任务消息队列（**API - Task Message Queues**）

任务消息队列（API - Task Message Queues）

属于任务当中的一块，不需要单独创建。实现多对一的消息队列的传输。

OSTaskQPost

Description

OSTaskQPost() sends a message to a task through its local message queue. A message is a

pointer-sized variable, and its use is application specific. If the task’s message queue is full, an

error code is returned to the caller. In this case, OSTaskQPost() immediately returns to its caller,

and the message is not placed in the message queue.

If the task receiving the message is waiting for a message to arrive, it will be made

ready-to-run. If the receiving task has a higher priority than the task sending the message, the

higher-priority task resumes, and the task sending the message is suspended; that is, a context

switch occurs. A message can be posted as first-in first-out (FIFO), or last-in-first-out (LIFO),

depending on the value specified in the opt argument. In either case, scheduling occurs unless

opt is set to OS_OPT_POST_NO_SCHED.

Files

os.h/os_task.c

Prototype

void OSTaskQPost (OS_TCB *p_tcb,
 void *p_void,
 OS_MSG_SIZE msg_size,
 OS_OPT opt,
 OS_ERR *p_err)

Arguments

p_tcb

is a pointer to the TCB of the task. Note that it is possible to post a message to the calling

task (i.e., self) by specifying a NULL pointer, or the address of its TCB.

p_void

is the actual message sent to the task. p_void is a pointer-sized variable and its meaning is

application specific.

msg_size

specifies the size of the message posted (in number of bytes).

opt

determines the type of POST performed. Of course, it does not make sense to post LIFO

and FIFO simultaneously, so these options are exclusive:

OS_OPT_POST_FIFO

POST message to task and place at the end of the queue if the task is not waiting for

messages.

OS_OPT_POST_LIFO

POST message to task and place at the front of the queue if the task is not waiting

for messages.

OS_OPT_POST_NO_SCHED

This option prevents calling the scheduler after the post and therefore the caller is

resumed.

You should use this option if the task (or ISR) calling OSTaskQPost() will be doing

additional posts, the user does not want to reschedule until all done, and multiple

posts are to take effect simultaneously.

p_err

is a pointer to a variable that will contain an error code returned by this function.

OS_ERR_NONE

If the call was successful and the message was posted to the task’s message queue.

OS_ERR_INT_Q_FULL

If OS_CFG_ISR_POST_DEFERRED_EN is to DEF_ENABLED in os_cfg.h: If the deferred

interrupt post queue is full.

OS_ERR_MSG_POOL_EMPTY

If running out of OS_MSG to hold the message being posted.

OS_ERR_OPT_INVALID

If OS_CFG_ARG_CHK_EN is set to DEF_ENABLED in os_cfg.h: if a valid option is not

specified.

OS_ERR_OS_NOT_RUNNING

If OS_CFG_INVALID_OS_CALLS_CHK_EN is set to DEF_ENABLED in os_cfg.h: if µC/OS-III

is not running yet.

Required Configuration

OS_CFG_TASK_Q_EN must be enabled in os_cfg.h. Refer to µC-OS-III Configuration Manual.

OSTaskQPend

Description

OSTaskQPend() allows a task to receive messages directly from an ISR or another task, without

going through an intermediate message queue. In fact, each task has a built-in message queue

if the configuration constant OS_CFG_TASK_Q_EN is set to DEF_ENABLED. The messages received

are pointer-sized variables, and their use is application specific. If at least one message is

already present in the message queue when OSTaskQPend() is called, the message is retrieved

and returned to the caller.

If no message is present in the task’s message queue and OS_OPT_PEND_BLOCKING is specified for

the opt argument, OSTaskQPend() suspends the current task (assuming the scheduler is not

locked) until either a message is received, or a user-specified timeout expires. A pended task

that is suspended with OSTaskSuspend() can receive messages. However, the task remains

suspended until it is resumed by calling OSTaskResume().

If no message is present in the task’s message queue and OS_OPT_PEND_NON_BLOCKING is

specified for the opt argument, OSTaskQPend() returns to the caller with an appropriate error

code and returns a NULL pointer.

Files

os.h/os_task.c

Prototype

void *OSTaskQPend (OS_TICK timeout,
 OS_OPT opt,
 OS_MSG_SIZE *p_msg_size,
 CPU_TS *p_ts,
 OS_ERR *p_err)