From bc29328f0ea1bf3300b465d09070090ad2cd82cf Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Wed, 4 Dec 2024 13:10:47 +0300
Subject: [PATCH] Init

---
 Inc/CrashDetection.h | 35 +++++++++++++++++++++
 Src/CrashDetection.c | 75 ++++++++++++++++++++++++++++++++++++++++++++
 modular.json         | 18 +++++++++++
 3 files changed, 128 insertions(+)
 create mode 100644 Inc/CrashDetection.h
 create mode 100644 Src/CrashDetection.c
 create mode 100644 modular.json

diff --git a/Inc/CrashDetection.h b/Inc/CrashDetection.h
new file mode 100644
index 0000000..855cefc
--- /dev/null
+++ b/Inc/CrashDetection.h
@@ -0,0 +1,35 @@
+//
+// Created by xemon on 23.11.22.
+//
+
+#ifndef UVEOS_ON_NATION_CRASHDETECTION_H
+#define UVEOS_ON_NATION_CRASHDETECTION_H
+
+#include "CarCrashDetection.h"
+#include "LoggerInterface.h"
+
+typedef struct {
+    tCarCrashDetection carCrashDetection;
+    tUveosEmergencyEventInterface emergencyEvents;
+    tUveosEmergencySimulationInterface simulationInterface;
+    tLoggerInterface *logger;
+
+    struct {
+        osThreadId_t id;
+        uint32_t stack[2048];
+        StaticTask_t controlBlock;
+        osThreadAttr_t attr;
+    } thread;
+} tCrashDetection;
+
+void CrashDetection_Init(
+        tCrashDetection *env,
+        tAccelDataFlowInterface *accelData,
+        float *asi15threshold,
+        tCarFlipDetectionSettings *settings,
+        tLoggerInterface *logger
+);
+
+void CrashDetection_StartThread(tCrashDetection *env);
+
+#endif //UVEOS_ON_NATION_CRASHDETECTION_H
diff --git a/Src/CrashDetection.c b/Src/CrashDetection.c
new file mode 100644
index 0000000..b9a50a7
--- /dev/null
+++ b/Src/CrashDetection.c
@@ -0,0 +1,75 @@
+//
+// Created by xemon on 23.11.22.
+//
+
+#include "CrashDetection.h"
+#include "CmsisRtosThreadUtils.h"
+#include "SystemDelayInterface.h"
+
+#define LOG_SIGN "Опр.Авар."
+#define LOGGER env->logger
+
+void CrashDetection_Init(
+        tCrashDetection *env,
+        tAccelDataFlowInterface *accelData,
+        float *asi15threshold,
+        tCarFlipDetectionSettings *settings,
+        tLoggerInterface *logger
+) {
+    env->logger = logger;
+
+    CarCrashDetection_Init(&env->carCrashDetection, accelData, asi15threshold, settings);
+    env->emergencyEvents = CarCrashDetection_GetInterface(&env->carCrashDetection);
+    env->simulationInterface = CarCrashDetection_GetSimInterface(&env->carCrashDetection);
+
+    InitThreadAtrStatic(
+            &env->thread.attr,
+            "CrashDetection",
+            env->thread.controlBlock,
+            env->thread.stack,
+            osPriorityNormal
+    );
+
+    env->thread.id = 0;
+}
+
+
+static _Noreturn void CrashDetection_Thread(tCrashDetection *env) {
+    uint32_t time = SystemGetMs();
+    float asi, maxAsi = 0;
+    uint32_t count = 0;
+
+    for (;;) {
+        CarCrashDetection_Processing(&env->carCrashDetection, SystemWaitForever);
+#if false
+        asi = EraGlonassAsi15_GetCurrentValue(&env->carCrashDetection.asi15);
+        if (maxAsi < asi) {
+            maxAsi = asi;
+        }
+        ++count;
+
+        if (time < SystemGetMs()) {
+            LoggerCnInfoStatic(LOGGER, LOG_SIGN, "CCD >")
+
+            LoggerPrintf(LOGGER, " asi<%f> count %u", maxAsi, count);
+            maxAsi = 0;
+            count = 0;
+
+//            LoggerPrintf(LOGGER, "grav[%f %f %f] cos<%f>",
+//                         env->carCrashDetection.flip.current.value.x,
+//                         env->carCrashDetection.flip.current.value.y,
+//                         env->carCrashDetection.flip.current.value.z,
+//                         env->carCrashDetection.flip.current.angleCos
+//            );
+            LoggerInfoStatic(LOGGER, LOG_SIGN, "<")
+            time = SystemGetMs() + 1000;
+        }
+#endif
+    }
+}
+
+void CrashDetection_StartThread(tCrashDetection *env) {
+    if (!env->thread.id) {
+        env->thread.id = osThreadNew((osThreadFunc_t) (CrashDetection_Thread), (void *) (env), &env->thread.attr);
+    }
+}
\ No newline at end of file
diff --git a/modular.json b/modular.json
new file mode 100644
index 0000000..b713fee
--- /dev/null
+++ b/modular.json
@@ -0,0 +1,18 @@
+{
+  "dep": [
+    {
+      "type": "git",
+      "provider": "NAVIGATOR_UVEOS_NATION_TELIT",
+      "repo": "CarCrashDetection"
+    }
+  ],
+  "cmake": {
+    "inc_dirs": [
+      "Inc/"
+    ],
+    "srcs": [
+      "Src/**.c",
+      "Src_InitDefaults/**.c"
+    ]
+  }
+}
\ No newline at end of file