first commit

OsSample/OsSample.c

@@ -0,0 +1,174 @@
+#include "OsSample.h"
+
+// --- 1. vTaskDelay ---
+void vTaskDelay(const TickType_t xTicksToDelay) {
+    #ifdef _WIN32
+        Sleep(xTicksToDelay);
+    #elif defined(__linux__)
+        struct timespec ts;
+        ts.tv_sec = xTicksToDelay / 1000;
+        ts.tv_nsec = (xTicksToDelay % 1000) * 1000000L;
+        nanosleep(&ts, NULL);
+    #endif
+}
+
+// --- 2. xTaskCreate ---
+// 内部包装函数：为了适配系统线程接口并防止任务返回导致进程奔溃
+#ifdef _WIN32
+DWORD WINAPI prvTaskWrapper(LPVOID lpParam) {
+    TaskFunction_t pxTask = (TaskFunction_t)(((void**)lpParam)[0]);
+    void* pvParams = ((void**)lpParam)[1];
+    free(lpParam);
+    pxTask(pvParams);
+    return 0; 
+}
+#else
+void* prvTaskWrapper(void* lpParam) {
+    TaskFunction_t pxTask = (TaskFunction_t)(((void**)lpParam)[0]);
+    void* pvParams = ((void**)lpParam)[1];
+    free(lpParam);
+    pxTask(pvParams);
+    return NULL;
+}
+#endif
+
+BaseType_t xTaskCreate(TaskFunction_t pvTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask) {
+    // 准备参数包
+    void** args = malloc(sizeof(void*) * 2);
+    args[0] = (void*)pvTaskCode;
+    args[1] = pvParameters;
+
+    #ifdef _WIN32
+        HANDLE hThread = CreateThread(NULL, usStackDepth, prvTaskWrapper, args, 0, NULL);
+        if (pxCreatedTask) *pxCreatedTask = (TaskHandle_t)hThread;
+        return (hThread != NULL) ? pdPASS : pdFAIL;
+    #elif defined(__linux__)
+        pthread_t threadId;
+        int res = pthread_create(&threadId, NULL, prvTaskWrapper, args);
+        if (pxCreatedTask) *pxCreatedTask = (TaskHandle_t)threadId;
+        return (res == 0) ? pdPASS : pdFAIL;
+    #endif
+}
+
+// --- 3. xQueueCreate (简易内存模拟) ---
+// 注意：实际生产环境建议使用互斥锁保护。这里仅展示逻辑框架。
+typedef struct {
+    uint8_t* storage;
+    uint32_t length;
+    uint32_t item_size;
+    uint32_t write_idx; // 写指针
+    uint32_t read_idx;  // 读指针
+    uint32_t count;     // 当前元素数量
+#ifdef _WIN32
+    HANDLE mutex;       // 保护结构体内部数据
+    HANDLE sem_fill;    // 计数信号量：当前有多少数据可读
+#else
+    pthread_mutex_t mutex;
+    sem_t sem_fill;
+#endif
+} SimulatedQueue;
+
+// --- xQueueCreate ---
+QueueHandle_t xQueueCreate(UBaseType_t uxQueueLength, UBaseType_t uxItemSize) {
+    SimulatedQueue* q = (SimulatedQueue*)malloc(sizeof(SimulatedQueue));
+    if (!q) return NULL;
+
+    q->storage = (uint8_t*)malloc(uxQueueLength * uxItemSize);
+    q->length = uxQueueLength;
+    q->item_size = uxItemSize;
+    q->write_idx = 0;
+    q->read_idx = 0;
+    q->count = 0;
+
+#ifdef _WIN32
+    q->mutex = CreateMutex(NULL, FALSE, NULL);
+    q->sem_fill = CreateSemaphore(NULL, 0, uxQueueLength, NULL);
+#else
+    pthread_mutex_init(&q->mutex, NULL);
+    sem_init(&q->sem_fill, 0, 0);
+#endif
+    return (QueueHandle_t)q;
+}
+
+// --- xQueueSend ---
+BaseType_t xQueueSend(QueueHandle_t xQueue, const void * pvItemToQueue, TickType_t xTicksToWait) {
+    SimulatedQueue* q = (SimulatedQueue*)xQueue;
+    if (!q) return pdFAIL;
+
+    // 1. 进入临界区保护数据
+#ifdef _WIN32
+    WaitForSingleObject(q->mutex, INFINITE);
+#else
+    pthread_mutex_lock(&q->mutex);
+#endif
+
+    // 检查队列是否已满
+    if (q->count >= q->length) {
+#ifdef _WIN32
+        ReleaseMutex(q->mutex);
+#else
+        pthread_mutex_unlock(&q->mutex);
+#endif
+        return errQUEUE_FULL;
+    }
+
+    // 2. 拷贝数据到环形缓冲区
+    memcpy(q->storage + (q->write_idx * q->item_size), pvItemToQueue, q->item_size);
+    q->write_idx = (q->write_idx + 1) % q->length;
+    q->count++;
+
+    // 3. 释放信号量通知接收方，退出临界区
+#ifdef _WIN32
+    ReleaseSemaphore(q->sem_fill, 1, NULL);
+    ReleaseMutex(q->mutex);
+#else
+    sem_post(&q->sem_fill);
+    pthread_mutex_unlock(&q->mutex);
+#endif
+
+    return pdPASS;
+}
+
+// --- xQueueReceive ---
+BaseType_t xQueueReceive(QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait) {
+    SimulatedQueue* q = (SimulatedQueue*)xQueue;
+    if (!q) return pdFAIL;
+
+    // 1. 等待信号量（是否有数据可读）
+#ifdef _WIN32
+    DWORD res = WaitForSingleObject(q->sem_fill, (xTicksToWait == portMAX_DELAY) ? INFINITE : xTicksToWait);
+    if (res != WAIT_OBJECT_0) return pdFAIL;
+    WaitForSingleObject(q->mutex, INFINITE); // 进入临界区
+#else
+    // Linux 简化处理，直接阻塞等
+    sem_wait(&q->sem_fill); 
+    pthread_mutex_lock(&q->mutex);
+#endif
+
+    // 2. 拷贝数据
+    memcpy(pvBuffer, q->storage + (q->read_idx * q->item_size), q->item_size);
+    q->read_idx = (q->read_idx + 1) % q->length;
+    q->count--;
+
+    // 3. 退出临界区
+#ifdef _WIN32
+    ReleaseMutex(q->mutex);
+#else
+    pthread_mutex_unlock(&q->mutex);
+#endif
+
+    return pdPASS;
+}
+
+// 在 OsSample.c 中实现
+void vTaskStartScheduler(void) {
+    #ifdef _WIN32
+        // Windows: 挂起主线程，直到进程结束
+        Sleep(INFINITE); 
+    #elif defined(__linux__)
+        // Linux: 使用 pause() 挂起，等待信号，或者用死循环
+        while(1) {
+            pause(); 
+        }
+    #endif
+}