1

include/consts.example.h

@@ -74,4 +74,7 @@
 #define CHARACTERISTIC_UUID_RX "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
 #define CHARACTERISTIC_UUID_TX "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"
 
+// 是否启用存储功能
+#define STORAGE_ENABLE 1  // 设置为 0 可以禁用存储功能
+
 #endif // __CONSTS_H__

include/storage.h

@@ -2,14 +2,37 @@
 #define STORAGE_H
 
 #include <Arduino.h>
-#include <SPIFFS.h>
 #include "consts.h"
 
+#if STORAGE_ENABLE
+#include <SPIFFS.h>
+#endif
+
 class Storage
 {
 public:
   static bool isMounted;
   static void init();
+  
+  // 默认参数定义
+  static constexpr uint8_t DEFAULT_BASE_SPEED = 50;
+  static constexpr uint8_t DEFAULT_TURN_SPEED = 50;
+  static constexpr uint8_t DEFAULT_ROTATE_SENSITIVE = 3;
+  static constexpr unsigned int DEFAULT_SENSITIVITY = 0xFF;
+  static constexpr float DEFAULT_KP = 1.0f;
+  static constexpr float DEFAULT_KI = 0.0f;
+  static constexpr float DEFAULT_KD = 0.0f;
+
+  // 当前参数（用于非存储模式）
+  static uint8_t currentBaseSpeed;
+  static uint8_t currentTurnSpeed;
+  static uint8_t currentRotateSensitive;
+  static unsigned int currentSensitivity;
+  static float currentKp;
+  static float currentKi;
+  static float currentKd;
+  static String currentName;
+
   static void setPID(float kp, float ki, float kd);
   static void getPID(float &kp, float &ki, float &kd);
   static void setSensitivity(unsigned int sensitivity);

src/storage.cpp

@@ -1,9 +1,18 @@
 #include "storage.h"
 
-bool Storage::isMounted;
+bool Storage::isMounted = false;
+uint8_t Storage::currentBaseSpeed = DEFAULT_BASE_SPEED;
+uint8_t Storage::currentTurnSpeed = DEFAULT_TURN_SPEED;
+uint8_t Storage::currentRotateSensitive = DEFAULT_ROTATE_SENSITIVE;
+unsigned int Storage::currentSensitivity = DEFAULT_SENSITIVITY;
+float Storage::currentKp = DEFAULT_KP;
+float Storage::currentKi = DEFAULT_KI;
+float Storage::currentKd = DEFAULT_KD;
+String Storage::currentName = DEVICE_NAME;
 
 void Storage::init()
 {
+#if STORAGE_ENABLE
   if (!SPIFFS.begin(true))
   {
     Serial.println("SPIFFS Mount Failed");
@@ -14,6 +23,97 @@ void Storage::init()
     Serial.println("SPIFFS Mount Success");
     isMounted = true;
   }
+#else
+  Serial.println("Storage disabled");
+  isMounted = false;
+#endif
+}
+
+void Storage::setTrackingParams(uint8_t baseSpeed, uint8_t turnSpeed, uint8_t rotateSensitive)
+{
+  currentBaseSpeed = baseSpeed;
+  currentTurnSpeed = turnSpeed;
+  currentRotateSensitive = rotateSensitive;
+
+#if STORAGE_ENABLE
+  if (!isMounted) return;
+
+  File file = SPIFFS.open("/tracking.txt", "w");
+  file.println(baseSpeed);
+  file.println(turnSpeed);
+  file.println(rotateSensitive);
+  file.close();
+#endif
+}
+
+void Storage::getTrackingParams(uint8_t &baseSpeed, uint8_t &turnSpeed, uint8_t &rotateSensitive)
+{
+#if STORAGE_ENABLE
+  if (!isMounted || !SPIFFS.exists("/tracking.txt")) {
+    baseSpeed = currentBaseSpeed;
+    turnSpeed = currentTurnSpeed;
+    rotateSensitive = currentRotateSensitive;
+    return;
+  }
+
+  File file = SPIFFS.open("/tracking.txt", "r");
+  baseSpeed = file.readStringUntil('\n').toInt();
+  turnSpeed = file.readStringUntil('\n').toInt();
+  rotateSensitive = file.readStringUntil('\n').toInt();
+  file.close();
+
+  // 更新当前值
+  currentBaseSpeed = baseSpeed;
+  currentTurnSpeed = turnSpeed;
+  currentRotateSensitive = rotateSensitive;
+#else
+  baseSpeed = currentBaseSpeed;
+  turnSpeed = currentTurnSpeed;
+  rotateSensitive = currentRotateSensitive;
+#endif
+}
+
+void Storage::setPID(float kp, float ki, float kd)
+{
+  currentKp = kp;
+  currentKi = ki;
+  currentKd = kd;
+
+#if STORAGE_ENABLE
+  if (!isMounted) return;
+
+  File file = SPIFFS.open("/pid.txt", "w");
+  file.println(kp);
+  file.println(ki);
+  file.println(kd);
+  file.close();
+#endif
+}
+
+void Storage::getPID(float &kp, float &ki, float &kd)
+{
+#if STORAGE_ENABLE
+  if (!isMounted || !SPIFFS.exists("/pid.txt")) {
+    kp = currentKp;
+    ki = currentKi;
+    kd = currentKd;
+    return;
+  }
+
+  File file = SPIFFS.open("/pid.txt", "r");
+  kp = file.readStringUntil('\n').toFloat();
+  ki = file.readStringUntil('\n').toFloat();
+  kd = file.readStringUntil('\n').toFloat();
+  file.close();
+
+  currentKp = kp;
+  currentKi = ki;
+  currentKd = kd;
+#else
+  kp = currentKp;
+  ki = currentKi;
+  kd = currentKd;
+#endif
 }
 
 unsigned int Storage::getSensitivity()
@@ -41,30 +141,6 @@ void Storage::setSensitivity(unsigned int sensitivity)
   file.close();
 }
 
-void Storage::setPID(float kp, float ki, float kd)
-{
-  if (!isMounted)
-    return;
-
-  File file = SPIFFS.open("/pid.txt", "w");
-  file.println(kp);
-  file.println(ki);
-  file.println(kd);
-  file.close();
-}
-
-void Storage::getPID(float &kp, float &ki, float &kd)
-{
-  if (!isMounted)
-    return;
-
-  File file = SPIFFS.open("/pid.txt", "r");
-  kp = file.readStringUntil('\n').toFloat();
-  ki = file.readStringUntil('\n').toFloat();
-  kd = file.readStringUntil('\n').toFloat();
-  file.close();
-}
-
 void Storage::setName(String name)
 {
   if (!isMounted)
@@ -86,38 +162,3 @@ String Storage::getName()
 
   return name;
 }
-
-void Storage::setTrackingParams(uint8_t baseSpeed, uint8_t turnSpeed, uint8_t rotateSensitive)
-{
-    if (!isMounted)
-        return;
-
-    File file = SPIFFS.open("/tracking.txt", "w");
-    file.println(baseSpeed);
-    file.println(turnSpeed);
-    file.println(rotateSensitive);
-    file.close();
-}
-
-void Storage::getTrackingParams(uint8_t &baseSpeed, uint8_t &turnSpeed, uint8_t &rotateSensitive)
-{
-    if (!isMounted) {
-        baseSpeed = 50;
-        turnSpeed = 50;
-        rotateSensitive = 3;
-        return;
-    }
-
-    File file = SPIFFS.open("/tracking.txt", "r");
-    if (!file) {
-        baseSpeed = 50;
-        turnSpeed = 50;
-        rotateSensitive = 3;
-        return;
-    }
-
-    baseSpeed = file.readStringUntil('\n').toInt();
-    turnSpeed = file.readStringUntil('\n').toInt();
-    rotateSensitive = file.readStringUntil('\n').toInt();
-    file.close();
-}