增加DSP功能，但是FPU还有问题

yincheng.zhong

2025-11-22 820749d41d8bc0fdfeb1f10283a2ba3b426e60f2

增加DSP功能，但是FPU还有问题

 .cursor/rules/workflow3.mdc

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,69 @@
---
alwaysApply: true
---
# AI助手核心规则

## ä¸‰é˜¶æ®µå·¥ä½œæµ

### é˜¶æ®µä¸€ï¼šåˆ†æžé—®é¢˜

**声明格式**：`【分析问题】`

**目的**
因为可能存在多个可选方案，要做出正确的决策，需要足够的依据。

**必须做的事**：
- ç†è§£æˆ‘的意图，如果有歧义请问我
- æœç´¢æ‰€æœ‰ç›¸å…³ä»£ç 
- è¯†åˆ«é—®é¢˜æ ¹å› 

**主动发现问题**
- å‘现重复代码
- è¯†åˆ«ä¸åˆç†çš„命名
- å‘现多余的代码、类
- å‘现可能过时的设计
- å‘现过于复杂的设计、调用
- å‘现不一致的类型定义
- è¿›ä¸€æ­¥æœç´¢ä»£ç ï¼Œçœ‹æ˜¯å¦æ›´å¤§èŒƒå›´å†…有类似问题

做完以上事项，就可以向我提问了。

**绝对禁止**：
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- âŒ ä¸åˆ†æžå°±æŽ¨èæ–¹æ¡ˆ

**阶段转换规则**
本阶段你要向我提问。
如果存在多个你无法抉择的方案，要问我，作为提问的一部分。
如果没有需要问我的，则直接进入下一阶段。

### é˜¶æ®µäºŒï¼šåˆ¶å®šæ–¹æ¡ˆ
**声明格式**：`【制定方案】`

**前置条件**：
- æˆ‘明确回答了关键技术决策。

**必须做的事**：
- åˆ—出变更（新增、修改、删除）的文件，简要描述每个文件的变化
- æ¶ˆé™¤é‡å¤é€»è¾‘：如果发现重复代码，必须通过复用或抽象来消除
- ç¡®ä¿ä¿®æ”¹åŽçš„代码符合DRY原则和良好的架构设计

如果新发现了向我收集的关键决策，在这个阶段你还可以继续问我，直到没有不明确的问题之后，本阶段结束。
本阶段不允许自动切换到下一阶段。

### é˜¶æ®µä¸‰ï¼šæ‰§è¡Œæ–¹æ¡ˆ
**声明格式**：`【执行方案】`

**必须做的事**：
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- ä¿®æ”¹åŽè¿è¡Œç±»åž‹æ£€æŸ¥

**绝对禁止**：
- âŒ æäº¤ä»£ç ï¼ˆé™¤éžç”¨æˆ·æ˜Žç¡®è¦æ±‚）
- å¯åŠ¨å¼€å‘服务器

如果在这个阶段发现了拿不准的问题，请向我提问。

收到用户消息时，一般从【分析问题】阶段开始，除非用户明确指定阶段的名字。

 STM32H743/.mxproject

@@ -1,5 +1,5 @@
[PreviousLibFiles]
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LibFiles=Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_cortex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_bus.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_rcc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_crs.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_system.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_utils.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_gpio.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_hsem.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_dma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_dmamux.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_pwr.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_exti.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_tim.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_usart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_lpuart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h;Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_cortex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_gpio.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_hsem.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_mdma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_exti.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart_ex.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V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[PreviousUsedKeilFiles]
SourceFiles=..\Core\Src\main.c;..\Core\Src\freertos.c;..\Core\Src\stm32h7xx_it.c;..\Core\Src\stm32h7xx_hal_msp.c;..\Core\Src\stm32h7xx_hal_timebase_tim.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_cortex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_gpio.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_hsem.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_mdma.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_exti.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart_ex.c;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;..\Core\Src\system_stm32h7xx.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_cortex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_gpio.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_hsem.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_mdma.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_exti.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart_ex.c;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;..\Core\Src\system_stm32h7xx.c;;;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;

 STM32H743/APL/UDPClient.c

@@ -20,7 +20,7 @@
#include "AppConfig.h"
#include "DBG.h"
#include "EG800FSM.h"

#include "arm_math.h"
/*******************************************************************************
 *                                  Macro                                      *
 *******************************************************************************/

 STM32H743/Core/Inc/FreeRTOSConfig.h

@@ -68,7 +68,7 @@
#define configTICK_RATE_HZ                       ((TickType_t)1000)
#define configMAX_PRIORITIES                     ( 56 )
#define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
#define configTOTAL_HEAP_SIZE                    ((size_t)32768)  /* å¢žåŠ åˆ°32KB，原15KB可能不够 */
#define configTOTAL_HEAP_SIZE                    ((size_t)15360)
#define configMAX_TASK_NAME_LEN                  ( 16 )
#define configUSE_TRACE_FACILITY                 1
#define configUSE_16_BIT_TICKS                   0

 STM32H743/MDK-ARM/STM32H743.uvguix.zhyin

@@ -93,8 +93,8 @@
      <flags>2</flags>
      <showCmd>3</showCmd>
      <MinPosition>
        <xPos>-1</xPos>
        <yPos>-1</yPos>
        <xPos>-32000</xPos>
        <yPos>-32000</yPos>
      </MinPosition>
      <MaxPosition>
        <xPos>-1</xPos>
@@ -110,8 +110,8 @@
    <MDIClientArea>
      <RegID>0</RegID>
      <MDITabState>
        <Len>4012</Len>
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              <Define>USE_PWR_LDO_SUPPLY,USE_HAL_DRIVER,STM32H743xx,_USE_OS_,ARM_MATH_DSP</Define>
              <Undefine></Undefine>
              <IncludePath>../Core/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include;../HIDOLibrary/Include;../HAL;../FML;../APL;../FML/Internet;../FML/Internet/Module;../FML/Internet/Module/EG800</IncludePath>
            </VariousControls>
@@ -740,8 +740,14 @@
  <RTE>
    <apis/>
    <components>
      <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.2.0" condition="ARMv6_7_8-M Device">
        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.5.1"/>
      <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.5.0" condition="ARMv6_7_8-M Device">
        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.8.0"/>
        <targetInfos>
          <targetInfo name="STM32H743"/>
        </targetInfos>
      </component>
      <component Cclass="CMSIS" Cgroup="DSP" Cvariant="Source" Cvendor="ARM" Cversion="1.9.0-dev" condition="CMSIS DSP">
        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.8.0"/>
        <targetInfos>
          <targetInfo name="STM32H743"/>
        </targetInfos>

 STM32H743/MDK-ARM/STM32H743/STM32H743.lnp

@@ -60,6 +60,34 @@
"stm32h743\heap_4.o"
"stm32h743\port.o"
"..\HIDOLibrary\HIDOLibrary.lib"
"stm32h743\basicmathfunctions.o"
"stm32h743\basicmathfunctionsf16.o"
"stm32h743\bayesfunctions.o"
"stm32h743\bayesfunctionsf16.o"
"stm32h743\commontables.o"
"stm32h743\commontablesf16.o"
"stm32h743\complexmathfunctions.o"
"stm32h743\complexmathfunctionsf16.o"
"stm32h743\controllerfunctions.o"
"stm32h743\distancefunctions.o"
"stm32h743\distancefunctionsf16.o"
"stm32h743\fastmathfunctions.o"
"stm32h743\fastmathfunctionsf16.o"
"stm32h743\filteringfunctions.o"
"stm32h743\filteringfunctionsf16.o"
"stm32h743\interpolationfunctions.o"
"stm32h743\interpolationfunctionsf16.o"
"stm32h743\matrixfunctions.o"
"stm32h743\matrixfunctionsf16.o"
"stm32h743\quaternionmathfunctions.o"
"stm32h743\svmfunctions.o"
"stm32h743\svmfunctionsf16.o"
"stm32h743\statisticsfunctions.o"
"stm32h743\statisticsfunctionsf16.o"
"stm32h743\supportfunctions.o"
"stm32h743\supportfunctionsf16.o"
"stm32h743\transformfunctions.o"
"stm32h743\transformfunctionsf16.o"
--strict --scatter "STM32H743\STM32H743.sct"
--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
--info sizes --info totals --info unused --info veneers

 STM32H743/MDK-ARM/STM32H743/STM32H743.map

ÎļþÌ«´ó

 STM32H743/MDK-ARM/STM32H743/STM32H743_STM32H743.dep

ÎļþÌ«´ó

 STM32H743/MDK-ARM/startup_stm32h743xx.lst

@@ -1285,9 +1285,11 @@
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third
_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I../Drivers/CMSIS/Device/ST/STM3
2H7xx/Include -I../Drivers/CMSIS/Include -I.\RTE\_STM32H743 -ID:\Users\zhyin\Ap
pData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include --predefine="__UVISION
_VERSION SETA 530" --predefine="_RTE_ SETA 1" --predefine="STM32H743xx SETA 1" 
--predefine="_RTE_ SETA 1" --list=startup_stm32h743xx.lst startup_stm32h743xx.s
pData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include -ID:\Users\zhyin\AppDa
ta\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\DSP\Include -ID:\Users\zhyin\AppData\L
ocal\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\DSP\PrivateInclude --predefine="__UVISION_
VERSION SETA 530" --predefine="_RTE_ SETA 1" --predefine="STM32H743xx SETA 1" -
-predefine="_RTE_ SETA 1" --list=startup_stm32h743xx.lst startup_stm32h743xx.s




 STM32H743/Middlewares/ST/ARM/DSP/Inc/arm_math.h

¶Ô±ÈÐÂÎļþ
ÎļþÌ«´ó

 STM32H743/Middlewares/Third_Party/ARM/DSP/LICENSE.txt

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,201 @@
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   limitations under the License.

 STM32H743/STM32H743.ioc

@@ -281,7 +281,8 @@
Mcu.Pin8=PA2
Mcu.Pin9=PA3
Mcu.PinsNb=36
Mcu.ThirdPartyNb=0
Mcu.ThirdParty0=STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0
Mcu.ThirdPartyNb=1
Mcu.UserConstants=
Mcu.UserName=STM32H743VITx
MxCube.Version=6.15.0
@@ -517,6 +518,7 @@
SH.S_TIM3_CH2.ConfNb=1
SH.S_TIM4_CH1.0=TIM4_CH1,Input_Capture1_from_TI1
SH.S_TIM4_CH1.ConfNb=1
STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0_SwParameter=LibraryCcDSPOoLibraryJjDSPOoLibrary\:true;
TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2

 python/__pycache__/gps_imu_receiver.cpython-310.pyc

Binary files differ

 python/__pycache__/gps_imu_receiver.cpython-313.pyc

Binary files differ

 python/gecaolujing2.txt

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1 @@
2.65,-5.83;30.10,-52.70;30.10,-52.70;32.70,-53.19;32.70,-53.19;2.02,-0.80;2.02,-0.80;4.15,-0.48;4.15,-0.48;34.49,-52.28;34.49,-52.28;36.26,-51.34;36.26,-51.34;6.28,-0.15;6.28,-0.15;8.40,0.17;8.40,0.17;38.02,-50.40;38.02,-50.40;39.79,-49.45;39.79,-49.45;10.53,0.49;10.53,0.49;12.66,0.82;12.66,0.82;41.56,-48.51;41.56,-48.51;43.32,-47.57;43.32,-47.57;14.79,1.14;14.79,1.14;16.92,1.46;16.92,1.46;45.09,-46.63;45.09,-46.63;46.82,-45.64;46.82,-45.64;19.05,1.79;19.05,1.79;21.18,2.11;21.18,2.11;48.53,-44.60;48.53,-44.60;50.24,-43.56;50.24,-43.56;23.30,2.43;23.30,2.43;25.43,2.76;25.43,2.76;51.95,-42.52;51.95,-42.52;53.66,-41.48;53.66,-41.48;27.56,3.08;27.56,3.08;29.77,3.27;29.77,3.27;55.37,-40.44

 python/gui_state.json

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,5 @@
{
  "path_file": "E:/GIT/Lawnmower_STM32H7/python/gecaolujing2.txt",
  "origin_gga": "$GNGGA,064327.100,3949.8885025,N,11616.7556143,E,4,31,0.52,46.617,M,-6.678,M,1.0,0409*7E",
  "serial_port": "COM17"
}

 python/hitl/README.md

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,50 @@
# ç¡¬ä»¶åœ¨çŽ¯ (HITL) ä»¿çœŸæ¦‚è¿°

为了在 STM32H7 ä¸ŠéªŒè¯è¿åŠ¨æŽ§åˆ¶ç®—法，同时避免真实割草环境带来的风险，`python/hitl` å­ç›®å½•è´Ÿè´£å®žçŽ°ç”µè„‘仿真 â†” STM32H7 çš„闭环调试工具。核心目标：

- **传感器仿真**：Python ç«¯ä»¥ GPS æ¨¡å—真实协议输出 `$GPFMI`（10 Hz）和 `$GPIMU`（100 Hz）数据，通过串口 2 è¾“入到 STM32H7。
- **控制闭环**：STM32H7 åœ¨æŽ¥æ”¶åˆ°ä»¿çœŸä¼ æ„Ÿå™¨æ•°æ®åŽæ‰§è¡ŒåŽŸæœ‰æŽ§åˆ¶ç®—法，并依照 `PythonLink` åè®®ï¼ˆå‰è¿›ã€è½¬å‘两个量）通过串口 2 å›žä¼ ç»™ Python，驱动仿真器更新车辆状态。
- **日志采集**：STM32H7 é€šè¿‡ä¸²å£ 5（921600 bps）输出调试日志，Python ç«¯å®žæ—¶è§£æžä¸Žä¿å­˜ï¼Œä¸ºå®žè½¦è°ƒè¯•æä¾›å‚考。

## ä¸²å£ä¸Žåè®®æ˜ å°„

| åŠŸèƒ½ | STM32H7 ä¸²å£ | æ–¹å‘ | åè®®/内容 | é¢‘率 |
| --- | --- | --- | --- | --- |
| ä¼ æ„Ÿå™¨ä»¿çœŸè¾“å…¥ | UART2 (RX) | Python â†’ STM32 | `$GPFMI`, `$GPIMU` | 10 Hz / 100 Hz |
| æŽ§åˆ¶è¾“出回传 | UART2 (TX) | STM32 â†’ Python | `PythonLink` æŽ§åˆ¶å¸§ï¼ˆå‰è¿›/转向） | â‰ˆ æŽ§åˆ¶é¢‘率 |
| è°ƒè¯•æ—¥å¿— | UART5 (TX) | STM32 â†’ Python | çº¯æ–‡æœ¬æˆ–协议日志 | å®žæ—¶ï¼Œ921600 bps |

## æ•°æ®æµæµç¨‹å›¾

```mermaid
flowchart LR
    subgraph PC仿真端
        Sim[仿真器\n状态积分]
        GPFMI[GPFMI帧生成\n10 Hz]
        GPIMU[GPIMU帧生成\n100 Hz]
        CtrlRx[PythonLink控制帧接收]
        LogSink[串口5日志解析/保存]
    end
    subgraph STM32H7
        UART2["UART2\n(GPS/IMU输入 & æŽ§åˆ¶è¾“出)"]
        CtrlAlgo[运动控制算法\n(PID + çº¯è·Ÿè¸ª)]
        UART5["UART5\n(921600) æ—¥å¿—输出"]
    end

    Sim --> GPFMI --> |UART2 TX| UART2
    Sim --> GPIMU --> |UART2 TX| UART2
    UART2 --> CtrlAlgo
    CtrlAlgo --> |前进/转向控制帧| UART2 --> CtrlRx --> Sim
    CtrlAlgo --> |运行日志| UART5 --> |串口5 RX| LogSink
```

## åŽç»­å®žçŽ°è¦ç‚¹

1. **协议复用**：严格复用现有 GPS `$GPFMI`/`$GPIMU` è¾“出格式与 `PythonLink` æŽ§åˆ¶å¸§ï¼Œä¿è¯å®žè½¦ä¸Žä»¿çœŸé—´å¯æ— ç¼åˆ‡æ¢ã€‚
2. **时间同步**：仿真器内部需维护 UTC æ—¶é—´æˆ³ï¼ˆWeek/ToW ä¸Ž `hhmmss.ss`），让 STM32H7 é€»è¾‘保持一致。
3. **高频任务划分**：建议使用独立线程/异步任务分别发送 10 Hz ä¸Ž 100 Hz æ•°æ®å¸§ï¼Œå¹¶å¯¹æŽ§åˆ¶å›žä¼ ã€æ—¥å¿—接收进行非阻塞处理。
4. **仿真模型**：后续可扩展为读取规划路径，利用 ENU åæ ‡ç³»è¿›è¡Œè¿åŠ¨å­¦ç§¯åˆ†ï¼Œå¹¶æŠŠç»“果映射回经纬度/惯导量。
5. **数据持久化**：日志与仿真配置（路径、初始原点、串口号）应保存以便复现测试场景。

该 README å°†ä½œä¸º HITL å­ç³»ç»Ÿçš„设计索引，具体实现位于同目录下的 Python æ¨¡å—中。


 python/hitl/__init__.py

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"""
硬件在环 (HITL) ä»¿çœŸå­åŒ…。

该包将包含:
- GPS/IMU æ•°æ®ä»¿çœŸä¸Žåè®®å°è£…
- PythonLink æŽ§åˆ¶å¸§æ¡¥æŽ¥
- ä¸²å£æ—¥å¿—解析工具
"""


 python/hitl/__pycache__/__init__.cpython-310.pyc

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 python/hitl/__pycache__/dynamics.cpython-310.pyc

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 python/hitl/__pycache__/geo.cpython-310.pyc

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 python/hitl/__pycache__/protocols.cpython-310.pyc

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 python/hitl/__pycache__/simulator.cpython-310.pyc

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 python/hitl/dynamics.py

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"""
差速履带运动学/动力学模型。
"""

from __future__ import annotations

import dataclasses
import math
import random
from typing import Tuple

GRAVITY = 9.80665  # m/s^2


def _clamp(value: float, min_value: float, max_value: float) -> float:
    return max(min_value, min(max_value, value))


def _wrap_angle(rad: float) -> float:
    """Wrap angle to [-pi, pi)."""
    pi2 = math.tau  # 2*pi
    while rad >= math.pi:
        rad -= pi2
    while rad < -math.pi:
        rad += pi2
    return rad


@dataclasses.dataclass
class DifferentialDriveState:
    east: float = 0.0
    north: float = 0.0
    up: float = 0.0
    heading: float = 0.0  # rad, æ•°å­¦åæ ‡ç³» (东=0, CCW>0)
    linear_velocity: float = 0.0  # m/s
    angular_velocity: float = 0.0  # rad/s
    pitch_deg: float = 0.0
    roll_deg: float = 0.0
    east_velocity: float = 0.0
    north_velocity: float = 0.0
    up_velocity: float = 0.0
    body_accel_g: Tuple[float, float, float] = (0.0, 0.0, -1.0)
    gyro_deg_s: Tuple[float, float, float] = (0.0, 0.0, 0.0)
    temperature_c: float = 30.0

    def copy(self) -> "DifferentialDriveState":
        return dataclasses.replace(self)


class DifferentialDriveModel:
    """准静态差速履带模型，可模拟原地转向。"""

    def __init__(
        self,
        track_width: float = 0.8,
        max_linear_speed: float = 2.0,
        max_linear_accel: float = 1.5,
        max_angular_speed: float = math.radians(120.0),
        max_angular_accel: float = math.radians(180.0),
    ):
        self.track_width = track_width
        self.max_linear_speed = max_linear_speed
        self.max_linear_accel = max_linear_accel
        self.max_angular_speed = max_angular_speed
        self.max_angular_accel = max_angular_accel
        self.state = DifferentialDriveState()
        self._rng = random.Random(42)

    def reset(self, east: float = 0.0, north: float = 0.0, up: float = 0.0, heading_deg: float = 0.0):
        self.state = DifferentialDriveState(east=east, north=north, up=up, heading=math.radians(heading_deg))

    def step(self, target_linear: float, target_angular: float, dt: float) -> DifferentialDriveState:
        if dt <= 0.0:
            return self.state

        target_linear = _clamp(target_linear, -self.max_linear_speed, self.max_linear_speed)
        target_angular = _clamp(target_angular, -self.max_angular_speed, self.max_angular_speed)

        dv = target_linear - self.state.linear_velocity
        max_dv = self.max_linear_accel * dt
        dv = _clamp(dv, -max_dv, max_dv)
        linear_acc = dv / dt
        self.state.linear_velocity += dv

        dw = target_angular - self.state.angular_velocity
        max_dw = self.max_angular_accel * dt
        dw = _clamp(dw, -max_dw, max_dw)
        angular_acc = dw / dt
        self.state.angular_velocity += dw

        # æ›´æ–°å§¿æ€ä¸Žä½ç½®
        self.state.heading = _wrap_angle(self.state.heading + self.state.angular_velocity * dt)
        cos_h = math.cos(self.state.heading)
        sin_h = math.sin(self.state.heading)
        self.state.east += self.state.linear_velocity * cos_h * dt
        self.state.north += self.state.linear_velocity * sin_h * dt
        self.state.up += 0.0  # å¯æ‰©å±•åœ°å½¢æ¨¡åž‹

        # é€Ÿåº¦ (ENU)
        self.state.east_velocity = self.state.linear_velocity * cos_h
        self.state.north_velocity = self.state.linear_velocity * sin_h
        self.state.up_velocity = 0.0

        # ä½“轴加速度：前向加速度 + å‘心加速度
        lateral_acc = self.state.linear_velocity * self.state.angular_velocity
        ax_g = linear_acc / GRAVITY
        ay_g = lateral_acc / GRAVITY
        az_g = -1.0  # å‡è®¾æ°´å¹³åœ°é¢
        self.state.body_accel_g = (
            ax_g + self._rng.gauss(0.0, 0.002),
            ay_g + self._rng.gauss(0.0, 0.002),
            az_g + self._rng.gauss(0.0, 0.0005),
        )

        # å§¿æ€è¿‘似：由加速度分量映射成小角度
        self.state.pitch_deg = math.degrees(math.atan2(ax_g, 1.0))
        self.state.roll_deg = math.degrees(math.atan2(-ay_g, 1.0))

        self.state.gyro_deg_s = (
            self._rng.gauss(0.0, 0.01),
            self._rng.gauss(0.0, 0.01),
            math.degrees(self.state.angular_velocity) + self._rng.gauss(0.0, 0.1),
        )

        temp_drift = self._rng.gauss(0.0, 0.0005)
        self.state.temperature_c += temp_drift

        return self.state



 python/hitl/geo.py

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"""
地理坐标与参考系转换工具。

提供以下能力：
- è§£æž GGA/自定义格式的原点配置
- WGS-84 ä¸‹çš„ LLA â†” ECEF â†” ENU äº’转
- å°† ENU åæ ‡åç®—为经纬度
"""

from __future__ import annotations

import dataclasses
import math
from typing import Optional, Tuple

WGS84_A = 6378137.0  # åŠé•¿è½´
WGS84_F = 1 / 298.257223563
WGS84_E2 = WGS84_F * (2 - WGS84_F)
WGS84_B = WGS84_A * (1 - WGS84_F)
WGS84_EP2 = (WGS84_A ** 2 - WGS84_B ** 2) / (WGS84_B ** 2)


def dm_to_decimal(dm_value: float) -> float:
    """度分转十进制度。"""
    degrees = int(dm_value // 100)
    minutes = dm_value - degrees * 100
    return degrees + minutes / 60.0


@dataclasses.dataclass(frozen=True)
class Origin:
    """ENU å‚考原点。"""

    latitude_deg: float
    longitude_deg: float
    altitude_m: float

    def __post_init__(self):
        object.__setattr__(self, "latitude_rad", math.radians(self.latitude_deg))
        object.__setattr__(self, "longitude_rad", math.radians(self.longitude_deg))
        object.__setattr__(self, "ecef", geo_to_ecef(self.latitude_deg, self.longitude_deg, self.altitude_m))


def parse_origin(origin_geo: str) -> Origin:
    """
    è§£æžåŽŸç‚¹æè¿°:
        1) çº¯ GGA æŠ¥æ–‡: "$GNGGA,..."
        2) ç®€å†™: "3949.8890,N,11616.7555,E[,alt]"
    """
    text = (origin_geo or "").strip()
    if not text:
        raise ValueError("原点字符串不能为空")

    if text.startswith("$") and "GGA" in text.upper():
        parts = text.split(",")
        if len(parts) < 10:
            raise ValueError("GGA æŠ¥æ–‡å­—段数量不足")
        lat_dm = float(parts[2])
        lat_dir = parts[3].upper()
        lon_dm = float(parts[4])
        lon_dir = parts[5].upper()
        alt = float(parts[9])

        lat = dm_to_decimal(lat_dm)
        lon = dm_to_decimal(lon_dm)
        if lat_dir == "S":
            lat = -lat
        if lon_dir == "W":
            lon = -lon
        return Origin(lat, lon, alt)

    # å…¼å®¹ ",lat,N,lon,E" æˆ– "lat,N,lon,E"
    text = text.lstrip(",")
    parts = [p.strip() for p in text.split(",") if p.strip()]
    if len(parts) not in (4, 5):
        raise ValueError("原点格式应为 'lat,N,lon,E[,alt]' æˆ– GGA æŠ¥æ–‡")
    lat_dm = float(parts[0])
    lat_dir = parts[1].upper()
    lon_dm = float(parts[2])
    lon_dir = parts[3].upper()
    alt = float(parts[4]) if len(parts) == 5 else 0.0

    lat = dm_to_decimal(lat_dm)
    lon = dm_to_decimal(lon_dm)
    if lat_dir == "S":
        lat = -lat
    if lon_dir == "W":
        lon = -lon
    return Origin(lat, lon, alt)


def geo_to_ecef(lat_deg: float, lon_deg: float, alt_m: float) -> Tuple[float, float, float]:
    """经纬度 â†’ ECEF。"""
    lat_rad = math.radians(lat_deg)
    lon_rad = math.radians(lon_deg)
    sin_lat = math.sin(lat_rad)
    cos_lat = math.cos(lat_rad)
    sin_lon = math.sin(lon_rad)
    cos_lon = math.cos(lon_rad)

    N = WGS84_A / math.sqrt(1 - WGS84_E2 * sin_lat * sin_lat)
    x = (N + alt_m) * cos_lat * cos_lon
    y = (N + alt_m) * cos_lat * sin_lon
    z = (N * (1 - WGS84_E2) + alt_m) * sin_lat
    return x, y, z


def ecef_to_enu(dx: float, dy: float, dz: float, lat0_rad: float, lon0_rad: float) -> Tuple[float, float, float]:
    """ECEF å·®å€¼ â†’ ENU。"""
    sin_lat = math.sin(lat0_rad)
    cos_lat = math.cos(lat0_rad)
    sin_lon = math.sin(lon0_rad)
    cos_lon = math.cos(lon0_rad)

    east = -sin_lon * dx + cos_lon * dy
    north = -sin_lat * cos_lon * dx - sin_lat * sin_lon * dy + cos_lat * dz
    up = cos_lat * cos_lon * dx + cos_lat * sin_lon * dy + sin_lat * dz
    return east, north, up


def enu_to_ecef(east: float, north: float, up: float, lat0_rad: float, lon0_rad: float) -> Tuple[float, float, float]:
    """ENU â†’ ECEF å·®å€¼ã€‚"""
    sin_lat = math.sin(lat0_rad)
    cos_lat = math.cos(lat0_rad)
    sin_lon = math.sin(lon0_rad)
    cos_lon = math.cos(lon0_rad)

    dx = -sin_lon * east - sin_lat * cos_lon * north + cos_lat * cos_lon * up
    dy = cos_lon * east - sin_lat * sin_lon * north + cos_lat * sin_lon * up
    dz = cos_lat * north + sin_lat * up
    return dx, dy, dz


def ecef_to_lla(x: float, y: float, z: float) -> Tuple[float, float, float]:
    """ECEF â†’ LLA。"""
    p = math.hypot(x, y)
    theta = math.atan2(WGS84_A * z, WGS84_B * p)
    sin_theta = math.sin(theta)
    cos_theta = math.cos(theta)

    lon = math.atan2(y, x)
    lat = math.atan2(
        z + WGS84_EP2 * WGS84_B * sin_theta ** 3,
        p - WGS84_E2 * WGS84_A * cos_theta ** 3,
    )

    N = WGS84_A / math.sqrt(1 - WGS84_E2 * math.sin(lat) ** 2)
    alt = p / math.cos(lat) - N
    return math.degrees(lat), math.degrees(lon), alt


def enu_to_lla(east: float, north: float, up: float, origin: Origin) -> Tuple[float, float, float]:
    """将 ENU åæ ‡è½¬æ¢ä¸ºå®žæ—¶ç»çº¬åº¦ã€‚"""
    dx, dy, dz = enu_to_ecef(east, north, up, origin.latitude_rad, origin.longitude_rad)
    x = origin.ecef[0] + dx
    y = origin.ecef[1] + dy
    z = origin.ecef[2] + dz
    return ecef_to_lla(x, y, z)


def heading_math_to_nav(heading_rad: float) -> float:
    """
    å°†æ•°å­¦åæ ‡ç³» (东为0°, CCW为正) çš„航向角转换为导航坐标系 (北为0°, é¡ºæ—¶é’ˆä¸ºæ­£)。
    """
    heading_deg = math.degrees(heading_rad)
    nav = (90.0 - heading_deg) % 360.0
    if nav < 0:
        nav += 360.0
    return nav



 python/hitl/protocols.py

¶Ô±ÈÐÂÎļþ
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"""
与 STM32H7 äº¤äº’的协议封装：
- æž„造 $GPRMI / $GPIMU å¥å­
- è§£æž PythonLink æŽ§åˆ¶å¸§
"""

from __future__ import annotations

import math
import struct
from dataclasses import dataclass
from datetime import datetime, timezone
from typing import Callable, Optional, Tuple

GPS_EPOCH = datetime(1980, 1, 6, tzinfo=timezone.utc)


def _ensure_utc(dt: datetime) -> datetime:
    if dt.tzinfo is None:
        return dt.replace(tzinfo=timezone.utc)
    return dt.astimezone(timezone.utc)


def gps_week_and_tow(timestamp: datetime) -> Tuple[int, float]:
    dt = _ensure_utc(timestamp)
    delta = dt - GPS_EPOCH
    total_seconds = delta.total_seconds()
    week = int(total_seconds // 604800)
    tow = total_seconds - week * 604800
    return week, tow


def format_hhmmss(timestamp: datetime, decimals: int = 3) -> str:
    dt = _ensure_utc(timestamp)
    base = dt.strftime("%H%M%S")
    frac = dt.microsecond / 1_000_000.0
    frac_str = f"{frac:.{decimals}f}".split(".")[1]
    return f"{base}.{frac_str}"


def nmea_checksum(sentence_without_star: str) -> str:
    cs = 0
    for ch in sentence_without_star[1:]:  # è·³è¿‡ $
        cs ^= ord(ch)
    return f"{cs:02X}"


def build_gprmi_sentence(
    timestamp: datetime,
    lat_deg: float,
    lon_deg: float,
    alt_m: float,
    east_vel: float,
    north_vel: float,
    up_vel: float,
    heading_deg: float,
    pitch_deg: float,
    roll_deg: float,
    *,
    lat_std: float = 0.008,
    lon_std: float = 0.008,
    alt_std: float = 0.02,
    vel_std: float = 0.02,
    heading_std: float = 0.1,
    pitch_std: float = 0.1,
    roll_std: float = 0.1,
    baseline_m: float = 1.0,
    sat_count: int = 20,
    ambiguity_count: int = 18,
    quality: int = 4,
) -> bytes:
    timestamp = _ensure_utc(timestamp)
    utc_str = format_hhmmss(timestamp, decimals=2)
    week, tow = gps_week_and_tow(timestamp)

    fields = [
        utc_str,
        str(week),
        f"{tow:.3f}",
        f"{lat_deg:.9f}",
        f"{lon_deg:.9f}",
        f"{alt_m:.3f}",
        f"{lat_std:.3f}",
        f"{lon_std:.3f}",
        f"{alt_std:.3f}",
        f"{east_vel:.3f}",
        f"{north_vel:.3f}",
        f"{up_vel:.3f}",
        f"{vel_std:.3f}",
        f"{heading_deg:.3f}",
        f"{pitch_deg:.3f}",
        f"{roll_deg:.3f}",
        f"{heading_std:.3f}",
        f"{pitch_std:.3f}",
        f"{roll_std:.3f}",
        f"{baseline_m:.3f}",
        str(int(sat_count)),
        str(int(ambiguity_count)),
        str(int(quality)),
    ]

    body = "$GPRMI," + ",".join(fields)
    checksum = nmea_checksum(body)
    sentence = f"{body}*{checksum}\r\n"
    return sentence.encode("ascii")


def build_gpimu_sentence(
    timestamp: datetime,
    accel_g: Tuple[float, float, float],
    gyro_deg_s: Tuple[float, float, float],
    temperature_c: float,
) -> bytes:
    timestamp = _ensure_utc(timestamp)
    utc_str = format_hhmmss(timestamp, decimals=3)

    fields = [
        utc_str,
        f"{accel_g[0]:+.4f}",
        f"{accel_g[1]:+.4f}",
        f"{accel_g[2]:+.4f}",
        f"{gyro_deg_s[0]:+.4f}",
        f"{gyro_deg_s[1]:+.4f}",
        f"{gyro_deg_s[2]:+.4f}",
        f"{temperature_c:.2f}",
    ]

    body = "$GPIMU," + ",".join(fields)
    checksum = nmea_checksum(body)
    sentence = f"{body}*{checksum}\r\n"
    return sentence.encode("ascii")


def _pwm_to_velocity(value: int, center: int = 1500, span: int = 500, max_speed: float = 1.5) -> float:
    ratio = _clamp((value - center) / span, -1.0, 1.0)
    return ratio * max_speed


def _clamp(val: float, min_val: float, max_val: float) -> float:
    return max(min_val, min(max_val, val))


def _decode_payload(payload: bytes) -> Tuple[float, float]:
    if len(payload) == 8:
        forward, turn = struct.unpack("<ff", payload)
        return forward, turn
    if len(payload) == 4:
        steering_pwm, throttle_pwm = struct.unpack("<HH", payload)
        # é‡æ–°æ˜ å°„：转向 PWM â†’ yaw rate；油门 PWM â†’ çº¿é€Ÿåº¦
        forward = _pwm_to_velocity(throttle_pwm)
        turn = math.radians(_pwm_to_velocity(steering_pwm, max_speed=90.0))
        return forward, turn
    raise ValueError(f"不支持的控制负载长度: {len(payload)}")


@dataclass
class PythonLinkFrame:
    forward: float
    turn: float


class PythonLinkDecoder:
    """
    è§£æž PythonLink æŽ§åˆ¶å¸§ (0xAA 0x55 ... 0D 0A)。
    """

    FRAME_HEADER = b"\xAA\x55"
    FRAME_FOOTER = b"\x0D\x0A"
    TYPE_CONTROL = 0x10

    def __init__(self, on_frame: Callable[[PythonLinkFrame], None]):
        self._buffer = bytearray()
        self._on_frame = on_frame

    def feed(self, data: bytes):
        if not data:
            return
        self._buffer.extend(data)
        while True:
            start = self._find_header()
            if start < 0:
                self._buffer.clear()
                return
            if start > 0:
                del self._buffer[:start]
            if len(self._buffer) < 9:
                return
            frame_len = self._expected_frame_length()
            if frame_len is None or len(self._buffer) < frame_len:
                return
            frame = bytes(self._buffer[:frame_len])
            del self._buffer[:frame_len]
            try:
                parsed = self._parse_frame(frame)
                if parsed:
                    self._on_frame(parsed)
            except Exception:
                # ä¸¢å¼ƒæ— æ•ˆå¸§ï¼Œç»§ç»­æœç´¢
                continue

    def _find_header(self) -> int:
        data = bytes(self._buffer)
        idx = data.find(self.FRAME_HEADER)
        return idx

    def _expected_frame_length(self) -> Optional[int]:
        if len(self._buffer) < 5:
            return None
        payload_len = int.from_bytes(self._buffer[3:5], "little")
        return 2 + 1 + 2 + payload_len + 2 + 2  # header + type + len + payload + checksum + footer

    def _parse_frame(self, frame: bytes) -> Optional[PythonLinkFrame]:
        if not (frame.startswith(self.FRAME_HEADER) and frame.endswith(self.FRAME_FOOTER)):
            return None
        frame_type = frame[2]
        if frame_type != self.TYPE_CONTROL:
            return None
        payload_len = int.from_bytes(frame[3:5], "little")
        payload_start = 5
        payload_end = payload_start + payload_len
        payload = frame[payload_start:payload_end]
        checksum_received = int.from_bytes(frame[payload_end:payload_end + 2], "little")
        checksum_calc = sum(frame[2:payload_end]) & 0xFFFF
        if checksum_received != checksum_calc:
            raise ValueError("校验和不匹配")
        forward, turn = _decode_payload(payload)
        return PythonLinkFrame(forward=forward, turn=turn)



 python/hitl/simulator.py

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,303 @@
"""
硬件在环 (HITL) ä»¿çœŸå™¨ï¼šç”Ÿæˆ $GPRMI/$GPIMU ä¼ æ„Ÿå™¨æ•°æ®ï¼Œå¹¶ä¸Ž STM32H7 é€šè¿‡ PythonLink é—­çŽ¯ã€‚
"""

from __future__ import annotations

import dataclasses
import math
import threading
import time
from datetime import datetime, timedelta, timezone
from typing import Callable

import serial

from . import geo
from .dynamics import DifferentialDriveModel, DifferentialDriveState
from .protocols import (
    PythonLinkDecoder,
    PythonLinkFrame,
    build_gpimu_sentence,
    build_gprmi_sentence,
)


@dataclasses.dataclass
class HitlConfig:
    """HITL ä»¿çœŸè¿è¡Œå¿…需的配置项。"""

    uart2_port: str  # STM32 UART2 (GPS/IMU è¾“å…¥ + æŽ§åˆ¶è¾“出)
    uart5_port: str | None  # STM32 UART5 æ—¥å¿—输出
    origin_gga: str
    initial_enu: tuple[float, float, float] = (0.0, 0.0, 0.0)
    initial_heading_deg: float = 0.0
    gps_baudrate: int = 460800
    log_baudrate: int = 921600
    track_width: float = 0.78
    baseline_distance: float = 0.9
    max_linear_speed: float = 2.0
    max_angular_speed_deg: float = 140.0


class SerialEndpoint:
    """线程安全的串口包装。"""

    port: str | None
    baudrate: int
    timeout: float
    _serial: serial.Serial | None
    _lock: threading.Lock

    def __init__(self, port: str | None, baudrate: int, timeout: float = 0.0):
        self.port = port
        self.baudrate = baudrate
        self.timeout = timeout
        self._serial = None
        self._lock = threading.Lock()

    def open(self):
        if not self.port:
            return
        if self._serial and self._serial.is_open:
            return
        self._serial = serial.Serial(
            self.port,
            self.baudrate,
            timeout=self.timeout,
            write_timeout=0,
        )
        self._serial.reset_input_buffer()
        self._serial.reset_output_buffer()

    def close(self):
        if self._serial:
            try:
                self._serial.close()
            finally:
                self._serial = None

    def write(self, data: bytes):
        if not data or not self._serial:
            return
        with self._lock:
            _ = self._serial.write(data)

    def read(self, size: int = 1) -> bytes:
        if not self._serial:
            return b""
        try:
            return self._serial.read(size)
        except serial.SerialException:
            return b""

    def readline(self) -> bytes:
        if not self._serial:
            return b""
        try:
            return self._serial.readline()
        except serial.SerialException:
            return b""


class HitlSimulator:
    """电脑仿真环境与 STM32H7 æŽ§åˆ¶æ¿ä¹‹é—´çš„桥梁。"""

    config: HitlConfig
    origin: geo.Origin
    model: DifferentialDriveModel
    _state_lock: threading.Lock
    _latest_state: DifferentialDriveState
    _target_linear: float
    _target_angular: float
    _sim_time: datetime
    uart2: SerialEndpoint
    log_uart: SerialEndpoint
    _decoder: PythonLinkDecoder
    _running: threading.Event
    _threads: list[threading.Thread]
    on_control: Callable[[float, float], None] | None
    on_log: Callable[[str], None] | None

    def __init__(self, config: HitlConfig):
        self.config = config
        self.origin = geo.parse_origin(config.origin_gga)
        self.model = DifferentialDriveModel(
            track_width=config.track_width,
            max_linear_speed=config.max_linear_speed,
            max_angular_speed=math.radians(config.max_angular_speed_deg),
        )
        self.model.reset(
            east=config.initial_enu[0],
            north=config.initial_enu[1],
            up=config.initial_enu[2],
            heading_deg=config.initial_heading_deg,
        )
        self._state_lock = threading.Lock()
        self._latest_state = self.model.state.copy()
        self._target_linear = 0.0
        self._target_angular = 0.0
        self._sim_time = _initial_timestamp_from_gga(config.origin_gga)

        self.uart2 = SerialEndpoint(config.uart2_port, config.gps_baudrate, timeout=0.0)
        self.log_uart = SerialEndpoint(config.uart5_port, config.log_baudrate, timeout=0.1)

        self._decoder = PythonLinkDecoder(self._handle_control_frame)
        self._running = threading.Event()
        self._threads = []

        self.on_control = None
        self.on_log = None

    # ------------------------------------------------------------------ #
    # ç”Ÿå‘½å‘¨æœŸ
    # ------------------------------------------------------------------ #
    def start(self):
        if self._running.is_set():
            return
        self.uart2.open()
        self.log_uart.open()
        self._running.set()
        self._threads = [
            threading.Thread(target=self._loop_physics, name="hitl-phys", daemon=True),
            threading.Thread(target=self._loop_gprmi, name="hitl-gprmi", daemon=True),
            threading.Thread(target=self._loop_gpimu, name="hitl-gpimu", daemon=True),
            threading.Thread(target=self._loop_control, name="hitl-ctrl", daemon=True),
            threading.Thread(target=self._loop_log, name="hitl-log", daemon=True),
        ]
        for t in self._threads:
            t.start()

    def stop(self):
        if not self._running.is_set():
            return
        self._running.clear()
        for t in self._threads:
            t.join(timeout=1.0)
        self._threads.clear()
        self.uart2.close()
        self.log_uart.close()

    # ------------------------------------------------------------------ #
    # çº¿ç¨‹
    # ------------------------------------------------------------------ #
    def _loop_physics(self):
        last = time.perf_counter()
        while self._running.is_set():
            now = time.perf_counter()
            dt = max(now - last, 1e-4)
            last = now
            with self._state_lock:
                state = self.model.step(self._target_linear, self._target_angular, dt).copy()
                self._latest_state = state
                self._sim_time += timedelta(seconds=dt)
            time.sleep(0.005)

    def _loop_gprmi(self):
        period = 0.1  # 10 Hz
        while self._running.is_set():
            start = time.perf_counter()
            sentence = self._build_gprmi_sentence()
            if sentence:
                self.uart2.write(sentence)
            self._sleep_remaining(start, period)

    def _loop_gpimu(self):
        period = 0.01  # 100 Hz
        while self._running.is_set():
            start = time.perf_counter()
            sentence = self._build_gpimu_sentence()
            if sentence:
                self.uart2.write(sentence)
            self._sleep_remaining(start, period)

    def _loop_control(self):
        while self._running.is_set():
            data = self.uart2.read(128)
            if data:
                self._decoder.feed(data)
            else:
                time.sleep(0.002)

    def _loop_log(self):
        if not self.config.uart5_port:
            while self._running.is_set():
                time.sleep(0.5)
            return
        while self._running.is_set():
            line = self.log_uart.readline()
            if not line:
                time.sleep(0.01)
                continue
            text = line.decode("utf-8", errors="replace").strip()
            if text and self.on_log:
                self.on_log(text)

    # ------------------------------------------------------------------ #
    # æž„造帧
    # ------------------------------------------------------------------ #
    def _build_gprmi_sentence(self) -> bytes | None:
        state, timestamp = self._snapshot()
        lat, lon, alt = geo.enu_to_lla(state.east, state.north, state.up, self.origin)
        heading_nav = geo.heading_math_to_nav(state.heading)
        return build_gprmi_sentence(
            timestamp=timestamp,
            lat_deg=lat,
            lon_deg=lon,
            alt_m=alt,
            east_vel=state.east_velocity,
            north_vel=state.north_velocity,
            up_vel=state.up_velocity,
            heading_deg=heading_nav,
            pitch_deg=state.pitch_deg,
            roll_deg=state.roll_deg,
            baseline_m=self.config.baseline_distance,
        )

    def _build_gpimu_sentence(self) -> bytes | None:
        state, timestamp = self._snapshot()
        return build_gpimu_sentence(
            timestamp=timestamp,
            accel_g=state.body_accel_g,
            gyro_deg_s=state.gyro_deg_s,
            temperature_c=state.temperature_c,
        )

    # ------------------------------------------------------------------ #
    # å·¥å…·
    # ------------------------------------------------------------------ #
    def _snapshot(self) -> tuple[DifferentialDriveState, datetime]:
        with self._state_lock:
            return self._latest_state.copy(), self._sim_time

    def _handle_control_frame(self, frame: PythonLinkFrame):
        with self._state_lock:
            self._target_linear = frame.forward
            self._target_angular = frame.turn
        if self.on_control:
            self.on_control(frame.forward, frame.turn)

    @staticmethod
    def _sleep_remaining(start: float, period: float):
        elapsed = time.perf_counter() - start
        remaining = period - elapsed
        if remaining > 0:
            time.sleep(remaining)


def _initial_timestamp_from_gga(gga: str) -> datetime:
    parts = (gga or "").split(",")
    if len(parts) > 1 and parts[1]:
        time_str = parts[1]
        try:
            hh = int(time_str[0:2])
            mm = int(time_str[2:4])
            ss = int(time_str[4:6])
            frac = float("0." + time_str.split(".")[1]) if "." in time_str else 0.0
            today = datetime.now(timezone.utc).date()
            base = datetime(today.year, today.month, today.day, tzinfo=timezone.utc)
            return base.replace(hour=hh, minute=mm, second=ss, microsecond=int(frac * 1_000_000))
        except (ValueError, IndexError):
            pass
    return datetime.now(timezone.utc)


 python/realtime_control.py

@@ -10,10 +10,50 @@
import time
import json
import math
from typing import Optional, Tuple
import threading
import queue
from pathlib import Path
from typing import Callable, Dict, Optional, Tuple

from serial.tools import list_ports
from gps_imu_receiver import GPSIMUReceiver, GPSData, IMUData
from mower_controller import MowerController, wrap_angle

try:
    from PyQt5 import QtCore, QtGui, QtWidgets
except Exception:
    QtWidgets = None

BASE_DIR = Path(__file__).resolve().parent
GUI_STATE_FILE = BASE_DIR / "gui_state.json"
GUI_STATE_DEFAULT = {
    "path_file": "",
    "origin_gga": "",
    "serial_port": "",
}


def load_gui_state() -> Dict[str, str]:
    state = dict(GUI_STATE_DEFAULT)
    try:
        if GUI_STATE_FILE.exists():
            with GUI_STATE_FILE.open('r', encoding='utf-8') as f:
                data = json.load(f)
                if isinstance(data, dict):
                    state.update(data)
    except Exception as exc:
        print(f"[WARN] è¯»å– GUI é…ç½®å¤±è´¥: {exc}")
    return state


def save_gui_state(state: Dict[str, str]) -> None:
    try:
        GUI_STATE_FILE.parent.mkdir(parents=True, exist_ok=True)
        with GUI_STATE_FILE.open('w', encoding='utf-8') as f:
            json.dump(state, f, ensure_ascii=False, indent=2)
    except Exception as exc:
        print(f"[WARN] ä¿å­˜ GUI é…ç½®å¤±è´¥: {exc}")


EARTH_RADIUS_M = 6378137.0
WGS84_A = 6378137.0  # åŠé•¿è½´
@@ -145,6 +185,488 @@
    return east, north, up


if QtWidgets:
    class ZoomableGraphicsView(QtWidgets.QGraphicsView):
        """支持滚轮缩放与拖拽的视图"""

        def __init__(self, scene, parent=None):
            super().__init__(scene, parent)
            self.setRenderHint(QtGui.QPainter.Antialiasing, True)
            self.setDragMode(QtWidgets.QGraphicsView.ScrollHandDrag)
            self.setTransformationAnchor(QtWidgets.QGraphicsView.AnchorUnderMouse)
            self.setResizeAnchor(QtWidgets.QGraphicsView.AnchorUnderMouse)
            self.setViewportUpdateMode(QtWidgets.QGraphicsView.SmartViewportUpdate)
            self._zoom = 0

        def wheelEvent(self, event: QtGui.QWheelEvent):
            zoom_in_factor = 1.15
            zoom_out_factor = 1 / zoom_in_factor

            if event.angleDelta().y() > 0:
                factor = zoom_in_factor
                self._zoom += 1
            else:
                factor = zoom_out_factor
                self._zoom -= 1

            if self._zoom > 50:
                self._zoom = 50
                return
            if self._zoom < -50:
                self._zoom = -50
                return

            self.scale(factor, factor)

        def reset_zoom(self):
            self._zoom = 0
            self.resetTransform()


    class QtRealtimeDashboard(QtWidgets.QMainWindow):
        """主线程中的 Qt çŠ¶æ€é¢æ¿ï¼Œå®šæ—¶ä»Žé˜Ÿåˆ—取数据刷新"""

        def __init__(
            self,
            controller,
            data_queue: queue.Queue,
            gui_state: Dict[str, str],
            persist_state: Callable[[Dict[str, str]], None],
        ):
            super().__init__()
            self.controller = controller
            self.data_queue = data_queue
            self.gui_state = gui_state or {}
            self.persist_state_cb = persist_state
            self.control_thread: Optional[threading.Thread] = None
            self._last_gui_consume_log = 0.0
            self._fit_applied = False
            self._path_rect = QtCore.QRectF()
            self.path_points = list(controller.path_points or [])

            self.setWindowTitle("Lawnmower è¿åŠ¨æŽ§åˆ¶è°ƒè¯•ç•Œé¢")
            self.resize(1200, 680)

            self._build_ui()
            self.set_path_points(self.path_points, refit=True)
            self._refresh_serial_ports(initial=True)
            self._apply_saved_values()
            self._update_serial_ui()
            self._update_control_buttons()

            self.timer = QtCore.QTimer()
            self.timer.timeout.connect(self._drain_queue)
            self.timer.start(80)  # ~12.5Hz åˆ·æ–°

        def _build_ui(self):
            central = QtWidgets.QWidget()
            layout = QtWidgets.QHBoxLayout(central)
            self.setCentralWidget(central)

            self.scene = QtWidgets.QGraphicsScene()
            self.view = ZoomableGraphicsView(self.scene)
            layout.addWidget(self.view, stretch=3)

            self.path_pen = QtGui.QPen(QtGui.QColor("gray"))
            self.path_pen.setStyle(QtCore.Qt.DashLine)
            self.path_pen.setWidthF(0.8)
            self.path_pen.setCosmetic(True)
            self.path_item = self.scene.addPath(QtGui.QPainterPath(), self.path_pen)

            trail_pen = QtGui.QPen(QtGui.QColor("blue"))
            trail_pen.setWidthF(1.0)
            trail_pen.setCosmetic(True)
            self.trail_path_item = self.scene.addPath(QtGui.QPainterPath(), trail_pen)

            self.heading_item = self.scene.addLine(0, 0, 0, 0, QtGui.QPen(QtGui.QColor("red"), 2))
            robot_pen = QtGui.QPen(QtGui.QColor("red"))
            robot_brush = QtGui.QBrush(QtGui.QColor("red"))
            self.robot_item = self.scene.addEllipse(-0.3, -0.3, 0.6, 0.6, robot_pen, robot_brush)
            target_pen = QtGui.QPen(QtGui.QColor("green"))
            target_brush = QtGui.QBrush(QtGui.QColor("green"))
            self.target_item = self.scene.addEllipse(-0.3, -0.3, 0.6, 0.6, target_pen, target_brush)

            right_panel = QtWidgets.QWidget()
            right_layout = QtWidgets.QVBoxLayout(right_panel)
            right_layout.setContentsMargins(8, 0, 0, 0)
            layout.addWidget(right_panel, stretch=2)

            path_group = QtWidgets.QGroupBox("路径文件")
            path_layout = QtWidgets.QVBoxLayout(path_group)
            path_row = QtWidgets.QHBoxLayout()
            self.path_line = QtWidgets.QLineEdit()
            self.path_browse_btn = QtWidgets.QPushButton("浏览")
            self.path_load_btn = QtWidgets.QPushButton("加载")
            path_row.addWidget(self.path_line, stretch=1)
            path_row.addWidget(self.path_browse_btn)
            path_layout.addLayout(path_row)
            path_layout.addWidget(self.path_load_btn, alignment=QtCore.Qt.AlignRight)
            right_layout.addWidget(path_group)

            origin_group = QtWidgets.QGroupBox("原点 (GGA)")
            origin_layout = QtWidgets.QVBoxLayout(origin_group)
            self.origin_input = QtWidgets.QLineEdit()
            self.origin_update_btn = QtWidgets.QPushButton("更新原点")
            origin_layout.addWidget(self.origin_input)
            origin_layout.addWidget(self.origin_update_btn, alignment=QtCore.Qt.AlignRight)
            right_layout.addWidget(origin_group)

            serial_group = QtWidgets.QGroupBox("串口设置")
            serial_layout = QtWidgets.QVBoxLayout(serial_group)
            serial_row = QtWidgets.QHBoxLayout()
            self.port_combo = QtWidgets.QComboBox()
            self.port_refresh_btn = QtWidgets.QPushButton("刷新")
            serial_row.addWidget(self.port_combo, stretch=1)
            serial_row.addWidget(self.port_refresh_btn)
            serial_layout.addLayout(serial_row)
            self.serial_toggle_btn = QtWidgets.QPushButton("打开串口")
            serial_layout.addWidget(self.serial_toggle_btn)
            right_layout.addWidget(serial_group)

            control_group = QtWidgets.QGroupBox("运动控制")
            control_layout = QtWidgets.QHBoxLayout(control_group)
            self.start_button = QtWidgets.QPushButton("开始")
            self.stop_button = QtWidgets.QPushButton("停止")
            self.stop_button.setEnabled(False)
            control_layout.addWidget(self.start_button)
            control_layout.addWidget(self.stop_button)
            right_layout.addWidget(control_group)

            follow_row = QtWidgets.QHBoxLayout()
            self.follow_checkbox = QtWidgets.QCheckBox("跟随车辆")
            self.follow_checkbox.setChecked(True)
            self.freq_label = QtWidgets.QLabel("控制频率: --.- Hz")
            self.freq_label.setStyleSheet("font-family: Consolas, 'Courier New'; font-size: 12px;")
            follow_row.addWidget(self.follow_checkbox)
            follow_row.addWidget(self.freq_label)
            follow_row.addStretch()
            right_layout.addLayout(follow_row)

            self.info_label = QtWidgets.QLabel()
            self.info_label.setAlignment(QtCore.Qt.AlignTop | QtCore.Qt.AlignLeft)
            self.info_label.setStyleSheet("font-family: Consolas, 'Courier New'; font-size: 12px;")
            info_scroll = QtWidgets.QScrollArea()
            info_scroll.setWidgetResizable(True)
            info_scroll.setWidget(self.info_label)
            info_scroll.setMinimumWidth(320)
            right_layout.addWidget(info_scroll, stretch=1)

            self.path_browse_btn.clicked.connect(self._browse_path_file)
            self.path_load_btn.clicked.connect(self._load_path_from_ui)
            self.origin_update_btn.clicked.connect(self._update_origin_from_ui)
            self.port_refresh_btn.clicked.connect(lambda: self._refresh_serial_ports(initial=False))
            self.serial_toggle_btn.clicked.connect(self._toggle_serial_connection)
            self.start_button.clicked.connect(self._start_control)
            self.stop_button.clicked.connect(self._stop_control)

        def _apply_saved_values(self):
            path_file = self.gui_state.get("path_file", "")
            if path_file:
                self.path_line.setText(path_file)
            origin = self.gui_state.get("origin_gga", "")
            if origin:
                self.origin_input.setText(origin)
            saved_port = self.gui_state.get("serial_port", "")
            if saved_port:
                index = self.port_combo.findText(saved_port)
                if index >= 0:
                    self.port_combo.setCurrentIndex(index)

        def set_path_points(self, path_points, refit=False):
            self._init_path(path_points or [])
            if refit:
                self._fit_applied = False
                self._ensure_initial_view()

        def _init_path(self, path_points):
            self.path_points = list(path_points or [])
            painter_path = QtGui.QPainterPath()
            if not self.path_points:
                self.path_item.setPath(painter_path)
                self.scene.setSceneRect(-10, -10, 20, 20)
                self._path_rect = self.scene.sceneRect()
                return

            first = True
            for px, py in self.path_points:
                py = -py
                if first:
                    painter_path.moveTo(px, py)
                    first = False
                else:
                    painter_path.lineTo(px, py)
            self.path_item.setPath(painter_path)

            xs = [p[0] for p in self.path_points]
            ys = [-p[1] for p in self.path_points]
            margin = 2.0
            min_x, max_x = min(xs), max(xs)
            min_y, max_y = min(ys), max(ys)
            if min_x == max_x:
                min_x -= 1
                max_x += 1
            if min_y == max_y:
                min_y -= 1
                max_y += 1
            self.scene.setSceneRect(min_x - margin, min_y - margin, (max_x - min_x) + 2 * margin, (max_y - min_y) + 2 * margin)
            self._path_rect = self.scene.sceneRect()

        def _drain_queue(self):
            updated = False
            processed = 0
            while True:
                try:
                    data = self.data_queue.get_nowait()
                except queue.Empty:
                    break
                self._apply_update(data)
                updated = True
                processed += 1
            if updated:
                self.data_queue.task_done()
                now = time.time()
                if now - self._last_gui_consume_log > 1.0:
                    print(f"[GUI] Qt面板刷新 {processed} æ¡æ•°æ®ï¼Œé˜Ÿåˆ—剩余 {self.data_queue.qsize()}")
                    self._last_gui_consume_log = now

        def _apply_update(self, data):
            pos_xyz = data["pos_xyz"]
            heading_deg = data["heading_deg"]
            trail_points = data["trail"]
            target_point = data["target"]
            info_str = data["info_str"]
            control_freq = data.get("control_freq_hz")

            path = QtGui.QPainterPath()
            first = True
            for px, py, _pz in trail_points[-1500:]:
                py = -py
                if first:
                    path.moveTo(px, py)
                    first = False
                else:
                    path.lineTo(px, py)
            self.trail_path_item.setPath(path)

            x = pos_xyz[0]
            y = -pos_xyz[1]
            self.robot_item.setRect(x - 0.3, y - 0.3, 0.6, 0.6)

            arrow_len = 1.0
            heading_rad = math.radians(heading_deg)
            dx = arrow_len * math.cos(heading_rad)
            dy = arrow_len * math.sin(heading_rad)
            self.heading_item.setLine(x, y, x + dx, y - dy)

            if target_point:
                tx = target_point[0]
                ty = -target_point[1]
                self.target_item.setRect(tx - 0.3, ty - 0.3, 0.6, 0.6)
            else:
                self.target_item.setRect(0, 0, 0, 0)

            self.info_label.setText(info_str)
            if self.follow_checkbox.isChecked():
                self._center_on_robot(x, y)
            if control_freq is not None:
                self.freq_label.setText(f"控制频率: {control_freq:5.1f} Hz")

        def _ensure_initial_view(self):
            if not self._fit_applied and not self._path_rect.isNull():
                self.view.reset_zoom()
                self.view.fitInView(self._path_rect, QtCore.Qt.KeepAspectRatio)
                self._fit_applied = True

        def _center_on_robot(self, scene_x, scene_y):
            self.view.centerOn(scene_x, scene_y)

        def _browse_path_file(self):
            current = self.path_line.text().strip()
            start_dir = Path(current).parent if current else BASE_DIR
            file_name, _ = QtWidgets.QFileDialog.getOpenFileName(
                self,
                "选择路径文件",
                str(start_dir),
                "路径文件 (*.txt *.json);;所有文件 (*)",
            )
            if file_name:
                self.path_line.setText(file_name)

        def _load_path_from_ui(self):
            if self.controller.is_running():
                QtWidgets.QMessageBox.warning(self, "路径", "请先停止运动控制，再加载路径。")
                return
            path_file = self.path_line.text().strip()
            if not path_file:
                QtWidgets.QMessageBox.warning(self, "路径", "请先选择路径文件。")
                return
            if not Path(path_file).exists():
                QtWidgets.QMessageBox.warning(self, "路径", "路径文件不存在。")
                return
            if self.controller.load_path(path_file):
                self.set_path_points(self.controller.path_points, refit=True)
                self._save_state({"path_file": path_file})
                QtWidgets.QMessageBox.information(self, "路径", "路径加载成功。")
                self._update_control_buttons()
            else:
                QtWidgets.QMessageBox.warning(self, "路径", "路径加载失败，请检查文件内容。")

        def _update_origin_from_ui(self):
            if self.controller.is_running():
                QtWidgets.QMessageBox.warning(self, "原点", "请先停止运动控制，再更新原点。")
                return
            origin = self.origin_input.text().strip()
            try:
                self.controller.set_origin_geo(origin)
            except ValueError as exc:
                QtWidgets.QMessageBox.warning(self, "原点", f"原点解析失败: {exc}")
                return
            self._save_state({"origin_gga": origin})
            QtWidgets.QMessageBox.information(self, "原点", "原点已更新。")

        def _refresh_serial_ports(self, initial: bool = False):
            ports = [p.device for p in list_ports.comports()]
            saved_port = self.gui_state.get("serial_port", "")
            if initial and saved_port and saved_port not in ports:
                ports.append(saved_port)
            current = self.port_combo.currentText()
            self.port_combo.blockSignals(True)
            self.port_combo.clear()
            self.port_combo.addItems(ports)
            target = saved_port or current
            if target:
                index = self.port_combo.findText(target)
                if index >= 0:
                    self.port_combo.setCurrentIndex(index)
            self.port_combo.blockSignals(False)

        def _toggle_serial_connection(self):
            if self.controller.is_connected():
                if self.controller.is_running():
                    QtWidgets.QMessageBox.warning(self, "串口", "请先停止运动控制，再关闭串口。")
                    return
                self.controller.disconnect()
                QtWidgets.QMessageBox.information(self, "串口", "串口已关闭。")
            else:
                port = self.port_combo.currentText().strip()
                if not port:
                    QtWidgets.QMessageBox.warning(self, "串口", "没有可用串口，请先连接设备。")
                    return
                try:
                    self.controller.set_port(port)
                except RuntimeError as exc:
                    QtWidgets.QMessageBox.warning(self, "串口", str(exc))
                    return
                if not self.controller.connect():
                    QtWidgets.QMessageBox.warning(self, "串口", "串口打开失败，请检查连接。")
                    return
                self._save_state({"serial_port": port})
                QtWidgets.QMessageBox.information(self, "串口", f"串口 {port} å·²æ‰“开。")
            self._update_serial_ui()
            self._update_control_buttons()

        def _start_control(self):
            if self._is_control_running():
                return
            if not self.controller.mower_ctrl:
                QtWidgets.QMessageBox.warning(self, "控制", "请先加载路径文件。")
                return
            if not self.controller.is_connected():
                QtWidgets.QMessageBox.warning(self, "控制", "请先打开串口。")
                return

            self.start_button.setEnabled(False)
            self.stop_button.setEnabled(True)

            def control_entry():
                try:
                    self.controller.run()
                except Exception as exc:
                    print(f"[ERROR] æŽ§åˆ¶çº¿ç¨‹å¼‚常: {exc}")
                    QtCore.QMetaObject.invokeMethod(
                        self,
                        "_show_error_message",
                        QtCore.Qt.QueuedConnection,
                        QtCore.Q_ARG(str, f"控制线程异常: {exc}"),
                    )
                finally:
                    QtCore.QMetaObject.invokeMethod(self, "_on_control_finished", QtCore.Qt.QueuedConnection)

            self.control_thread = threading.Thread(target=control_entry, daemon=True)
            self.control_thread.start()
            self._update_control_buttons()

        def _stop_control(self):
            if not self._is_control_running():
                return
            self.controller.stop()
            self.stop_button.setEnabled(False)

        def _is_control_running(self) -> bool:
            return bool(self.control_thread and self.control_thread.is_alive())

        def _save_state(self, updates: Dict[str, str]):
            self.gui_state.update(updates)
            if self.persist_state_cb:
                self.persist_state_cb(updates)

        def _update_serial_ui(self):
            connected = self.controller.is_connected()
            self.serial_toggle_btn.setText("关闭串口" if connected else "打开串口")
            self.port_combo.setEnabled(not connected)
            self.port_refresh_btn.setEnabled(not connected)

        def _update_control_buttons(self):
            can_start = bool(self.controller.mower_ctrl and self.controller.is_connected() and not self._is_control_running())
            self.start_button.setEnabled(can_start)
            self.stop_button.setEnabled(self._is_control_running())

        @QtCore.pyqtSlot()
        def _on_control_finished(self):
            self.control_thread = None
            self._update_control_buttons()
            self.stop_button.setEnabled(False)

        @QtCore.pyqtSlot(str)
        def _show_error_message(self, message: str):
            QtWidgets.QMessageBox.warning(self, "错误", message)

        def closeEvent(self, event):
            self._stop_control()
            if self.control_thread:
                self.control_thread.join(timeout=3.0)
            if self.controller.is_connected():
                self.controller.disconnect()
            super().closeEvent(event)
else:
    QtRealtimeDashboard = None


class GuiBridge:
    """控制线程向 Qt ä¸»çº¿ç¨‹å‘送数据的桥接器"""

    def __init__(self):
        self.queue: queue.Queue = queue.Queue(maxsize=50)
        self._last_publish_log = 0.0

    def publish(self, data):
        try:
            self.queue.put_nowait(data)
        except queue.Full:
            try:
                self.queue.get_nowait()
            except queue.Empty:
                pass
            try:
                self.queue.put_nowait(data)
            except queue.Full:
                pass
        now = time.time()
        if now - self._last_publish_log > 1.0:
            print(f"[GUI] å‘布数据到队列，当前长度 {self.queue.qsize()}，显示位置 {data.get('pos_xyz')}")
            self._last_publish_log = now


class ControlCommandSender:
    """控制命令发送器 - å‘送转向和油门控制信号给STM32"""
    
@@ -229,7 +751,8 @@
    def __init__(self, port: str, baudrate: int = 921600,
                 offset_xyz: Tuple[float, float, float] = (0.0, 0.0, 0.0),
                 origin_geo: Optional[str] = None,
                 origin_alt_m: Optional[float] = None):
                 origin_alt_m: Optional[float] = None,
                 gui_bridge: Optional[GuiBridge] = None):
        """
        åˆå§‹åŒ–实时控制器
        
@@ -243,27 +766,19 @@
        self.port = port
        self.baudrate = baudrate
        self.offset_xyz = offset_xyz
        self.origin_geo = origin_geo or ""
        self.origin_latlon: Optional[Tuple[float, float]] = None
        self.origin_altitude: Optional[float] = origin_alt_m
        self.origin_lat_rad: Optional[float] = None
        self.origin_lon_rad: Optional[float] = None
        self.origin_ecef: Optional[Tuple[float, float, float]] = None
        
        if origin_geo:
            try:
                lat, lon, alt = _parse_origin_geo(origin_geo)
                self.origin_latlon = (lat, lon)
                # å¦‚果解析出高度，且未手动指定，则优先使用解析出的高度
                if alt is not None and self.origin_altitude is None:
                    self.origin_altitude = alt
                    print(f"[INFO] ä»ŽåŽŸç‚¹é…ç½®ä¸­è§£æžå‡ºé«˜åº¦: {self.origin_altitude:.3f} m")
                    
                print(f"[INFO] åæ ‡åŽŸç‚¹è®¾ç½®: çº¬åº¦={self.origin_latlon[0]:.8f}°, ç»åº¦={self.origin_latlon[1]:.8f}°")
            except ValueError as exc:
                raise ValueError(f"原点坐标解析失败: {exc}") from exc
        try:
            self._apply_origin_geo(self.origin_geo)
        except ValueError as exc:
            raise ValueError(f"原点坐标解析失败: {exc}") from exc
        
        # GPS/IMU接收器
        self.receiver = GPSIMUReceiver(port, baudrate)
        self.receiver: Optional[GPSIMUReceiver] = None
        
        # æŽ§åˆ¶å‘½ä»¤å‘送器 (共用同一个串口)
        self.cmd_sender = None
@@ -280,9 +795,19 @@
        # æ•°æ®ç¼“å­˜
        self.latest_gps: Optional[GPSData] = None
        self.latest_imu: Optional[IMUData] = None
        self.path_points = []
        self.trail_points = []
        self.last_log_time = 0.0
        self.gui_bridge = gui_bridge
        self._stop_event = threading.Event()
        self._last_gui_publish_log = 0.0
        
        # ç»Ÿè®¡
        self.control_count = 0
        self.control_freq_hz = 0.0
        self._freq_sample_time: Optional[float] = None
        self._freq_sample_count = 0
        self._running = False
        
    def load_path(self, path_file: str) -> bool:
        """
@@ -371,6 +896,8 @@
            }
            
            self.mower_ctrl = MowerController(path_points, params=params)
            self.path_points = path_points
            self.trail_points = []
            print("[INFO] è¿åŠ¨æŽ§åˆ¶å™¨åˆå§‹åŒ–完成")
            return True
            
@@ -380,7 +907,15 @@
    
    def connect(self) -> bool:
        """连接串口"""
        if self.is_connected():
            print("[INFO] ä¸²å£å·²è¿žæŽ¥")
            return True
        if not self.port:
            print("[ERROR] æœªæŒ‡å®šä¸²å£ç«¯å£")
            return False
        self.receiver = GPSIMUReceiver(self.port, self.baudrate)
        if not self.receiver.connect():
            self.receiver = None
            return False
        
        # åˆ›å»ºæŽ§åˆ¶å‘½ä»¤å‘送器 (共用串口对象)
@@ -390,7 +925,110 @@
    
    def disconnect(self):
        """断开连接"""
        self.receiver.disconnect()
        if self.receiver:
            self.receiver.disconnect()
            self.receiver = None
        self.cmd_sender = None
    
    def is_connected(self) -> bool:
        return bool(self.receiver and self.receiver.serial and self.receiver.serial.is_open)
    
    def is_running(self) -> bool:
        return self._running
    
    def set_port(self, port: str):
        if self.is_connected():
            raise RuntimeError("请先关闭当前串口，再切换端口")
        self.port = port.strip()

    def stop(self):
        """请求停止控制循环"""
        self._stop_event.set()

    def _update_visualizer(
        self,
        pos_xyz,
        heading_deg: float,
        pitch: float,
        roll: float,
        forward: int,
        turn: int,
        status: str,
        stage: str,
        target_xy: Optional[Tuple[float, float]],
    ):
        if not self.gui_bridge:
            return

        info_lines = [
            f"状态: {status}",
            f"阶段: {stage}",
            f"控制频率: {self.control_freq_hz:5.1f} Hz",
            "",
            "位置 (ENU, m):",
            f"  E: {pos_xyz[0]:+7.2f}",
            f"  N: {pos_xyz[1]:+7.2f}",
            f"  U: {pos_xyz[2]:+7.2f}",
            "",
            "姿态 (deg):",
            f"  Heading: {heading_deg:+7.2f}",
            f"  Pitch  : {pitch:+7.2f}",
            f"  Roll   : {roll:+7.2f}",
            "",
            f"控制输出: F={forward:+4d}, T={turn:+4d}",
        ]
        if target_xy:
            info_lines.append(f"瞄准点: ({target_xy[0]:+.2f}, {target_xy[1]:+.2f})")

        info_str = "\n".join(info_lines)

        if self.gui_bridge:
            trail_snapshot = list(self.trail_points[-1500:])
            payload = {
                "info_str": info_str,
                "pos_xyz": pos_xyz,
                "heading_deg": heading_deg,
                "trail": trail_snapshot,
                "target": target_xy,
                "control_freq_hz": self.control_freq_hz,
            }
            self.gui_bridge.publish(payload)
            now = time.time()
            if now - self._last_gui_publish_log > 1.0:
                print(f"[GUI] æŽ§åˆ¶çº¿ç¨‹æŽ¨é€æ•°æ® pos={pos_xyz}, heading={heading_deg:.2f}, trail={len(trail_snapshot)}, target={target_xy}")
                self._last_gui_publish_log = now

    def _record_control_tick(self, current_time: float):
        if self._freq_sample_time is None:
            self._freq_sample_time = current_time
            self._freq_sample_count = 1
            return
        self._freq_sample_count += 1
        window = current_time - self._freq_sample_time
        if window >= 1.0:
            self.control_freq_hz = self._freq_sample_count / max(window, 1e-6)
            self._freq_sample_count = 0
            self._freq_sample_time = current_time

    def _apply_origin_geo(self, origin_geo: Optional[str]):
        origin_geo = (origin_geo or "").strip()
        self.origin_latlon = None
        self.origin_ecef = None
        self.origin_lat_rad = None
        self.origin_lon_rad = None
        if not origin_geo:
            return
        lat, lon, alt = _parse_origin_geo(origin_geo)
        self.origin_latlon = (lat, lon)
        if alt is not None:
            self.origin_altitude = alt
            print(f"[INFO] ä»ŽåŽŸç‚¹é…ç½®ä¸­è§£æžå‡ºé«˜åº¦: {self.origin_altitude:.3f} m")
        print(f"[INFO] åæ ‡åŽŸç‚¹è®¾ç½®: çº¬åº¦={self.origin_latlon[0]:.8f}°, ç»åº¦={self.origin_latlon[1]:.8f}°")

    def set_origin_geo(self, origin_geo: str):
        """更新原点坐标配置"""
        self.origin_geo = origin_geo.strip()
        self._apply_origin_geo(self.origin_geo)
    
    def _ensure_origin_reference(self, fallback_altitude: float):
        """确保已根据原点经纬度初始化ECEF基准"""
@@ -482,17 +1120,31 @@
        if not self.mower_ctrl:
            print("[ERROR] è¯·å…ˆåŠ è½½è·¯å¾„文件")
            return
        if self._running:
            print("[WARN] æŽ§åˆ¶å¾ªçŽ¯å·²åœ¨è¿è¡Œ")
            return
        if not self.is_connected() or not self.receiver:
            print("[ERROR] è¯·å…ˆè¿žæŽ¥ä¸²å£")
            return
        if not self.cmd_sender:
            print("[ERROR] æŽ§åˆ¶å‘½ä»¤å‘送器未就绪")
            return
        
        self._stop_event.clear()
        self._running = True
        
        print("[INFO] å¼€å§‹å®žæ—¶æŽ§åˆ¶... (按 Ctrl+C åœæ­¢)")
        print("[INFO] ç­‰å¾…GPS数据...")
        
        receiver = self.receiver
        try:
            start_time = time.time()
            last_stats_time = start_time
            self.last_log_time = start_time
            
            # ç­‰å¾…第一个有效的GPS数据
            gps_ready = False
            while not gps_ready:
            while not gps_ready and not self._stop_event.is_set():
                gps_data, imu_data = self.receiver.receive_packet()
                
                if gps_data:
@@ -506,13 +1158,16 @@
                if imu_data:
                    self.latest_imu = imu_data
            
            if self._stop_event.is_set():
                return

            print("[INFO] å¼€å§‹æŽ§åˆ¶å¾ªçŽ¯")
            
            while True:
            while not self._stop_event.is_set():
                current_time = time.time()
                
                # æŽ¥æ”¶æ•°æ® (非阻塞式，快速轮询)
                gps_data, imu_data = self.receiver.receive_packet()
                gps_data, imu_data = receiver.receive_packet() if receiver else (None, None)
                
                if gps_data:
                    self.latest_gps = gps_data
@@ -527,6 +1182,9 @@
                    if self.latest_gps:
                        # è½¬æ¢GPS数据到本地坐标
                        x, y, z, heading, vx, vy = self._convert_gps_to_local(self.latest_gps)
                        self.trail_points.append((x, y, z))
                        if len(self.trail_points) > 4000:
                            self.trail_points.pop(0)
                        
                        # æ›´æ–°æŽ§åˆ¶å™¨çŠ¶æ€ (只用x,y)
                        self.mower_ctrl.update_gps((x, y), heading, (vx, vy), current_time)
@@ -538,6 +1196,7 @@
                        
                        # è®¡ç®—控制信号
                        control_output = self.mower_ctrl.compute_control(current_time)
                        control_info = control_output.get('info', {})
                        forward_signal = control_output['forward']  # -100~100
                        turn_signal = control_output['turn']        # -100~100
                        
@@ -546,30 +1205,44 @@
                        self.cmd_sender.send_control_command(steering_pwm, throttle_pwm)
                        
                        self.control_count += 1
                        self._record_control_tick(current_time)
                        self.last_control_time = current_time
                        
                        # æ‰“印控制信息 (降低频率)
                        if self.control_count % 74 == 0:  # æ¯ç§’打印一次
                            status = control_output['info'].get('status', 'running')
                            xte = control_output['info'].get('xte', 0)
                        gps_heading = self.latest_gps.heading_angle
                        gps_pitch = self.latest_gps.pitch_angle
                        gps_roll = self.latest_gps.roll_angle

                        # æ‰“印控制信息 (2Hz)
                        if current_time - self.last_log_time >= 0.5:
                            status = control_info.get('status', 'running')
                            xte = control_info.get('xte', 0)
                            # æ•°å­¦è§’度转地理角度：heading_err_deg
                            # æ³¨æ„ control_output['info']['heading_err'] æ˜¯å¼§åº¦
                            heading_err_deg = math.degrees(control_output['info'].get('heading_err', 0))
                            
                            # èŽ·å–最新的姿态角 (优先使用 GPS æ•°æ®ï¼ŒIMU ä½œä¸ºè¾…助或高频补充，这里直接用 GPS ç»“构体中的角度)
                            # GPSData ä¸­: heading_angle(0-360), pitch_angle, roll_angle
                            # éƒ½æ˜¯è§’度制
                            gps_heading = self.latest_gps.heading_angle
                            gps_pitch = self.latest_gps.pitch_angle
                            gps_roll = self.latest_gps.roll_angle
                            
                            heading_err_deg = math.degrees(control_info.get('heading_err', 0))

                            print(f"[LOG] POS_ENU: {x:.3f}, {y:.3f}, {z:.3f} | "
                                  f"ATT(H/P/R): {gps_heading:.2f}°, {gps_pitch:.2f}°, {gps_roll:.2f}° | "
                                  f"CTRL: S={status}, F={forward_signal}, T={turn_signal}, Err={xte:.2f}m")
                            self.last_log_time = current_time

                        stage_label = control_info.get('stage', getattr(self.mower_ctrl, 'stage', ''))
                        target_xy = control_info.get('target_xy')
                        self._update_visualizer(
                            (x, y, z),
                            gps_heading,
                            gps_pitch,
                            gps_roll,
                            forward_signal,
                            turn_signal,
                            control_info.get('status', 'running'),
                            stage_label if stage_label else 'unknown',
                            target_xy,
                        )
                        
                        # æ£€æŸ¥æ˜¯å¦å®Œæˆ
                        if control_output['info'].get('status') == 'finished':
                        if control_info.get('status') == 'finished':
                            print("[INFO] è·¯å¾„跟踪完成!")
                            self.stop()
                            break
                
                # ç»Ÿè®¡ä¿¡æ¯ (每10秒)
@@ -592,62 +1265,84 @@
        
        except KeyboardInterrupt:
            print("\n[INFO] ç”¨æˆ·ä¸­æ–­")
            self.stop()
        
        finally:
            self._running = False
            self._stop_event.clear()
            # å‘送停止命令 (中位值)
            print("[INFO] å‘送停止命令...")
            for _ in range(5):
                self.cmd_sender.send_control_command(1500, 1500)
                time.sleep(0.02)
            if self.cmd_sender:
                print("[INFO] å‘送停止命令...")
                for _ in range(5):
                    self.cmd_sender.send_control_command(1500, 1500)
                    time.sleep(0.02)
            
            # æ‰“印最终统计
            print("\n========== æœ€ç»ˆç»Ÿè®¡ ==========")
            print(f"总控制次数: {self.control_count}")
            print(f"GPS数据包: {self.receiver.gps_count}")
            print(f"IMU数据包: {self.receiver.imu_count}")
            print(f"命令发送: {self.cmd_sender.get_stats()}")
            print(f"错误计数: {self.receiver.error_count}")
            if receiver:
                print(f"GPS数据包: {receiver.gps_count}")
                print(f"IMU数据包: {receiver.imu_count}")
            if self.cmd_sender:
                print(f"命令发送: {self.cmd_sender.get_stats()}")
            if receiver:
                print(f"错误计数: {receiver.error_count}")
            print("==============================\n")


def main():
    """主函数"""
    # é…ç½®
    PORT = "COM17"  # æ ¹æ®å®žé™…情况修改
    BAUDRATE = 921600
    PATH_FILE = "gecaolujing2.txt"  # è·¯å¾„文件
    OFFSET_XYZ = (0.0, 0.0, 0.0)  # è½¦è¾†ä¸­å¿ƒç›¸å¯¹GPS天线的ENU偏移(ç±³): (东, åŒ—, å¤©)
    
    # åŽŸç‚¹ç»çº¬åº¦ (支持 GGA æŠ¥æ–‡æˆ–简略格式)
    # ç¤ºä¾‹GGA: "$GNGGA,060956.700,3949.8890014,N,11616.7555551,E,4,20,0.68,46.621,M,-6.679,M,1.0,0409*7F"
    ORIGIN_GEO = "$GNGGA,060956.700,3949.8890014,N,11616.7555551,E,4,20,0.68,46.621,M,-6.679,M,1.0,0409*7F"
    
    ORIGIN_ALT = None  # åŽŸç‚¹æµ·æ‹”(ç±³)，可选。若GGA报文中包含海拔，会自动使用报文中的海拔。
    
    # åˆ›å»ºæŽ§åˆ¶å™¨
    DEFAULT_PORT = "COM17"
    DEFAULT_PATH_FILE = "gecaolujing2.txt"
    DEFAULT_ORIGIN_GGA = "$GNGGA,060956.700,3949.8890014,N,11616.7555551,E,4,20,0.68,46.621,M,-6.679,M,1.0,0409*7F"
    OFFSET_XYZ = (0.0, 0.0, 0.0)

    gui_state = load_gui_state()
    selected_port = gui_state.get("serial_port") or DEFAULT_PORT
    origin_geo = gui_state.get("origin_gga") or DEFAULT_ORIGIN_GGA
    path_file = gui_state.get("path_file")

    gui_bridge = GuiBridge() if QtWidgets else None

    controller = RealtimeController(
        PORT,
        selected_port,
        BAUDRATE,
        offset_xyz=OFFSET_XYZ,
        origin_geo=ORIGIN_GEO,
        origin_alt_m=ORIGIN_ALT
        origin_geo=origin_geo,
        origin_alt_m=None,
        gui_bridge=gui_bridge,
    )
    
    # åŠ è½½è·¯å¾„
    if not controller.load_path(PATH_FILE):
        print("[ERROR] è·¯å¾„加载失败，退出")
        return
    
    # è¿žæŽ¥ä¸²å£
    if not controller.connect():
        print("[ERROR] ä¸²å£è¿žæŽ¥å¤±è´¥ï¼Œé€€å‡º")
        return
    
    # è¿è¡ŒæŽ§åˆ¶å¾ªçŽ¯
    try:
        controller.run()
    finally:
        controller.disconnect()

    # é¢„加载路径文件（若存在）
    candidate_path = path_file or DEFAULT_PATH_FILE
    if candidate_path and Path(candidate_path).exists():
        controller.load_path(candidate_path)

    def persist_state(updates: Dict[str, str]):
        gui_state.update(updates)
        save_gui_state(gui_state)

    if gui_bridge and QtWidgets:
        app = QtWidgets.QApplication.instance() or QtWidgets.QApplication([])
        dashboard = QtRealtimeDashboard(controller, gui_bridge.queue, gui_state, persist_state)
        dashboard.show()
        try:
            app.exec_()
        finally:
            controller.stop()
            controller.disconnect()
    else:
        # æ— Qt环境时，沿用旧的命令行工作流
        if not controller.path_points and Path(DEFAULT_PATH_FILE).exists():
            controller.load_path(DEFAULT_PATH_FILE)
        if not controller.connect():
            print("[ERROR] ä¸²å£è¿žæŽ¥å¤±è´¥ï¼Œé€€å‡º")
            return
        try:
            controller.run()
        finally:
            controller.disconnect()


if __name__ == "__main__":

 python/tests_hitl/__init__.py

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,2 @@
"""HITL å­ç³»ç»Ÿæµ‹è¯•åŒ…。"""


 python/tests_hitl/__pycache__/__init__.cpython-310.pyc

Binary files differ

 python/tests_hitl/__pycache__/conftest.cpython-310-pytest-7.1.2.pyc

Binary files differ

 python/tests_hitl/__pycache__/test_dynamics.cpython-310-pytest-7.1.2.pyc

Binary files differ

 python/tests_hitl/__pycache__/test_geo.cpython-310-pytest-7.1.2.pyc

Binary files differ

 python/tests_hitl/__pycache__/test_protocols.cpython-310-pytest-7.1.2.pyc

Binary files differ

 python/tests_hitl/__pycache__/test_simulator.cpython-310-pytest-7.1.2.pyc

Binary files differ

 python/tests_hitl/conftest.py

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,11 @@
"""
pytest é…ç½®ï¼šå°†ä»“库的 python/ ç›®å½•åŠ å…¥ sys.path，便于直接导入 hitl åŒ…。
"""

import sys
from pathlib import Path

PYTHON_DIR = Path(__file__).resolve().parents[1]
if str(PYTHON_DIR) not in sys.path:
    sys.path.insert(0, str(PYTHON_DIR))


 python/tests_hitl/test_dynamics.py

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,40 @@
import math

import pytest

from hitl.dynamics import DifferentialDriveModel


def test_straight_motion_updates_position():
    model = DifferentialDriveModel()
    model.reset()
    state = model.step(target_linear=1.0, target_angular=0.0, dt=1.0)
    assert state.east == pytest.approx(1.0, rel=0.05)
    assert state.north == pytest.approx(0.0, abs=0.05)
    assert state.heading == pytest.approx(0.0, abs=1e-3)


def test_in_place_rotation_changes_heading():
    model = DifferentialDriveModel()
    model.reset()
    state = model.step(target_linear=0.0, target_angular=math.radians(90.0), dt=1.0)
    assert math.degrees(state.heading) == pytest.approx(90.0, abs=1.0)
    assert abs(state.linear_velocity) < 1e-6


def test_velocity_limits_respected():
    model = DifferentialDriveModel(max_linear_speed=0.5, max_linear_accel=0.5)
    model.reset()
    state = model.step(target_linear=2.0, target_angular=0.0, dt=0.2)
    assert state.linear_velocity <= model.max_linear_speed + 1e-6


def test_body_acceleration_contains_gravity():
    model = DifferentialDriveModel()
    model.reset()
    state = model.step(target_linear=0.0, target_angular=0.0, dt=0.1)
    ax, ay, az = state.body_accel_g
    assert -1.05 < az < -0.95  # é‡åŠ›æ–¹å‘
    assert abs(ax) < 0.05
    assert abs(ay) < 0.05


 python/tests_hitl/test_geo.py

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import math

import pytest

from hitl import geo


GGA_SAMPLE = "$GNGGA,080112.000,3949.8105069,N,11616.6876082,E,4,44,0.42,48.502,M,-6.684,M,1.0,0409*73"


def test_parse_origin_from_gga():
    origin = geo.parse_origin(GGA_SAMPLE)
    assert origin.latitude_deg == pytest.approx(39.830175115)
    assert origin.longitude_deg == pytest.approx(116.278126803)
    assert origin.altitude_m == pytest.approx(48.502)


def test_parse_origin_short_format():
    origin = geo.parse_origin("3949.8105,N,11616.6876,E,50.0")
    assert origin.latitude_deg == pytest.approx(39.830175)
    assert origin.longitude_deg == pytest.approx(116.278126)
    assert origin.altitude_m == pytest.approx(50.0)


def test_enu_roundtrip_accuracy():
    origin = geo.parse_origin(GGA_SAMPLE)
    east, north, up = 5.0, -3.0, 1.2
    lat, lon, alt = geo.enu_to_lla(east, north, up, origin)
    x, y, z = geo.geo_to_ecef(lat, lon, alt)
    dx = x - origin.ecef[0]
    dy = y - origin.ecef[1]
    dz = z - origin.ecef[2]
    east_rt, north_rt, up_rt = geo.ecef_to_enu(dx, dy, dz, origin.latitude_rad, origin.longitude_rad)

    assert east_rt == pytest.approx(east, abs=0.01)
    assert north_rt == pytest.approx(north, abs=0.01)
    assert up_rt == pytest.approx(up, abs=0.01)


def test_heading_math_to_nav():
    assert geo.heading_math_to_nav(math.radians(0.0)) == pytest.approx(90.0)
    assert geo.heading_math_to_nav(math.radians(90.0)) == pytest.approx(0.0)
    assert geo.heading_math_to_nav(math.radians(-90.0)) == pytest.approx(180.0)


 python/tests_hitl/test_protocols.py

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import struct
from datetime import datetime, timezone

import pytest

from hitl import protocols


def _calc_checksum(sentence: str) -> str:
    cs = 0
    for ch in sentence[1:]:
        cs ^= ord(ch)
    return f"{cs:02X}"


def test_build_gprmi_sentence_format():
    ts = datetime(2025, 11, 21, 8, 1, 12, tzinfo=timezone.utc)
    sentence = protocols.build_gprmi_sentence(
        timestamp=ts,
        lat_deg=39.8301751,
        lon_deg=116.2781268,
        alt_m=48.5,
        east_vel=0.2,
        north_vel=0.1,
        up_vel=0.0,
        heading_deg=123.4,
        pitch_deg=1.2,
        roll_deg=-0.6,
    ).decode("ascii")

    assert sentence.startswith("$GPRMI,")
    assert sentence.endswith("\r\n")
    body, checksum = sentence.strip()[0:sentence.index("*")], sentence[sentence.index("*") + 1 : sentence.index("*") + 3]
    assert checksum == _calc_checksum(body)
    fields = body.split(",")
    assert len(fields) == 24  # $GPRMI + 23 ä¸ªå­—段


def test_build_gpimu_sentence_format():
    ts = datetime(2025, 11, 21, 8, 1, 12, tzinfo=timezone.utc)
    sentence = protocols.build_gpimu_sentence(
        timestamp=ts,
        accel_g=(0.01, -0.02, -0.99),
        gyro_deg_s=(0.1, 0.2, -0.3),
        temperature_c=29.5,
    ).decode("ascii")

    assert sentence.startswith("$GPIMU,")
    body = sentence.strip()[0:sentence.index("*")]
    checksum = sentence[sentence.index("*") + 1 : sentence.index("*") + 3]
    assert checksum == _calc_checksum(body)
    assert len(body.split(",")) == 9  # $GPIMU + 8 å­—段


def _build_control_frame(payload: bytes) -> bytes:
    header = b"\xAA\x55"
    frame_type = b"\x10"
    length = struct.pack("<H", len(payload))
    checksum = (sum(frame_type + length + payload)) & 0xFFFF
    footer = b"\x0D\x0A"
    return header + frame_type + length + payload + struct.pack("<H", checksum) + footer


def test_pythonlink_decoder_float_payload():
    received = []
    decoder = protocols.PythonLinkDecoder(lambda frame: received.append(frame))
    frame = _build_control_frame(struct.pack("<ff", 1.2, -0.4))
    decoder.feed(frame[:5])
    decoder.feed(frame[5:])

    assert len(received) == 1
    assert received[0].forward == pytest.approx(1.2)
    assert received[0].turn == pytest.approx(-0.4)


def test_pythonlink_decoder_pwm_payload():
    received = []
    decoder = protocols.PythonLinkDecoder(lambda frame: received.append(frame))
    frame = _build_control_frame(struct.pack("<HH", 2000, 1600))
    decoder.feed(frame)

    assert len(received) == 1
    assert received[0].forward == pytest.approx(0.3, rel=0.05)  # (1600-1500)/500 * 1.5
    assert received[0].turn == pytest.approx(1.5708, rel=0.05)


 python/tests_hitl/test_simulator.py

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import struct
import time

import pytest

from hitl import simulator as simulator_mod

GGA_SAMPLE = "$GNGGA,080112.000,3949.8105069,N,11616.6876082,E,4,44,0.42,48.502,M,-6.684,M,1.0,0409*73"


def _build_control_frame(payload: bytes) -> bytes:
    header = b"\xAA\x55"
    frame_type = b"\x10"
    length = struct.pack("<H", len(payload))
    checksum = (sum(frame_type + length + payload)) & 0xFFFF
    footer = b"\x0D\x0A"
    return header + frame_type + length + payload + struct.pack("<H", checksum) + footer


class FakeSerialEndpoint:
    def __init__(self, port: str | None, baudrate: int, timeout: float = 0.0):
        self.port = port
        self.baudrate = baudrate
        self.timeout = timeout
        self.opened = False
        self.writes: list[bytes] = []
        self._read_buffer = bytearray()

    def open(self):
        if self.port is None:
            return
        self.opened = True

    def close(self):
        self.opened = False

    def write(self, data: bytes):
        if not data:
            return
        self.writes.append(bytes(data))

    def read(self, size: int = 1) -> bytes:
        if not self._read_buffer:
            return b""
        size = min(size, len(self._read_buffer))
        chunk = self._read_buffer[:size]
        del self._read_buffer[:size]
        return bytes(chunk)

    def readline(self) -> bytes:
        return b""

    def inject(self, data: bytes):
        self._read_buffer.extend(data)


def test_simulator_emits_sensor_frames(monkeypatch):
    monkeypatch.setattr(simulator_mod, "SerialEndpoint", FakeSerialEndpoint)

    config = simulator_mod.HitlConfig(
        uart2_port="SIM",
        uart5_port=None,
        origin_gga=GGA_SAMPLE,
        initial_enu=(0.0, 0.0, 0.0),
    )
    sim = simulator_mod.HitlSimulator(config)
    received_controls: list[tuple[float, float]] = []
    sim.on_control = lambda f, t: received_controls.append((f, t))

    sim.start()
    time.sleep(0.25)

    frame = _build_control_frame(struct.pack("<ff", 0.5, 0.2))
    sim.uart2.inject(frame)
    time.sleep(0.05)
    sim.stop()

    gprmi_count = sum(1 for pkt in sim.uart2.writes if pkt.startswith(b"$GPRMI"))
    gpimu_count = sum(1 for pkt in sim.uart2.writes if pkt.startswith(b"$GPIMU"))

    assert gprmi_count >= 2
    assert gpimu_count >= 10
    assert received_controls, "控制帧未被解析"
    assert received_controls[-1][0] == pytest.approx(0.5, rel=0.1)
    assert received_controls[-1][1] == pytest.approx(0.2, rel=0.1)