From cbe236c43080d95434433b6a5e9ca93d2a6e0503 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Fri, 21 Aug 2026 13:21:25 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E4=B8=BB=E7=BA=BF=E5=BE=85=E5=90=88?=
 =?UTF-8?q?=E3=80=91freeRTOS=E5=A2=9E=E5=8A=A0=E4=B8=8D=E9=98=BB=E5=A1=9E?=
 =?UTF-8?q?=E7=9A=84=E5=B8=A6=E8=B6=85=E6=97=B6=E4=BF=A1=E5=8F=B7=E9=87=8F?=
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---
 RBcore/msg_center.c                |  7 +++++--
 bspMCU/My_freeRTOS.c               | 15 +++++++++++++++
 library/common/include/rd_thread.h |  1 +
 library/common/rd_thread.c         |  7 +++++++
 4 files changed, 28 insertions(+), 2 deletions(-)

diff --git a/RBcore/msg_center.c b/RBcore/msg_center.c
index aca5068..e0ca677 100644
--- a/RBcore/msg_center.c
+++ b/RBcore/msg_center.c
@@ -327,8 +327,11 @@ int MsgCenter_ProcessWait(uint32_t uiModuleID, uint32_t uiTimeoutMs)
     // 等待信号量（有新消息到达）
     if (uiTimeoutMs > 0)
     {
-        // 带超时等待
-        Rd_SemWait(&g_astModules[iIndex].stSem, __func__, NULL);
+        // 带超时等待，超时返回 -1 让调用方继续轮询
+        if (Rd_SemWaitTimeout(&g_astModules[iIndex].stSem, uiTimeoutMs) != 0)
+        {
+            return -1;
+        }
     }
     else
     {
diff --git a/bspMCU/My_freeRTOS.c b/bspMCU/My_freeRTOS.c
index 3e064d2..10b3b3a 100644
--- a/bspMCU/My_freeRTOS.c
+++ b/bspMCU/My_freeRTOS.c
@@ -114,6 +114,21 @@ void Rd_SemWait(void *_sem, const char *_pcFunc, int *_piCnt)
 	}
 }
 
+int Rd_SemWaitTimeout(void *_sem, uint32_t _uiTimeoutMs)
+{
+	rd_sem_t *pSem = (rd_sem_t *)_sem;
+	uint32_t ticks = (_uiTimeoutMs * osKernelGetTickFreq()) / 1000;
+	if (ticks == 0) ticks = 1;
+	osStatus_t status = osSemaphoreAcquire(pSem->sem_id, ticks);
+	if (status == osOK) {
+		return 0;
+	} else if (status == osErrorTimeout || status == osErrorResource) {
+		return -1;
+	} else {
+		return -2;
+	}
+}
+
 void Rd_SemPost(void *_sem, const char *_pcFunc, int *_piCnt)
 {
 	rd_sem_t *pSem = (rd_sem_t *)_sem;
diff --git a/library/common/include/rd_thread.h b/library/common/include/rd_thread.h
index 9643ae3..5cc59c4 100644
--- a/library/common/include/rd_thread.h
+++ b/library/common/include/rd_thread.h
@@ -155,6 +155,7 @@ int Rd_MutexDestroy(void *_pMutex);
 int Rd_SemInit(void *_sem, int _iPshared, int _iValue);
 void Rd_SemPost(void *_sem, const char *_pcFunc, int *_piCnt);
 void Rd_SemWait(void *_sem, const char *_pcFunc, int *_piCnt);
+int Rd_SemWaitTimeout(void *_sem, uint32_t _uiTimeoutMs);
 int Rd_SemDestroy(void *_sem);
 
 /**
diff --git a/library/common/rd_thread.c b/library/common/rd_thread.c
index 853aebc..49c7ea4 100644
--- a/library/common/rd_thread.c
+++ b/library/common/rd_thread.c
@@ -55,6 +55,13 @@ WEAK void Rd_SemWait(void *_sem, const char *_pcFunc, int *_piCnt)
     return;
 }
 
+WEAK int Rd_SemWaitTimeout(void *_sem, uint32_t _uiTimeoutMs)
+{
+    (void)_sem;
+    (void)_uiTimeoutMs;
+    return -1;
+}
+
 WEAK void Rd_SemPost(void *_sem, const char *_pcFunc, int *_piCnt)
 {
     return;