/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    app_threadx.c
  * @author  MCD Application Team
  * @brief   ThreadX applicative file
  ******************************************************************************
    * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "app_threadx.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* ȫ�ֱ������� */
TX_QUEUE ble_tx_queue;
TX_EVENT_FLAGS_GROUP system_events;
MotorCommand current_motor_cmd = {0,0};
_GPSData gps_data;


/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */

// ������� ����app_thread.c��
// #define task_test    	1
#ifdef TEST  //Ŀǰ���ڲ���



/* USER CODE BEGIN 1 */
/* USER CODE BEGIN 1 */
void main_control_thread_entry(ULONG thread_input)
{
    ULONG events;
    MotorCommand motor_cmd = {0, 0};
    
    while(1)
    {
        // 等待事件发生
        tx_event_flags_get(&system_events, 
                          EVENT_OBSTACLE_DETECTED | EVENT_BLE_COMMAND_RECEIVED,
                          TX_OR_CLEAR, &events, TX_WAIT_FOREVER);
        
        // 处理障碍物事件
        if(events & EVENT_OBSTACLE_DETECTED)
        {
            // 触发蜂鸣器和振动提示
            Buzzer_Open();
            Shake_Motor_Open();
            tx_thread_sleep(100); // 振动100ms
            Buzzer_Close();
            Shake_Motor_Close();
            
            // 发送报警到手机
            BLE_Message msg;
            msg.msg_type = 2;
            snprintf(msg.data, sizeof(msg.data), "#{\"alert\":\"Obstacle detected!\"}\n");
            tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);
        }
        
        // 处理蓝牙控制指令
        if(events & EVENT_BLE_COMMAND_RECEIVED)
        {
            // 从队列获取电机命令
//            tx_queue_receive(&ble_rx_queue, &motor_cmd, TX_WAIT_FOREVER);
            
            // 实际控制电机 (伪代码)
            // set_motor_speed(motor_cmd.leftSpeed, motor_cmd.rightSpeed);
        }
    }
}
/* USER CODE END 1 */
/* USER CODE END 1 */

#endif
/* USER CODE END PFP */

/**
  * @brief  Application ThreadX Initialization.
  * @param memory_ptr: memory pointer
  * @retval int
  */
UINT App_ThreadX_Init(VOID *memory_ptr)
{
  UINT ret = TX_SUCCESS;
  /* USER CODE BEGIN App_ThreadX_MEM_POOL */

  /* USER CODE END App_ThreadX_MEM_POOL */
  /* USER CODE BEGIN App_ThreadX_Init */
  /* USER CODE END App_ThreadX_Init */

  return ret;
}

  /**
  * @brief  Function that implements the kernel's initialization.
  * @param  None
  * @retval None
  */
void MX_ThreadX_Init(void)
{
  /* USER CODE BEGIN Before_Kernel_Start */

  /* USER CODE END Before_Kernel_Start */

  tx_kernel_enter();

  /* USER CODE BEGIN Kernel_Start_Error */

  /* USER CODE END Kernel_Start_Error */
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */