update zthread

os/zthread.cpp

@@ -7,14 +7,22 @@ using namespace std;
 static void zosthread_default_task(void const *argument) {
   ZThread *thread = (ZThread *)argument;
   ZASSERT(thread);
+  thread->m_threadisworkingFlag        = false;
+  thread->m_threadisWaitingForStopFlag = false;
 
   while (true) {
-    thread->m_threadisworking = false;
+    if (thread->m_threadisworkingFlagCallSide) {
+      thread->m_threadisworkingFlag = true;
+      thread->m_taskfunction();
 
-    // µÈ´ýtaskworking
-    xEventGroupWaitBits(thread->m_zthreadstartworkevent, 0x01, pdTRUE, pdTRUE, portMAX_DELAY);
-    thread->m_threadisworking = true;
-    thread->m_taskfunction();
+      thread->m_threadisWaitingForStopFlag = true;
+      while (thread->m_threadisworkingFlagCallSide) {
+        vTaskDelay(10);
+      }
+      thread->m_threadisworkingFlag        = false;
+      thread->m_threadisWaitingForStopFlag = false;
+    }
+    vTaskDelay(10);
   }
 };
 
@@ -40,8 +48,10 @@ void ZThread::start(zosthread_cb_t cb) {
 
   ZASSERT(m_taskfunction);
   xSemaphoreTake(m_lock, portMAX_DELAY);
-  xEventGroupSetBits(m_zthreadstartworkevent, 0x01);
-  while (m_threadisworking != true) {
+  m_threadisworkingFlagCallSide = true;
+  // xEventGroupSetBits(m_zthreadstartworkevent, 0x01);
+  while (!m_threadisworkingFlag) {
+    xTaskNotifyGive(m_defaultTaskHandle);
     vTaskDelay(1);
   }
   xSemaphoreGive(m_lock);
@@ -49,16 +59,15 @@ void ZThread::start(zosthread_cb_t cb) {
 
 void ZThread::stop() {
   xSemaphoreTake(m_lock, portMAX_DELAY);
-  m_expect_stop = true;
-  while (m_threadisworking) {
+  m_threadisworkingFlagCallSide = false;
+  // xEventGroupSetBits(m_zthreadstartworkevent, 0x01);
+  while (m_threadisworkingFlag) {
     xTaskNotifyGive(m_defaultTaskHandle);
     vTaskDelay(1);
   }
-  m_expect_stop = false;
   xSemaphoreGive(m_lock);
 }
 
-bool ZThread::isExpectStop() { return m_expect_stop; }
 void ZThread::sleep(uint32_t ms) { ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(ms)); }
 void ZThread::wake() {
   BaseType_t state;

os/zthread.hpp

@@ -10,8 +10,9 @@ class ZThread {
   size_t      m_stacksize;
   osPriority  m_uxPriority;
 
-  bool m_threadisworking;
-  bool m_expect_stop;
+  bool m_threadisworkingFlag         = false;
+  bool m_threadisWaitingForStopFlag  = false;
+  bool m_threadisworkingFlagCallSide = false;
 
   zosthread_cb_t     m_taskfunction;
   EventGroupHandle_t m_zthreadstartworkevent;
@@ -25,7 +26,6 @@ class ZThread {
   void start(zosthread_cb_t cb);
   void stop();
 
-  bool isExpectStop();
   void sleep(uint32_t ms);
   void wake();
 };