μC/OSIII——任务同步和通信（二）

使用情况

任务同时等待多个内核对象，μC/OSIII仅允许任务同时等待多个信号量和多个消息队列，不支持同时等待多个事件标志组或互斥信号量。

使用方法

当下列情况发生，OSPendMulti()挂起当前任务：

• 对象变为可用；
• 到达设定的超时时间；
• 一个或多个任务被删除或被终止；
• 一个或多个对象被删除了；

OS_OBJ_QTY  OSPendMulti (OS_PEND_DATA  *p_pend_data_tbl,  指向一个OS_PEND_DATA表的指针
                                                 OS_OBJ_QTY     tbl_size,                    OS_PEND_DATA表的表项数目
                                                 OS_TICK        timeout,                          指定超时值（时钟节拍数）
                                                 OS_OPT         opt,                                
                                                 OS_ERR        *p_err)                            该函数返回的错误码

struct  OS_PEND_DATA{
                                    OS_PEND_DATA        *PrevPtr;
                                    OS_PEND_DATA        *NextPtr;
                                    OS_TCB                      *TCBPtr;
                                    OS_PEND_OBJ          *PendObjPtr;
                                    OS_PEND_OBJ          *RdyObjPtr;
                                    void                             *RdyMsgPtr;
                                    OS_MSG_SIZE           RdyMsgSize;
                                    CPU_TS                      RdyTS;
                                     };

opt  OS_OPT_PEND_BLOCKING  阻塞模式  OS_OPT_PEND_NON_BLOCKING 非阻塞模式

使用实例

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#define APP_TASK_START_PRIO 4u #define APP_TASK_1_PRIO 5u #define APP_TASK_2_PRIO 6u #define APP_TASK_3_PRIO 7u #define APP_TASK_4_PRIO 8u #define APP_TASK_5_PRIO 9u #define APP_TASK_START_STK_SIZE 256u #define APP_TASK_1_STK_SIZE 256u #define APP_TASK_2_STK_SIZE 256u #define APP_TASK_3_STK_SIZE 256u #define APP_TASK_4_STK_SIZE 256u #define APP_TASK_5_STK_SIZE 256u static OS_TCB AppTaskStartTCB; static OS_TCB AppTask1TCB; static OS_TCB AppTask2TCB; static OS_TCB AppTask3TCB; static OS_TCB AppTask4TCB; static OS_TCB AppTask5TCB; static OS_SEM MYSEM1; static OS_SEM MYSEM2; static OS_Q MYQ1; static OS_Q MYQ2; static CPU_STK AppTaskStartStk[APP_TASK_START_STK_SIZE]; static CPU_STK AppTask1Stk[APP_TASK_1_STK_SIZE]; static CPU_STK AppTask2Stk[APP_TASK_2_STK_SIZE]; static CPU_STK AppTask3Stk[APP_TASK_3_STK_SIZE]; static CPU_STK AppTask4Stk[APP_TASK_4_STK_SIZE]; static CPU_STK AppTask5Stk[APP_TASK_5_STK_SIZE]; static void AppTaskStart(void *p_arg); void AppTask1(void *p_arg); void AppTask2(void *p_arg); void AppTask3(void *p_arg); void AppTask4(CPU_CHAR *p_arg); void AppTask5(void *p_arg); CPU_CHAR *s_M = "NWPU"; CPU_CHAR *BLOCK1 = "消息传递Task4"; CPU_CHAR *BLOCK2 = "消息传递Task5"; int main (void) { OS_ERR err; OSInit(&err); OSQCreate((OS_Q *)&MYQ1, (CPU_CHAR *)"MYQ1", (OS_MSG_QTY)10, (OS_ERR *)&err); OSQCreate((OS_Q *)&MYQ2, (CPU_CHAR *)"MYQ2", (OS_MSG_QTY)10, (OS_ERR *)&err); OSSemCreate((OS_SEM *)&MYSEM1, (CPU_CHAR *)"MYSEM1", (OS_SEM_CTR)0, (OS_ERR *)&err); OSSemCreate((OS_SEM *)&MYSEM2, (CPU_CHAR *)"MYSEM2", (OS_SEM_CTR)0, (OS_ERR *)&err); OSTaskCreate((OS_TCB *)&AppTaskStartTCB, (CPU_CHAR *)"App Task Start", (OS_TASK_PTR ) AppTaskStart, (void *) 0, (OS_PRIO ) APP_TASK_START_PRIO, (CPU_STK *)&AppTaskStartStk[0], (CPU_STK_SIZE) APP_TASK_START_STK_SIZE / 10u, (CPU_STK_SIZE) APP_TASK_START_STK_SIZE, (OS_MSG_QTY ) 0u, (OS_TICK ) 0u, (void *) 0, (OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), (OS_ERR *)&err); OSStart(&err); } static void AppTaskStart (void *p_arg) { OS_ERR err; (void)p_arg; CPU_Init(); OSTaskCreate((OS_TCB *)&AppTask1TCB, (CPU_CHAR *)"AppTask1", (OS_TASK_PTR)AppTask1, (void *)0, (OS_PRIO)APP_TASK_1_PRIO, (CPU_STK *)&AppTask1Stk[0], (CPU_STK_SIZE)APP_TASK_1_STK_SIZE / 10u, (CPU_STK_SIZE)APP_TASK_1_STK_SIZE, (OS_MSG_QTY)0u, (OS_TICK)0u, (void *)0, (OS_OPT)(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), (OS_ERR *)&err); OSTaskCreate((OS_TCB *)&AppTask2TCB, (CPU_CHAR *)"AppTask2", (OS_TASK_PTR)AppTask2, (void *)0, (OS_PRIO)APP_TASK_2_PRIO, (CPU_STK *)&AppTask2Stk[0], (CPU_STK_SIZE)APP_TASK_2_STK_SIZE / 10u, (CPU_STK_SIZE)APP_TASK_2_STK_SIZE, (OS_MSG_QTY)0u, (OS_TICK)0u, (void *)0, (OS_OPT)(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), (OS_ERR *)&err); OSTaskCreate((OS_TCB *)&AppTask3TCB, (CPU_CHAR *)"AppTask3", (OS_TASK_PTR)AppTask3, (void *)0, (OS_PRIO)APP_TASK_3_PRIO, (CPU_STK *)&AppTask3Stk[0], (CPU_STK_SIZE)APP_TASK_3_STK_SIZE / 10u, (CPU_STK_SIZE)APP_TASK_3_STK_SIZE, (OS_MSG_QTY)0u, (OS_TICK)0u, (void *)0, (OS_OPT)(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), (OS_ERR *)&err); OSTaskCreate((OS_TCB *)&AppTask4TCB, (CPU_CHAR *)"AppTask4", (OS_TASK_PTR)AppTask4, (CPU_CHAR *)s_M, (OS_PRIO)APP_TASK_4_PRIO, (CPU_STK *)&AppTask4Stk[0], (CPU_STK_SIZE)APP_TASK_4_STK_SIZE / 10u, (CPU_STK_SIZE)APP_TASK_4_STK_SIZE, (OS_MSG_QTY)0u, (OS_TICK)0u, (void *)0, (OS_OPT)(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), (OS_ERR *)&err); OSTaskCreate((OS_TCB *)&AppTask5TCB, (CPU_CHAR *)"AppTask5", (OS_TASK_PTR)AppTask5, (CPU_CHAR *)s_M, (OS_PRIO)APP_TASK_5_PRIO, (CPU_STK *)&AppTask5Stk[0], (CPU_STK_SIZE)APP_TASK_5_STK_SIZE / 10u, (CPU_STK_SIZE)APP_TASK_5_STK_SIZE, (OS_MSG_QTY)0u, (OS_TICK)0u, (void *)0, (OS_OPT)(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), (OS_ERR *)&err); } void AppTask1(void *p_arg) { OS_ERR err; OS_PEND_DATA MULTI_TBL[4]; (void)p_arg; while (DEF_ON){ MULTI_TBL[0].PendObjPtr = &MYSEM1; MULTI_TBL[1].PendObjPtr = &MYSEM2; MULTI_TBL[2].PendObjPtr = &MYQ1; MULTI_TBL[3].PendObjPtr = &MYQ2; OSPendMulti((OS_PEND_DATA *)&MULTI_TBL[0], (OS_OBJ_QTY)4, (OS_TICK)0, (OS_OPT)OS_OPT_PEND_BLOCKING, (OS_ERR *)&err); APP_TRACE_DBG(("Task1 is running...\n\r")); } } void AppTask2(void *p_arg) { OS_ERR err; (void)p_arg; while (DEF_ON){ APP_TRACE_DBG(("Task2 is running...\n\r")); OSSemPost((OS_SEM *)&MYSEM1, (OS_OPT)OS_OPT_POST_1, (OS_ERR *)&err); OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_DLY, &err); } } void AppTask3(void *p_arg) { OS_ERR err; (void)p_arg; while (DEF_ON){ APP_TRACE_DBG(("Time:%ld\n\r", OSTimeGet(&err))); OSSemPost((OS_SEM *)&MYSEM2, (OS_OPT)OS_OPT_POST_1, (OS_ERR *)&err); OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_DLY, &err); } } void AppTask4(CPU_CHAR *p_arg) { OS_ERR err; while (DEF_ON){ APP_TRACE_DBG(("%s\n\r", p_arg)); OSQPost((OS_Q *)&MYQ1, (void *)BLOCK1, (OS_MSG_SIZE)sizeof(BLOCK1), (OS_OPT)OS_OPT_POST_FIFO, (OS_ERR *)&err); OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_DLY, &err); } } void AppTask5(void *p_arg) { OS_ERR err; (void)p_arg; while (DEF_ON){ APP_TRACE_DBG(("Task5 is running...\n\r")); OSQPost((OS_Q *)&MYQ2, (void *)BLOCK2, (OS_MSG_SIZE)sizeof(BLOCK2), (OS_OPT)OS_OPT_POST_FIFO, (OS_ERR *)&err); OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_DLY, &err); } }

来自CODE的代码片

Multi

实验结果