Artheru：Initial bilingual draft (auto-published)

2026-05-16T14:00:25Z

Initial bilingual draft (auto-published)

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== 概述 / Overview ==
`startup.iocmd` 是 Medulla 启动时执行的 ''迷你脚本''。语法极简：每行一条命令，支持对象加载、字段读写、方法调用。它的目的是让现场调试人员能在不写 C# 的情况下加载和初始化插件。

`startup.iocmd` is the tiny script Medulla executes at boot. The grammar is minimal — one command per line, with object loading, field read/write, and method invocation. Its purpose is to let on-site engineers load and initialise plugins without writing C#.

实现：`D:\src\M2\MedullaCore\Core\MedullaScriptEngine.cs:22-130`。
Implementation: `D:\src\M2\MedullaCore\Core\MedullaScriptEngine.cs:22-130`.

启动入口：`Startup.runScript(filename)` 在 CWD 找 `startup.iocmd`，逐行执行。
Boot entry: `Startup.runScript(filename)` reads `startup.iocmd` from CWD line by line (`Startup.cs:374-402`).

== 命令语法 / Command grammar ==
{| class="wikitable"
! 形式 / Form !! 语法 / Syntax !! 示例 / Example !! 语义 / Semantics
|-
| 加载 + 赋值 / Load + assign || `name = io load <dll>` || `lidar = io load plugins/Lidar.dll` || 加载 DLL，反射找 `MainIOObject`，实例化，注册到 `Objects[name]`
|-
| 工厂方法 / Factory method || `name = obj method arg1 arg2 ...` || `lidar = io init WLR716Lidar 192.168.0.2 2110` || 调用 obj.method 并把返回赋值给 name
|-
| 方法调用 / Method call || `name method arg1 arg2 ...` || `cart Init` || 调用 name.method（无返回）
|-
| 字段读 / Field read || `name.field` || `cart.batteryPercent` || 反射读字段或 property，控制台输出
|-
| 字段写 / Field write || `name.field = value` || `cart.TimeoutThreshold = 1000` || 反射写；`TypeDescriptor.ConvertFromString` 解析 value
|}

解析规则：按空格分词；引号内当一个 token。
Parsing: split on whitespace; quoted strings count as one token.

== 支持的参数类型 / Supported parameter types ==
* 整型 / Integers: `short`, `ushort`, `int`, `uint`, `long`, `ulong`
* 浮点 / Floats: `float`, `double`
* `bool`：`true` / `false`
* `string`：可加引号 `"with spaces"` 或不加
* `byte[]`：十六进制串 `0x12AB`
* `IOObject` 引用：按 `Objects[name]` 解析（即用其它对象的名字）

Hex literal: `0x12AB` for integer types.

Overload resolution: by name + arity, or variadic `object[]` (`MedullaScriptEngine.cs:138-144`).

== 完整示例 / Full example ==
<syntaxhighlight lang="text">
# Lidar plugin
lidar = io load plugins/LidarController.dll
lidar = lidar init WLR716Lidar 192.168.0.2 2110
lidar Start
lidar.TimeoutThreshold = 1000

# Cart adapter plugin
cart = io load plugins/MyCart.dll
cart Init
cart.brakeOn = false

# Camera
cam = io load plugins/Camera.dll
cam = cam init 192.168.0.50 8081
cam Start

# Diagnostics: open the LidarController's web utility for the loaded lidar
# (it'll appear at https://<host>:8081/lidar/ShowFrame)
</syntaxhighlight>

== Web endpoint 自动注册 / Auto web-endpoint registration ==
赋值语句 `name = io load ...` 不仅注册对象，还会把对象上 `[IOObjectWebUtility]` 标注的方法自动挂到 HTTP 路径 `/<name>/<methodname>`。
The assignment `name = io load ...` also auto-registers any `[IOObjectWebUtility]` methods at `/<name>/<methodname>`.

启动后可访问 `https://<host>:<MedullaIO.CPort>/<name>/<method>` 调用插件方法。
After boot, hit `https://<host>:<MedullaIO.CPort>/<name>/<method>` to invoke.

== 注释与空行 / Comments & blank lines ==
* 空行 / blank lines: 忽略
* `# 开头` / lines starting with `#`：注释
* 没有 ''多行命令''；每条命令必须写在一行。

== 错误处理 / Error handling ==
脚本里某行失败 → ''继续''执行下一行；错误打到 DLog + Hedingben toast。所以 `startup.iocmd` 是 "尽力而为"模型 —— 你应该用 web 端点或控制台后续确认状态，不要假设全部成功。

Failed lines log to DLog + Hedingben toast and execution continues. `startup.iocmd` is "best-effort" — confirm state via web endpoint or console afterwards.

== 扩展点 / Extension hooks ==
* 添加新的内建函数：扩展 `MedullaScriptEngine.evaluate` (line 80+)。
* 加新的参数类型：扩展 `MedullaScriptEngine.cs:69` 的 type coercion switch。
* 保持语法最简 —— 没有括号、没有嵌套调用。'''单行可读''' 是它的设计原则。

* New built-in functions: extend `MedullaScriptEngine.evaluate` (line 80+).
* New parameter types: extend the coercion switch at line 69.
* Keep the grammar minimal — no parens, no nested calls. '''Single-line readability''' is the design.

== 注意 / Caveats ==
* `startup.iocmd` 在 ''CWD'' 加载，不在 Medulla 安装目录 —— 启动脚本要把工作目录设到正确位置。<br>
Loaded from CWD, not Medulla's install dir — your launcher must set the working directory.
* 没有 `if / for / while` —— 控制流需要写 C# 插件。
* `name` 标识符不能含 `.` 或 `=` 或空格。

== 相关页面 / See also ==
* [[Special:MyLanguage/插件契约与打包约定|插件契约与打包约定]]
* [[Special:MyLanguage/IOObject属性参考|IOObject属性参考]]
* [[Special:MyLanguage/Medulla软件架构|Medulla软件架构]]
* [[Special:MyLanguage/Medulla|Medulla]] / [[Special:MyLanguage/Medulla-API|Medulla-API]]

[[Category:二次开发相关说明]]
[[Category:开发手册]]

Startup.iocmd脚本语法 - 版本历史

Artheru：​Initial bilingual draft (auto-published)

Artheru：Initial bilingual draft (auto-published)