Init

CrashDetection.c

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+//
+// Created by ilya on 05.04.24.
+//
+#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) {
+    for (;;) {
+        CarCrashDetection_Processing(&env->carCrashDetection, SystemWaitForever);
+    }
+}
+
+void CrashDetection_StopThread(tCrashDetection *env) {
+    if(env->thread.id != NULL) {
+        if (osThreadTerminate(env->thread.id) == osOK) {
+            SystemDelayMs(100);
+            env->thread.id = NULL;
+            LoggerInfoStatic(LOGGER, LOG_SIGN, "Поток обработки данных акселерометра остановлен")
+            SystemDelayMs(500);
+        }
+    }
+}
+
+void CrashDetection_StartThread(tCrashDetection *env) {
+    if (env->thread.id == NULL) {
+        env->thread.id = osThreadNew((osThreadFunc_t) (CrashDetection_Thread), (void *) (env), &env->thread.attr);
+    }
+}

CrashDetection.h

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+//
+// Created by ilya on 05.04.24.
+//
+
+#ifndef SMART_COMPONENTS_CRASHDETECTION_H
+#define SMART_COMPONENTS_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[512];
+        StaticTask_t controlBlock;
+        osThreadAttr_t attr;
+    } thread;
+} tCrashDetection;
+
+void CrashDetection_Init(
+        tCrashDetection *env,
+        tAccelDataFlowInterface *accelData,
+        float *asi15threshold,
+        tCarFlipDetectionSettings *settings,
+        tLoggerInterface *logger
+);
+void CrashDetection_StopThread(tCrashDetection *env);
+void CrashDetection_StartThread(tCrashDetection *env);
+#endif //SMART_COMPONENTS_CRASHDETECTION_H

modular.json

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+{
+  "dep": [
+  ],
+  "cmake": {
+    "inc_dirs": [
+      "./"
+    ],
+    "srcs": [
+      "./**.c"
+    ]
+  }
+}