好的
This commit is contained in:
parent
5f624a51b9
commit
8712efa6f2
@ -11,12 +11,28 @@
|
||||
#include <task.h>
|
||||
#include <cmsis_os2.h>
|
||||
|
||||
/* Private constants -------------------------------------------------------- */
|
||||
static const char *const CLI_WELCOME_MESSAGE =
|
||||
"\r\n"
|
||||
" ______ __ _______ __ \r\n"
|
||||
" | __ \\.-----.| |--.-----.| | |.---.-.-----.| |-.-----.-----.\r\n"
|
||||
" | <| _ || _ | _ || || _ |__ --|| _| -__| _|\r\n"
|
||||
" |___|__||_____||_____|_____||__|_|__||___._|_____||____|_____|__| \r\n"
|
||||
" -------------------------------------------------------------------\r\n"
|
||||
" FreeRTOS CLI. Type 'help' to view a list of registered commands. \r\n"
|
||||
"\r\n";
|
||||
|
||||
/* Private variables -------------------------------------------------------- */
|
||||
static MRobot_Device_t devices[MROBOT_MAX_DEVICES];
|
||||
static uint8_t device_count = 0;
|
||||
static char current_path[64] = "/";
|
||||
static char output_buffer[MROBOT_MAX_OUTPUT_LEN];
|
||||
|
||||
/* 自定义命令存储（最多16个） */
|
||||
#define MROBOT_MAX_CUSTOM_COMMANDS 16
|
||||
static CLI_Command_Definition_t *custom_commands[MROBOT_MAX_CUSTOM_COMMANDS];
|
||||
static uint8_t custom_command_count = 0;
|
||||
|
||||
/* UART 相关变量 */
|
||||
static uint8_t uart_rx_char;
|
||||
static uint8_t cmd_buffer[128];
|
||||
@ -295,7 +311,7 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
|
||||
/* 显示所有设备 */
|
||||
if (print_count > 1) {
|
||||
offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
|
||||
"[第 %u/%u 次]\r\n", current_iteration + 1, print_count);
|
||||
"[第 %lu/%lu 次]\r\n", (unsigned long)(current_iteration + 1), (unsigned long)print_count);
|
||||
}
|
||||
offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset, "所有设备信息:\r\n");
|
||||
for (uint8_t i = 0; i < device_count && offset < (int)xWriteBufferLen; i++) {
|
||||
@ -317,8 +333,8 @@ static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const ch
|
||||
int offset = 0;
|
||||
if (print_count > 1) {
|
||||
offset = snprintf(pcWriteBuffer, xWriteBufferLen,
|
||||
"[第 %u/%u 次] === %s ===\r\n",
|
||||
current_iteration + 1, print_count, devices[i].name);
|
||||
"[第 %lu/%lu 次] === %s ===\r\n",
|
||||
(unsigned long)(current_iteration + 1), (unsigned long)print_count, devices[i].name);
|
||||
} else {
|
||||
offset = snprintf(pcWriteBuffer, xWriteBufferLen,
|
||||
"=== %s ===\r\n", devices[i].name);
|
||||
@ -419,15 +435,24 @@ void MRobot_Init(void) {
|
||||
/* 启动 UART 接收 */
|
||||
BSP_UART_Receive(BSP_UART_VOFA, &uart_rx_char, 1, false);
|
||||
|
||||
/* 等待用户按下回车键再显示欢迎消息 */
|
||||
volatile bool enter_pressed = false;
|
||||
while (!enter_pressed) {
|
||||
if (uart_rx_char == '\r' || uart_rx_char == '\n') {
|
||||
enter_pressed = true;
|
||||
}
|
||||
osDelay(10);
|
||||
}
|
||||
|
||||
/* 发送欢迎消息 */
|
||||
const char *welcome = "\r\n\r\n"
|
||||
"================================\r\n"
|
||||
" MRobot CLI v1.0\r\n"
|
||||
" 输入 'help' 获取帮助\r\n"
|
||||
"================================\r\n"
|
||||
"root@mrobot:~$ ";
|
||||
tx_complete = false;
|
||||
BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)welcome, strlen(welcome), true);
|
||||
BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)CLI_WELCOME_MESSAGE, strlen(CLI_WELCOME_MESSAGE), true);
|
||||
while (!tx_complete) { osDelay(1); } /* 等待发送完成 */
|
||||
|
||||
/* 发送提示符 */
|
||||
const char *prompt = "root@mrobot:~$ ";
|
||||
tx_complete = false;
|
||||
BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)prompt, strlen(prompt), true);
|
||||
while (!tx_complete) { osDelay(1); } /* 等待发送完成 */
|
||||
}
|
||||
|
||||
@ -458,6 +483,37 @@ int8_t MRobot_RegisterMotor(const char *name, void *motor) {
|
||||
return MRobot_RegisterDevice(name, MROBOT_DEVICE_TYPE_MOTOR, motor, mrobot_print_motor);
|
||||
}
|
||||
|
||||
int8_t MRobot_RegisterCommand(const char *command, const char *help_text,
|
||||
MRobot_CommandCallback_t callback, int8_t param_count) {
|
||||
if (custom_command_count >= MROBOT_MAX_CUSTOM_COMMANDS) {
|
||||
return -1; /* 命令数量已达上限 */
|
||||
}
|
||||
|
||||
if (command == NULL || help_text == NULL || callback == NULL) {
|
||||
return -1; /* 参数无效 */
|
||||
}
|
||||
|
||||
/* 动态分配命令定义结构体 */
|
||||
CLI_Command_Definition_t *cmd_def = (CLI_Command_Definition_t *)pvPortMalloc(sizeof(CLI_Command_Definition_t));
|
||||
if (cmd_def == NULL) {
|
||||
return -1; /* 内存分配失败 */
|
||||
}
|
||||
|
||||
/* 强制转换以移除 const 限制（仅用于初始化） */
|
||||
*(const char **)&cmd_def->pcCommand = command;
|
||||
*(const char **)&cmd_def->pcHelpString = help_text;
|
||||
*(pdCOMMAND_LINE_CALLBACK *)&cmd_def->pxCommandInterpreter = (pdCOMMAND_LINE_CALLBACK)callback;
|
||||
cmd_def->cExpectedNumberOfParameters = param_count;
|
||||
|
||||
/* 注册到 FreeRTOS CLI */
|
||||
FreeRTOS_CLIRegisterCommand(cmd_def);
|
||||
|
||||
/* 保存指针以便后续可能的清理（虽然一般不需要） */
|
||||
custom_commands[custom_command_count] = cmd_def;
|
||||
custom_command_count++;
|
||||
return 0;
|
||||
}
|
||||
|
||||
void MRobot_Run(void) {
|
||||
/* 动态 htop 模式 */
|
||||
if (htop_mode) {
|
||||
|
||||
@ -51,6 +51,9 @@ typedef enum {
|
||||
/* 设备打印回调函数类型 */
|
||||
typedef void (*MRobot_PrintCallback_t)(void *device_data, char *buffer, uint16_t buffer_size);
|
||||
|
||||
/* 命令处理回调函数类型（与 pdCOMMAND_LINE_CALLBACK 相同） */
|
||||
typedef long (*MRobot_CommandCallback_t)(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
|
||||
|
||||
/* 注册的设备结构 */
|
||||
typedef struct {
|
||||
char name[32];
|
||||
@ -116,6 +119,17 @@ int8_t MRobot_RegisterIMU(const char *name, void *imu_device);
|
||||
*/
|
||||
int8_t MRobot_RegisterMotor(const char *name, void *motor);
|
||||
|
||||
/**
|
||||
* @brief 注册自定义命令到 MRobot CLI
|
||||
* @param command 命令名称（例如 "test"）
|
||||
* @param help_text 帮助文本（例如 "test: 测试命令\r\n"）
|
||||
* @param callback 命令处理回调函数
|
||||
* @param param_count 参数个数（0=无参数，-1=可变参数）
|
||||
* @retval 0 成功, -1 失败
|
||||
*/
|
||||
int8_t MRobot_RegisterCommand(const char *command, const char *help_text,
|
||||
MRobot_CommandCallback_t callback, int8_t param_count);
|
||||
|
||||
/**
|
||||
* @brief MRobot 主循环，在 CLI 任务中调用
|
||||
*/
|
||||
|
||||
Loading…
Reference in New Issue
Block a user