TuxMonkey/bf_original_balance_chassis
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增加了LK电机和HT电机的基本支持,待编写控制

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NeoZng
2022-12-13 19:40:03 +08:00
parent 2f41e67de0
commit 11329aaddb
21 changed files with 280 additions and 171 deletions
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10
modules/message_center/message_center.c
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@@ -14,11 +14,11 @@ void MessageInit()
{
// pub必须唯一,即消息名称不能重复,不得有多个pub发布相同消息名称
// 对每一个subscriber,寻找相同消息名称的publisher,可能有多个sub从相同pub获取消息
for (size_t i = 0; i < MAX_EVENT_COUNT; i++)
for (size_t i = 0; i < MAX_EVENT_COUNT; ++i)
{
if (s_pptr[i] != NULL)
{
for (size_t j = 0; j < MAX_EVENT_COUNT; j++) // 遍历publisher
for (size_t j = 0; j < MAX_EVENT_COUNT; ++j) // 遍历publisher
{
if (p_ptr[j] != NULL) // 不为空
{
@@ -46,7 +46,7 @@ void MessageInit()
void PublisherRegister(char *name, void *data)
{
static uint8_t idx;
for (size_t i = 0; i < idx; i++)
for (size_t i = 0; i < idx; ++i)
{
if (strcmp(pname[i], name) == 0)
while (1)
@@ -105,7 +105,7 @@ Subscriber_t *SubRegister(char *name, uint8_t data_len)
memset(ret, 0, sizeof(Subscriber_t));
// 对新建的Subscriber进行初始化
ret->data_len = data_len; // 设定数据长度
for (size_t i = 0; i < QUEUE_SIZE; i++)
for (size_t i = 0; i < QUEUE_SIZE; ++i)
{ // 给消息队列的每一个元素分配空间,queue里保存的实际上是数据执指针,这样可以兼容不同的数据长度
ret->queue[i] = malloc(sizeof(data_len));
}
@@ -135,7 +135,7 @@ Subscriber_t *SubRegister(char *name, uint8_t data_len)
Subscriber_t *ret = (Subscriber_t *)malloc(sizeof(Subscriber_t));
memset(ret, 0, sizeof(Subscriber_t));
ret->data_len = data_len;
for (size_t i = 0; i < QUEUE_SIZE; i++)
for (size_t i = 0; i < QUEUE_SIZE; ++i)
{ // 给消息队列分配空间
ret->queue[i] = malloc(sizeof(data_len));
}