实时性保障方案

1. 实时性保障方案

• 双缓冲数据管道设计：

  class DataPipeline {
      QVector<double> bufferA, bufferB;
      QMutex mutex;
  public:
      void writeData(const QVector<double> &data) {
          QMutexLocker locker(&mutex);
          bufferA.append(data);
      }
      QVector<double> readData() {
          QMutexLocker locker(&mutex);
          std::swap(bufferA, bufferB);
          return bufferB;
      }
  };
  

• 优先级抢占配置：

  # 在Linux系统设置实时优先级
  sudo chrt -f 99 ./balance_app
  

2. 跨平台兼容性

• 硬件抽象层（HAL）设计：

  class HALInterface {
  public:
      virtual QVector<double> readSensor() = 0;
      virtual void setOutput(uint8_t pin, bool state) = 0;
  };
  
  #if defined(STM32_PLATFORM)
  class STM32HAL : public HALInterface { /*...*/ };
  #elif defined(LINUX_PLATFORM)
  class LinuxHAL : public HALInterface { /*...*/ };
  #endif