优化 App 类，重构 Setup 和 AppStart 函数，清理未使用的代码，增强可读性

Core/App/Center/common_center.hpp

@@ -2,17 +2,11 @@
 
 #include "../Common/can_mv.hpp"
 #include "../Common/df_player.hpp"
-#include "../Common/hc05.hpp"
 #include "../Common/ultrasonic.hpp"
 #include "../config.hpp"
-#include "Common/serial_port.hpp"
 
 class CommonCenter {
 public:
-    CommonCenter()                               = delete;
-    CommonCenter(const CommonCenter&)            = delete;
-    CommonCenter& operator=(const CommonCenter&) = delete;
-
     static Ultrasonic& GetUltrasonic() {
         static Ultrasonic* instance = nullptr;
         if (instance == nullptr) {
@@ -37,23 +31,4 @@ public:
         }
         return *instance;
     }
-
-    static Hc05& GetHc05() {
-        static Hc05* instance = nullptr;
-        if (instance == nullptr) {
-            instance = new Hc05(Config::kHc05Uart);
-        }
-        return *instance;
-    }
-
-    static SerialPort& GetDebugSerialPort() {
-        static constexpr auto kBaudRate = 115200;
-        static constexpr auto kLength   = 256;
-        static constexpr auto kTimeout  = 1000;
-        static SerialPort* instance     = nullptr;
-        if (instance == nullptr) {
-            instance = new SerialPort(Config::kDebugUart, kBaudRate, kLength, kTimeout);
-        }
-        return *instance;
-    }
 };

Core/App/Common/can_mv.hpp

@@ -1,24 +1,19 @@
 #pragma once
 
 #include <cstdint>
-#include <memory>
 
 #include "../Common/serial_port.hpp"
 
 class CanMv {
 public:
-    explicit CanMv(UART_HandleTypeDef* uart)
-        : serialPort(std::make_unique<SerialPort>(uart, kBaudRate, kLength, kTimeout)) {}
+    explicit CanMv(UART_HandleTypeDef* uart) : serialPort(new SerialPort(uart, kLength, kTimeout)) {}
 
-    ~CanMv()                       = default;
-    CanMv(const CanMv&)            = delete;
-    CanMv& operator=(const CanMv&) = delete;
-    CanMv(CanMv&&)                 = delete;
-    CanMv& operator=(CanMv&&)      = delete;
+    ~CanMv() {
+        delete serialPort;
+    }
 
 private:
-    static constexpr uint32_t kBaudRate = 115200;
-    static constexpr uint32_t kLength   = 128;
-    static constexpr uint32_t kTimeout  = 10;
-    std::unique_ptr<SerialPort> serialPort;
+    static constexpr uint32_t kLength  = 128;
+    static constexpr uint32_t kTimeout = 10;
+    SerialPort* serialPort;
 };

Core/App/Common/df_player.hpp

@@ -1,20 +1,16 @@
 #pragma once
 
 #include <cstdint>
-#include <memory>
 
 #include "../Common/serial_port.hpp"
 
 class DfPlayer {
 public:
-    explicit DfPlayer(UART_HandleTypeDef* uart)
-        : serialPort(std::make_unique<SerialPort>(uart, kBaudRate, kLength, kTimeout)) {}
+    explicit DfPlayer(UART_HandleTypeDef* uart) : serialPort(new SerialPort(uart, kLength, kTimeout)) {}
 
-    ~DfPlayer()                          = default;
-    DfPlayer(const DfPlayer&)            = delete;
-    DfPlayer& operator=(const DfPlayer&) = delete;
-    DfPlayer(DfPlayer&&)                 = delete;
-    DfPlayer& operator=(DfPlayer&&)      = delete;
+    ~DfPlayer() {
+        delete serialPort;
+    }
 
     void Play();
     void Stop();
@@ -54,10 +50,9 @@ private:
         kQueryFlashCurrentTrack  = 0x4D,
     };
 
-    static constexpr uint32_t kBaudRate = 9600;
-    static constexpr uint32_t kLength   = 128;
-    static constexpr uint32_t kTimeout  = 10;
-    std::unique_ptr<SerialPort> serialPort;
+    static constexpr uint32_t kLength  = 128;
+    static constexpr uint32_t kTimeout = 10;
+    SerialPort* serialPort;
 
     void SendCommand(Command cmd, uint16_t param = 0);
 

Core/App/Common/hc05.hpp

@@ -1,47 +0,0 @@
-#pragma once
-
-#include <cerrno>
-#include <cstdint>
-
-#include "../Common/serial_port.hpp"
-
-class Hc05 {
-private:
-    static constexpr uint32_t kBaudRate = 9600;
-    static constexpr uint32_t kLength   = 128;
-    static constexpr uint32_t kTimeout  = 10;
-    std::unique_ptr<SerialPort> serialPort;
-
-    static constexpr uint8_t kCommand = 0xAA;
-
-public:
-    // App 返回单个字节 Command 结果
-    enum class Response : uint8_t {
-        kForward, // 前进
-        kBackward, // 后退
-        kTurnLeft, // 左转
-        kTurnRight, // 右转
-        kForwardLeft, // 左前方
-        kForwardRight, // 右前方
-        kBackwardLeft, // 左后方
-        kBackwardRight, // 右后方
-        kTurnAround, // 掉头/180度转向
-        kStop, // 停止，到达目的地
-    };
-
-    explicit Hc05(UART_HandleTypeDef* uart)
-        : serialPort(std::make_unique<SerialPort>(uart, kBaudRate, kLength, kTimeout)) {}
-
-    ~Hc05()                      = default;
-    Hc05(const Hc05&)            = delete;
-    Hc05& operator=(const Hc05&) = delete;
-    Hc05(Hc05&&)                 = delete;
-    Hc05& operator=(Hc05&&)      = delete;
-
-    Response SendCommand() {
-        Response data;
-        serialPort->WriteBytesBlocking(reinterpret_cast<const uint8_t*>(&kCommand), sizeof(kCommand));
-        serialPort->ReadBytesBlocking(reinterpret_cast<uint8_t*>(&data), sizeof(data));
-        return data;
-    }
-};

Core/App/Common/key.hpp

@@ -1,36 +0,0 @@
-#pragma once
-
-#include "../Helper/delay_helper.h"
-#include "stm32h5xx_hal_gpio.h"
-#include <cstdint>
-
-#include "../Helper/gpio_helper.hpp"
-
-class Key {
-private:
-    static constexpr uint32_t kDebounceDelay = 20;
-    GpioHelper::Gpio gpio;
-    GPIO_PinState normalStatus;
-
-public:
-    explicit Key(GpioHelper::Gpio gpio, GPIO_PinState normalStatus) : gpio(gpio), normalStatus(normalStatus) {
-        GpioHelper::GpioInit(gpio, GPIO_MODE_INPUT, normalStatus ? GPIO_PULLUP : GPIO_PULLDOWN);
-    }
-    ~Key()                     = default;
-    Key(const Key&)            = delete;
-    Key& operator=(const Key&) = delete;
-    Key(Key&&)                 = delete;
-    Key& operator=(Key&&)      = delete;
-
-    bool IsPressed() {
-        auto reading = gpio.Read();
-        if (reading != normalStatus) {
-            DelayMs(kDebounceDelay);
-            reading = gpio.Read();
-            if (reading != normalStatus) {
-                return true;
-            }
-        }
-        return false;
-    }
-};

Core/App/Common/serial_port.hpp

@@ -1,7 +1,6 @@
 #pragma once
 
 #include "main.h"
-#include "stm32h5xx_hal_uart.h"
 #include <cstdarg>
 #include <cstdint>
 #include <cstring>
@@ -14,35 +13,23 @@ private:
     uint32_t timeout;
     std::unique_ptr<char[]> buffer;
 
-    uint8_t ReadByteForce() {
-        return handle->Instance->RDR;
-    }
-
 public:
-    SerialPort(UART_HandleTypeDef* uart, uint32_t baudRate, uint32_t length, uint32_t timeout)
-        : handle(uart), timeout(timeout), buffer(std::make_unique<char[]>(length)) {
-        SetBaudRate(baudRate);
-    }
+    SerialPort(UART_HandleTypeDef* uart, uint32_t length, uint32_t timeout)
+        : handle(uart), timeout(timeout), buffer(std::make_unique<char[]>(length)) {}
 
     ~SerialPort() = default;
-    SerialPort(const SerialPort&)            = delete;
-    SerialPort& operator=(const SerialPort&) = delete;
-    SerialPort(SerialPort&&)                 = delete;
-    SerialPort& operator=(SerialPort&&)      = delete;
 
-    void SetBaudRate(uint32_t baudRate) {
-        HAL_UART_DeInit(handle);
-        handle->Init.BaudRate = baudRate;
-        HAL_UART_Init(handle);
+    uint8_t ReadByte() {
+        return handle->Instance->RDR;
     }
 
     std::string ReadLine() {
         std::string result;
         result.reserve(128);
         char c;
-        ReadByteForce();
+        ReadByte();
         while (true) {
-            auto r = HAL_UART_Receive(handle, reinterpret_cast<uint8_t*>(&c), sizeof(c), timeout);
+            auto r =  HAL_UART_Receive(handle, reinterpret_cast<uint8_t*>(&c), sizeof(c), timeout);
             if (r != HAL_OK) {
                 throw std::runtime_error("UART receive error");
             }

Core/App/Common/ultrasonic.hpp

@@ -19,12 +19,6 @@ public:
         captureFlag = GetCaptureFlag(channel);
     }
 
-    ~Ultrasonic()                            = default;
-    Ultrasonic(const Ultrasonic&)            = delete;
-    Ultrasonic& operator=(const Ultrasonic&) = delete;
-    Ultrasonic(Ultrasonic&&)                 = delete;
-    Ultrasonic& operator=(Ultrasonic&&)      = delete;
-
     double GetDistance(uint32_t time = 1) {
         double distance = 0;
         for (uint32_t cnt = 0; cnt < time; ++cnt) {
@@ -52,7 +46,6 @@ private:
     double MeasureEchoTime() {
         timer->Instance->CNT = 0;
         uint32_t data[2];
-        __HAL_TIM_CLEAR_FLAG(timer, captureFlag);
         HAL_TIM_IC_Start(timer, channel);
         try {
             for (auto& value : data) {

Core/App/Helper/gpio_helper.hpp

@@ -6,12 +6,6 @@
 
 class GpioHelper {
 public:
-    GpioHelper()                             = delete;
-    GpioHelper(const GpioHelper&)            = delete;
-    GpioHelper& operator=(const GpioHelper&) = delete;
-    GpioHelper(GpioHelper&&)                 = delete;
-    GpioHelper& operator=(GpioHelper&&)      = delete;
-
     struct Gpio {
         GPIO_TypeDef* port;
         uint16_t pin;
@@ -62,8 +56,7 @@ public:
         return {port, pin};
     }
 
-    static Gpio GpioInit(const Gpio& gpio, const uint32_t mode, const uint32_t pull,
-        const std::optional<GPIO_PinState> state = std::nullopt) {
+    static Gpio GpioInit(const Gpio& gpio, const uint32_t mode, const uint32_t pull, const GPIO_PinState state) {
         return GpioInit(gpio.port, gpio.pin, mode, pull, state);
     }
 

Core/App/Helper/task_helper.hpp

@@ -4,15 +4,16 @@
 #include <cstdint>
 #include <stdexcept>
 
-namespace TaskHelper {
+class TaskHelper {
+public:
     template <typename Func>
-    static void WaitFor(Func func, uint32_t timeoutMilliseconds) {
+    static void WaitFor(Func func, int timeoutMilliseconds) {
         auto start = HAL_GetTick();
         while (!func()) {
             uint32_t now = HAL_GetTick();
-            if ((now - start) > timeoutMilliseconds) {
+            if ((now - start) > static_cast<uint32_t>(timeoutMilliseconds)) {
                 throw std::runtime_error("Operation timed out");
             }
         }
     }
-}; // namespace TaskHelper
+};

Core/App/app.cpp

@@ -1,65 +1,36 @@
 #include "Helper/delay_helper.h"
 #include "stm32h563xx.h"
-#include <string>
 
 #include "Center/common_center.hpp"
-#include "Common/serial_port.hpp"
 #include "Helper/gpio_helper.hpp"
-#include "config.hpp"
-
+#include "Helper/delay_helper.h"
 
 void TerminateHandler() {
-    auto led              = Config::kLed;
-    auto& debugSerialPort = CommonCenter::GetDebugSerialPort();
-    std::string message;
-    std::exception_ptr exceptionPtr = std::current_exception();
-    if (exceptionPtr) {
-        try {
-            std::rethrow_exception(exceptionPtr);
-        } catch (const std::exception& e) {
-            message = e.what();
-        } catch (...) {
-            message = "Unknown exception type";
-        }
-    } else {
-        message = "No active exception, but terminate() was called";
-    }
-
+    auto led = GpioHelper::GpioInit(GPIOB, GPIO_PIN_0, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_PIN_SET);
     while (true) {
-        debugSerialPort.WriteLineBlocking("FATAL ERROR: %s", message.c_str());
         led.Toggle();
         DelayS(1);
     }
 }
 
-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();
-    CommonCenter::GetHc05();
-}
-
 void Setup() {
-    GpioSetup();
+    GpioHelper::EnableAllGpioPeripheral();
     DelaySetup();
-    CommonSetup();
-    std::set_terminate(TerminateHandler);
+    auto ultrasonic = CommonCenter::GetUltrasonic();
+    auto dfPlayer   = CommonCenter::GetDfPlayer();
+    auto canMv      = CommonCenter::GetCanMv();
 }
 
 extern "C" void AppStart() {
     Setup();
-    auto& ultrasonic      = CommonCenter::GetUltrasonic();
-    auto& debugSerialPort = CommonCenter::GetDebugSerialPort();
+    auto ultrasonic = CommonCenter::GetUltrasonic();
+    auto dfPlayer   = CommonCenter::GetDfPlayer();
+    auto canMv      = CommonCenter::GetCanMv();
     while (true) {
         // Example usage of the classes
-        auto disatnce = ultrasonic.GetDistance();
-        debugSerialPort.WriteLineBlocking("Distance: %.2f cm", disatnce);
-        DelayS(1); // Delay for 1 second
+        ultrasonic.GetDistance();
+        dfPlayer.PlayTrack(1);
+
+        DelayMs(1000); // Delay for 1 second
     }
 }

Core/App/config.hpp

@@ -6,23 +6,13 @@
 #include "./Helper/gpio_helper.hpp"
 
 struct Config {
-    Config()                         = delete;
-    Config(const Config&)            = delete;
-    Config& operator=(const Config&) = delete;
-
     static inline struct {
         GpioHelper::Gpio trigger;
         TIM_HandleTypeDef* timer;
         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* kHc05Uart = &hcom_uart[COM1];
-
-    static inline GpioHelper::Gpio kLed = {GPIOB, GPIO_PIN_0};
+    
+    static inline UART_HandleTypeDef* kCanMvUart    = &hcom_uart[COM1];
 };