From 42b44ee5fb9503f99917f37d09017d6d33d57b89 Mon Sep 17 00:00:00 2001
From: caiodasilva2005 <caiodasilva05@outlook.com>
Date: Thu, 22 Feb 2024 20:36:37 -0500
Subject: [PATCH] Fixed issues with monitor functions and threads

---
 Core/Src/main.c       | 11 +++++++----
 MSB/api/monitor_msb.h |  6 +++---
 MSB/monitor_msb.c     | 22 +++++++++++++++++++---
 3 files changed, 29 insertions(+), 10 deletions(-)

diff --git a/Core/Src/main.c b/Core/Src/main.c
index 2d6141e..223e619 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -111,8 +111,11 @@ int main(void)
   MX_FDCAN1_Init();
   MX_I2C3_Init();
   MX_USART2_UART_Init();
-  /* USER CODE BEGIN 2 */
 
+  /* USER CODE BEGIN 2 */
+  msb_temp_t *temp_data;
+  msb_knuckle_t *knuckle_data;
+  msb_central_t *central_data;
   /* USER CODE END 2 */
 
   /* Init scheduler */
@@ -139,9 +142,9 @@ int main(void)
   defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
 
   /* USER CODE BEGIN RTOS_THREADS */
-  osThreadId_t tempThread = osThreadNew(monitor_temp_msb, NULL, NULL); 
-  osThreadId_t imuThread = osThreadNew(monitor_knuckle_msb, NULL, NULL); 
-  osThreadId_t centralThread = osThreadNew(monitor_central_msb, NULL, NULL);
+  osThreadId_t tempThread = osThreadNew(monitor_temp_msb, temp_data, NULL); 
+  osThreadId_t imuThread = osThreadNew(monitor_knuckle_msb, knuckle_data, NULL); 
+  osThreadId_t centralThread = osThreadNew(monitor_central_msb, central_data, NULL);
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
diff --git a/MSB/api/monitor_msb.h b/MSB/api/monitor_msb.h
index 5941d39..c088abc 100644
--- a/MSB/api/monitor_msb.h
+++ b/MSB/api/monitor_msb.h
@@ -5,8 +5,8 @@
 #include "msb_knuckle.h"
 #include "msb_central.h"
 
-void monitor_temp_msb(msb_temp_t* msb, temp_data_t* out);
-void monitor_knuckle_msb(msb_knuckle_t* msb, knuckle_data_t* out);
-void monitor_central_msb(msb_central_t* msb, central_data_t* msb_central_data);
+void monitor_temp_msb(void* arg);
+void monitor_knuckle_msb(void* arg);
+void monitor_central_msb(void* arg);
 
 #endif
\ No newline at end of file
diff --git a/MSB/monitor_msb.c b/MSB/monitor_msb.c
index df84130..78159a0 100644
--- a/MSB/monitor_msb.c
+++ b/MSB/monitor_msb.c
@@ -1,9 +1,14 @@
 #include "cmsis_os.h"
 #include <stdio.h>
+#include <stdlib.h>
 
 #include "api/monitor_msb.h"
 
-void monitor_temp_msb(msb_temp_t* msb, temp_data_t* out) {
+void monitor_temp_msb(void* arg) {
+
+    msb_temp_t* msb = (msb_temp_t*)arg;
+
+    temp_data_t* out = malloc(sizeof(temp_data_t));
 
     char status[100];
     for (;;) {
@@ -15,9 +20,14 @@ void monitor_temp_msb(msb_temp_t* msb, temp_data_t* out) {
         push_can_queue(status);
         osDelay(500);
     }
+    free(out); //Check if this works
 }
 
-void monitor_knuckle_msb(msb_knuckle_t* msb, knuckle_data_t* out) {
+void monitor_knuckle_msb(void* arg) {
+
+    msb_knuckle_t* msb = (msb_knuckle_t*)arg;
+
+    knuckle_data_t* out = malloc(sizeof(knuckle_data_t));
 
     char status[100];
     for (;;) {
@@ -30,9 +40,14 @@ void monitor_knuckle_msb(msb_knuckle_t* msb, knuckle_data_t* out) {
         push_can_queue(status);
         osDelay(500);
     }
+    free(out); //Check if this works
 }
 
-void monitor_central_msb(msb_central_t* msb, central_data_t* out) {
+void monitor_central_msb(void* arg) {
+
+    msb_central_t* msb = (msb_central_t*)arg;
+
+    central_data_t* out = malloc(sizeof(msb_central_t));
 
     char status[100];
     for (;;) {
@@ -53,6 +68,7 @@ void monitor_central_msb(msb_central_t* msb, central_data_t* out) {
         push_can_queue(status);
         osDelay(500);
     }
+    free(out); //Check if this works
 }