4G_module/custom/attr_broadcast/src/attr_broadcast.c

#include "cm_iomux.h"
#include "cm_gpio.h"
#include "stdio.h"
#include "stdlib.h"
#include "stdarg.h"
#include "math.h"
#include "cm_os.h"
#include "cm_fs.h"
#include "cm_mem.h"
#include "cm_sys.h"
#include "cm_uart.h"

#include "app_common.h"
#include "app_uart.h"


#include "control_out.h"
#include "attr_broadcast.h"
#include "gps_config.h"
#include "local_tts.h"

#if 0
#include "app_uart.h"
#define DEBUG(fmt, args...) app_printf("[Broadcast]" fmt, ##args)
#else
#include "app_uart.h"
#define DEBUG(fmt, ...)
#endif

#define MAX_ATTRACTIONS 50       // 最大景点数量
#define PLAY_DISTANCE_THRESHOLD 50.0 // 有效播报距离(米)
#define DISTANCE_CHANGE_THRESHOLD 10.0 // 距离变化阈值(米)
#define TTS_PRIORITY 5           // TTS播报优先级
#define MAX_TTS_SEGMENT_LEN 70   // TTS每段最大长度(字符)
#define ATTRACTIONS_FILE  "attr.txt" // 区域ID列表文件


static nmeaPARSER parser;

//该版本仅实现基本的靠近播报功能，长文字播放功能待开发


// 文本分段结构 [新增]
typedef struct {
    char** segments;    // 分段文本数组
    int count;          // 分段数量
} SegmentedText;


// 修改景点节点结构
typedef struct AttractionNode {
    uint32_t region_id;         // 区域ID [新增]
    double longitude;           // 经度
    double latitude;            // 纬度
    double radius;              // 半径 [新增]
    char name[50];              // 景点名称
    double trigger_distance;    // 触发距离（米）
    SegmentedText description;
    struct AttractionNode* next;
} AttractionNode;


// 播报状态
typedef struct {
    AttractionNode* last_broadcast;
    double last_distance;
    uint8_t is_playing;
    double distance_threshold;
} BroadcastState;


typedef int BOOL;
#define true 1
#define false 0

const char *park_desc[] = {
    "尊敬的游客欢迎来到顾村公园游玩",
    "顾村公园，位于上海市宝山区顾村镇沪太路4788号",
    "东起沪太路，西至陈广路,北邻镜泊湖路，南靠外环",
    "高速公路,占帝总面积430公顷,其中一期占帝180",
    "公顷,二期占帝244.7公顷,顾村公园一期于2007年8月",
    "动工建设,二期于2012年10月22日动工建设.公园",
    "建设理念为“亲民人文,以生态休闲娱乐为主题.",
    "集生态防护、景观观赏、休闲健身、文化娱乐旅游",
    "度假等功能于一体,与传统的城市公园形成功能互补",
    "并以中心河为界分两期实施。顾村公园为国家4A级",
    "景区,上海市科普教育基地、上海市志愿者服务基地等。"
};


static osMutexId_t attractions_mutex = NULL;
static AttractionNode* attractions_head = NULL;
static BroadcastState broadcast_state = {0};
static int tts_speed = 5;
static int tts_volume = 10;
static osThreadId_t Attr_Broadcast_ThreadId = NULL; //串口数据接收、解析任务Handle



// 智能分段函数 
SegmentedText smart_segment_text(const char* text, int max_segment_len) {
    SegmentedText result = {0};
    if (!text || *text == '\0') return result;
    
    int text_len = strlen(text);
    int max_segments = (text_len / max_segment_len) + 2;
    result.segments = cm_malloc(max_segments * sizeof(char*));
    
    int start = 0;
    int segment_count = 0;
    
    while (start < text_len && segment_count < max_segments) {
        int end = start + max_segment_len;
        if (end > text_len) end = text_len;
        
        if (end < text_len) {
            // 寻找最佳分割点（标点符号优先）
            int best_break = end;
            for (int i = end; i > start; i--) {
                if (strchr("。！？，;.!?", text[i])) {
                    best_break = i + 1;
                    break;
                }
            }
            end = best_break;
        }
        
        // 创建分段
        int seg_len = end - start;
        result.segments[segment_count] = cm_malloc(seg_len + 1);
        strncpy(result.segments[segment_count], text + start, seg_len);
        result.segments[segment_count][seg_len] = '\0';
        segment_count++;
        
        start = end;
    }
    
    result.count = segment_count;
    return result;
}



//多文字tts，景区播报专用
void safe_tts_play(const char* segments[], int count) {
    for(int i = 0; i < count; i++) {
        local_tts_text_play(segments[i], 0, 0);
        
        // 等待当前播放完成
        while(local_tts_get_play_state() != 0) {
            osDelay(100); // 每100ms检查一次
       }
        osDelay(200); // 额外缓冲
    }
}


// 释放分段内存 [新增]
void free_segmented_text(SegmentedText* st) {
    if (st && st->segments) {
        for (int i = 0; i < st->count; i++) {
            cm_free(st->segments[i]);
        }
        cm_free(st->segments);
        st->segments = NULL;
        st->count = 0;
    }
}


//计算到景点的距离
double location_service_calculate_distance(Location loc1, Location loc2) {
    // 使用Haversine公式计算真实距离
    const double R = 6371000; // 地球半径(米)
    double dLat = (loc2.latitude - loc1.latitude) * M_PI / 180.0;
    double dLon = (loc2.longitude - loc1.longitude) * M_PI / 180.0;
    
    double a = sin(dLat/2) * sin(dLat/2) +
               cos(loc1.latitude * M_PI / 180.0) * 
               cos(loc2.latitude * M_PI / 180.0) *
               sin(dLon/2) * sin(dLon/2);
    
    double c = 2 * atan2(sqrt(a), sqrt(1-a));
    return R * c;
}

// 获取当前位置
Location location_service_get_current(void) {
    Location current = {0};
    
    // 加锁保护全局数据
     osMutexAcquire(gps_data.mutex, osWaitForever);
        // 检查数据是否有效
        if (gps_data.info.sig > 0 && gps_data.info.fix > 0) {
            current.longitude = gps_data.longitude;
            current.latitude = gps_data.latitude;
        }
        osMutexRelease(gps_data.mutex);
    
    
    return current;
}


// 添加景点
void attr_broadcast_add_attraction(uint32_t region_id, 
                                  double lon, double lat, 
                                  double radius,  // 新增半径参数
                                  const char* name, 
                                  const char* desc) {
    if (attractions_mutex == NULL) return;
    
    osMutexAcquire(attractions_mutex, osWaitForever);
    // ===== 检查ID是否已存在 =====
    AttractionNode* existing = attractions_head;
    while (existing) {
        if (existing->region_id == region_id) {
            // 找到相同ID的景点，更新它而不是新建
            existing->longitude = lon;
            existing->latitude = lat;
            existing->radius = radius;
            strncpy(existing->name, name, sizeof(existing->name)-1);
            existing->name[sizeof(existing->name)-1] = '\0';
            
            // 释放旧的描述分段
            free_segmented_text(&existing->description);
            
            // 生成新的描述（如果需要）
            // existing->description = smart_segment_text(desc, MAX_TTS_SEGMENT_LEN);
            
            osMutexRelease(attractions_mutex);
            attr_broadcast_save_attractions();
            DEBUG("Updated attraction %u\n", region_id);
            return;
        }
        existing = existing->next;
    }
      // ===== 冲突检查结束 =====
    AttractionNode* new_node = cm_malloc(sizeof(AttractionNode));
    if (!new_node) {
        osMutexRelease(attractions_mutex);
        return;
    }
    
    // 填充景点信息
    new_node->region_id = region_id; // 设置区域ID
    new_node->longitude = lon;
    new_node->latitude = lat;
    strncpy(new_node->name, name, sizeof(new_node->name)-1);
    new_node->name[sizeof(new_node->name)-1] = '\0';
    new_node->radius = radius; // 设置半径

    // 添加到链表头部
    new_node->next = attractions_head;
    attractions_head = new_node;
    
    osMutexRelease(attractions_mutex);
    attr_broadcast_save_attractions();
}

// 根据区域ID删除景点
void attr_broadcast_remove_attraction_by_id(uint32_t region_id) {
    if (attractions_mutex == NULL) return;
    
    osMutexAcquire(attractions_mutex, osWaitForever);
    
    AttractionNode* current = attractions_head;
    AttractionNode* prev = NULL;
    
    while (current) {
        if (current->region_id == region_id) {
            if (prev) {
                prev->next = current->next;
            } else {
                attractions_head = current->next;
            }
            
            free_segmented_text(&current->description);
            cm_free(current);
            break;
        }
        prev = current;
        current = current->next;
    }
    
    osMutexRelease(attractions_mutex);
    attr_broadcast_save_attractions();
}

// 删除所有景点
void attr_broadcast_remove_all(void) {
    // 直接调用现有函数
    attr_broadcast_free_all();
    attr_broadcast_save_attractions();
}



// 释放所有景点内存    最新添加
void attr_broadcast_free_all() {
    if (attractions_mutex == NULL) return;
    
    osMutexAcquire(attractions_mutex, osWaitForever);
    
    AttractionNode* current = attractions_head;
    while (current) {
        AttractionNode* next = current->next;
        free_segmented_text(&current->description);
        cm_free(current);
        current = next;
    }
    
    attractions_head = NULL;
    osMutexRelease(attractions_mutex);
}

// 保存景点数据到文件
int attr_broadcast_save_attractions(void) {
    if (attractions_mutex == NULL) return -1;
    
    osMutexAcquire(attractions_mutex, osWaitForever);
    
    // 计算需要保存的数据大小
    uint32_t data_size = sizeof(int); // 景点数量字段
    AttractionNode* current = attractions_head;
    while (current) {
        // 每个景点的大小 = 区域ID(4) + 经纬度(8*3) + 名称长度(1) + 名称内容 + 描述分段数量(4) + 每个分段
        data_size += sizeof(uint32_t) + 3 * sizeof(double) + sizeof(uint8_t);
        data_size += strlen(current->name); // 名称长度
        
        // 描述分段
        data_size += sizeof(int); // 分段数量
        for (int i = 0; i < current->description.count; i++) {
            data_size += sizeof(uint16_t); // 分段长度
            data_size += strlen(current->description.segments[i]); // 分段内容
        }
        
        current = current->next;
    }
    
    // 分配内存缓冲区
    uint8_t* buffer = cm_malloc(data_size);
    if (!buffer) {
        osMutexRelease(attractions_mutex);
        return -2;
    }
    
    // 填充缓冲区
    uint32_t offset = 0;
    int count = 0;
    
    // 先写入景点数量（稍后填充）
    offset += sizeof(int);
    
    // 写入每个景点
    current = attractions_head;
    while (current) {
        count++;
        
        // 区域ID
        memcpy(buffer + offset, &current->region_id, sizeof(uint32_t));
        offset += sizeof(uint32_t);
        
        // 经纬度和半径
        memcpy(buffer + offset, &current->longitude, sizeof(double));
        offset += sizeof(double);
        memcpy(buffer + offset, &current->latitude, sizeof(double));
        offset += sizeof(double);
        memcpy(buffer + offset, &current->radius, sizeof(double));
        offset += sizeof(double);
        
        // 名称
        uint8_t name_len = strlen(current->name);
        memcpy(buffer + offset, &name_len, sizeof(uint8_t));
        offset += sizeof(uint8_t);
        memcpy(buffer + offset, current->name, name_len);
        offset += name_len;
        
        // 描述分段
        int seg_count = current->description.count;
        memcpy(buffer + offset, &seg_count, sizeof(int));
        offset += sizeof(int);
        
        for (int i = 0; i < seg_count; i++) {
            uint16_t seg_len = strlen(current->description.segments[i]);
            memcpy(buffer + offset, &seg_len, sizeof(uint16_t));
            offset += sizeof(uint16_t);
            memcpy(buffer + offset, current->description.segments[i], seg_len);
            offset += seg_len;
        }
        
        current = current->next;
    }
    
    // 现在写入景点数量
    memcpy(buffer, &count, sizeof(int));
    
    // 写入文件
    int32_t fd = cm_fs_open(ATTRACTIONS_FILE, CM_FS_RBPLUS);
    if (fd < 0) {
        cm_free(buffer);
        osMutexRelease(attractions_mutex);
        return -3;
    }
    
    if (cm_fs_write(fd, buffer, data_size) != data_size) {
        cm_fs_close(fd);
        cm_free(buffer);
        osMutexRelease(attractions_mutex);
        return -4;
    }
    
    cm_fs_close(fd);
    cm_free(buffer);
    osMutexRelease(attractions_mutex);
    
    DEBUG("Saved %d attractions to file\n", count);
    return 0;
}

// 从文件加载景点数据
int attr_broadcast_load_attractions(void) {


    if (!cm_fs_exist(ATTRACTIONS_FILE)) {
        DEBUG("No attractions file found\n");
        return -1;
    }
    
    // 确保互斥锁已创建
    if (attractions_mutex == NULL) {
        attractions_mutex = osMutexNew(NULL);
        if (!attractions_mutex) return -2;
    }
    
    DEBUG("test1\n");

    // 清空现有景点
    attr_broadcast_free_all();
    DEBUG("test2\n");
    
    osMutexAcquire(attractions_mutex, osWaitForever);

    if(1 != cm_fs_exist(ATTRACTIONS_FILE)){
		DEBUG("no local data\r\n");
		return -1;
	}
    // 打开文件
    int32_t fd = cm_fs_open(ATTRACTIONS_FILE, CM_FS_RB);
    if (fd < 0) {
        osMutexRelease(attractions_mutex);
        DEBUG("open fail\n");
        return -3;
    }
    
        DEBUG("open success\n");

    // 获取文件大小
    int32_t file_size = cm_fs_filesize(ATTRACTIONS_FILE);
    if (file_size <= 0) {
        cm_fs_close(fd);
        osMutexRelease(attractions_mutex);
        DEBUG("filesize fail\n");
        return -4;
    }
        DEBUG("filesize success\n");


    // 读取景点数量
    int count = 0;
    if (cm_fs_read(fd, &count, sizeof(int)) != sizeof(int)) {
        cm_fs_close(fd);
        osMutexRelease(attractions_mutex);
        DEBUG("get count fail\n");

        return -5;
    }
        DEBUG("count=%d\n",count);
        DEBUG("get count success\n");


    // 计算剩余数据大小
    uint32_t data_size = file_size - sizeof(int);
    uint8_t* buffer = cm_malloc(data_size);
    if (!buffer) {
        cm_fs_close(fd);
        osMutexRelease(attractions_mutex);
        DEBUG("file size error\n");

        return -6;
    }
        DEBUG("file size ok\n");


    // 读取剩余数据
    if (cm_fs_read(fd, buffer, data_size) != data_size) {
        cm_free(buffer);
        cm_fs_close(fd);
        osMutexRelease(attractions_mutex);
        DEBUG("remain data fail\n");
        return -7;
    }
    
        DEBUG("remain data ok\n");

    cm_fs_close(fd);
    
    // 解析景点数据
    uint32_t offset = 0;
    for (int i = 0; i < count; i++) {
        // 创建新景点
        AttractionNode* new_node = cm_malloc(sizeof(AttractionNode));
        if (!new_node) {
            // 部分加载，继续处理但返回错误
            DEBUG("Memory allocation failed for attraction %d\n", i);
            continue;
        }
        memset(new_node, 0, sizeof(AttractionNode));
        
        // 读取区域ID
        if (offset + sizeof(uint32_t) > data_size) goto parse_error;
        memcpy(&new_node->region_id, buffer + offset, sizeof(uint32_t));
        offset += sizeof(uint32_t);
        
        // 读取经纬度和半径
        if (offset + 3 * sizeof(double) > data_size) goto parse_error;
        memcpy(&new_node->longitude, buffer + offset, sizeof(double));
        offset += sizeof(double);
        memcpy(&new_node->latitude, buffer + offset, sizeof(double));
        offset += sizeof(double);
        memcpy(&new_node->radius, buffer + offset, sizeof(double));
        offset += sizeof(double);
        
        // 读取名称长度
        if (offset + sizeof(uint8_t) > data_size) goto parse_error;
        uint8_t name_len = 0;
        memcpy(&name_len, buffer + offset, sizeof(uint8_t));
        offset += sizeof(uint8_t);
        
        // 读取名称
        if (offset + name_len > data_size) goto parse_error;
        if (name_len > 0) {
            memcpy(new_node->name, buffer + offset, name_len);
            new_node->name[name_len] = '\0';
            offset += name_len;
        } else {
            strcpy(new_node->name, "Unknown");
        }
        
        // 读取描述分段数量
        if (offset + sizeof(int) > data_size) goto parse_error;
        int seg_count = 0;
        memcpy(&seg_count, buffer + offset, sizeof(int));
        offset += sizeof(int);
        
        if (seg_count > 0) {
            new_node->description.segments = cm_malloc(seg_count * sizeof(char*));
            if (!new_node->description.segments) {
                DEBUG("Memory allocation failed for segments %d\n", i);
                cm_free(new_node);
                continue;
            }
            new_node->description.count = seg_count;
            
            for (int j = 0; j < seg_count; j++) {
                // 读取分段长度
                if (offset + sizeof(uint16_t) > data_size) goto parse_error;
                uint16_t seg_len = 0;
                memcpy(&seg_len, buffer + offset, sizeof(uint16_t));
                offset += sizeof(uint16_t);
                
                // 读取分段内容
                if (offset + seg_len > data_size) goto parse_error;
                new_node->description.segments[j] = cm_malloc(seg_len + 1);
                if (!new_node->description.segments[j]) {
                    DEBUG("Memory allocation failed for segment %d-%d\n", i, j);
                    // 释放已分配的分段
                    for (int k = 0; k < j; k++) {
                        cm_free(new_node->description.segments[k]);
                    }
                    cm_free(new_node->description.segments);
                    cm_free(new_node);
                    continue;
                }
                
                memcpy(new_node->description.segments[j], buffer + offset, seg_len);
                new_node->description.segments[j][seg_len] = '\0';
                offset += seg_len;
            }
        }
  /******************** 关键修改：ID去重检查 ********************/
        // 检查链表中是否已存在相同ID的景点
        BOOL is_duplicate = false;
        AttractionNode* current_node = attractions_head;
        while (current_node) {
            if (current_node->region_id == new_node->region_id) {
                DEBUG("Duplicate ID detected: %u, skipping\n", new_node->region_id);
                is_duplicate = true;
                break;
            }
            current_node = current_node->next;
        }
        
        if (is_duplicate) {
            // 释放重复景点的内存
            if (new_node->description.segments) {
                for (int j = 0; j < new_node->description.count; j++) {
                    if (new_node->description.segments[j]) {
                        cm_free(new_node->description.segments[j]);
                    }
                }
                cm_free(new_node->description.segments);
            }
            cm_free(new_node);
            continue;
        }
        /******************** ID去重检查结束 ********************/
        // 添加到链表头部
        new_node->next = attractions_head;
        attractions_head = new_node;
        
        continue;
        
    parse_error:
        DEBUG("Parse error for attraction %d\n", i);
        if (new_node) {
            if (new_node->description.segments) {
                for (int j = 0; j < new_node->description.count; j++) {
                    if (new_node->description.segments[j]) {
                        cm_free(new_node->description.segments[j]);
                    }
                }
                cm_free(new_node->description.segments);
            }
            cm_free(new_node);
        }
        break;
    }
    
    cm_free(buffer);
    osMutexRelease(attractions_mutex);
    
    DEBUG("Loaded %d attractions from file\n", count);
    return 0;
}

// 检查景点文件是否存在
int attr_broadcast_file_exists(void) {
    return cm_fs_exist(ATTRACTIONS_FILE);
}

// 删除景点文件
void attr_broadcast_delete_file(void) {
    if (cm_fs_exist(ATTRACTIONS_FILE)) {
        cm_fs_delete(ATTRACTIONS_FILE);
    }
}


// 设置播报距离阈值 (米)
void attr_broadcast_set_distance_threshold(double threshold) {
    if (threshold > 0) {
        broadcast_state.distance_threshold = threshold;
    }
}


// 根据当前位置查找最近的景区节点
static AttractionNode* find_nearest_attraction(Location current_pos) {
    if (attractions_head == NULL) return NULL;
    
    osMutexAcquire(attractions_mutex, osWaitForever);
    
    AttractionNode* current = attractions_head;
    AttractionNode* nearest = attractions_head;
    double min_distance = location_service_calculate_distance(
        (Location){current->longitude, current->latitude},
        current_pos
    );
    
    while (current != NULL) {
        double distance = location_service_calculate_distance(
            (Location){current->longitude, current->latitude},
            current_pos
        );
        
       
    if (distance < min_distance) {
            min_distance = distance;
            nearest = current;
    }
      
        current = current->next;
    }
    
    osMutexRelease(attractions_mutex);
    return nearest;
}


static void play_attraction_info(AttractionNode* attraction, double distance) {
    if (!attraction) return;
    
    // 构建距离提示
    char distance_msg[100];
    snprintf(distance_msg, sizeof(distance_msg), "您已到达%s，距离%.1f米。",
             attraction->name, distance);
    
    // 创建播放数组（距离提示 + 所有描述分段）
    int total_segments = attraction->description.count + 1;
    const char** segments = cm_malloc(total_segments * sizeof(char*));
    if (!segments) return;
    
    segments[0] = distance_msg;
    for (int i = 0; i < attraction->description.count; i++) {
        segments[i+1] = attraction->description.segments[i];
    }
    
    broadcast_state.is_playing = 1;
    DEBUG("Playing attraction info: %s (%d segments)\n", 
          attraction->name, total_segments);
    
    // 播放所有分段
    safe_tts_play(segments, total_segments);
    
    cm_free(segments);
    
    // 更新播报状态
    broadcast_state.last_broadcast = attraction;
    broadcast_state.last_distance = distance;
    broadcast_state.is_playing = 0;
}


static void attr_broadcast_task(void* arg) {
    (void)arg; // 避免未使用参数警告
    BOOL should_play;     //是否播放最后判断量

    DEBUG("task begin\r\n");
 

    while (1) {

        // 获取当前位置
        Location current_pos = location_service_get_current();
        
        // 查找最近景点
        AttractionNode* nearest = find_nearest_attraction(current_pos);
     
        DEBUG("location ok\r\n");
        if (nearest != NULL) {
            // 计算距离
            double distance = location_service_calculate_distance(
                (Location){nearest->longitude, nearest->latitude},
                current_pos
            );
            
        DEBUG("calculate ok\r\n");

            // 检查是否在有效范围内
            if (distance <= broadcast_state.distance_threshold) {
                // 检查是否需要播报
                    should_play = false;
                DEBUG("check ok:%d\r\n",should_play);
                
                if (broadcast_state.last_broadcast == NULL) {
                    should_play = true; // 首次播报
                DEBUG("check ok:%d\r\n",should_play);
                } 
                else if (broadcast_state.last_broadcast != nearest) {
                    should_play = true; // 新景点
                    
                } 
                else if (fabs(distance - broadcast_state.last_distance) > 50.0) {
                    should_play = true; // 同一景点但距离变化大  是否需要播报可以商榷
                }
                DEBUG("stat ok:%d\r\n",should_play);
                // 触发播报
                if ((should_play && !broadcast_state.is_playing) && (1 == sys_sta.MAG_MODE )) {
                DEBUG("ready to play\r\n");    
                    play_attraction_info(nearest, distance);
                    broadcast_state.is_playing=0;
                DEBUG("play ok\r\n");    
                }
            }
        DEBUG("dist:%0.3f,threshold:%0.3f\r\n",distance,broadcast_state.distance_threshold);


        }
        
            // 0.3秒检测一次
			osDelay(200/5);
    }
}


void attr_broadcast_init(void) {
    // 初始化互斥锁
    if (attractions_mutex == NULL) {
        attractions_mutex = osMutexNew(NULL);
    }
       

     if(1 == cm_fs_exist(ATTRACTIONS_FILE))
     {

      DEBUG("file exist\n");

     }
     else {
        int32_t fd = cm_fs_open(ATTRACTIONS_FILE, CM_FS_WB);
        if (fd >= 0) {
            int count = 0; // 空文件表示0个景点
            cm_fs_write(fd, &count, sizeof(int));
            cm_fs_close(fd);
            DEBUG("Created empty attractions file\n");
        }
    }
 
    //加载本地景点
    if (attr_broadcast_load_attractions() != 0) {
        DEBUG("No saved attractions\n");
    }
    
    // 初始化状态
    memset(&broadcast_state, 0, sizeof(broadcast_state));
    broadcast_state.distance_threshold = 50.0; // 默认阈值50米

    osThreadAttr_t attr_broadcast_task_attr = {0};
    attr_broadcast_task_attr.name = "attr_broadcast_task";
    attr_broadcast_task_attr.stack_size = 4096 * 10;
    attr_broadcast_task_attr.priority= osPriorityNormal;

    Attr_Broadcast_ThreadId= osThreadNew(attr_broadcast_task, 0, &attr_broadcast_task_attr);

}