新增 DebugSerialPort 支持，CommonCenter、CanMv 和 DfPlayer 改用智能指针

Core/App/Center/common_center.hpp

@@ -4,6 +4,7 @@
 #include "../Common/df_player.hpp"
 #include "../Common/ultrasonic.hpp"
 #include "../config.hpp"
+#include "Common/serial_port.hpp"
 
 class CommonCenter {
 public:
@@ -31,4 +32,14 @@ public:
         }
         return *instance;
     }
+
+    static SerialPort& GetDebugSerialPort() {
+        static constexpr auto kLength  = 256;
+        static constexpr auto kTimeout = 1000;
+        static SerialPort* instance    = nullptr;
+        if (instance == nullptr) {
+            instance = new SerialPort(Config::kDebugUart, kLength, kTimeout);
+        }
+        return *instance;
+    }
 };

Core/App/Common/can_mv.hpp

@@ -1,19 +1,18 @@
 #pragma once
 
 #include <cstdint>
+#include <memory>
 
 #include "../Common/serial_port.hpp"
 
 class CanMv {
 public:
-    explicit CanMv(UART_HandleTypeDef* uart) : serialPort(new SerialPort(uart, kLength, kTimeout)) {}
+    explicit CanMv(UART_HandleTypeDef* uart) : serialPort(std::make_unique<SerialPort>(uart, kLength, kTimeout)) {}
 
-    ~CanMv() {
+    ~CanMv() = default;
-        delete serialPort;
-    }
 
 private:
     static constexpr uint32_t kLength  = 128;
     static constexpr uint32_t kTimeout = 10;
-    SerialPort* serialPort;
+    std::unique_ptr<SerialPort> serialPort;
 };

Core/App/Common/df_player.hpp

@@ -1,16 +1,15 @@
 #pragma once
 
 #include <cstdint>
+#include <memory>
 
 #include "../Common/serial_port.hpp"
 
 class DfPlayer {
 public:
-    explicit DfPlayer(UART_HandleTypeDef* uart) : serialPort(new SerialPort(uart, kLength, kTimeout)) {}
+    explicit DfPlayer(UART_HandleTypeDef* uart) : serialPort(std::make_unique<SerialPort>(uart, kLength, kTimeout)) {}
 
-    ~DfPlayer() {
+    ~DfPlayer() = default;
-        delete serialPort;
-    }
 
     void Play();
     void Stop();
@@ -52,7 +51,7 @@ private:
 
     static constexpr uint32_t kLength  = 128;
     static constexpr uint32_t kTimeout = 10;
-    SerialPort* serialPort;
+    std::unique_ptr<SerialPort> serialPort;
 
     void SendCommand(Command cmd, uint16_t param = 0);
 

Core/App/app.cpp

@@ -2,35 +2,45 @@
 #include "stm32h563xx.h"
 
 #include "Center/common_center.hpp"
+#include "Common/serial_port.hpp"
 #include "Helper/gpio_helper.hpp"
-#include "Helper/delay_helper.h"
+#include "config.hpp"
+
 
 void TerminateHandler() {
-    auto led = GpioHelper::GpioInit(GPIOB, GPIO_PIN_0, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_PIN_SET);
+    auto led = Config::kLed;
     while (true) {
         led.Toggle();
         DelayS(1);
     }
 }
 
-void Setup() {
+void GpioSetup() {
     GpioHelper::EnableAllGpioPeripheral();
+    GpioHelper::GpioInit(GPIOB, GPIO_PIN_0, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_PIN_RESET);
+}
+
+void CommonSetup() {
+    CommonCenter::GetUltrasonic();
+    CommonCenter::GetDfPlayer();
+    CommonCenter::GetCanMv();
+    CommonCenter::GetDebugSerialPort();
+}
+
+void Setup() {
+    GpioSetup();
     DelaySetup();
-    auto ultrasonic = CommonCenter::GetUltrasonic();
+    CommonSetup();
-    auto dfPlayer   = CommonCenter::GetDfPlayer();
-    auto canMv      = CommonCenter::GetCanMv();
 }
 
 extern "C" void AppStart() {
     Setup();
-    auto ultrasonic = CommonCenter::GetUltrasonic();
+    auto& ultrasonic      = CommonCenter::GetUltrasonic();
-    auto dfPlayer   = CommonCenter::GetDfPlayer();
+    auto& debugSerialPort = CommonCenter::GetDebugSerialPort();
-    auto canMv      = CommonCenter::GetCanMv();
     while (true) {
         // Example usage of the classes
-        ultrasonic.GetDistance();
+        auto disatnce = ultrasonic.GetDistance();
-        dfPlayer.PlayTrack(1);
+        debugSerialPort.WriteLineBlocking("Distance: %.2f cm", disatnce);
-
+        DelayS(1); // Delay for 1 second
-        DelayMs(1000); // Delay for 1 second
     }
 }

Core/App/config.hpp

@@ -12,7 +12,11 @@ struct Config {
         uint32_t channel;
     } kCaptureConfig = {{GPIOA, GPIO_PIN_0}, &htim7, TIM_CHANNEL_1};
 
+    static inline UART_HandleTypeDef* kDebugUart = &hcom_uart[COM1];
+
     static inline UART_HandleTypeDef* kDfPlayerUart = &hcom_uart[COM1];
-    
+
-    static inline UART_HandleTypeDef* kCanMvUart    = &hcom_uart[COM1];
+    static inline UART_HandleTypeDef* kCanMvUart = &hcom_uart[COM1];
+
+    static inline GpioHelper::Gpio kLed = {GPIOB, GPIO_PIN_0};
 };