UniversalCan/OsSample/OsSample.c

#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
}