diff --git a/CMakeLists.txt b/CMakeLists.txt index cd26de9..c267878 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -82,6 +82,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/device/motor_rm.c User/device/vision_bridge.c User/device/vofa.c + User/device/mrobot.c # User/module sources User/module/balance_chassis.c @@ -99,6 +100,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/task/init.c User/task/monitor.c User/task/rc.c + User/task/cli.c User/task/user_task.c User/task/vofa.c ) diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h index 928c9cf..290ccda 100644 --- a/Core/Inc/FreeRTOSConfig.h +++ b/Core/Inc/FreeRTOSConfig.h @@ -72,7 +72,7 @@ #define configTICK_RATE_HZ ((TickType_t)1000) #define configMAX_PRIORITIES ( 56 ) #define configMINIMAL_STACK_SIZE ((uint16_t)128) -#define configTOTAL_HEAP_SIZE ((size_t)0x10000) +#define configTOTAL_HEAP_SIZE ((size_t)0x20000) #define configMAX_TASK_NAME_LEN ( 16 ) #define configGENERATE_RUN_TIME_STATS 1 #define configUSE_TRACE_FACILITY 1 diff --git a/User/component/freertos_cli.h b/User/component/freertos_cli.h index e6d8266..a3f792f 100644 --- a/User/component/freertos_cli.h +++ b/User/component/freertos_cli.h @@ -28,6 +28,9 @@ #ifndef COMMAND_INTERPRETER_H #define COMMAND_INTERPRETER_H +#include +#include "FreeRTOS.h" + /* This config should be defined in FreeRTOSConfig.h. But due to the limition of CubeMX I put it here. */ #define configCOMMAND_INT_MAX_OUTPUT_SIZE 512 diff --git a/User/device/mrobot.c b/User/device/mrobot.c new file mode 100644 index 0000000..88eea76 --- /dev/null +++ b/User/device/mrobot.c @@ -0,0 +1,272 @@ +/* Includes ----------------------------------------------------------------- */ +#include "device/mrobot.h" +#include "component/freertos_cli.h" +#include "bsp/uart.h" +#include +#include +#include +#include + +/* 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]; + +/* Private function prototypes ---------------------------------------------- */ +static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString); +static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString); +static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString); +static BaseType_t cmd_ls(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString); +static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString); +static BaseType_t cmd_pwd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString); + +/* CLI 命令定义 */ +static const CLI_Command_Definition_t cmd_def_help = { + "help", + "help: 显示所有可用命令\r\n", + cmd_help, + 0 +}; + +static const CLI_Command_Definition_t cmd_def_htop = { + "htop", + "htop: 显示 FreeRTOS 任务状态信息\r\n", + cmd_htop, + 0 +}; + +static const CLI_Command_Definition_t cmd_def_cd = { + "cd", + "cd : 切换目录\r\n", + cmd_cd, + 1 +}; + +static const CLI_Command_Definition_t cmd_def_ls = { + "ls", + "ls: 列出当前目录内容\r\n", + cmd_ls, + 0 +}; + +static const CLI_Command_Definition_t cmd_def_show = { + "show", + "show [device]: 显示设备信息\r\n", + cmd_show, + -1 /* 可变参数 */ +}; + +static const CLI_Command_Definition_t cmd_def_pwd = { + "pwd", + "pwd: 显示当前目录\r\n", + cmd_pwd, + 0 +}; + +/* Private functions -------------------------------------------------------- */ + +/* help 命令实现 */ +static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) { + (void)pcCommandString; + snprintf(pcWriteBuffer, xWriteBufferLen, + "MRobot CLI v1.0\r\n" + "可用命令:\r\n" + " help - 显示帮助信息\r\n" + " htop - 显示任务状态\r\n" + " cd - 切换目录\r\n" + " ls - 列出目录内容\r\n" + " pwd - 显示当前路径\r\n" + " show - 显示设备信息\r\n" + "\r\n"); + return pdFALSE; +} + +/* htop 命令实现 */ +static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) { + (void)pcCommandString; + static char task_buffer[512]; + + vTaskList(task_buffer); + snprintf(pcWriteBuffer, xWriteBufferLen, + "Task Name\tState\tPri\tStack\tNum\r\n" + "-----------------------------------------------\r\n" + "%s\r\n", task_buffer); + + return pdFALSE; +} + +/* pwd 命令实现 */ +static BaseType_t cmd_pwd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) { + (void)pcCommandString; + snprintf(pcWriteBuffer, xWriteBufferLen, "%s\r\n", current_path); + return pdFALSE; +} + +/* cd 命令实现 */ +static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) { + const char *param; + BaseType_t param_len; + + param = FreeRTOS_CLIGetParameter(pcCommandString, 1, ¶m_len); + + if (param != NULL) { + char path[64]; + strncpy(path, param, param_len); + path[param_len] = '\0'; + + if (strcmp(path, "/") == 0 || strcmp(path, "..") == 0) { + strcpy(current_path, "/"); + } else if (strcmp(path, "dev") == 0 || strcmp(path, "/dev") == 0) { + strcpy(current_path, "/dev"); + } else if (strcmp(path, "modules") == 0 || strcmp(path, "/modules") == 0) { + strcpy(current_path, "/modules"); + } else { + snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 目录不存在\r\n"); + return pdFALSE; + } + snprintf(pcWriteBuffer, xWriteBufferLen, "切换到: %s\r\n", current_path); + } else { + snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 缺少路径参数\r\n"); + } + + return pdFALSE; +} + +/* ls 命令实现 */ +static BaseType_t cmd_ls(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) { + (void)pcCommandString; + int offset = 0; + + if (strcmp(current_path, "/") == 0) { + offset = snprintf(pcWriteBuffer, xWriteBufferLen, "dev/\r\nmodules/\r\n"); + } else if (strcmp(current_path, "/dev") == 0) { + offset = snprintf(pcWriteBuffer, xWriteBufferLen, "设备列表:\r\n"); + for (uint8_t i = 0; i < device_count && offset < (int)xWriteBufferLen; i++) { + offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset, + " %s\r\n", devices[i].name); + } + if (device_count == 0) { + offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset, + " (无设备)\r\n"); + } + } else if (strcmp(current_path, "/modules") == 0) { + offset = snprintf(pcWriteBuffer, xWriteBufferLen, "(模块功能暂未实现)\r\n"); + } + + return pdFALSE; +} + +/* show 命令实现 */ +static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) { + const char *param; + BaseType_t param_len; + + param = FreeRTOS_CLIGetParameter(pcCommandString, 1, ¶m_len); + + if (strcmp(current_path, "/dev") != 0) { + snprintf(pcWriteBuffer, xWriteBufferLen, "错误: show 命令仅在 /dev 目录下可用\r\n"); + return pdFALSE; + } + + if (param == NULL) { + /* 显示所有设备 */ + int offset = snprintf(pcWriteBuffer, xWriteBufferLen, "所有设备信息:\r\n"); + for (uint8_t i = 0; i < device_count && offset < (int)xWriteBufferLen; i++) { + offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset, + "\r\n=== %s ===\r\n", devices[i].name); + if (devices[i].print_callback != NULL) { + devices[i].print_callback(devices[i].data, + pcWriteBuffer + offset, + xWriteBufferLen - offset); + offset = strlen(pcWriteBuffer); + } + } + } else { + /* 显示特定设备 */ + char device_name[32]; + strncpy(device_name, param, param_len); + device_name[param_len] = '\0'; + + bool found = false; + for (uint8_t i = 0; i < device_count; i++) { + if (strcmp(devices[i].name, device_name) == 0) { + found = true; + int offset = snprintf(pcWriteBuffer, xWriteBufferLen, + "=== %s ===\r\n", devices[i].name); + if (devices[i].print_callback != NULL) { + devices[i].print_callback(devices[i].data, + pcWriteBuffer + offset, + xWriteBufferLen - offset); + } else { + snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset, + "无打印函数\r\n"); + } + break; + } + } + + if (!found) { + snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 设备 '%s' 未找到\r\n", device_name); + } + } + + return pdFALSE; +} + +/* Exported functions ------------------------------------------------------- */ + +void MRobot_Init(void) { + /* 初始化设备数组 */ + memset(devices, 0, sizeof(devices)); + device_count = 0; + + /* 注册 CLI 命令 */ + FreeRTOS_CLIRegisterCommand(&cmd_def_help); + FreeRTOS_CLIRegisterCommand(&cmd_def_htop); + FreeRTOS_CLIRegisterCommand(&cmd_def_cd); + FreeRTOS_CLIRegisterCommand(&cmd_def_ls); + FreeRTOS_CLIRegisterCommand(&cmd_def_show); + FreeRTOS_CLIRegisterCommand(&cmd_def_pwd); +} + +int8_t MRobot_RegisterDevice(const char *name, MRobot_DeviceType_t type, + void *data, MRobot_PrintCallback_t print_callback) { + if (device_count >= MROBOT_MAX_DEVICES) { + return -1; + } + + if (name == NULL || data == NULL) { + return -1; + } + + strncpy(devices[device_count].name, name, sizeof(devices[device_count].name) - 1); + devices[device_count].type = type; + devices[device_count].data = data; + devices[device_count].print_callback = print_callback; + device_count++; + + return 0; +} + +int8_t MRobot_ProcessCommand(const char *cmd_string, char *output_buffer, uint16_t buffer_size) { + if (cmd_string == NULL || output_buffer == NULL || buffer_size == 0) { + return -1; + } + + BaseType_t result; + int offset = 0; + + do { + result = FreeRTOS_CLIProcessCommand(cmd_string, + output_buffer + offset, + buffer_size - offset); + offset = strlen(output_buffer); + } while (result != pdFALSE && offset < (int)buffer_size); + + return 0; +} + +const char *MRobot_GetCurrentPath(void) { + return current_path; +} diff --git a/User/device/mrobot.h b/User/device/mrobot.h new file mode 100644 index 0000000..4d427e9 --- /dev/null +++ b/User/device/mrobot.h @@ -0,0 +1,95 @@ +/*基于freertos_cli实现的虚拟命令行 +自身作为一个设备存在，通过串口和上位机进行交互，获得类似命令行的体验， +例如输入help可以获得帮助 +输出htop 可以获得freertos任务状态等信息 + +通过cd可以切换目录 +目录结构是 +/ (root) + |-- /dev + |-- bmi088 + |-- chassis_motor1 + |-- /modules + |-- balance_chassis + |-- gimbal + |-- shoot +在dev里可以用show命令查看设备信息 +modules暂无实现 + +至于dev里的设备有哪些，需要通过一个函数MRobot_RegisterDevices(设备名（字符串），结构体指针)来注册设备，我可以在任何一个任务里调用这个函数。 +然后我在我的一个单独的线程里打印和发送他们。 +例如我在atti_esit任务里注册了bmi088和他的结构体，我在cli线程里需要能够打印bmi088的数据。 +然后我在show的时候就可以看到imu的数据了， +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include + +/* Exported constants ------------------------------------------------------- */ +#define MROBOT_MAX_DEVICES 32 +#define MROBOT_MAX_CMD_LEN 128 +#define MROBOT_MAX_OUTPUT_LEN 512 +#define MROBOT_RX_BUFFER_SIZE 256 + +/* Exported types ----------------------------------------------------------- */ +typedef enum { + MROBOT_DEVICE_TYPE_IMU, + MROBOT_DEVICE_TYPE_MOTOR, + MROBOT_DEVICE_TYPE_SENSOR, + MROBOT_DEVICE_TYPE_CUSTOM, +} MRobot_DeviceType_t; + +/* 设备打印回调函数类型 */ +typedef void (*MRobot_PrintCallback_t)(void *device_data, char *buffer, uint16_t buffer_size); + +/* 注册的设备结构 */ +typedef struct { + char name[32]; + MRobot_DeviceType_t type; + void *data; /* 指向实际设备数据的指针 */ + MRobot_PrintCallback_t print_callback; /* 打印设备信息的回调函数 */ +} MRobot_Device_t; + +/* Exported functions ------------------------------------------------------- */ + +/** + * @brief 初始化 MRobot 命令行系统 + */ +void MRobot_Init(void); + +/** + * @brief 注册设备到 MRobot 系统 + * @param name 设备名称 + * @param type 设备类型 + * @param data 指向设备数据结构的指针 + * @param print_callback 打印设备信息的回调函数 + * @retval 0 成功, -1 失败 + */ +int8_t MRobot_RegisterDevice(const char *name, MRobot_DeviceType_t type, + void *data, MRobot_PrintCallback_t print_callback); + +/** + * @brief 处理命令字符串 + * @param cmd_string 命令字符串 + * @param output_buffer 输出缓冲区 + * @param buffer_size 缓冲区大小 + * @retval 0 成功, -1 失败 + */ +int8_t MRobot_ProcessCommand(const char *cmd_string, char *output_buffer, uint16_t buffer_size); + +/** + * @brief 获取当前路径 + * @return 当前路径字符串 + */ +const char *MRobot_GetCurrentPath(void); + +#ifdef __cplusplus +} +#endif \ No newline at end of file diff --git a/User/task/atti_esit.c b/User/task/atti_esit.c index 0af843e..382193a 100644 --- a/User/task/atti_esit.c +++ b/User/task/atti_esit.c @@ -13,15 +13,13 @@ #include "component/QuaternionEKF.h" #include "component/pid.h" #include "device/bmi088.h" +#include "device/mrobot.h" #include "module/balance_chassis.h" #include "task/user_task.h" /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ -/* 姿态解算算法选择: 定义USE_QEKF使用EKF算法，注释掉则使用AHRS算法 */ -#define USE_QEKF - /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* USER STRUCT BEGIN */ @@ -52,6 +50,20 @@ static const KPID_Params_t imu_temp_ctrl_pid_param = { /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ +/* BMI088 设备信息打印回调 */ +static void bmi088_print_callback(void *device_data, char *buffer, uint16_t buffer_size) { + BMI088_t *imu = (BMI088_t *)device_data; + snprintf(buffer, buffer_size, + "加速度计: X=%.3f Y=%.3f Z=%.3f m/s²\r\n" + "陀螺仪: X=%.3f Y=%.3f Z=%.3f rad/s\r\n" + "温度: %.2f °C\r\n" + "欧拉角: Roll=%.2f Pitch=%.2f Yaw=%.2f °\r\n", + imu->accl.x, imu->accl.y, imu->accl.z, + imu->gyro.x, imu->gyro.y, imu->gyro.z, + imu->temp, + eulr_to_send.rol * 57.2958f, eulr_to_send.pit * 57.2958f, eulr_to_send.yaw * 57.2958f); +} + /* Exported functions ------------------------------------------------------- */ void Task_atti_esit(void *argument) { (void)argument; /* 未使用argument，消除警告 */ @@ -69,6 +81,9 @@ void Task_atti_esit(void *argument) { PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D, 1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param); BSP_PWM_Start(BSP_PWM_IMU_HEAT); + + /* 注册 BMI088 设备到 MRobot */ + MRobot_RegisterDevice("bmi088", MROBOT_DEVICE_TYPE_IMU, &bmi088, bmi088_print_callback); /* USER CODE INIT END */ while (1) { diff --git a/User/task/cli.c b/User/task/cli.c new file mode 100644 index 0000000..18e56cc --- /dev/null +++ b/User/task/cli.c @@ -0,0 +1,111 @@ +/* + cli Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ +#include "device/mrobot.h" +#include "bsp/uart.h" +#include +#include +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ +static uint8_t uart_rx_char; +static uint8_t cmd_buffer[128]; +static volatile uint8_t cmd_index = 0; +static volatile bool cmd_ready = false; +static char output_buffer[512]; +/* USER STRUCT END */ + +/* Private function --------------------------------------------------------- */ +/* UART 接收中断回调 */ +static void cli_uart_rx_callback(void) { + uint8_t ch = uart_rx_char; + + if (ch == '\r' || ch == '\n') { + if (cmd_index > 0) { + cmd_buffer[cmd_index] = '\0'; + cmd_ready = true; + /* 发送换行 */ + BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)"\r\n", 2, false); + } + } else if (ch == 127 || ch == 8) { /* 退格键 */ + if (cmd_index > 0) { + cmd_index--; + /* 回显退格 */ + const char *backspace = "\b \b"; + BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)backspace, 3, false); + } + } else if (ch >= 32 && ch < 127 && cmd_index < sizeof(cmd_buffer) - 1) { + /* 只接受可打印字符 */ + cmd_buffer[cmd_index++] = ch; + /* 回显字符 */ + BSP_UART_Transmit(BSP_UART_VOFA, &ch, 1, false); + } + + /* 重新启动接收 */ + BSP_UART_Receive(BSP_UART_VOFA, &uart_rx_char, 1, false); +} + +/* Exported functions ------------------------------------------------------- */ +void Task_cli(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ + + + osDelay(CLI_INIT_DELAY); /* 延时一段时间再开启任务 */ + + /* USER CODE INIT BEGIN */ + /* 初始化 MRobot CLI 系统 */ + MRobot_Init(); + + /* 注册 UART 接收回调 */ + BSP_UART_RegisterCallback(BSP_UART_VOFA, BSP_UART_RX_CPLT_CB, cli_uart_rx_callback); + + /* 启动 UART 接收 */ + BSP_UART_Receive(BSP_UART_VOFA, &uart_rx_char, 1, false); + + /* 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:~$ "; + BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)welcome, strlen(welcome), false); + /* USER CODE INIT END */ + + while (1) { + /* USER CODE BEGIN */ + /* 检查是否有命令需要处理 */ + if (cmd_ready) { + /* 处理命令 */ + if (MRobot_ProcessCommand((char *)cmd_buffer, output_buffer, sizeof(output_buffer)) == 0) { + if (strlen(output_buffer) > 0) { + BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)output_buffer, strlen(output_buffer), false); + osDelay(10); /* 等待发送完成 */ + } + } + + /* 发送提示符 */ + char prompt[128]; + snprintf(prompt, sizeof(prompt), "root@mrobot:%s$ ", MRobot_GetCurrentPath()); + BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)prompt, strlen(prompt), false); + osDelay(5); /* 等待发送完成 */ + + /* 重置状态 */ + cmd_index = 0; + cmd_ready = false; + } + + osDelay(10); + /* USER CODE END */ + } + +} \ No newline at end of file diff --git a/User/task/config.yaml b/User/task/config.yaml index 626b88c..787eb63 100644 --- a/User/task/config.yaml +++ b/User/task/config.yaml @@ -60,3 +60,9 @@ function: Task_vofa name: vofa stack: 256 +- delay: 0 + description: '' + freq_control: false + function: Task_cli + name: cli + stack: 1024 diff --git a/User/task/init.c b/User/task/init.c index cfb886d..546d0db 100644 --- a/User/task/init.c +++ b/User/task/init.c @@ -41,6 +41,7 @@ void Task_Init(void *argument) { task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot); task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai); // task_runtime.thread.vofa = osThreadNew(Task_vofa, NULL, &attr_vofa); + task_runtime.thread.cli = osThreadNew(Task_cli, NULL, &attr_cli); // 创建消息队列 /* USER MESSAGE BEGIN */ diff --git a/User/task/user_task.c b/User/task/user_task.c index 97781c5..cfee731 100644 --- a/User/task/user_task.c +++ b/User/task/user_task.c @@ -53,4 +53,9 @@ const osThreadAttr_t attr_vofa = { .name = "vofa", .priority = osPriorityNormal, .stack_size = 256 * 4, +}; +const osThreadAttr_t attr_cli = { + .name = "cli", + .priority = osPriorityNormal, + .stack_size = 256 * 12, }; \ No newline at end of file diff --git a/User/task/user_task.h b/User/task/user_task.h index ffe18d2..59836f9 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -33,6 +33,7 @@ extern "C" { #define CTRL_SHOOT_INIT_DELAY (0) #define AI_INIT_DELAY (0) #define VOFA_INIT_DELAY (0) +#define CLI_INIT_DELAY (0) /* Exported defines --------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */ @@ -51,6 +52,7 @@ typedef struct { osThreadId_t ctrl_shoot; osThreadId_t ai; osThreadId_t vofa; + osThreadId_t cli; } thread; /* USER MESSAGE BEGIN */ @@ -106,6 +108,7 @@ typedef struct { UBaseType_t ctrl_shoot; UBaseType_t ai; UBaseType_t vofa; + UBaseType_t cli; } stack_water_mark; /* 各任务运行频率 */ @@ -148,6 +151,7 @@ extern const osThreadAttr_t attr_blink; extern const osThreadAttr_t attr_ctrl_shoot; extern const osThreadAttr_t attr_ai; extern const osThreadAttr_t attr_vofa; +extern const osThreadAttr_t attr_cli; /* 任务函数声明 */ void Task_Init(void *argument); @@ -160,6 +164,7 @@ void Task_blink(void *argument); void Task_ctrl_shoot(void *argument); void Task_ai(void *argument); void Task_vofa(void *argument); +void Task_cli(void *argument); #ifdef __cplusplus }