FZMotion_capture_system_accessories_pack_r/src/zthread.c

#include "zthread.h"
#include "stdbool.h"
#include "stm32sdk.h"
// #include "Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.h"
#include "zassert.h"

#define TAG "zthread"

extern uint32_t vPortGetIPSR(void);

static __inline bool IS_IRQ(void) 
{
    if (vPortGetIPSR())
        return true;

    return false;
}

static void tasksleep(uint32_t ms) { ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(ms)); }

static void taskwake(zthread_t *thread) {
  BaseType_t state;
  if (IS_IRQ())
    vTaskNotifyGiveFromISR(thread->handler, &state);
  else
    xTaskNotifyGive(thread->handler);
}

static void prvtaskfunction(void *_taskhandler) {
  zthread_t *thread = (zthread_t *)_taskhandler;
  Z_ASSERT(_taskhandler);

  while (true) {
    thread->threadisworking = false;

    // 等待taskworking
    xEventGroupWaitBits(thread->zthreadstartworkevent, 0x01, pdTRUE, pdTRUE, portMAX_DELAY);
    // ZLOGI(TAG, "thread %s startwork", thread->name);
    ZLOGI(TAG, "thread %s startwork", thread->name);
    thread->threadisworking = true;
    thread->taskfunction(NULL);
    ZLOGI(TAG, "thread %s end work", thread->name);
  }
};

void zthread_init(zthread_t *thread, const char *name, TaskFunction_t taskfunction) {
  Z_ASSERT(thread);
  Z_ASSERT(taskfunction);
  Z_ASSERT(name);

  thread->lock = xSemaphoreCreateMutex();
  Z_ASSERT(thread->lock);

  if (thread->stacksize == 0) {
    thread->stacksize = ZTHREAD_DEFAULT_STACK_SIZE;
  }
  if (thread->uxPriority == 0) {
    thread->uxPriority = ZTHREAD_DEFAULT_PRIORITY;
  }
  thread->taskfunction = taskfunction;
  thread->zthreadstartworkevent = xEventGroupCreate();
  thread->name = name;

  xTaskCreate(prvtaskfunction, name, thread->stacksize, (void *)thread, thread->uxPriority, &thread->handler);
}
void zthread_start(zthread_t *thread) {
  /**
   * @brief
   */

  Z_ASSERT(thread);
  xSemaphoreTake(thread->lock, portMAX_DELAY);
  xEventGroupSetBits(thread->zthreadstartworkevent, 0x01);
  while (thread->threadisworking != true) {
    vTaskDelay(10);
  }
  xSemaphoreGive(thread->lock);
}

bool zthread_is_expect_stop(zthread_t *thread) { return thread->_expect_stop; }

void zthread_stop(zthread_t *thread) {
  Z_ASSERT(thread);
  xSemaphoreTake(thread->lock, portMAX_DELAY);

  thread->_expect_stop = true;
  while (thread->threadisworking == true) {
    taskwake(thread);
    vTaskDelay(10);
  }
  thread->_expect_stop = false;
  xSemaphoreGive(thread->lock);
}

void zthread_sleep(uint32_t ms) { tasksleep(ms); }
void zthread_weak(zthread_t *thread) { taskwake(thread); }