一、任务间通信
1、邮箱队列
概述
消息队列传递的是指针，邮箱队列传递的是大片的内存数据。
API讲解
编程实例
1、在tos_config.h中，配置邮箱队列组件开关TOS_CFG_MAIL_QUEUE_EN：
#define TOS_CFG_MAIL_QUEUE_EN 1u
2、编写main.c示例代码：
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "cmsis_os.h"
#include "stdio.h"
#include "tos_k.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/*
这里演示如何使用邮箱队列在sender和receiver任务之间传递邮箱（此案例中邮件，也就是邮箱要传递的内存数据为一个mail_t类型的结构体，从此案例中可以看出来，邮箱队列相对消息队列来说，可以传递更为复杂的内存块数据）
*/
#define STK_SIZE_TASK_RECEIVER 512
#define STK_SIZE_TASK_SENDER 512
#define PRIO_TASK_RECEIVER_HIGHER_PRIO 4
#define PRIO_TASK_RECEIVER_LOWER_PRIO (PRIO_TASK_RECEIVER_HIGHER_PRIO + 1)
#define MAIL_MAX 10
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
k_stack_t stack_task_receiver_higher_prio[STK_SIZE_TASK_RECEIVER];
k_stack_t stack_task_receiver_lower_prio[STK_SIZE_TASK_RECEIVER];
k_stack_t stack_task_sender[STK_SIZE_TASK_SENDER];
typedef struct mail_st {
char *message;
int payload;
} mail_t;
uint8_t mail_pool[MAIL_MAX * sizeof(mail_t)];
k_task_t task_receiver_higher_prio;
k_task_t task_receiver_lower_prio;
k_task_t task_sender;
k_mail_q_t mail_q;
extern void entry_task_receiver_higher_prio(void *arg);
extern void entry_task_receiver_lower_prio(void *arg);
extern void entry_task_sender(void *arg);
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
void entry_task_receiver_higher_prio(void *arg)
{
k_err_t err;
mail_t mail;
size_t mail_size;
while (K_TRUE) {
err = tos_mail_q_pend(&mail_q, &mail, &mail_size, TOS_TIME_FOREVER);
if (err == K_ERR_NONE) {
TOS_ASSERT(mail_size == sizeof(mail_t));
printf("higher: msg incoming[%s], payload[%d]\n", mail.message, mail.payload);
}
}
}
void entry_task_receiver_lower_prio(void *arg)
{
k_err_t err;
mail_t mail;
size_t mail_size;
while (K_TRUE) {
err = tos_mail_q_pend(&mail_q, &mail, &mail_size, TOS_TIME_FOREVER);
if (err == K_ERR_NONE) {
TOS_ASSERT(mail_size == sizeof(mail_t));
printf("lower: msg incoming[%s], payload[%d]\n", mail.message, mail.payload);
}
}
}
void entry_task_sender(void *arg)
{
int i = 1;
mail_t mail;
while (K_TRUE) {
if (i == 2) {
printf("sender: send a mail to one receiver, and shoud be the highest priority one\n");
mail.message = "1st time post";
mail.payload = 1;
tos_mail_q_post(&mail_q, &mail, sizeof(mail_t));
}
if (i == 3) {
printf("sender: send a message to all recevier\n");
mail.message = "2nd time post";
mail.payload = 2;
tos_mail_q_post_all(&mail_q, &mail, sizeof(mail_t));
}
if (i == 4) {
printf("sender: send a message to one receiver, and shoud be the highest priority one\n");
mail.message = "3rd time post";
mail.payload = 3;
tos_mail_q_post(&mail_q, &mail, sizeof(mail_t));
}
if (i == 5) {
printf("sender: send a message to all recevier\n");
mail.message = "4th time post";
mail.payload = 4;
tos_mail_q_post_all(&mail_q, &mail, sizeof(mail_t));
}
tos_task_delay(1000);
++i;
}
}
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
tos_knl_init();
tos_mail_q_create(&mail_q, mail_pool, MAIL_MAX, sizeof(mail_t));
(void)tos_task_create(&task_receiver_higher_prio, "receiver_higher_prio",
entry_task_receiver_higher_prio, NULL, PRIO_TASK_RECEIVER_HIGHER_PRIO,
stack_task_receiver_higher_prio, STK_SIZE_TASK_RECEIVER, 0);
(void)tos_task_create(&task_receiver_lower_prio, "receiver_lower_prio",
entry_task_receiver_lower_prio, NULL, PRIO_TASK_RECEIVER_LOWER_PRIO,
stack_task_receiver_lower_prio, STK_SIZE_TASK_RECEIVER, 0);
(void)tos_task_create(&task_sender, "sender", entry_task_sender, NULL,
5, stack_task_sender, STK_SIZE_TASK_SENDER, 0);
tos_knl_start();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}3、运行效果：
源码链接
