
        spacer.setStyleSheet("background: transparent; border: none;")
        main_layout.addWidget(spacer)

        # 小工具类
        tools_tools = [
            ("Geek Uninstaller", "https://geekuninstaller.com/download", "🧹"),
            ("Neat Download Manager", "https://www.neatdownloadmanager.com/index.php/en/", "⬇️"),
            ("Everything", "https://www.voidtools.com/zh-cn/downloads/", "🔍"),
            ("Bandizip", "https://www.bandisoft.com/bandizip/", "🗜️"),
            ("PotPlayer", "https://potplayer.daum.net/", "🎬"),
            ("Typora", "https://typora.io/", "📝"),
            ("Git", "https://git-scm.com/download/win", "🟥"),
            ("Python", "https://www.python.org/downloads/", "🐍"),
        ]
        tools_group = QGroupBox("常用小工具")
        tools_group.setFont(QFont("微软雅黑", 14, QFont.Bold))
        tools_group.setStyleSheet("""
            QGroupBox {
                border: 2px solid #b5d0ea;
                border-radius: 12px;
                margin-top: 16px;
                background: #f8fbfd;
                color: #2471a3;
                padding: 10px 0 0 0;
            }
            QGroupBox:title {
                subcontrol-origin: margin;
                left: 18px;
                top: -10px;
                background: transparent;
                padding: 0 8px;
            }
        """)
        tools_layout = QGridLayout()
        tools_layout.setSpacing(18)
        tools_layout.setContentsMargins(24, 24, 24, 24)
        for idx, (name, url, icon) in enumerate(tools_tools):
            btn = QPushButton(f"{icon}  {name}")
            btn.setFont(QFont("微软雅黑", 16, QFont.Bold))
            btn.setMinimumHeight(60)
            btn.setCursor(Qt.PointingHandCursor)
            btn.setStyleSheet("""
                QPushButton {
                    background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                        stop:0 #eaf6fb, stop:1 #d6eaf8);
                    color: #2471a3;
                    border-radius: 14px;
                    font-size: 16px;
                    font-weight: 600;
                    padding: 8px 0;
                    border: 1.5px solid #d6eaf8;
                    letter-spacing: 1px;
                }
                QPushButton:hover {
                    background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                        stop:0 #f8fffe, stop:1 #cfe7fa);
                    color: #1a6fae;
                    border: 2px solid #b5d0ea;
                }
                QPushButton:pressed {
                    background: #e3f0fa;
                    color: #2471a3;
                    border: 2px solid #a4cbe3;
                }
            """)
            btn.clicked.connect(lambda checked, link=url: webbrowser.open(link))
            row, col = divmod(idx, 4)
            tools_layout.addWidget(btn, row, col)
        tools_group.setLayout(tools_layout)
        main_layout.addWidget(tools_group)
        spacer = QFrame()
        spacer.setFixedHeight(4)  # 可根据需要调整间隔高度
        spacer.setStyleSheet("background: transparent; border: none;")
        main_layout.addWidget(spacer)

        # 开发/设计软件类
        dev_tools = [
            ("STM32CubeMX", "https://www.st.com/zh/development-tools/stm32cubemx.html", "🟦"),
            ("Keil MDK", "https://www.keil.com/download/product/", "🟩"),
            ("Visual Studio Code", "https://code.visualstudio.com/", "🟦"),
            ("CLion", "https://www.jetbrains.com/clion/download/", "🟧"),
            ("MATLAB", "https://www.mathworks.com/downloads/", "🟨"),
            ("SolidWorks", "https://www.solidworks.com/sw/support/downloads.htm", "🟫"),
            ("Altium Designer", "https://www.altium.com/zh/altium-designer/downloads", "🟪"),
            ("原神", "https://download-porter.hoyoverse.com/download-porter/2025/03/27/GenshinImpact_install_202503072011.exe?trace_key=GenshinImpact_install_ua_679d0b4e9b10", "🟫"),
        ]
        dev_group = QGroupBox("开发/设计软件")
        dev_group.setFont(QFont("微软雅黑", 14, QFont.Bold))
        dev_group.setStyleSheet("""
            QGroupBox {
                border: 2px solid #b5d0ea;
                border-radius: 12px;
                margin-top: 16px;
                background: #f8fbfd;
                color: #2471a3;
                padding: 10px 0 0 0;
            }
            QGroupBox:title {
                subcontrol-origin: margin;
                left: 18px;
                top: -10px;
                background: transparent;
                padding: 0 8px;
            }
        """)
        dev_layout = QGridLayout()
        dev_layout.setSpacing(18)
        dev_layout.setContentsMargins(24, 24, 24, 24)
        for idx, (name, url, icon) in enumerate(dev_tools):
            btn = QPushButton(f"{icon}  {name}")
            btn.setFont(QFont("微软雅黑", 16, QFont.Bold))
            btn.setMinimumHeight(60)
            btn.setCursor(Qt.PointingHandCursor)
            btn.setStyleSheet("""
                QPushButton {
                    background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                        stop:0 #eaf6fb, stop:1 #d6eaf8);
                    color: #2471a3;
                    border-radius: 14px;
                    font-size: 16px;
                    font-weight: 600;
                    padding: 8px 0;
                    border: 1.5px solid #d6eaf8;
                    letter-spacing: 1px;
                }
                QPushButton:hover {
                    background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                        stop:0 #f8fffe, stop:1 #cfe7fa);
                    color: #1a6fae;
                    border: 2px solid #b5d0ea;
                }
                QPushButton:pressed {
                    background: #e3f0fa;
                    color: #2471a3;
                    border: 2px solid #a4cbe3;
                }
            """)
            btn.clicked.connect(lambda checked, link=url: webbrowser.open(link))
            row, col = divmod(idx, 4)
            dev_layout.addWidget(btn, row, col)
        dev_group.setLayout(dev_layout)
        main_layout.addWidget(dev_group)

        main_layout.addStretch(1)

        # 页脚
        footer = QLabel("如有问题或建议，欢迎反馈至QQ群：857466609")
        footer.setFont(QFont("微软雅黑", 13))
        footer.setAlignment(Qt.AlignCenter)
        footer.setStyleSheet("color: #b2bec3; margin-top: 18px;")
        main_layout.addWidget(footer)

# --------- 功能三：串口助手 ---------
class SerialAssistant(QWidget):
    def __init__(self):
        super().__init__()
        self.setFont(QFont("微软雅黑", 15))
        self.ser = None
        self.timer = None
        self.recv_buffer = b""
        self.plot_data = {}
        self.curve_colors = ["#e74c3c", "#2980b9", "#27ae60", "#f1c40f", "#8e44ad", "#16a085"]
        self.data_types = ["float", "int16", "uint16", "int8", "uint8"]
        self.data_type = "float"
        self.data_count = 2
        self.sample_idx = 0
    
        # 新增：HEX模式复选框
        self.hex_send_chk = QCheckBox("HEX发送")
        self.hex_recv_chk = QCheckBox("HEX接收")
        self.hex_send_chk.setFont(QFont("微软雅黑", 12))
        self.hex_recv_chk.setFont(QFont("微软雅黑", 12))
        self.hex_send_chk.setChecked(False)
        self.hex_recv_chk.setChecked(False)
    
        # 主体布局
        main_layout = QHBoxLayout(self)
        main_layout.setContentsMargins(32, 32, 32, 32)
        main_layout.setSpacing(28)
    
        # 左侧面板
        left_panel = QVBoxLayout()
        left_panel.setSpacing(20)
        left_panel.setContentsMargins(0, 0, 0, 0)
    
        # 串口配置区
        config_group = QGroupBox("串口配置")
        config_group.setFont(QFont("微软雅黑", 14, QFont.Bold))
        config_group.setStyleSheet("""
            QGroupBox {
                border: 2px solid #b5d0ea;
                border-radius: 12px;
                margin-top: 12px;
                background: #f8fbfd;
                color: #2471a3;
                padding: 8px 0 0 0;
            }
            QGroupBox:title {
                subcontrol-origin: margin;
                left: 16px;
                top: -8px;
                background: transparent;
                padding: 0 8px;
            }
        """)
        config_layout = QGridLayout()
        config_layout.setSpacing(12)
        config_layout.setContentsMargins(16, 16, 16, 16)
        config_layout.addWidget(QLabel("串口号:"), 0, 0)
        self.port_box = QComboBox()
        self.port_box.setMinimumWidth(120)
        self.refresh_ports()
        config_layout.addWidget(self.port_box, 0, 1)
        config_layout.addWidget(QLabel("波特率:"), 1, 0)
        self.baud_box = QComboBox()
        self.baud_box.addItems(["9600", "115200", "57600", "38400", "19200", "4800"])
        self.baud_box.setCurrentText("115200")
        config_layout.addWidget(self.baud_box, 1, 1)
        self.refresh_btn = QPushButton("刷新串口")
        self.refresh_btn.clicked.connect(self.refresh_ports)
        self.refresh_btn.setStyleSheet(self._btn_style())
        config_layout.addWidget(self.refresh_btn, 2, 0)
        self.open_btn = QPushButton("打开串口")
        self.open_btn.setCheckable(True)
        self.open_btn.clicked.connect(self.toggle_serial)
        self.open_btn.setStyleSheet(self._btn_style("#27ae60"))
        config_layout.addWidget(self.open_btn, 2, 1)
        config_group.setLayout(config_layout)
        left_panel.addWidget(config_group)
    
        # 数据协议配置区
        proto_group = QGroupBox("数据协议配置")
        proto_group.setFont(QFont("微软雅黑", 14, QFont.Bold))
        proto_group.setStyleSheet(config_group.styleSheet())
        proto_layout = QHBoxLayout()
        proto_layout.setSpacing(18)
        proto_layout.setContentsMargins(16, 16, 16, 16)
        proto_layout.addWidget(QLabel("数据数量:"))
        self.data_count_spin = QSpinBox()
        self.data_count_spin.setRange(1, 16)
        self.data_count_spin.setValue(self.data_count)
        self.data_count_spin.setFixedWidth(80)
        self.data_count_spin.valueChanged.connect(self.apply_proto_config)
        proto_layout.addWidget(self.data_count_spin)
        proto_layout.addSpacing(18)
        proto_layout.addWidget(QLabel("数据类型:"))
        self.data_type_box = QComboBox()
        self.data_type_box.addItems(self.data_types)
        self.data_type_box.setCurrentText(self.data_type)
        self.data_type_box.setFixedWidth(100)
        self.data_type_box.currentTextChanged.connect(self.apply_proto_config)
        proto_layout.addWidget(self.data_type_box)
        # proto_layout.addStretch(1)
        proto_group.setLayout(proto_layout)
        left_panel.addWidget(proto_group)
    
        # 发送数据区美化
        send_group = QGroupBox("发送数据")
        send_group.setFont(QFont("微软雅黑", 14, QFont.Bold))
        send_group.setStyleSheet("""
            QGroupBox {
                border: 2px solid #b5d0ea;
                border-radius: 12px;
                margin-top: 12px;
                background: #f8fbfd;
                color: #2471a3;
                padding: 8px 0 0 0;
            }
            QGroupBox:title {
                subcontrol-origin: margin;
                left: 16px;
                top: -8px;
                background: transparent;
                padding: 0 8px;
            }
        """)
        send_layout = QVBoxLayout()
        send_layout.setSpacing(16)
        send_layout.setContentsMargins(18, 18, 18, 18)
    
        # 输入框（多行）
        self.send_edit = QTextEdit()
        self.send_edit.setFont(QFont("Consolas", 18))
        self.send_edit.setPlaceholderText("输入要发送的数据，可多行（支持HEX/文本）...")
        self.send_edit.setMinimumHeight(140)
        self.send_edit.setMaximumHeight(220)
        self.send_edit.setStyleSheet("""
            QTextEdit {
                background: #f8fbfd;
                border-radius: 12px;
                border: 2px solid #d6eaf8;
                font-size: 18px;
                padding: 14px 20px;
            }
        """)
        send_layout.addWidget(self.send_edit)
    
        # HEX复选框和按钮行
        row1 = QHBoxLayout()
        row1.setSpacing(24)
        self.hex_send_chk.setStyleSheet("""
            QCheckBox {
                color: #2471a3;
                font-size: 15px;
            }
            QCheckBox::indicator {
                width: 22px;
                height: 22px;
            }
            QCheckBox::indicator:checked {
                background-color: #2980b9;
                border: 1.5px solid #2980b9;
            }
            QCheckBox::indicator:unchecked {
                background-color: #fff;
                border: 1.5px solid #b5d0ea;
            }
        """)
        self.hex_recv_chk.setStyleSheet(self.hex_send_chk.styleSheet())
        row1.addWidget(self.hex_send_chk)
        row1.addWidget(self.hex_recv_chk)
        row1.addStretch(1)
        send_layout.addLayout(row1)
    
        # 发送和持续发送按钮+频率（优化为“每秒发送次数”）
        row2 = QHBoxLayout()
        row2.setSpacing(18)
        self.send_btn = QPushButton("发送")
        self.send_btn.clicked.connect(self.send_data)
        self.send_btn.setFont(QFont("微软雅黑", 16, QFont.Bold))
        self.send_btn.setFixedHeight(44)
        self.send_btn.setFixedWidth(120)
        self.send_btn.setStyleSheet(self._btn_style("#2980b9"))
        row2.addWidget(self.send_btn)
    
        self.cont_send_btn = QPushButton("持续发送")
        self.cont_send_btn.setCheckable(True)
        self.cont_send_btn.setFont(QFont("微软雅黑", 15))
        self.cont_send_btn.setFixedHeight(44)
        self.cont_send_btn.setFixedWidth(120)
        self.cont_send_btn.setStyleSheet(self._btn_style("#f1c40f"))
        self.cont_send_btn.clicked.connect(self.toggle_cont_send)
        row2.addWidget(self.cont_send_btn)
    
        freq_label = QLabel("   每秒发送次数:")
        freq_label.setFont(QFont("微软雅黑", 8))
        freq_label.setFixedWidth(180)
        #文本居中
        # freq_label.setAlignment(Qt.AlignRight | Qt.AlignVCenter)
        row2.addWidget(freq_label)
    
        self.freq_input = QSpinBox()
        self.freq_input.setRange(1, 1000)
        self.freq_input.setValue(5)
        self.freq_input.setFont(QFont("Consolas", 14))
        self.freq_input.setFixedWidth(100)
        self.freq_input.setStyleSheet("""
            QSpinBox {
                background: #f8fbfd;
                border-radius: 8px;
                border: 1px solid #d6eaf8;
                font-size: 15px;
                padding: 2px 8px;
            }
        """)
        row2.addWidget(self.freq_input)
    
        # freq_unit = QLabel("次/秒")
        # freq_unit.setFont(QFont("微软雅黑", 13))
        # freq_unit.setFixedWidth(40)
        # row2.addWidget(freq_unit)
        row2.addStretch(1)
        send_layout.addLayout(row2)
    
        self.cont_send_timer = QTimer(self)
        self.cont_send_timer.timeout.connect(self.send_data)
    
        send_group.setLayout(send_layout)
        left_panel.addWidget(send_group, stretch=1)  # 让发送区弹性填充
    
        # 使用说明始终在最下方
        usage_group = QGroupBox("使用说明")
        usage_group.setFont(QFont("微软雅黑", 13, QFont.Bold))
        usage_group.setStyleSheet("""
            QGroupBox {
                border: 2px solid #b5d0ea;
                border-radius: 10px;
                margin-top: 10px;
                background: #f8fbfd;
                color: #2471a3;
                padding: 6px 0 0 0;
            }
            QGroupBox:title {
                subcontrol-origin: margin;
                left: 10px;
                top: -8px;
                background: transparent;
                padding: 0 6px;
            }
        """)
        usage_layout = QVBoxLayout()
        usage_label = QLabel(
            "1. 在“数据协议配置”中选择数据数量和数据类型。\n"
            "2. 下位机发送格式：\n"
            "   0x55 + 数据数量(1字节) + 数据 + 校验和(1字节)\n"
            "   校验和为包头到最后一个数据字节的累加和的低8位。\n"
            "3. 每包数据自动绘制曲线，X轴为采样点（或时间），Y轴为各通道数据。\n"
        )
        usage_label.setWordWrap(True)
        usage_label.setFont(QFont("微软雅黑", 9))
        usage_layout.addWidget(usage_label)
        usage_group.setLayout(usage_layout)
        left_panel.addWidget(usage_group)
    
        # 清空按钮紧贴使用说明
        self.clear_btn = QPushButton("清空接收和曲线")
        self.clear_btn.clicked.connect(self.clear_all)
        self.clear_btn.setStyleSheet(self._btn_style("#e74c3c"))
        self.clear_btn.setFixedHeight(38)
        left_panel.addWidget(self.clear_btn)
    
        main_layout.addLayout(left_panel, 0)
    
        # 右侧面板
        right_panel = QVBoxLayout()
        right_panel.setSpacing(20)
    
        # 接收区
        recv_group = QGroupBox("串口接收区")
        recv_group.setFont(QFont("微软雅黑", 14, QFont.Bold))
        recv_group.setStyleSheet(config_group.styleSheet())
        recv_layout = QVBoxLayout()
        self.recv_box = QTextEdit()
        self.recv_box.setFont(QFont("Consolas", 13))
        self.recv_box.setReadOnly(True)
        self.recv_box.setMinimumHeight(120)
        self.recv_box.setStyleSheet("""
            QTextEdit {
                background: #f8fbfd;
                border-radius: 10px;
                border: 1px solid #d6eaf8;
                font-size: 15px;
                color: #2c3e50;
                padding: 8px;
            }
        """)
        recv_layout.addWidget(self.recv_box)
        recv_group.setLayout(recv_layout)
        right_panel.addWidget(recv_group)
    
        # 曲线绘图区
        plot_frame = QFrame()
        plot_frame.setStyleSheet("""
            QFrame {
                background: #fff;
                border-radius: 16px;
                border: 1px solid #d6eaf8;
            }
        """)
        plot_shadow = QGraphicsDropShadowEffect(self)
        plot_shadow.setBlurRadius(18)
        plot_shadow.setOffset(0, 4)
        plot_shadow.setColor(Qt.gray)
        plot_frame.setGraphicsEffect(plot_shadow)
        plot_layout2 = QVBoxLayout(plot_frame)
        plot_layout2.setContentsMargins(10, 10, 10, 10)
        self.figure = Figure(figsize=(7, 4))
        self.canvas = FigureCanvas(self.figure)
        plot_layout2.addWidget(self.canvas)
        right_panel.addWidget(plot_frame, 2)
    
        main_layout.addLayout(right_panel, 1)
    
        # 定时器接收
        self.timer = QTimer(self)
        self.timer.timeout.connect(self.read_serial)
    
        # 新增：正弦波测试定时器
        self.sine_timer = QTimer(self)
        self.sine_timer.timeout.connect(self.send_sine_data)
        self.sine_phase = 0
        # 默认配置
        self.apply_proto_config()
    
    def parse_hex_string(self, s):
        """支持 0x11 0x22 33 44 格式转bytes"""
        s = s.strip().replace(',', ' ').replace(';', ' ')
        parts = s.split()
        result = []
        for part in parts:
            if part.startswith('0x') or part.startswith('0X'):
                try:
                    result.append(int(part, 16))
                except Exception:
                    pass
            else:
                try:
                    result.append(int(part, 16))
                except Exception:
                    pass
        return bytes(result)

    def send_data(self):
        if self.ser and self.ser.is_open:
            data = self.send_edit.text()
            try:
                if self.hex_send_chk.isChecked():
                    # 支持 0x11 0x22 33 44 格式
                    data_bytes = self.parse_hex_string(data)
                    if not data_bytes:
                        self.recv_box.append("HEX格式错误，未发送。")
                        return
                    self.ser.write(data_bytes)
                    self.recv_box.append(f"发送(HEX): {' '.join(['%02X'%b for b in data_bytes])}")
                else:
                    self.ser.write(data.encode('utf-8'))
                    self.recv_box.append(f"发送: {data}")
            except Exception as e:
                self.recv_box.append(f"发送失败: {e}")
        else:
            self.recv_box.append("串口未打开，无法发送。")

    def toggle_cont_send(self):
        if self.cont_send_btn.isChecked():
            try:
                interval = int(self.freq_box.currentText())
            except Exception:
                interval = 200
            self.cont_send_timer.start(interval)
            self.cont_send_btn.setText("停止发送")
        else:
            self.cont_send_timer.stop()
            self.cont_send_btn.setText("持续发送")

    def simulate_data(self):
        """模拟一包数据并自动解析绘图"""
        import struct
        import random
        # 构造协议包
        head = 0x55
        count = self.data_count
        dtype = self.data_type
        # 随机生成数据
        if dtype == "float":
            vals = [random.uniform(-10, 10) for _ in range(count)]
            data_bytes = struct.pack(f"<{count}f", *vals)
        elif dtype == "int16":
            vals = [random.randint(-30000, 30000) for _ in range(count)]
            data_bytes = struct.pack(f"<{count}h", *vals)
        elif dtype == "uint16":
            vals = [random.randint(0, 65535) for _ in range(count)]
            data_bytes = struct.pack(f"<{count}H", *vals)
        elif dtype == "int8":
            vals = [random.randint(-128, 127) for _ in range(count)]
            data_bytes = struct.pack(f"<{count}b", *vals)
        elif dtype == "uint8":
            vals = [random.randint(0, 255) for _ in range(count)]
            data_bytes = struct.pack(f"<{count}B", *vals)
        else:
            vals = [0] * count
            data_bytes = b"\x00" * (count * self._type_size())
        # 拼包
        pkt = bytes([head, count]) + data_bytes
        checksum = sum(pkt) & 0xFF
        pkt += bytes([checksum])
        # 加入接收缓冲区并解析
        self.recv_buffer += pkt
        self.parse_and_plot_bin()

    def _btn_style(self, color="#2980b9"):
        return f"""
            QPushButton {{
                background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                    stop:0 #eaf6fb, stop:1 #d6eaf8);
                color: {color};
                border-radius: 14px;
                font-size: 16px;
                font-weight: 600;
                padding: 8px 0;
                border: 1.5px solid #d6eaf8;
                letter-spacing: 1px;
            }}
            QPushButton:hover {{
                background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                    stop:0 #f8fffe, stop:1 #cfe7fa);
                color: #1a6fae;
                border: 2px solid #b5d0ea;
            }}
            QPushButton:pressed {{
                background: #e3f0fa;
                color: {color};
                border: 2px solid #a4cbe3;
            }}
        """

    def apply_proto_config(self):
        self.data_count = self.data_count_spin.value()
        self.data_type = self.data_type_box.currentText()
        self.plot_data = {i: [[], []] for i in range(self.data_count)}
        self.sample_idx = 0
        self.update_plot()

    def refresh_ports(self):
        self.port_box.clear()
        ports = serial.tools.list_ports.comports()
        for port in ports:
            self.port_box.addItem(port.device)
        if self.port_box.count() == 0:
            self.port_box.addItem("无可用串口")

    def toggle_serial(self):
        if self.open_btn.isChecked():
            port = self.port_box.currentText()
            baud = int(self.baud_box.currentText())
            try:
                self.ser = serial.Serial(port, baud, timeout=0.1)
                self.open_btn.setText("关闭串口")
                self.recv_box.append(f"已打开串口 {port} @ {baud}bps")
                self.timer.start(50)
            except Exception as e:
                self.recv_box.append(f"打开串口失败: {e}")
                self.open_btn.setChecked(False)
        else:
            if self.ser and self.ser.is_open:
                self.ser.close()
            self.open_btn.setText("打开串口")
            self.recv_box.append("串口已关闭")
            self.timer.stop()

    def send_multi_data(self):
        if self.ser and self.ser.is_open:
            text = self.send_edit.text()
            lines = text.split(";")
            for line in lines:
                if line.strip():
                    try:
                        if self.hex_send_chk.isChecked():
                            data_bytes = self.parse_hex_string(line.strip())
                            self.ser.write(data_bytes)
                            self.recv_box.append(f"发送(HEX): {' '.join(['%02X'%b for b in data_bytes])}")
                        else:
                            self.ser.write(line.strip().encode('utf-8'))
                            self.recv_box.append(f"发送: {line.strip()}")
                    except Exception as e:
                        self.recv_box.append(f"发送失败: {e}")
        else:
            self.recv_box.append("串口未打开，无法发送。")

    def read_serial(self):
        if self.ser and self.ser.is_open:
            try:
                data = self.ser.read_all()
                if data:
                    if self.hex_recv_chk.isChecked():
                        self.recv_box.append(f"接收(HEX): {data.hex(' ').upper()}")
                    else:
                        try:
                            self.recv_box.append(f"接收: {data.decode('utf-8', errors='replace')}")
                        except Exception:
                            self.recv_box.append(f"接收(HEX): {data.hex(' ').upper()}")
                    self.recv_buffer += data
                    self.parse_and_plot_bin()
            except Exception as e:
                self.recv_box.append(f"接收失败: {e}")

    def toggle_sine_test(self):
        if self.test_btn.isChecked():
            self.test_btn.setText("停止测试")
            self.sine_phase = 0
            self.sine_timer.start(80)  # 80ms周期
        else:
            self.test_btn.setText("测试正弦波(持续)")
            self.sine_timer.stop()

    def send_sine_data(self):
        import struct, math
        head = 0x55
        count = self.data_count
        dtype = self.data_type
        t = self.sine_phase
        vals = []
        for i in range(count):
            # 多通道不同相位
            val = math.sin(t / 10.0 + i * math.pi / 4) * 10
            if dtype == "float":
                vals.append(float(val))
            elif dtype == "int16":
                vals.append(int(val * 1000))
            elif dtype == "uint16":
                vals.append(int(val * 1000 + 20000))
            elif dtype == "int8":
                vals.append(int(val * 10))
            elif dtype == "uint8":
                vals.append(int(val * 10 + 100))
        # 打包
        if dtype == "float":
            data_bytes = struct.pack(f"<{count}f", *vals)
        elif dtype == "int16":
            data_bytes = struct.pack(f"<{count}h", *vals)
        elif dtype == "uint16":
            data_bytes = struct.pack(f"<{count}H", *vals)
        elif dtype == "int8":
            data_bytes = struct.pack(f"<{count}b", *vals)
        elif dtype == "uint8":
            data_bytes = struct.pack(f"<{count}B", *vals)
        else:
            data_bytes = b"\x00" * (count * self._type_size())
        pkt = bytes([head, count]) + data_bytes
        checksum = sum(pkt) & 0xFF
        pkt += bytes([checksum])
        # 直接走接收流程模拟
        self.recv_buffer += pkt
        self.parse_and_plot_bin()
        # 在接收区实时显示理论值
        self.recv_box.append(f"理论: {['%.3f'%v for v in vals]}")
        self.sine_phase += 1

    def parse_and_plot_bin(self):
        # 协议：0x55 + 数据数量(1B) + 数据 + 校验(1B)
        min_len = 1 + 1 + self.data_count * self._type_size() + 1
        while len(self.recv_buffer) >= min_len:
            idx = self.recv_buffer.find(b'\x55')
            if idx == -1:
                self.recv_buffer = b""
                break
            if idx > 0:
                self.recv_buffer = self.recv_buffer[idx:]
            if len(self.recv_buffer) < min_len:
                break
            # 检查数量
            count = self.recv_buffer[1]
            if count != self.data_count:
                self.recv_buffer = self.recv_buffer[2:]
                continue
            data_bytes = self.recv_buffer[2:2+count*self._type_size()]
            checksum = self.recv_buffer[2+count*self._type_size()]
            calc_sum = (sum(self.recv_buffer[:2+count*self._type_size()])) & 0xFF
            if checksum != calc_sum:
                self.recv_box.append("校验和错误，丢弃包")
                self.recv_buffer = self.recv_buffer[1:]
                continue
            # 解析数据
            values = self._unpack_data(data_bytes, count)
            self.recv_box.append(f"接收: {values}")
            for i, v in enumerate(values):
                self.plot_data[i][0].append(self.sample_idx)
                self.plot_data[i][1].append(v)
                if len(self.plot_data[i][0]) > 200:
                    self.plot_data[i][0].pop(0)
                    self.plot_data[i][1].pop(0)
            self.sample_idx += 1
            self.recv_buffer = self.recv_buffer[min_len:]
            self.update_plot()

    def _type_size(self):
        if self.data_type == "float":
            return 4
        elif self.data_type in ("int16", "uint16"):
            return 2
        elif self.data_type in ("int8", "uint8"):
            return 1
        return 4

    def _unpack_data(self, data_bytes, count):
        import struct
        fmt = {
            "float": f"<{count}f",
            "int16": f"<{count}h",
            "uint16": f"<{count}H",
            "int8": f"<{count}b",
            "uint8": f"<{count}B"
        }[self.data_type]
        try:
            return struct.unpack(fmt, data_bytes)
        except Exception:
            return [0] * count

    def update_plot(self):
        self.figure.clear()
        ax = self.figure.add_subplot(111)
        ax.set_xlabel("Sample", fontsize=14)
        ax.set_ylabel("Value", fontsize=14)
        has_curve = False
        for idx in range(self.data_count):
            color = self.curve_colors[idx % len(self.curve_colors)]
            x_list, y_list = self.plot_data.get(idx, ([], []))
            if x_list and y_list:
                ax.plot(x_list, y_list, label=f"CH{idx+1}", color=color, linewidth=2)
                has_curve = True
        if has_curve:
            ax.legend()
        ax.grid(True, linestyle="--", alpha=0.5)
        self.canvas.draw()

    def clear_all(self):
        self.recv_box.clear()
        self.plot_data = {i: [[], []] for i in range(self.data_count)}
        self.sample_idx = 0
        self.update_plot()

# --------- 功能四：MRobot架构生成 ---------
class GenerateMRobotCode(QWidget):
    repo_ready_signal = pyqtSignal()

    def __init__(self):
        super().__init__()
        self.setFont(QFont("微软雅黑", 15))
        self.setStyleSheet("""
            QWidget {
                background: #f8fbfd;
                border-radius: 16px;
                padding: 20px;
            }
        """)
        # 变量初始化
        self.repo_dir = "MRobot_repo"
        self.repo_url = "http://gitea.qutrobot.top/robofish/MRobot.git"
        self.header_file_vars = {}
        self.task_vars = []
        self.ioc_data = None
        self.add_gitignore = False
        self.auto_configure = False
        self.repo_ready = False  # 标志：仓库是否已准备好
        self.init_ui()
        self.repo_ready_signal.connect(self.on_repo_ready)

    def showEvent(self, event):
        super().showEvent(event)
        if not self.repo_ready:
            self.log("首次进入，正在克隆MRobot仓库...")
            self.clone_repo_and_refresh()

    def clone_repo_and_refresh(self):
        import threading
        def do_clone():
            self.clone_repo()
            self.repo_ready = True
            self.ioc_data = self.find_and_read_ioc_file()
            self.repo_ready_signal.emit()
        threading.Thread(target=do_clone).start()

    @pyqtSlot()
    def on_repo_ready(self):
        self.update_freertos_status()
        self.update_header_files()
        self.update_task_ui()
        self.log("仓库准备完成！")

    def init_ui(self):
        main_layout = QVBoxLayout(self)
        main_layout.setSpacing(18)
        main_layout.setContentsMargins(32, 32, 32, 32)
        self.setStyleSheet("""
            QWidget {
                background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                    stop:0 #eaf6fb, stop:1 #d6eaf8);
                border-radius: 16px;
            }
        """)

        # 顶部标题区
        title = QLabel("MRobot 架构生成工具")
        title.setFont(QFont("微软雅黑", 22, QFont.Bold))
        title.setAlignment(Qt.AlignCenter)
        title.setStyleSheet("color: #2980b9; letter-spacing: 2px; margin-bottom: 2px;")
        main_layout.addWidget(title)

        desc = QLabel("快速生成 MRobot 项目代码，自动管理模块、任务与环境配置。")
        desc.setFont(QFont("微软雅黑", 13))
        desc.setAlignment(Qt.AlignCenter)
        desc.setStyleSheet("color: #34495e; margin-bottom: 8px;")
        main_layout.addWidget(desc)

        # 状态与选项区
        status_opt_row = QHBoxLayout()
        status_opt_row.setSpacing(24)

        # 状态区
        status_col = QVBoxLayout()
        self.freertos_status_label = QLabel("FreeRTOS 状态: 检测中...")
        self.freertos_status_label.setFont(QFont("微软雅黑", 12))
        self.freertos_status_label.setStyleSheet("color: #2471a3;")
        status_col.addWidget(self.freertos_status_label)
        status_col.addStretch(1)
        status_opt_row.addLayout(status_col, 1)

        # 选项区
        option_col = QVBoxLayout()
        self.gitignore_chk = QCheckBox("生成 .gitignore")
        self.gitignore_chk.setFont(QFont("微软雅黑", 12))
        self.gitignore_chk.stateChanged.connect(lambda x: setattr(self, "add_gitignore", x == Qt.Checked))
        option_col.addWidget(self.gitignore_chk)
        self.auto_env_chk = QCheckBox("自动环境配置")
        self.auto_env_chk.setFont(QFont("微软雅黑", 12))
        self.auto_env_chk.stateChanged.connect(lambda x: setattr(self, "auto_configure", x == Qt.Checked))
        option_col.addWidget(self.auto_env_chk)
        option_col.addStretch(1)
        status_opt_row.addLayout(option_col, 1)

        status_opt_row.addStretch(2)
        main_layout.addLayout(status_opt_row)

        # 主体分区：左侧模块选择，右侧任务管理
        body_layout = QHBoxLayout()
        body_layout.setSpacing(24)

        # 左侧：模块文件选择
        left_col = QVBoxLayout()
        self.header_group = QGroupBox("模块文件选择")
        self.header_group.setFont(QFont("微软雅黑", 15, QFont.Bold))
        self.header_group.setStyleSheet("""
            QGroupBox {
                border: 2px solid #b5d0ea;
                border-radius: 12px;
                margin-top: 8px;
                background: #f8fbfd;
                color: #2471a3;
                padding: 10px 0 0 0;
            }
            QGroupBox:title {
                subcontrol-origin: margin;
                left: 18px;
                top: -10px;
                background: transparent;
                padding: 0 8px;
            }
        """)
        self.header_layout = QVBoxLayout(self.header_group)
        self.header_layout.setSpacing(8)
        left_col.addWidget(self.header_group)
        left_col.addStretch(1)
        body_layout.addLayout(left_col, 2)

        # 右侧：任务管理
        right_col = QVBoxLayout()
        self.task_group = QGroupBox("任务管理 (FreeRTOS)")
        self.task_group.setFont(QFont("微软雅黑", 15, QFont.Bold))
        self.task_group.setStyleSheet(self.header_group.styleSheet())
        self.task_layout = QVBoxLayout(self.task_group)
        self.task_layout.setSpacing(8)
        right_col.addWidget(self.task_group)
        right_col.addStretch(1)
        body_layout.addLayout(right_col, 2)

        main_layout.addLayout(body_layout)

        # 生成按钮区
        btn_row = QHBoxLayout()
        btn_row.addStretch(1)
        self.generate_btn = QPushButton("一键生成 MRobot 代码")
        self.generate_btn.setFont(QFont("微软雅黑", 18, QFont.Bold))
        self.generate_btn.setMinimumHeight(48)
        self.generate_btn.setStyleSheet("""
            QPushButton {
                background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                    stop:0 #eaf6fb, stop:1 #d6eaf8);
                color: #2980b9;
                border-radius: 20px;
                font-size: 20px;
                font-weight: 600;
                padding: 12px 0;
                border: 1px solid #d6eaf8;
            }
            QPushButton:hover {
                background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                    stop:0 #f8fffe, stop:1 #cfe7fa);
                color: #1a6fae;
                border: 1.5px solid #b5d0ea;
            }
            QPushButton:pressed {
                background: #e3f0fa;
                color: #2471a3;
                border: 1.5px solid #a4cbe3;
            }
        """)
        self.generate_btn.clicked.connect(self.generate_action)
        btn_row.addWidget(self.generate_btn)
        btn_row.addStretch(1)
        main_layout.addLayout(btn_row)

        # 日志输出区
        self.msg_box = QTextEdit()
        self.msg_box.setReadOnly(True)
        self.msg_box.setFont(QFont("Consolas", 13))
        self.msg_box.setMaximumHeight(100)
        self.msg_box.setStyleSheet("""
            QTextEdit {
                background: #f4f6f7;
                border-radius: 8px;
                border: 1px solid #d6eaf8;
                font-size: 15px;
                color: #2c3e50;
                padding: 8px;
            }
        """)
        main_layout.addWidget(self.msg_box)

        # 页脚
        footer = QLabel("如遇问题请反馈至 QUT 机器人战队")
        footer.setFont(QFont("微软雅黑", 11))
        footer.setAlignment(Qt.AlignCenter)
        footer.setStyleSheet("color: #b2bec3; margin-top: 6px;")
        main_layout.addWidget(footer)

        # 初始化内容
        self.update_header_files()
        self.update_task_ui()

        # ...其余方法保持不变...

    def log(self, msg):
        self.msg_box.append(msg)

    def clone_repo(self):
        import shutil
        from git import Repo
        if os.path.exists(self.repo_dir):
            shutil.rmtree(self.repo_dir)
        try:
            self.log("正在克隆仓库...")
            Repo.clone_from(self.repo_url, self.repo_dir, multi_options=["--depth=1"])
            self.log("仓库克隆成功！")
        except Exception as e:
            self.log(f"克隆仓库失败: {e}")

    def find_and_read_ioc_file(self):
        for file in os.listdir("."):
            if file.endswith(".ioc"):
                with open(file, "r", encoding="utf-8") as f:
                    return f.read()
        self.log("未找到 .ioc 文件！")
        return None

    def check_freertos_enabled(self):
        import re
        if not self.ioc_data:
            return False
        return bool(re.search(r"Mcu\.IP\d+=FREERTOS", self.ioc_data))

    def update_freertos_status(self):
        if self.ioc_data:
            status = "已启用" if self.check_freertos_enabled() else "未启用"
        else:
            status = "未检测到 .ioc 文件"
        self.freertos_status_label.setText(f"FreeRTOS 状态: {status}")

    def update_header_files(self):
        for i in reversed(range(self.header_layout.count())):
            widget = self.header_layout.itemAt(i).widget()
            if widget:
                widget.deleteLater()
        if not self.repo_ready or not os.path.exists(self.repo_dir):
            return
        from collections import defaultdict
        import csv
        folders = ["bsp", "component", "device", "module"]
        dependencies = defaultdict(list)
        for folder in folders:
            folder_dir = os.path.join(self.repo_dir, "User", folder)
            dep_file = os.path.join(folder_dir, "dependencies.csv")
            if os.path.exists(dep_file):
                with open(dep_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])
        for folder in folders:
            folder_dir = os.path.join(self.repo_dir, "User", folder)
            if os.path.exists(folder_dir):
                group = QGroupBox(folder)
                g_layout = QHBoxLayout(group)
                for file in os.listdir(folder_dir):
                    file_base, file_ext = os.path.splitext(file)
                    if file_ext == ".h" and file_base != folder:
                        var = QCheckBox(file_base)
                        var.stateChanged.connect(lambda x, fb=file_base: self.handle_dependencies(fb, dependencies))
                        self.header_file_vars[file_base] = var
                        g_layout.addWidget(var)
                self.header_layout.addWidget(group)

    def handle_dependencies(self, file_base, dependencies):
        if file_base in self.header_file_vars and self.header_file_vars[file_base].isChecked():
            for dep in dependencies.get(file_base, []):
                dep_base = os.path.basename(dep)
                if dep_base in self.header_file_vars:
                    self.header_file_vars[dep_base].setChecked(True)

    def update_task_ui(self):
        for i in reversed(range(self.task_layout.count())):
            widget = self.task_layout.itemAt(i).widget()
            if widget:
                widget.deleteLater()
        if not self.repo_ready or not self.check_freertos_enabled():
            self.task_group.setVisible(False)
            return
        self.task_group.setVisible(True)
        for i, (task_var, freq_var) in enumerate(self.task_vars):
            row = QHBoxLayout()
            name_edit = QLineEdit(task_var)
            freq_spin = QSpinBox()
            freq_spin.setRange(1, 1000)
            freq_spin.setValue(freq_var)
            del_btn = QPushButton("删除")
            del_btn.clicked.connect(lambda _, idx=i: self.remove_task(idx))
            row.addWidget(name_edit)
            row.addWidget(QLabel("频率:"))
            row.addWidget(freq_spin)
            row.addWidget(del_btn)
            container = QWidget()
            container.setLayout(row)
            self.task_layout.addWidget(container)
        add_btn = QPushButton("添加任务")
        add_btn.clicked.connect(self.add_task)
        self.task_layout.addWidget(add_btn)

    def add_task(self):
        self.task_vars.append([f"Task_{len(self.task_vars)+1}", 100])
        self.update_task_ui()

    def remove_task(self, idx):
        if 0 <= idx < len(self.task_vars):
            self.task_vars.pop(idx)
            self.update_task_ui()

    def copy_file_from_repo(self, src_path, dest_path):
        import shutil
        if src_path.startswith(self.repo_dir):
            full_src_path = src_path
        else:
            full_src_path = os.path.join(self.repo_dir, src_path.lstrip(os.sep))
        if not os.path.exists(full_src_path):
            self.log(f"文件 {full_src_path} 不存在！")
            return
        dest_dir = os.path.dirname(dest_path)
        if dest_dir and not os.path.exists(dest_dir):
            os.makedirs(dest_dir, exist_ok=True)
        shutil.copy(full_src_path, dest_path)
        self.log(f"已复制 {full_src_path} 到 {dest_path}")

    def generate_action(self):
        import threading
        def task():
            self.create_directories()
            if self.add_gitignore:
                self.copy_file_from_repo(".gitignore", ".gitignore")
            if self.ioc_data and self.check_freertos_enabled():
                self.copy_file_from_repo("src/freertos.c", os.path.join("Core", "Src", "freertos.c"))
            folders = ["bsp", "component", "device", "module"]
            for folder in folders:
                folder_dir = os.path.join(self.repo_dir, "User", folder)
                if not os.path.exists(folder_dir):
                    continue
                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
                    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
                    if file_base in self.header_file_vars and self.header_file_vars[file_base].isChecked():
                        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)
            if self.ioc_data and self.check_freertos_enabled():
                self.modify_user_task_file()
                self.generate_user_task_header()
                self.generate_init_file()
                self.generate_task_files()
            self.log("生成完成！")
        threading.Thread(target=task).start()

    def create_directories(self):
        dirs = [
            "User/bsp",
            "User/component",
            "User/device",
            "User/module",
        ]
        if self.ioc_data and self.check_freertos_enabled():
            dirs.append("User/task")
        for d in dirs:
            if not os.path.exists(d):
                os.makedirs(d, exist_ok=True)
                self.log(f"已创建目录: {d}")

    def generate_task_files(self):
        try:
            import re
            template_file_path = os.path.join(self.repo_dir, "User", "task", "task.c.template")
            task_dir = os.path.join("User", "task")
            if not os.path.exists(template_file_path):
                self.log(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()
            for task in self.task_vars:
                if isinstance(task, (list, tuple)):
                    task_name = str(task[0])
                else:
                    task_name = str(task)
                task_file_path = os.path.join(task_dir, f"{task_name.lower()}.c")
                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_name.upper()}"
                )
                task_content = task_content.replace("{{task_delay}}", f"TASK_INIT_DELAY_{task_name.upper()}")
                with open(task_file_path, "w", encoding="utf-8") as f2:
                    f2.write(task_content)
                self.log(f"已成功生成 {task_file_path} 文件！")
        except Exception as e:
            self.log(f"生成 task.c 文件时出错: {e}")

    def modify_user_task_file(self):
        try:
            import re
            template_file_path = os.path.join(self.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):
                self.log(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()
            task_attr_definitions = "\n".join([
                f"""const osThreadAttr_t attr_{str(task[0]).lower()} = {{
    .name = "{str(task[0])}",
    .priority = osPriorityNormal,
    .stack_size = 128 * 4,
}};"""
                for task in self.task_vars
            ])
            task_content = template_content.replace("{{task_attr_definitions}}", task_attr_definitions)
            with open(generated_task_file_path, "w", encoding="utf-8") as f2:
                f2.write(task_content)
            self.log(f"已成功生成 {generated_task_file_path} 文件！")
        except Exception as e:
            self.log(f"修改 user_task.c 文件时出错: {e}")

    def generate_user_task_header(self):
        try:
            import re
            template_file_path = os.path.join(self.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):
                self.log(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)
            existing_msgq_content = ""
            if os.path.exists(header_file_path):
                with open(header_file_path, "r", encoding="utf-8") as f:
                    content = f.read()
                    match = re.search(r"/\* USER MESSAGE BEGIN \*/\s*(.*?)\s*/\* USER MESSAGE END \*/", content, re.DOTALL)
                    if match:
                        existing_msgq_content = match.group(1).strip()
                        self.log("已存在的 msgq 区域内容已保留")
            with open(template_file_path, "r", encoding="utf-8") as f:
                template_content = f.read()
            thread_definitions = "\n".join([f"        osThreadId_t {str(task[0]).lower()};" for task in self.task_vars])
            msgq_definitions = existing_msgq_content if existing_msgq_content else "        osMessageQueueId_t default_msgq;"
            freq_definitions = "\n".join([f"        float {str(task[0]).lower()};" for task in self.task_vars])
            last_up_time_definitions = "\n".join([f"        uint32_t {str(task[0]).lower()};" for task in self.task_vars])
            task_attr_declarations = "\n".join([f"extern const osThreadAttr_t attr_{str(task[0]).lower()};" for task in self.task_vars])
            task_function_declarations = "\n".join([f"void {str(task[0])}(void *argument);" for task in self.task_vars])
            task_frequency_definitions = "\n".join([
                f"#define TASK_FREQ_{str(task[0]).upper()} ({int(task[1])}u)"
                for task in self.task_vars
            ])
            task_init_delay_definitions = "\n".join([f"#define TASK_INIT_DELAY_{str(task[0]).upper()} (0u)" for task in self.task_vars])
            task_handle_definitions = "\n".join([f"    osThreadId_t {str(task[0]).lower()};" for task in self.task_vars])
            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)
            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 f2:
                f2.write(header_content)
            self.log(f"已成功生成 {header_file_path} 文件！")
        except Exception as e:
            self.log(f"生成 user_task.h 文件时出错: {e}")

    def generate_init_file(self):
        try:
            import re
            template_file_path = os.path.join(self.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):
                self.log(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)
            existing_msgq_content = ""
            if os.path.exists(generated_file_path):
                with open(generated_file_path, "r", encoding="utf-8") as f:
                    content = f.read()
                    match = re.search(r"/\* USER MESSAGE BEGIN \*/\s*(.*?)\s*/\* USER MESSAGE END \*/", content, re.DOTALL)
                    if match:
                        existing_msgq_content = match.group(1).strip()
                        self.log("已存在的消息队列区域内容已保留")
            with open(template_file_path, "r", encoding="utf-8") as f:
                template_content = f.read()
            thread_creation_code = "\n".join([
                f"  task_runtime.thread.{str(task[0]).lower()} = osThreadNew({str(task[0])}, NULL, &attr_{str(task[0]).lower()});"
                for task in self.task_vars
            ])
            init_content = template_content.replace("{{thread_creation_code}}", thread_creation_code)
            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 f2:
                f2.write(init_content)
            self.log(f"已成功生成 {generated_file_path} 文件！")
        except Exception as e:
            self.log(f"生成 init.c 文件时出错: {e}")

# --------- 主工具箱UI ---------
class ToolboxUI(QWidget):
    def __init__(self):
        super().__init__()
        self.setWindowTitle("MRobot 工具箱")
        self.resize(1920, 1080)
        self.setMinimumSize(900, 600)
        self.setStyleSheet("""
            QWidget {
                background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                    stop:0 #eaf6fb, stop:1 #d6eaf8);
                border-radius: 16px;
            }
        """)
        self.init_ui()

    def init_ui(self):
        main_layout = QHBoxLayout(self)
        main_layout.setContentsMargins(20, 20, 20, 20)
        main_layout.setSpacing(20)

        # 左侧导航
        left_frame = QFrame()
        left_frame.setFrameShape(QFrame.StyledPanel)
        left_frame.setStyleSheet("""
            QFrame {
                background: #f8fbfd;
                border-radius: 14px;
                border: 1px solid #d6eaf8;
            }
        """)
        left_shadow = QGraphicsDropShadowEffect(self)
        left_shadow.setBlurRadius(16)
        left_shadow.setOffset(0, 4)
        left_shadow.setColor(Qt.gray)
        left_frame.setGraphicsEffect(left_shadow)

        left_layout = QVBoxLayout(left_frame)
        left_layout.setSpacing(24)
        left_layout.setContentsMargins(18, 18, 18, 18)
        left_frame.setFixedWidth(260)
        main_layout.addWidget(left_frame)

        # Logo
        logo_label = QLabel()
        logo_pixmap = QPixmap(resource_path("mr_tool_img/MRobot.png"))
        if not logo_pixmap.isNull():
            logo_label.setPixmap(logo_pixmap.scaled(180, 80, Qt.KeepAspectRatio, Qt.SmoothTransformation))
        else:
            logo_label.setText("MRobot")
        logo_label.setAlignment(Qt.AlignCenter)
        logo_label.setFont(QFont("Arial", 36, QFont.Bold))
        logo_label.setStyleSheet("color: #3498db;")
        logo_label.setFixedHeight(120)
        left_layout.addWidget(logo_label)

        # 按钮区
        self.button_names = ["主页", "曲线拟合", "Mini串口助手(BUG)", "MR架构配置(开发中)","软件指南"]
        self.buttons = []
        for idx, name in enumerate(self.button_names):
            btn = QPushButton(name)
            btn.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)
            btn.setMinimumHeight(48)
            btn.setStyleSheet("""
                QPushButton {
                    background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                        stop:0 #eaf6fb, stop:1 #d6eaf8);
                    color: #2980b9;
                    border-radius: 20px;
                    font-size: 22px;
                    font-weight: 600;
                    padding: 14px 0;
                    border: 1px solid #d6eaf8;
                    letter-spacing: 2px;
                }
                QPushButton:hover {
                    background: qlineargradient(x1:0, y1:0, x2:1, y2:1,
                        stop:0 #f8fffe, stop:1 #cfe7fa);
                    color: #1a6fae;
                    border: 1.5px solid #b5d0ea;
                }
                QPushButton:pressed {
                    background: #e3f0fa;
                    color: #2471a3;
                    border: 1.5px solid #a4cbe3;
                }
            """)
            btn.clicked.connect(lambda checked, i=idx: self.switch_function(i))
            self.buttons.append(btn)
            left_layout.addWidget(btn)

        left_layout.addStretch(1)

        # 文本输出框
        self.output_box = QTextEdit()
        self.output_box.setReadOnly(True)
        self.output_box.setFixedHeight(180)
        self.output_box.setStyleSheet("""
            QTextEdit {
                background: #f4f6f7;
                border-radius: 8px;
                border: 1px solid #d6eaf8;
                font-size: 16px;
                color: #2c3e50;
                padding: 10px;
            }
        """)
        left_layout.addWidget(self.output_box)

        # 右侧功能区
        self.stack = QStackedWidget()
        self.stack.setStyleSheet("""
            QStackedWidget {
                background: #fff;
                border-radius: 16px;
                border: 1px solid #d6eaf8;
            }
        """)
        right_shadow = QGraphicsDropShadowEffect(self)
        right_shadow.setBlurRadius(24)
        right_shadow.setOffset(0, 4)
        right_shadow.setColor(Qt.gray)
        self.stack.setGraphicsEffect(right_shadow)

        # 功能页面注册（后续扩展只需在这里添加页面类即可）
        self.page_widgets = {
            0: HomePage(),  # 主页
            1: PolyFitApp(),  # 多项式拟合
            2: SerialAssistant(),  # 串口助手
            3: GenerateMRobotCode(),  # MRobot架构生成
            4: DownloadPage(),  # 下载页面
        }
        for i in range(len(self.button_names)):
            self.stack.addWidget(self.page_widgets[i])
        main_layout.addWidget(self.stack)

        self.output_box.append("欢迎使用 MRobot 工具箱！请选择左侧功能。")



    def placeholder_page(self, text):
        page = QWidget()
        layout = QVBoxLayout(page)
        label = QLabel(text)
        label.setAlignment(Qt.AlignCenter)
        label.setFont(QFont("微软雅黑", 22, QFont.Bold))
        label.setStyleSheet("color: #2980b9;")
        layout.addStretch(1)
        layout.addWidget(label)
        layout.addStretch(1)
        return page

    def switch_function(self, idx):
        self.stack.setCurrentIndex(idx)
        self.output_box.append(f"已切换到功能：{self.button_names[idx]}")

if __name__ == "__main__":
    app = QApplication(sys.argv)
    win = ToolboxUI()
    win.show()
    sys.exit(app.exec_())