centralCtrSys/centralCtrSys_theEnd/si/centralCtrSys.si4project/Backup/task_communication(7964).c

#include "task_communication.h"

/* typedef -----------------------------------------------------------*/

comData s_comData = {
	.maxFeed = 60,
	.maxRunFeed = 0,
	};

// 下发的车时速控制
void Speed_Control(comData *p_comData, ec800Date *p_ec800Date){
    if (p_comData == NULL || p_ec800Date == NULL) {
        // 错误处理：输入参数无效
        return;
    }

    // 获取后台允许的最高车速
    p_comData->maxFeed = s_param_boot.speed_limit;
    // 检查是否处于硬件更新状态
    if(p_ec800Date->hardwareUpdate == 0x01){
        p_comData->maxRunFeed = 0;
        return;
    }

    // 检查围栏状态和驾驶状态
    if(p_ec800Date->fenceRecSuccess == 0 || (p_comData->driveStatus == 1 && p_comData->fenceStatus == 1)){
        p_comData->maxRunFeed = s_param_boot.car_lock_flag ? 0 : p_comData->maxFeed;
        return;
    }

    // 检查是否超出围栏且处于运行状态
    if(p_comData->driveStatus == 3 && p_comData->fenceStatus == 1){
        uint8_t lock_speed = s_param_boot.car_lock_flag ? 0 : p_comData->maxFeed;
        p_comData->maxRunFeed = (p_comData->maxRunFeed > lock_speed) ? p_comData->maxRunFeed - 1 : lock_speed;
        return;
    }

    // 如果在围栏内，设置最大速度为后台允许的最高车速
    if(p_comData->fenceStatus == 0){
        p_comData->maxRunFeed = p_comData->maxFeed;
    }
}


// 车运行状态切换
void vehicle_runState(rs485RecDate *p_rs485RecDate, comData *p_comData){
	uint16_t vehSpeed; // 车速
	static uint8_t status2_cnt, status3_cnt = 0;

	// 初始化还未完成，不进行行车状态判断
	if(p_comData->driveStatus ==  0){
		return;
	}

	/* 尝试获取互斥量，等待无限长时间 */
	if(osMutexAcquire(mutex_rs485RecDateHandle, osWaitForever) == osOK)
	{
	  	vehSpeed = p_rs485RecDate->vehicleSpeed;
	  	/* 访问完成，释放互斥量 */
		osMutexRelease(mutex_rs485RecDateHandle);
	}	

	// 车速判断 判断车的运行状态
	if(vehSpeed == 0){
		status3_cnt = 0;
		if(status2_cnt < times_60s){
			status2_cnt++;
		}else{
			status2_cnt = times_60s;
			p_comData->driveStatus = 2;
		}
	}

	if(vehSpeed > 0){
		status2_cnt = 0;
		if(status3_cnt < times_5s){
			status3_cnt++;
		}else{
			status3_cnt = times_5s;
			p_comData->driveStatus = 3;
		}
	}
}

// 电子围栏判断
void evaluateGeofenceBoundary(comData *p_comData, double PolygonLat[], double PolygonLng[]) {
	double point1Lat = 34.155896;
	double point1Lng = 108.978638;

	/* 尝试获取互斥量，等待无限长时间 */
	if(osMutexAcquire(s_messageDate_locationHandle, osWaitForever) == osOK)
	{
	  /* 安全地访问s_rs485RecDate结构体 */
//	  point1Lat = s_messageDate.latitude / 100000;
//	  point1Lng = s_messageDate.longitude / 100000;
	  point1Lat = 34.155896;
	  point1Lng = 108.978638;
	  
	  /* 访问完成，释放互斥量 */
	  osMutexRelease(s_messageDate_locationHandle);
	}	

    // 测试点在多边形内部的情况
    bool result1 = isPointInPolygon(point1Lat, point1Lng, PolygonLat, PolygonLng, REC_COORDINATE_DEPTH);
    printf("Test case 1: Point (%f, %f) is%s inside the polygon.\n", point1Lat, point1Lng, result1 ? "" : " not");

	if(result1){ // 处于围栏内
		p_comData->fenceStatus = 0;
	}else{ // 处于围栏外
		p_comData->fenceStatus = 1;
	}

}

// 测试用
void readFaultRecord(void){
	char storeFaultData[100] = {0};

	// 读数据
    norflash_read((uint8_t *)storeFaultData, 0, 56);

	HAL_UART_Transmit(&huart1, (uint8_t*)&storeFaultData ,56,1000);
}


/* USER CODE BEGIN Header_Task_communication */
/**
* @brief Function implementing the communication thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_Task_communication */
void task_communication_content(void)
{
//	unsigned long times = 0;
	comData *p_comData = &s_comData;
	
	LED0_TOGGLE(); // 灯翻转

	faultDetection(&s_global_par); // 故障监测

//	handleOTAUpgradeFault(); // OTA升级故障处理
//
//	EC800_FTP_OTA_Upgrade(); // OTA升级

	// 固件升级时不做其他操作，保证固件更新的完成
	if(s_ec800Date.hardwareUpdate != 0){
		HAL_NVIC_DisableIRQ(USART3_IRQn); // 避免被中斷
//		HAL_NVIC_DisableIRQ(USART1_IRQn);
	
		osDelay(200);
	}else{
		if(s_ec800Date.fenceRecSuccess == 1){ // 围栏数据接收完成 执行围栏判断
			evaluateGeofenceBoundary(&s_comData, polygonLat, polygonLng); // 电子围栏

			// 从无状态转为初始态
			if(p_comData->driveStatus == 0){
				p_comData->driveStatus = 1; 
			}
		}

//		storeFaultRecord(); // 历史故障存储
		readFaultRecord(); // 测试用 读取历史故障
		Speed_Control(&s_comData, &s_ec800Date); // 速度控制
		vehicle_runState(&s_rs485RecDate, &s_comData); // 行车状态判断

		rs485_poll_sendReceive(s_comData.maxRunFeed); // 与车进行通信
		osDelay(1000);
	}


//	times = getRunTimeCounterValue();
//	printf("test_isPointInPolygon:%ld\r\n", times);
	
}