#include
#include
#include "vxWorks.h"
#include "msgQLib.h"
#include "taskLib.h"
/*#include "memPartLib.h"*/
#include "memLib.h"
/*宏定义*/
#define MAX_MSGS
(10) /* the length of msg*/
#define MAX_MSG_LEN sizeof
(MESSAGE) /*the length of message*/
#define STACK_SIZE 20000 /*the stack size of task*/
#define DELAY_TICKS 50 /*the time of sending message*/
#define MAX_point 5 /*用户从系统内存池中获得内存的最大次数*/
#define size_
1 30 /*用户分区的分配的大小*/
#define size_2 40
/*全局变量*/
int tidtask
1;
int tidtask2;
int tidtask3;
SEM_ID syncSemId;
SEM_ID waitSemId;
MSG_Q_ID myMsgQId
1;
MSG_Q_ID myMsgQId2;
MSG_Q_ID myMsgQId3;
typedef struct _MESSAGE
{
int mSendId; /*发送任务 ID*/
int mRecvId; /*接收任务 ID*/
int mData; /*消息中传递的数据*/
char Data[
14];
} MESSAGE;
/*内存管理*/
char* usermem
1;
char* usermem2;
MESSAGE *point
1[MAX_point];
MESSAGE *point2[MAX_point];
MESSAGE *point3[MAX_point];
int point
1_index=0;
int point2_index=0;
int point3_index=0;
PART_ID partid
1;
PART_ID partid2;
#define MID_MESSAGE
(id)
(id)
/*函数声明*/
int start
(void);
int task
1(void);
int task2
(void);
int task3
(void);
template T* mymalloc
(unsigned nBytes);
void myfree
(void);
void bye
(void);
/***************************************[progStart]*******************************************/
/*启动程序，创建息队例，任务*/
int start
(void)
{
tidtask
1=taskSpawn
("tTask
1", 220, 0, STACK_SIZE,
(FUNCPTR)task
1,0,0,0,0,0,0,0,0,0,0);
usermem
1=malloc
(200);
partid
1=memPartCreate
(usermem
1,200);
usermem2=malloc
(400);
partid2=memPartCreate
(usermem2,400);
return;
}
/**************************************[test_end]********************************************/
/*是否相等，相等返回
1*/
int test_end
(char *end,char *target)
{
int ret;
if
(!strcmp
(end,target))
ret=
1;
else
ret=0;
return ret;
}
/****************************************[task
1]***********************************************/
/*管理Task。负责系统启动时同步系统中其他Task的启动同步，利用信号量的semFlush
()完成。同时接收各*/
/*Task的告警信息，告警信息需编号以logmsg方式输出。本task负责系统结束时的Task删除处理*/
int task
1(void)
{
int singal;
int message;
MESSAGE *rxMsg=mymalloc
(26); /*define messages,and alloc memory*/
memset
(rxMsg,0,26);
syncSemId=semBCreate
(SEM_Q_FIFO,SEM_EMPTY); /*creat semaphore*/
waitSemId=semBCreate
(SEM_Q_PRIORITY,SEM_EMPTY);
myMsgQId
1=msgQCreate
(MAX_MSGS,MAX_MSG_LEN,MSG_Q_PRIORITY); /*create msgQ*/
myMsgQId2=msgQCreate
(MAX_MSGS,MAX_MSG_LEN,MSG_Q_PRIORITY);
myMsgQId3=msgQCreate
(MAX_MSGS,MAX_MSG_LEN,MSG_Q_PRIORITY);
tidtask2=taskSpawn
("tTask2", 200, 0, STACK_SIZE,
(FUNCPTR)task2,0,0,0,0,0,0,0,0,0,0); /*create task*/
tidtask3=taskSpawn
("tTask3", 2
10, 0, STACK_SIZE,
(FUNCPTR)task3,0,0,0,0,0,0,0,0,0,0);
printf
("Please input one of the following commands:add,sub,multiply,divide,testcommand\n");
/*the command we should put into the console*/
semFlush
(syncSemId); /*release semaphore*/
semGive
(waitSemId);
while
(1)
{
singal=
1;
msgQReceive
(myMsgQId
1,
(char*)&rxMsg,sizeof
(rxMsg
),WAIT_FOREVER);
if
(rxMsg->mRecvId==MID_MESSAGE
(3)) /*receive MsgQ from task3*/
{
singal=test_end
(rxMsg->Data,"wrong length")-
1;
logMsg
("task3 receiveing a:%s\n",rxMsg->Data); /*put the warn from task3*/
logMsg
("Please reput the other command!\n");
msgQReceive
(myMsgQId
1,
(char*)&rxMsg,MAX_MSG_LEN,WAIT_FOREVER); /*recive MsgQ from task3*/
}
if
(rxMsg->mRecvId==MID_MESSAGE
(2)) /*receive MsgQ from task2*/
{
message=test_end
(rxMsg->Data,"sysend");
if
(message)
{ /*if the message from task2 is "sysend" and did not receive the warn from task3, close the system*/
if
(singal)
{
bye
();
}
}
else
{/*if the message from task2 is "sysend" and receive the warn from task3, reput the command*/
if
(singal)
logMsg
("task2 receiveing a %s\n",rxMsg->Data);
logMsg
("please reput the correct command!\n");
}
}
}
return;
}
/********************************************************************************************/
int change_buf
(char *command)
{
int ret;
if
(!strcmp
(command,"add"))
ret=
1;
else if
(!strcmp
(command,"sub"))
ret=2;
else if
(!strcmp
(command,"multiply"))
ret=3;
else if
(!strcmp
(command,"divide"))
ret=4;
else if
(!strcmp
(command,"testcommand"))
ret=5;
else
ret=0;
return ret;
}
/****************************************[task2]*********************************************/
/*console 命令行接收Task。接收并分析console发来的命令行及参数。自行设置5种以上命令，并根据命*/
/*令的内容向Task3发送激励消息。同时实现系统退出命令，使系统采用适当方式安全退出。收到非法命令*/
/*向Task
1告警*/
int task2
(void)
{
char buf[
100];
int command;
char *str=mymalloc
(35);
MESSAGE *txMsg=mymalloc
(26);
memset
(str,0,35);
memset
(txMsg,0,26);
txMsg->mSendId=MID_MESSAGE
(2);
txMsg->mRecvId=MID_MESSAGE
(2);
FOREVER
{
semTake
(syncSemId,WAIT_FOREVER);
semTake
(waitSemId,WAIT_FOREVER);
gets
(buf);
command=change_buf
(buf);/*change the commands into numbers*/
switch
(command)
{
case 0:/*receive uncorrect command*/
txMsg->mData=0;
strcpy
(txMsg->Data,"wrong command");/*send warn to task
1*/
msgQSend
(myMsgQId
1,
(char*)&txMsg,sizeof
(txMsg
),WAIT_FOREVER,MSG_PRI_NORMAL);
break;
case
1:/*receive add command*/
strcpy
(str,"This an add caculate!\0");
txMsg->mData=
1;
break;
case 2:/*receive sub command*/
strcpy
(str,"This a sub caculate!\0");
txMsg->mData=2;
break;
case 3:/*receive multiply command*/
strcpy
(str,"This a multiply caculate!\0");
txMsg->mData=3;
break;
case 4:/*receive divide command*/
strcpy
(str,"This a divide caculate!\0");
txMsg->mData=4;
break;
case 5:/*receive testcommand,send a long string to task3*/
strcpy
(str,"This a testcommand to warn task
1!\0");
txMsg->mData=5;
break;
default:
break;
}
if
(txMsg->mData!=0)
{/*send along string to task3,and send a message to taks3*/
msgQSend
(myMsgQId3,
(char*)&str,sizeof
(str
),WAIT_FOREVER,MSG_PRI_NORMAL);
msgQSend
(myMsgQId3,
(char*)&txMsg,sizeof
(txMsg
),WAIT_FOREVER,MSG_PRI_NORMAL);
}
semGive
(waitSemId);
semGive
(syncSemId);
taskDelay
(DELAY_TICKS);
if
(txMsg->mData!=0)
{/*send sysend to task
1 to let task
1 close system*/
strcpy
(txMsg->Data,"sysend");
msgQSend
(myMsgQId
1,
(char*)&txMsg,sizeof
(txMsg
),WAIT_FOREVER,MSG_PRI_NORMAL);
}
}
return;
}
/****************************************[task3]********************************************/
/*console输出Task。接收需打印输出的字串消息（命令），输出到console。收到长度为0或超常字串向*/
/*Task
1告警*/
int task3
(void)
{
int firstData=
100;
int secondData=
10;
MESSAGE *rxMsg=mymalloc
(26);
MESSAGE *txMsg=mymalloc
(26);
char *rstr=mymalloc
(35);
memset
(txMsg,0,26);
memset
(txMsg,0,26);
memset
(rstr,0,35);
txMsg->mSendId=MID_MESSAGE
(3);
txMsg->mRecvId=MID_MESSAGE
(3);
while
(1)
{
semTake
(syncSemId,WAIT_FOREVER);
msgQReceive
(myMsgQId3,
(char*)&rstr,sizeof
(rstr
),WAIT_FOREVER);
if
(strlen
(rstr)=26)
{/*make sure whether the string is too long or short*/
strcpy
(txMsg->Data,"wrong length");
msgQSend
(myMsgQId
1,
(char*)&txMsg,sizeof
(txMsg
),WAIT_FOREVER,MSG_PRI_NORMAL);
/*msgQReceive
(myMsgQId3,
(char*)&rxMsg,sizeof
(rxMsg
),WAIT_FOREVER);*/
}
semTake
(waitSemId,WAIT_FOREVER);
msgQReceive
(myMsgQId3,
(char*)&rxMsg,sizeof
(rxMsg
),WAIT_FOREVER);
if
(rxMsg->mData!=5)
{/*when it is not testcommand,printf these*/
printf
("%s\n",rstr);
printf
("there are two datas!\n");
printf
("firstData:
100\n");
printf
("secondData:
10\n");
}
switch
(rxMsg->mData)
{
case
1:/*printf add caculate*/
printf
("The result is:%d\n",firstData+secondData);
break;
case 2:/*printf sub caculate*/
printf
("The result is:%d\n",firstData-secondData);
break;
case 3:/*printf multiply caculate*/
printf
("The result is:%d\n",firstData*secondData);
break;
case 4:/*printf divide caculate*/
printf
("The result is:%d\n",firstData/secondData);
break;
case 5:
break;
default:
break;
}
semGive
(waitSemId);
semGive
(syncSemId);
taskDelay
(DELAY_TICKS);
}
return;
}
template T* mymalloc
(unsigned nBytes)
{
T* point;
int i=0; /*用户分区一是否能分配的标志位*/
int j=0; /*用户分区二是否能分配的标志位*/
if
(nBytes=size_
1 && nBytes=size_2) && point3_index<MAX_point)
/*若用户分区二不能分配，由系统内存池来分配，且只能从系统内存池中分配MAX_point次*/
{
point=malloc
(nBytes);
point3[point3_index]=point;
printf
("the number of the point3_index is:%d\n",point3_index);
point3_index++;
}
return point;
}
void myfree
(void)
{
int i=0;
for
(i=0;i<point
1_index;i++)
{
memPartFree
(partid
1,point
1[i]);
}
for
(i=0;i<point2_index;i++)
{
memPartFree
(partid2,point2[i]);
}
for
(i=0;i<point3_index;i++)
{
free
(point3[i]);
}
free
(usermem
1);
free
(usermem2);
printf
("The memory have freed!\n");
}
void bye
(void)
{
myfree
();
logMsg
("Bye-bye\n");
taskDelete
(tidtask2);
taskDelete
(tidtask3);
msgQDelete
(myMsgQId
1);
msgQDelete
(myMsgQId2);
msgQDelete
(myMsgQId3);
semDelete
(syncSemId);
taskDelete
(tidtask
1);
}
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