From cf1bc7b2ae9f45e296e42b190624bab9e2ff2cd1 Mon Sep 17 00:00:00 2001
From: TuxMonkey <nqx_2004@qq.com>
Date: Mon, 9 Mar 2026 02:35:08 +0800
Subject: [PATCH] daemon init failed

---
 Core/Src/freertos.c                           | 39 ++++++++++++++++++-
 .../power_meters/xiditech/xidipwmeter.c       |  8 ++--
 User_Code/module/software/daemon/daemon.c     |  3 +-
 User_Code/user_task/dev_tasks/dev_cmd.c       |  5 ++-
 User_Code/user_task/dev_tasks/dev_cmd.h       | 38 +++++++++---------
 5 files changed, 66 insertions(+), 27 deletions(-)

diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index d4abddb..49d33b4 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -131,7 +131,21 @@ const osThreadAttr_t instask_attributes = {
 //@Todo:测试使用
 osThreadId insTaskHandle;
 
-void StartINSTASK(void const *argument);
+void StartINSTASK(void *argument);
+
+
+
+//@Todo:测试daemon(但是没有daemon注册)
+const osThreadAttr_t daemon_attributes = {
+    .name = "daemon",
+    .priority = osPriorityAboveNormal, // 较高优先级
+    .stack_size = 1024 * 4 // 栈大小，单位是字节（通常是字数的4倍）
+  };
+
+//@Todo:测试使用
+osThreadId daemonHandle;
+
+void DaemonTask();
 
 /* USER CODE END FunctionPrototypes */
 
@@ -249,6 +263,10 @@ void MX_FREERTOS_Init(void)
   //@Todo:INS_Task是测试版本
   // 创建线程
   insTaskHandle = osThreadNew(StartINSTASK, NULL, &instask_attributes);
+
+    //@Todo:daemon是测试版本
+    // 创建线程
+    daemonHandle = osThreadNew(DaemonTask, NULL, &daemon_attributes);
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
@@ -406,7 +424,7 @@ __weak void RefereeTask(void *argument)
 /* USER CODE BEGIN Application */
 
 //@Todo:INS_Task是测试阶段使用。
-__attribute__((noreturn)) void StartINSTASK(void const *argument)
+__attribute__((noreturn)) void StartINSTASK(void *argument)
 {
   static float ins_start;
   static float ins_dt;
@@ -425,6 +443,23 @@ __attribute__((noreturn)) void StartINSTASK(void const *argument)
   }
 }
 
+/**
+* @brief Function implementing the reference thread.
+* @param argument: Not used
+* @retval None
+* @Todo:Deamon task
+*/
+/* USER CODE END Header_RefereeTask */
+__weak void DaemonTask()
+{
+    /* USER CODE BEGIN DaemonTask */
+    /* Infinite loop */
+    for (;;)
+    {
+        osDelay(1);
+    }
+    /* USER CODE END RefereeTask */
+}
 
 /* USER CODE END Application */
 
diff --git a/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c b/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c
index 5c51704..49f7625 100644
--- a/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c
+++ b/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c
@@ -31,10 +31,10 @@ void XidiPowerMeterDecode(FDCANInstance *_instance)
     XidiPowerMeter_Msg_s *measure = &power_meter_instance->powermeter_msg;
 
     // 重载守护进程
-    // if (power_meter_instance->daemon != NULL)
-    // {
-    //     DaemonReload(power_meter_instance->daemon);
-    // }
+    if (power_meter_instance->daemon != NULL)
+    {
+        DaemonReload(power_meter_instance->daemon);
+    }
 
     // 计算时间间隔
     measure->dt = DWT_GetDeltaT(&power_meter_instance->feed_cnt);
diff --git a/User_Code/module/software/daemon/daemon.c b/User_Code/module/software/daemon/daemon.c
index 8e9d905..f5326cc 100644
--- a/User_Code/module/software/daemon/daemon.c
+++ b/User_Code/module/software/daemon/daemon.c
@@ -1,7 +1,8 @@
 #include "daemon.h"
 #include "bsp_dwt.h"
-#include "stdlib.h"
+#include "cmsis_os2.h"
 #include "memory.h"
+#include "stdlib.h"
 
 /* 用于保存所有的daemon instance */
 static Daemon_Instance *daemon_instances[DAEMON_MAX_NUM];
diff --git a/User_Code/user_task/dev_tasks/dev_cmd.c b/User_Code/user_task/dev_tasks/dev_cmd.c
index f19c0c2..1092e98 100644
--- a/User_Code/user_task/dev_tasks/dev_cmd.c
+++ b/User_Code/user_task/dev_tasks/dev_cmd.c
@@ -45,9 +45,10 @@ void RobotCMDInit()
     }
 }
 // ==================== 4. 在控制任务中读取使用 ====================
-void CmdTask()
+void CmdTask(void *argument)
 {
     RobotCMDInit();
+    DaemonReload(chassis_power_meter->daemon);
     while (1)
     {
         if (chassis_power_meter != NULL)
@@ -62,4 +63,4 @@ void CmdTask()
 
         osDelay(10); // 根据实际需要调整读取频率
     }
-}
+}
\ No newline at end of file
diff --git a/User_Code/user_task/dev_tasks/dev_cmd.h b/User_Code/user_task/dev_tasks/dev_cmd.h
index 5570b28..dca44b7 100644
--- a/User_Code/user_task/dev_tasks/dev_cmd.h
+++ b/User_Code/user_task/dev_tasks/dev_cmd.h
@@ -1,20 +1,22 @@
-// //
-// // Created by ASUS on 2025/12/15.
-// //
 //
-// #ifndef TRONONEH7_SCAFFOLD_DEV_CMD_H
-// #define TRONONEH7_SCAFFOLD_DEV_CMD_H
+// Created by ASUS on 2025/12/15.
 //
-// /**
-//  * @brief 机器人核心控制任务初始化,会被RobotInit()调用
-//  *
-//  */
-// void RobotCMDInit();
-//
-// /**
-//  * @brief 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率)
-//  *
-//  */
-// void RobotCMDTask();
-//
-// #endif //TRONONEH7_SCAFFOLD_DEV_CMD_H
+
+#ifndef TRONONEH7_SCAFFOLD_DEV_CMD_H
+#define TRONONEH7_SCAFFOLD_DEV_CMD_H
+
+// 如果用到了 FreeRTOS 的 API，可以在这里包含，或者在需要用到的源文件里包含
+// #include "cmsis_os2.h"
+
+/**
+ * @brief 机器人指令控制及外设初始化
+ */
+void RobotCMDInit(void);
+
+/**
+ * @brief 指令下发主任务 (FreeRTOS 线程)
+ * @param argument 线程传入参数
+ */
+void CmdTask(void *argument);
+
+#endif // TRONONEH7_SCAFFOLD_DEV_CMD_H