proximity_uavcan_converter/App/freertos_action.c

/*
 * @Author: your name
 * @Date: 2021-06-26 15:37:21
 * @LastEditTime: 2021-07-15 08:36:21
 * @LastEditors: Please set LastEditors
 * @Description: In User Settings Edit
 * @FilePath: \warter_rader\App\freertos_action.c
 */
#include "freertos_action.h"

void task_usart_rev_action(void)
{
    usart_data_t data = {0};
   // uint8_t data_uart;
    osStatus_t os_status;
    osDelay(5000);
    request_QOAR1271_data();
    active_uasrt_irq();
    for(;;)
    {
        if (usart_rev_queueHandle != NULL)
        {
            os_status = osMessageQueueGet(usart_rev_queueHandle, &data, NULL, osWaitForever);
            if (os_status == osOK)
            {   
               parse_ar1271_data(&data);               
            }
        }
        else
        {
            osDelay(2);
        }
    }
}

void task_uavcan_rev_action(void)
{
    uavcan_rev_t uavcan_rev_data;
    osStatus_t os_status;
    
    /* Infinite loop */
    for (;;)
    {
        if (uavcan_rev_queueHandle != NULL)
        {
            os_status = osMessageQueueGet(uavcan_rev_queueHandle, &uavcan_rev_data, NULL, osWaitForever);
            if (os_status == osOK)
            {
                handle_uavcan_rx_frame(&uavcan_rev_data);              
            }
        }
        else
        {
            osDelay(2);
        }
    }
}

void task_uavcan_send_action(void)
{
    uavcan_send_data_t data = {0};
    float depth_data=0.0f;
    osStatus_t status;

    for(;;)
    {
        if (uavcan_send_queueHandle != NULL)
        {
            status = osMessageQueueGet(uavcan_send_queueHandle, &data, NULL, 5);
            if (status == osOK)
            {
                send_uavcan_data(&data);
            }
        }
        send_canard();      
    }
}

void task_default_action(void)
{
    init_allocation();
    uint32_t last_send_node_status_tick =0; 
    uint32_t last_send_proximity_tick =0;
    /* Infinite loop */
    for (;;)
    {
        if(last_send_node_status_tick+1000<HAL_GetTick())
        {
            last_send_node_status_tick = HAL_GetTick();
            if (uavcan_send_queueHandle != NULL)
            {
                uavcan_send_data_t send_data ={0};
                send_data.id = UAVCAN_NODE_STATUS_DATA_TYPE_ID;
                uavcan_node_status_t data ={0};
                memcpy(&send_data.content.node_state,&data,sizeof(uavcan_node_status_t));
                osMessageQueuePut(uavcan_send_queueHandle,&send_data,0,10);
            }
        }

//        if (last_send_proximity_tick + 200 < HAL_GetTick())
//        {
//            last_send_proximity_tick = HAL_GetTick();
//            if (uavcan_send_queueHandle != NULL)
//            {
//                uavcan_send_data_t send_data = {0};
//                send_data.id = ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_ID;
//                uavcan_proximity_t data = {0};
//                data.d0 = 200;
//                data.d45 = 300;
//                data.d315 = 400;
//                data.d135 = 500;
//                memcpy(&send_data.content.node_state, &data, sizeof(uavcan_node_status_t));
//                osMessageQueuePut(uavcan_send_queueHandle, &send_data, 0, 10);
//            }
//        }
        osDelay(200);
    }
}