40 lines
980 B
C
40 lines
980 B
C
/*
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* 路径选择任务
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*
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*/
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#include "user_task.h"
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#include "map.h"
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#ifdef DEBUG
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Action_POS_t pos_action;
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CMD_t cmd_calc;
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#else
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static Action_POS_t action_pos;
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static Chassis_Ctrl_t ctrl;
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#endif
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void Task_calc(void *argument){
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(void)argument; /* 未使用argument，消除警告 */
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CALCULATE;
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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while(1)
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{
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#ifdef DEBUG
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/* 记录任务使用的的栈空闄*/
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task_runtime.stack_water_mark.calc =osThreadGetStackSpace(osThreadGetId());
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#endif
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osMessageQueueGet(task_runtime.msgq.cmd.calc,&cmd_calc, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.action.Calc,&pos_action,NULL,0);
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block_select(&pos_action,&cmd_calc);
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path_select(&cmd_calc);//路径点选择
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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}
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