ManGoWalk_STM32/Core/Src/app_threadx.c

/* 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 */
#define BLE_RX_THREAD_STACK_SIZE 1024
#define BLE_RX_THREAD_PRIORITY    10

#define BLE_TX_THREAD_STACK_SIZE 1024
#define BLE_TX_THREAD_PRIORITY    10
/* USER CODE END PD */

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

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
TX_QUEUE ble_tx_queue;
TX_EVENT_FLAGS_GROUP system_events;
MotorCommand current_motor_cmd = {0,0};
_GPSData gps_data;

TX_THREAD ble_rx_thread;
UCHAR ble_rx_stack[BLE_RX_THREAD_STACK_SIZE];



TX_THREAD ble_tx_thread;
UCHAR ble_tx_stack[BLE_TX_THREAD_STACK_SIZE];

#define BLE_TX_QUEUE_DEPTH 4
UCHAR ble_tx_queue_buffer[BLE_TX_QUEUE_DEPTH * sizeof(BLE_Message)];
/* USER CODE END PV */

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



/* USER CODE END 1 */
/* USER CODE END 1 */

/* 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 */
	UINT status;
	
	//初始化BLE接收任务
	    // 初始化 BLE 接收任务
    status = tx_thread_create(&ble_rx_thread, "BLE RX Thread",
                               ble_rx_task_entry, 0,
                               ble_rx_stack, BLE_RX_THREAD_STACK_SIZE,
                               BLE_RX_THREAD_PRIORITY, BLE_RX_THREAD_PRIORITY,
                               TX_NO_TIME_SLICE, TX_AUTO_START);
    if (status != TX_SUCCESS) {
        return status;
    }
	
    // 创建 BLE TX 线程
    status = tx_thread_create(&ble_tx_thread, "BLE TX Thread",
                               ble_tx_task_entry, 0,
                               ble_tx_stack, BLE_TX_THREAD_STACK_SIZE,
                               BLE_TX_THREAD_PRIORITY, BLE_TX_THREAD_PRIORITY,
                               TX_NO_TIME_SLICE, TX_AUTO_START);
    if (status != TX_SUCCESS) return status;
	
	    // ✅ 创建 BLE TX 消息队列
    status = tx_queue_create(&ble_tx_queue, "BLE TX Queue",
                             sizeof(BLE_Message)/sizeof(ULONG),
                             ble_tx_queue_buffer,
                             sizeof(ble_tx_queue_buffer));
    if (status != TX_SUCCESS) return status;
  /* USER CODE END App_ThreadX_MEM_POOL */
  /* USER CODE BEGIN App_ThreadX_Init */
  /* USER CODE END App_ThreadX_Init */

  return TX_SUCCESS;
}

  /**
  * @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 */
#ifdef TEST  //Ŀǰ<C4BF><C7B0><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>



/* 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);
        }
    }
}
#endif
/* USER CODE END 1 */