492 lines
12 KiB
C
492 lines
12 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file fm33lg0xx_queue.c
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* @author Motor Control SDK Team, Yuwell Software XiangenWang
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* @brief Voice Recognition Module Initialization Section,
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including peripheral initialization and message node insertion, etc.
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* @version 1.0
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* @changelog version 1.0 初始版本 2025.11.13
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- 新增：新建第一个版本的软件，待完善解析命令后的程序执行部分
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******************************************************************************
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* @attention
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*
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* <h2><center>© Copyright (c) 2025 Yuwell Software Danyang.Jiangsu.China.
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* All rights reserved.</center></h2>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted, provided that the following conditions are met:
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*
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* 1. Redistribution of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* 3. Neither the name of Yuwell Software nor the names of other
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* contributors to this software may be used to endorse or promote products
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* derived from this software without specific written permission.
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* 4. This software, including modifications and/or derivative works of this
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* software, must execute solely and exclusively on microcontroller or
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* microprocessor devices manufactured by or for Yuwell Software.
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* 5. Redistribution and use of this software other than as permitted under
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* this license is void and will automatically terminate your rights under
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* this license.
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*
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* THIS SOFTWARE IS PROVIDED BY Yuwell Software AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
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* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
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* SHALL Yuwell Software OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
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* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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#include "fm33lg0xx_queue.h"
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/**
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* @brief 消息队列初始化
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* @param MessageQueue指针
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* @retval void
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* @note 用于MCU上电瞬间对队列进行初始化工作
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*/
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void init_queue(MessageQueue *queue)
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{
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queue->front = queue->rear = NULL;
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queue->length = 0;
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// 向队列中插入状态机
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MsgQueueItem stm_item;
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stm_item.type = MSG_TYPE_OXG_STM;
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stm_item.data.state_machine.oxg_stm = STM_INIT;
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modify_or_add_queue_node_by_type(&global_queue, MSG_TYPE_OXG_STM, stm_item);
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}
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/**
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* @brief 消息队列是否为空检查
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* @param MessageQueue指针
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* @retval bool
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* @note 检查队列是否为空
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*/
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bool is_queue_empty(MessageQueue* queue)
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{
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return queue->front == NULL;
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}
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/**
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* @brief 向队列中插入消息
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* @param MessageQueue指针
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* @retval bool
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*/
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void insert_queue_node_in_head(MessageQueue* queue, MsgQueueItem frame)
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{
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if(queue->length > QUEUE_LEN_MAX)
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{
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return;
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}
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QueueNode* newNode = (QueueNode*)malloc(sizeof(QueueNode)); // 在堆中分配内存给接收到的数据
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if (newNode == NULL)
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{
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return; // 内存分配失败处理
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}
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newNode->item = frame;
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newNode->next = NULL;
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if (is_queue_empty(queue))
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{
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queue->rear = newNode; // 队列尾部指向新节点
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queue->front = newNode; // 队列头部指向新节点（空队列插入第一个节点时，头尾重合）
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} else {
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queue->rear->next = newNode; // 更新尾部数据
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queue->rear = newNode;
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}
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queue->length++;
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}
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/**
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* @brief 从队列中取出消息（出队）
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* @param queue: 消息队列指针
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* @param out_item: 输出参数，用于存储取出的消息数据
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* @retval bool: 成功取出返回true，队列为空返回false
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* @note 从队头取出消息，取出后删除该节点，队列长度-1；
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* 调用前需确保out_item指针有效，或先调用is_queue_empty检查队列状态
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*/
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bool remove_queue_node_in_head(MessageQueue* queue, MsgQueueItem* out_item)
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{
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// 检查队列是否为空或输出指针是否有效
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if (is_queue_empty(queue) || out_item == NULL)
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{
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return false;
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}
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// 保存队头节点指针
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QueueNode* temp_node = queue->front;
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// 取出队头消息数据
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*out_item = temp_node->item;
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// 更新队头指针（指向 next 节点）
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queue->front = queue->front->next;
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// 如果队列只有一个节点，取出后队尾也需置空
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if (queue->front == NULL)
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{
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queue->rear = NULL;
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}
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// 释放原队头节点内存
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free(temp_node);
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temp_node = NULL;
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// 队列长度-1
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queue->length--;
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return true;
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}
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/**
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* @brief 从队列中取出指定类型的消息（按类型出队）
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* @param queue: 消息队列指针
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* @param target_type: 要查找的消息类型（MsgType枚举值）
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* @param out_item: 输出参数，用于存储取出的消息数据
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* @retval bool: 找到并取出返回true，队列空/无匹配类型/参数无效返回false
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* @note 遍历队列查找第一个匹配类型的节点，取出后删除该节点，队列长度-1；
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* 调用前需确保out_item指针有效，或先调用is_queue_empty检查队列状态；
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* 若存在多个相同类型节点，仅取出第一个（最早入队的）
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*/
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bool remove_queue_node_by_type(MessageQueue* queue, MsgType target_type, MsgQueueItem* out_item)
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{
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// 检查队列是否为空、输出指针是否有效、消息类型是否合法
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if (is_queue_empty(queue) || out_item == NULL || target_type >= MSG_TYPE_MAX)
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{
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return false;
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}
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QueueNode* target_node = NULL; // 要删除的目标节点
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QueueNode* prev_node = NULL; // 目标节点的前一个节点（用于衔接链表）
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// 遍历队列查找第一个匹配类型的节点
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target_node = queue->front;
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while (target_node != NULL)
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{
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// 找到匹配类型的节点，退出遍历
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if (target_node->item.type == target_type)
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{
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break;
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}
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// 未找到，移动到下一个节点
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prev_node = target_node;
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target_node = target_node->next;
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}
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// 未找到匹配类型的节点
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if (target_node == NULL)
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{
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return false;
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}
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// 取出目标节点的消息数据
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*out_item = target_node->item;
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// 处理链表衔接：区分目标节点是头节点、中间节点还是尾节点
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if (prev_node == NULL)
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{
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// 目标节点是头节点：更新队头指针
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queue->front = target_node->next;
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// 若队列只有一个节点（删除后为空），更新队尾指针
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if (queue->front == NULL)
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{
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queue->rear = NULL;
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}
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}
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else
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{
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// 目标节点是中间节点或尾节点：衔接前一个节点和后一个节点
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prev_node->next = target_node->next;
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// 若目标节点是尾节点：更新队尾指针
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if (target_node->next == NULL)
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{
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queue->rear = prev_node;
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}
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}
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// 释放目标节点内存
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free(target_node);
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target_node = NULL;
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// 队列长度-1
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queue->length--;
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return true;
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}
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/**
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* @brief 从队列中读取指定类型的消息（仅读取，不删除节点）
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* @param queue: 消息队列指针
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* @param target_type: 要查找的消息类型（MsgType枚举值）
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* @param out_item: 输出参数，用于存储读取的消息数据
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* @retval bool: 找到匹配类型返回true，队列空/无匹配类型/参数无效返回false
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* @note 遍历队列查找第一个匹配类型的节点，仅复制数据，不修改队列结构；
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* 若存在多个相同类型节点，仅读取第一个（最早入队的）
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*/
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bool peek_queue_node_by_type(MessageQueue* queue, MsgType target_type, MsgQueueItem* out_item)
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{
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// 检查队列是否为空、输出指针是否有效、消息类型是否合法
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if (is_queue_empty(queue) || out_item == NULL || target_type >= MSG_TYPE_MAX)
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{
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return false;
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}
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QueueNode* current_node = queue->front;
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// 遍历队列查找匹配类型的节点
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while (current_node != NULL)
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{
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if (current_node->item.type == target_type)
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{
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// 仅复制数据，不删除节点
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*out_item = current_node->item;
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return true;
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}
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current_node = current_node->next;
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}
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// 未找到匹配类型
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return false;
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}
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/**
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* @brief 修改队列中指定类型的消息数据（若不存在则新增）
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* @param queue: 消息队列指针
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* @param target_type: 要修改/新增的消息类型
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* @param new_data: 新的消息数据（修改时覆盖，新增时作为初始数据）
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* @retval bool: 成功（修改或新增）返回true，参数无效/队列满返回false
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* @note 1. 若存在目标类型节点，修改第一个匹配节点的数据
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* 2. 若不存在，在队列尾部新增节点（需确保队列未满）
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*/
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bool modify_or_add_queue_node_by_type(MessageQueue* queue, MsgType target_type, MsgQueueItem new_data)
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{
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// 检查参数有效性
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if (queue == NULL || target_type >= MSG_TYPE_MAX)
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{
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return false;
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}
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// 1. 先尝试查找并修改已存在的节点
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QueueNode* current_node = queue->front;
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while (current_node != NULL)
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{
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if (current_node->item.type == target_type)
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{
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// 找到匹配节点，覆盖数据
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current_node->item = new_data;
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return true;
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}
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current_node = current_node->next;
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}
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// 2. 未找到匹配节点，尝试新增（检查队列是否已满）
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if (queue->length >= QUEUE_LEN_MAX)
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{
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return false; // 队列已满，无法新增
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}
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// 分配新节点内存
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QueueNode* new_node = (QueueNode*)malloc(sizeof(QueueNode));
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if (new_node == NULL)
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{
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return false; // 内存分配失败
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}
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// 初始化新节点（确保消息类型与目标类型一致）
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new_data.type = target_type; // 强制同步类型，避免传入数据类型不匹配
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new_node->item = new_data;
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new_node->next = NULL;
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// 插入队列尾部
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if (is_queue_empty(queue))
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{
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queue->front = new_node;
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queue->rear = new_node;
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}
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else
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{
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queue->rear->next = new_node;
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queue->rear = new_node;
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}
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queue->length++;
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return true;
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}
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/**
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* @brief 检查队列中是否存在指定类型的消息
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* @param queue: 消息队列指针
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* @param target_type: 要查询的消息类型
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* @retval bool: 存在返回true，不存在/参数无效返回false
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*/
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bool has_queue_node_of_type(MessageQueue* queue, MsgType target_type)
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{
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// 检查队列是否为空、消息类型是否合法
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if (is_queue_empty(queue) || target_type >= MSG_TYPE_MAX)
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{
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return false;
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}
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QueueNode* current_node = queue->front;
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// 遍历队列查找匹配类型的节点
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while (current_node != NULL)
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{
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if (current_node->item.type == target_type)
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{
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return true; // 找到匹配类型
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}
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current_node = current_node->next;
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}
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// 未找到匹配类型
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return false;
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}
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/**
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* @brief 统计队列中指定类型的消息数量
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* @param queue: 消息队列指针
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* @param target_type: 要统计的消息类型
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* @retval uint32_t: 匹配类型的节点数量（0表示无匹配或参数无效）
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*/
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uint32_t count_queue_node_by_type(MessageQueue* queue, MsgType target_type)
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{
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// 检查队列是否为空、消息类型是否合法
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if (is_queue_empty(queue) || target_type >= MSG_TYPE_MAX)
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{
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return 0;
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}
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uint32_t count = 0;
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QueueNode* current_node = queue->front;
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// 遍历队列统计匹配类型的节点
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while (current_node != NULL)
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{
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if (current_node->item.type == target_type)
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{
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count++;
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}
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current_node = current_node->next;
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}
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return count;
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}
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/**
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* @brief 清空队列中所有节点（释放内存）
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* @param queue: 消息队列指针
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* @retval void
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*/
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void clear_queue(MessageQueue* queue)
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{
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if (queue == NULL)
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{
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return;
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}
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QueueNode* temp_node = NULL;
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// 逐个释放节点内存
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while (queue->front != NULL)
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{
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temp_node = queue->front;
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queue->front = queue->front->next;
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free(temp_node);
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temp_node = NULL;
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}
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// 重置队列状态
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queue->rear = NULL;
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queue->length = 0;
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}
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/************************ (C) COPYRIGHT YUWELL *****END OF FILE****/
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