继续优化
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20afc1a656
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268a132283
@ -229,29 +229,45 @@ static int print_imu_device(const void *device_data, char *buffer, size_t buffer
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char gx[16], gy[16], gz[16];
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char temp[16];
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char roll[16], pitch[16], yaw[16];
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char q0[16], q1[16], q2[16], q3[16];
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/* 格式化加速度 */
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format_float(ax, sizeof(ax), imu->accl.x, 3);
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format_float(ay, sizeof(ay), imu->accl.y, 3);
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format_float(az, sizeof(az), imu->accl.z, 3);
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/* 格式化陀螺仪 */
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format_float(gx, sizeof(gx), imu->gyro.x, 3);
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format_float(gy, sizeof(gy), imu->gyro.y, 3);
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format_float(gz, sizeof(gz), imu->gyro.z, 3);
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/* 格式化温度 */
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format_float(temp, sizeof(temp), imu->temp, 2);
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/* 格式化欧拉角（转换为角度） */
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format_float(roll, sizeof(roll), imu->euler.rol * RAD_TO_DEG, 2);
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format_float(pitch, sizeof(pitch), imu->euler.pit * RAD_TO_DEG, 2);
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format_float(yaw, sizeof(yaw), imu->euler.yaw * RAD_TO_DEG, 2);
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/* 格式化四元数 */
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format_float(q0, sizeof(q0), imu->quat.q0, 4);
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format_float(q1, sizeof(q1), imu->quat.q1, 4);
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format_float(q2, sizeof(q2), imu->quat.q2, 4);
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format_float(q3, sizeof(q3), imu->quat.q3, 4);
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return snprintf(buffer, buffer_size,
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"状态: %s\r\n"
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"加速度计: X=%s Y=%s Z=%s m/s²\r\n"
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"陀螺仪: X=%s Y=%s Z=%s rad/s\r\n"
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"温度: %s °C\r\n"
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"欧拉角: Roll=%s Pitch=%s Yaw=%s °\r\n",
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imu->header.online ? "在线" : "离线",
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" Status : %s\r\n"
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" Accel : X=%-10s Y=%-10s Z=%-10s (m/s^2)\r\n"
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" Gyro : X=%-10s Y=%-10s Z=%-10s (rad/s)\r\n"
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" Euler : Roll=%-8s Pitch=%-8s Yaw=%-8s (deg)\r\n"
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" Quaternion: q0=%-10s q1=%-10s q2=%-10s q3=%-10s\r\n"
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" Temp : %-10s C\r\n",
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imu->header.online ? "Online" : "Offline",
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ax, ay, az,
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gx, gy, gz,
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temp,
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roll, pitch, yaw);
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roll, pitch, yaw,
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q0, q1, q2, q3,
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temp);
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}
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/**
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@ -270,14 +286,14 @@ static int print_motor_device(const void *device_data, char *buffer, size_t buff
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format_float(temp, sizeof(temp), motor->feedback.temp, 1);
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return snprintf(buffer, buffer_size,
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"状态: %s\r\n"
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"反装: %s\r\n"
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"角度: %s °\r\n"
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"转速: %s RPM\r\n"
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"电流: %s A\r\n"
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"温度: %s °C\r\n",
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motor->header.online ? "在线" : "离线",
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motor->reverse ? "是" : "否",
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" Status : %s\r\n"
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" Reverse : %s\r\n"
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" Angle : %-15s deg\r\n"
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" Speed : %-15s RPM\r\n"
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" Current : %-15s A\r\n"
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" Temp : %-15s C\r\n",
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motor->header.online ? "Online" : "Offline",
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motor->reverse ? "Yes" : "No",
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angle, speed, current, temp);
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}
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@ -294,7 +310,7 @@ static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
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int offset = snprintf(pcWriteBuffer, xWriteBufferLen,
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"MRobot CLI v2.0\r\n"
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"================\r\n"
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"内置命令:\r\n");
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"Built-in Commands:\r\n");
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for (size_t i = 0; i < BUILTIN_CMD_COUNT && offset < (int)xWriteBufferLen - 50; i++) {
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offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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@ -303,7 +319,7 @@ static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
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if (ctx.custom_cmd_count > 0) {
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offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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"\r\n自定义命令:\r\n");
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"\r\nCustom Commands:\r\n");
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for (uint8_t i = 0; i < ctx.custom_cmd_count && offset < (int)xWriteBufferLen - 50; i++) {
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if (ctx.custom_cmds[i] != NULL) {
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offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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@ -347,7 +363,7 @@ static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char
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if (param == NULL) {
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/* 无参数时切换到根目录 */
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strcpy(ctx.current_path, "/");
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snprintf(pcWriteBuffer, xWriteBufferLen, "切换到: %s\r\n", ctx.current_path);
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snprintf(pcWriteBuffer, xWriteBufferLen, "Changed to: %s\r\n", ctx.current_path);
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return pdFALSE;
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}
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@ -365,11 +381,11 @@ static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char
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} else if (strcmp(path, "modules") == 0 || strcmp(path, "/modules") == 0) {
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strcpy(ctx.current_path, "/modules");
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} else {
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snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 目录 '%s' 不存在\r\n", path);
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snprintf(pcWriteBuffer, xWriteBufferLen, "Error: Directory '%s' not found\r\n", path);
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return pdFALSE;
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}
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snprintf(pcWriteBuffer, xWriteBufferLen, "切换到: %s\r\n", ctx.current_path);
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snprintf(pcWriteBuffer, xWriteBufferLen, "Changed to: %s\r\n", ctx.current_path);
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return pdFALSE;
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}
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@ -385,30 +401,35 @@ static BaseType_t cmd_ls(char *pcWriteBuffer, size_t xWriteBufferLen, const char
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"dev/\r\n"
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"modules/\r\n");
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} else if (strcmp(ctx.current_path, "/dev") == 0) {
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offset = snprintf(pcWriteBuffer, xWriteBufferLen, "设备列表 (%d 个):\r\n", ctx.device_count);
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offset = snprintf(pcWriteBuffer, xWriteBufferLen,
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"Device List (%d devices)\r\n\r\n",
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ctx.device_count);
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if (ctx.device_count == 0) {
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snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset, " (无设备)\r\n");
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offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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" (No devices)\r\n");
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} else {
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/* 按类型分组显示 */
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static const char *type_names[] = { "IMU", "电机", "传感器", "自定义" };
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static const char *type_names[] = { "IMU", "Motor", "Sensor", "Custom" };
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for (uint8_t t = 0; t < MROBOT_DEVICE_TYPE_NUM && offset < (int)xWriteBufferLen - 50; t++) {
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bool has_type = false;
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for (uint8_t i = 0; i < ctx.device_count; i++) {
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if (ctx.devices[i].type == t) {
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if (!has_type) {
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offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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" [%s]\r\n", type_names[t]);
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"\r\n[%s]\r\n", type_names[t]);
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has_type = true;
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}
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offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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" %s\r\n", ctx.devices[i].name);
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" - %s\r\n", ctx.devices[i].name);
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}
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}
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}
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}
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} else if (strcmp(ctx.current_path, "/modules") == 0) {
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snprintf(pcWriteBuffer, xWriteBufferLen, "(模块功能暂未实现)\r\n");
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snprintf(pcWriteBuffer, xWriteBufferLen,
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"Module functions not yet implemented\r\n");
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}
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return pdFALSE;
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@ -432,8 +453,8 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
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/* 检查是否在 /dev 目录 */
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if (strcmp(ctx.current_path, "/dev") != 0) {
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snprintf(pcWriteBuffer, xWriteBufferLen,
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"错误: show 命令仅在 /dev 目录下可用\r\n"
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"提示: 使用 'cd /dev' 切换到设备目录\r\n");
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"Error: 'show' command only works in /dev directory\r\n"
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"Hint: Use 'cd /dev' to switch to device directory\r\n");
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return pdFALSE;
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}
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@ -478,7 +499,7 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
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if (target_device[0] == '\0') {
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/* 显示所有设备 */
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offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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"=== 所有设备 ===\r\n\r\n");
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"=== All Devices ===\r\n\r\n");
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for (uint8_t i = 0; i < ctx.device_count && offset < (int)xWriteBufferLen - 100; i++) {
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offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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@ -491,14 +512,13 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
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offset += (written > 0) ? written : 0;
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} else {
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offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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"(无打印函数)\r\n");
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" (No print function)\r\n");
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}
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offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset, "\r\n");
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}
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if (ctx.device_count == 0) {
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offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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"(无已注册设备)\r\n");
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" (No devices registered)\r\n");
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}
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} else {
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/* 显示指定设备 */
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@ -506,7 +526,8 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
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if (dev == NULL) {
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snprintf(pcWriteBuffer, xWriteBufferLen,
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"错误: 设备 '%s' 未找到\r\n", target_device);
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"Error: Device '%s' not found\r\n",
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target_device);
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current_iter = 0;
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return pdFALSE;
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}
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@ -518,7 +539,7 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
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dev->print_cb(dev->data, pcWriteBuffer + offset, xWriteBufferLen - offset);
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} else {
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snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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"(无打印函数)\r\n");
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" (No print function)\r\n");
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}
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}
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@ -533,23 +554,12 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
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}
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}
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/* ========================================================================== */
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/* htop 模式实现 */
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/* ========================================================================== */
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/**
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* @brief 处理 htop 模式显示
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*/
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/* ============================================================================
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* htop 模式处理
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* ========================================================================== */
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static void handle_htop_mode(void) {
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/* 清屏 */
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send_string(ANSI_CLEAR_SCREEN);
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/* 显示头部 */
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send_string(
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"MRobot Task Monitor (按 'q' 退出)\r\n"
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"================================================================================\r\n"
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"Task Name State Prio Stack Num\r\n"
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"--------------------------------------------------------------------------------\r\n");
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send_string("=== MRobot Task Monitor (Press 'q' to exit) ===\r\n\r\n");
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/* 获取任务列表 */
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char task_buffer[1024];
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@ -557,6 +567,10 @@ static void handle_htop_mode(void) {
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vTaskList(task_buffer);
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/* 表头 */
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send_string("Task Name State Prio Stack Num\r\n");
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send_string("------------------------------------------------\r\n");
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/* 解析并格式化任务列表 */
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char *line = strtok(task_buffer, "\r\n");
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while (line != NULL) {
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@ -585,7 +599,7 @@ static void handle_htop_mode(void) {
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/* 显示系统信息 */
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snprintf(display_line, sizeof(display_line),
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"--------------------------------------------------------------------------------\r\n"
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"------------------------------------------------\r\n"
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"System Tick: %lu | Free Heap: %lu bytes\r\n",
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(unsigned long)xTaskGetTickCount(),
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(unsigned long)xPortGetFreeHeapSize());
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