修改心跳发送时机，单独线程，等待周期结束前30ms时发送心跳

TSCP/src/MSCP/CFM/CFM_Net.c

@@ -36,6 +36,7 @@
 #include "MSCP_APP_Interface.h"
 #include "PFM_RemoteUpdate.h"
 #include "MSCP_Define.h"
+#include "CFM_Raw.h"
 #include <stdarg.h>
 
 #define CFM_2oo2_MSG_NUM_MAX (200u)
@@ -58,6 +59,18 @@
 /*日志攒包发送 攒包大小*/
 #define LOG_MAX (5120u)
 
+/* 心跳在周期结束前30ms执行发送 */
+#define CFM_HEART_WAITE (30u)
+
+/* 心跳发送线程控制结构体 */
+typedef struct
+{
+    CM_SEM_T m_Start;  	 /* 心跳线程开始信号量 */
+    CM_SEM_T m_Stop;   	 /* 心跳线程结束信号量 */
+} STRU_CFM_HEART_CTRL_T;
+
+static STRU_CFM_HEART_CTRL_T s_CFM_HeartCtrl;
+
 /** 接收线程控制 */
 typedef struct
 {
@@ -351,6 +364,8 @@ static CM_THREAD_FUNC_T t_TimeThread_Area(IN CM_Thread_Arg_Struct_T* arg);
 static CM_THREAD_FUNC_T t_RemoteUpdateThread(IN CM_Thread_Arg_Struct_T* arg);
 
 static CM_THREAD_FUNC_T t_ClearArpThread(void);
+/* 单独的心跳发送线程 */
+static CM_THREAD_FUNC_T t_OutNetHeartSendThread(IN CM_Thread_Arg_Struct_T* arg);
 
 
 /* 2取使用socket的初始化*/
@@ -2666,6 +2681,13 @@ static void s_NetInit_Outnet(void)
     rtCheck = CM_Thread_Create((CM_THREAD_T*) NULL, (CM_THREAD_FUNC_T) t_ClearArpThread,"Clear_Arp", 0, CM_TASK_PRIORITY_94, NULL);
    	CM_RE_ASSERT(CM_TRUE == rtCheck, NET_MODE, DARK_FAULT_CODE_FUN_ORDER_4, TSCP_DARK_ASSERT_13);
 
+	rt = CM_Sem_Init(&s_CFM_HeartCtrl.m_Start);
+	CM_RE_ASSERT(ENUM_CM_TRUE == rt, NET_MODE, DARK_FAULT_CODE_FUN_ORDER_4, TSCP_DARK_ASSERT_14);
+	rt = CM_Sem_Init(&s_CFM_HeartCtrl.m_Stop);
+	CM_RE_ASSERT(ENUM_CM_TRUE == rt, NET_MODE, DARK_FAULT_CODE_FUN_ORDER_4, TSCP_DARK_ASSERT_15);
+	rtCheck = CM_Thread_Create((CM_THREAD_T*) NULL, (CM_THREAD_FUNC_T) t_OutNetHeartSendThread,"heart_send", 0, CM_TASK_PRIORITY_82, (CM_Thread_Arg_Struct_T*)&s_CFM_HeartCtrl);
+	CM_RE_ASSERT(CM_TRUE == rtCheck, NET_MODE, DARK_FAULT_CODE_FUN_ORDER_4, TSCP_DARK_ASSERT_16);
+
 	CM_Sleep(100u);/* 延时等待线程启动 */
 }
 
@@ -3323,8 +3345,6 @@ void CFM_NetworkCard_Init(void)
 * 创建本线程之前应先配置好STRU_CFM_RECV_CTRL，包括创建阻塞通信的socket
 * 本线程将以阻塞方式接收UDP报文并写入线程接收队列
 */
-extern CM_UINT64 test_stop_tick;
-extern CM_UINT32 test_recv_len, test_recv_num;
 static CM_THREAD_FUNC_T t_UdpRecvThread(IN CM_Thread_Arg_Struct_T* arg)
 {
     /*- 变量初始化 */
@@ -3381,12 +3401,6 @@ static CM_THREAD_FUNC_T t_UdpRecvThread(IN CM_Thread_Arg_Struct_T* arg)
 					if (ENUM_CM_TRUE == rt)
 					{
 						/*成功无操作*/
-						if(ENUM_THREAD_OutnetS_Rx == pCtrl->threadNumBer)
-						{
-							test_stop_tick = CM_GetTick();
-							test_recv_len += len;
-							test_recv_num++;
-						}
 					}
 					else
 					{
@@ -4775,7 +4789,36 @@ void CFM_AssertRecved(void)
 	assertMsgNum = CM_MQ_Get_Msg_Num(&s_CFM_Rx2oo2_Assert.MsgQ);
 	CM_ASSERT((0u == assertMsgNum),NET_MODE,DARK_FAULT_CODE_FUN_ORDER_41,TSCP_DARK_ASSERT_1);
 }
+/**
+ * @brief 发送心跳线程的启动信号量，需要在平台周期开始时发送
+ */
+void CFM_Heart_Thread_PostStart(void)
+{
+	(void)CM_Sem_Post(s_CFM_HeartCtrl.m_Start);
+}
+/* 单独的心跳发送线程 */
+static CM_THREAD_FUNC_T t_OutNetHeartSendThread(IN CM_Thread_Arg_Struct_T* arg)
+{
+	STRU_CFM_HEART_CTRL_T *pCtrl = (STRU_CFM_HEART_CTRL_T*)arg;
+	CM_UINT32 cyc_time = g_PFM_Cfg.CYC_TIME;
+	ENUM_2x2_STATE_T state_2x2 = ENUM_2x2_SHUTDOWN;
+#if QNX
+    void* pmask = NULL;
+    /*- 本线程锁定在 A53 core 1 */
+    pmask = (void*)(0x01u|0x02u);
+    (void)ThreadCtl(_NTO_TCTL_RUNMASK, pmask);
+#endif
+	while(1)
+	{
+		CM_Sem_Wait(pCtrl->m_Start);
+		state_2x2 = SFM_2x2_GetLocal2x2State();
+		CM_Sleep(cyc_time - 30u);
+		/*- 发送主线程热备状态的外网心跳*/
+		(void)CFM_TxOutnetHeart(state_2x2);
+	}
 
+	return NULL;
+}
 /*
 MAC层：14字节
 dst MAC [6] src MAC [6] type [2]

TSCP/src/MSCP/CFM/CFM_Net.h

@@ -759,6 +759,10 @@ extern "C"
      * @brief 判断收到宕机后的2取，立即执行宕机操作
      */
     void CFM_AssertRecved(void);
+    /**
+     * @brief 发送心跳线程的启动信号量，需要在平台周期开始时发送
+     */
+    void CFM_Heart_Thread_PostStart(void);
 #ifdef __cplusplus
 }
 #endif

TSCP/src/MSCP/MSCP_main.c

@@ -478,6 +478,8 @@ static CM_THREAD_FUNC_T MSCP_CycBase(void)
 		/*TODO 发送2x状态起始信号量*/
 		SFM_2x2_Thread_PostStart();
 		SFM_AREA_Thread_PostStart();
+		/* 发送心跳线程起始信号量 */
+		CFM_Heart_Thread_PostStart();
 		PFM_CFC_Check(24);
 		/*- @alias 2oo2周期校时 */
 		if (0x55u == g_PFM_Cfg.M_2oo2_Enable)
@@ -692,7 +694,7 @@ static void SelfCheckInit(void)
 {
 #ifdef QNX
     /*- 文件自检初始化 */
-    //PFM_FileInit();
+    PFM_FileInit();
 	/*- 内存自检初始化*/
     PFM_MemCheck_Init();
 	/*- CPU自检初始化*/

TSCP/src/MSCP/PFM/PFM_InputOutput.c

@@ -465,8 +465,6 @@ void PFM_BufSwich(void)
     s_OutnetHeart_Mine_AppReadIndex = 0;
     s_OutnetHeart_Peer_AppReadIndex = 0;
 }
-CM_UINT64 test_start_tick = 0u, test_stop_tick = 0u;
-CM_UINT32 test_recv_len = 0u, test_recv_num = 0u;
 /**
 * @brief 输入微周期处理
 * @details 
@@ -482,13 +480,11 @@ void PFM_InputProc(void)
     /*- 变量初始化 */
     CM_INT32 i = 0;
     ENUM_2x2_STATE_T p_state_2x2 = ENUM_2x2_SHUTDOWN; /* 对系热备状态 */
-    ENUM_2x2_STATE_T localstate = SFM_2x2_GetLocal2x2State(); /* 本机2x2状态 */
 
     /************************平台数据接收*************************/
     /*- 外网安全数据接收 */
     PFM_CFC_Check(26);
     g_2x2oo2_rx[g_2x2oo2_base][s_2x2oo2_OutnetSafe].mine_len = (CM_UINT32)SFM_RxOutnetSafe(g_2x2oo2_rx[g_2x2oo2_base][s_2x2oo2_OutnetSafe].p_mine_buf, (CM_UINT32)g_2x2oo2_rx[g_2x2oo2_base][s_2x2oo2_OutnetSafe].buf_size);
-    MSCP_LOG_MSG("TEST:CYC = %d, Recv Num %d Len %d USED %llums\n",g_MSCP_SysCount, test_recv_num, test_recv_len, (test_stop_tick - test_start_tick) / CM_UNSIGNED_MILLION);
     MSCP_LOG_MSG("g_2x2oo2_rx[g_2x2oo2_base][s_2x2oo2_OutnetSafe].mine_len = %d\n",g_2x2oo2_rx[g_2x2oo2_base][s_2x2oo2_OutnetSafe].mine_len);
     /*判断外网透传使能开关*/
     if((CM_UINT32)0x55u == g_PFM_Cfg.M_OutnetRaw_Enable)
@@ -519,12 +515,6 @@ void PFM_InputProc(void)
     }
 
     PFM_CFC_Check(30);
-    /*- 发送主线程热备状态的外网心跳*/
-    test_start_tick = CM_GetTick();
-    test_stop_tick = test_start_tick;
-    test_recv_len = 0u;
-    test_recv_num = 0u;
-    (void)CFM_TxOutnetHeart(localstate);
     PFM_CFC_Check(31); /*预留*/
     /*************************本地输入数据2oo2交换和比较*************************/
     MSCP_LOG_MSG("timecurr 1 Input Recv = %lld us\n", NOW_USED_TIME);