docs: 更新 message/topic 线程安全说明，补充 STM32 工具链切换文档

Author: Jiu-xiao

docs/basic_coding/middleware/message.md

@@ -30,7 +30,7 @@ LibXR 中的 `Message` 模块是一个基于 **发布-订阅（Publish-Subscribe
 
 ```cpp
 auto domain = LibXR::Topic::Domain("sensor_data");
-auto topic = LibXR::Topic::CreateTopic<float>("temperature", &domain, true);
+auto topic = LibXR::Topic::CreateTopic<float>("temperature", &domain);
 
 float temp = 23.5f;
 topic.Publish(temp);
@@ -81,6 +81,20 @@ auto cb = LibXR::Topic::Callback::Create(
 topic.RegisterCallback(cb);
 ```
 
+## 线程安全
+
+topic在构造时有`bool multi_publisher_ = false;`参数,默认为false,即只允许同时有一个线程/中断发布数据。当设置为true时,使用`mutex_`进行线程同步，允许多个线程同时发布数据，但无法在中断使用。
+
+```cpp
+Topic(const char *name, uint32_t max_length, Domain *domain = nullptr,
+        bool multi_publisher = false, bool cache = false, bool check_length = false);
+
+template <typename Data>
+Topic CreateTopic(const char *name, Domain *domain = nullptr,
+                           bool multi_publisher = false, bool cache = false,
+                           bool check_length = true);
+```
+
 ---
 
 ## 类接口概览

docs/code_gen/stm32/README.md

@@ -162,12 +162,26 @@ int main() {
 
 ## 可选参数
 
-| 参数       | 说明                          |
-| ---------- | ----------------------------- |
-| `-d`       | 指定 STM32 工程根目录         |
-| `-t`       | 设置终端外设（如 `usart1`）   |
-| `-c`       | 启用 Clang 构建支持（已弃用） |
-| `--xrobot` | 生成 XRobot 模块 glue 代码    |
+| 参数       | 说明                        |
+| ---------- | --------------------------- |
+| `-d`       | 指定 STM32 工程根目录       |
+| `-t`       | 设置终端外设（如 `usart1`） |
+| `--xrobot` | 生成 XRobot 模块 glue 代码  |
+
+---
+
+## 工具链切换
+
+如需切换 GCC/Clang编译器 或更改 Clang 标准库，请使用如下命令：
+
+```bash
+xr_stm32_toolchain_switch gcc
+xr_stm32_toolchain_switch clang -g
+xr_stm32_toolchain_switch clang --newlib
+xr_stm32_toolchain_switch clang --picolibc
+```
+
+执行命令会自动修改 CMakePresets.json 和 cmake/starm-clang.cmake，重启 VSCode 即可生效。
 
 ---
 
@@ -187,12 +201,13 @@ int main() {
 
 ## 相关命令（由 `xr_cubemx_cfg` 内部调用，可单独执行）
 
-| 工具名              | 功能说明                             |
-| ------------------- | ------------------------------------ |
-| `xr_parse_ioc`      | 解析 `.ioc`，生成 `.config.yaml`     |
-| `xr_gen_code_stm32` | 根据 YAML 配置生成 `app_main.cpp`    |
-| `xr_stm32_it`       | 补丁中断文件，插入 UART/USB 回调支持 |
-| `xr_stm32_cmake`    | 修改 CMake 构建文件，集成 LibXR      |
+| 工具名                      | 功能说明                             |
+| --------------------------- | ------------------------------------ |
+| `xr_parse_ioc`              | 解析 `.ioc`，生成 `.config.yaml`     |
+| `xr_gen_code_stm32`         | 根据 YAML 配置生成 `app_main.cpp`    |
+| `xr_stm32_it`               | 补丁中断文件，插入 UART/USB 回调支持 |
+| `xr_stm32_cmake`            | 修改 CMake 构建文件，集成 LibXR      |
+| `xr_stm32_toolchain_switch` | 切换工具链和标准库                   |
 
 ## 参考
 

i18n/en/docusaurus-plugin-content-docs/current/basic_coding/middleware/message.md

@@ -81,6 +81,21 @@ auto cb = LibXR::Topic::Callback::Create(
 topic.RegisterCallback(cb);
 ```
 
+## Thread Safety
+
+The `topic` class has a constructor parameter `bool multi_publisher_ = false;`, which is `false` by default. This means only one thread or interrupt is allowed to publish data at any given time.  
+When set to `true`, a `mutex_` is used for thread synchronization, allowing multiple threads to publish data concurrently. However, in this mode, publishing from interrupts is **not supported**.
+
+```cpp
+Topic(const char *name, uint32_t max_length, Domain *domain = nullptr,
+        bool multi_publisher = false, bool cache = false, bool check_length = false);
+
+template <typename Data>
+Topic CreateTopic(const char *name, Domain *domain = nullptr,
+                           bool multi_publisher = false, bool cache = false,
+                           bool check_length = true);
+```
+
 ---
 
 ## Interface Overview

i18n/en/docusaurus-plugin-content-docs/current/code_gen/stm32/README.md

@@ -174,11 +174,25 @@ Make sure to adjust the initial thread stack size in STM32CubeMX to avoid stack
 | ---------- | --------------------------------------- |
 | `-d`       | Specify STM32 project root directory    |
 | `-t`       | Set terminal peripheral (e.g. `usart1`) |
-| `-c`       | Enable Clang build support (Deprecated) |
 | `--xrobot` | Generate glue code for XRobot modules   |
 
 ---
 
+## Toolchain Switch
+
+If you need to switch between GCC/Clang compilers or change the Clang standard library, use the following commands:
+
+```bash
+xr_stm32_toolchain_switch gcc
+xr_stm32_toolchain_switch clang -g
+xr_stm32_toolchain_switch clang --newlib
+xr_stm32_toolchain_switch clang --picolibc
+```
+
+Command execution will automatically modify CMakePresets.json and cmake/starm-clang.cmake, restart VSCode to take effect.
+
+---
+
 ## Project Requirements
 
 - Must be a CMake project exported from STM32CubeMX  
@@ -195,12 +209,13 @@ By default, the generated CMake configuration applies the `-O2` optimization opt
 
 ## Subcommands (Internally used by `xr_cubemx_cfg`, can also be run separately)
 
-| Tool                | Description                                      |
-| ------------------- | ------------------------------------------------ |
-| `xr_parse_ioc`      | Parses `.ioc` and generates `.config.yaml`       |
-| `xr_gen_code_stm32` | Generates `app_main.cpp` from the YAML config    |
-| `xr_stm32_it`       | Patches interrupt handlers with UART/USB support |
-| `xr_stm32_cmake`    | Integrates LibXR into the project build system   |
+| Tool                        | Description                                      |
+| --------------------------- | ------------------------------------------------ |
+| `xr_parse_ioc`              | Parses `.ioc` and generates `.config.yaml`       |
+| `xr_gen_code_stm32`         | Generates `app_main.cpp` from the YAML config    |
+| `xr_stm32_it`               | Patches interrupt handlers with UART/USB support |
+| `xr_stm32_cmake`            | Integrates LibXR into the project build system   |
+| `xr_stm32_toolchain_switch` | Switch toolchain and standard library            |
 
 ---