FreeRTOS开发实战_链表管理

4.1 链表的特性

在FreeRTOS的链表管理中，采用的是双向链表，其中链表头指针使用xLIST来表示，而链表尾部指针为xMINI_LIST_ITEM。

这个链表有一个非常巧妙的设计在于添加了两个item：

• pvContainer，用来记录这个Item是属于哪一个链表；
•  pvOwner，用来扩展Item，可以用来基于链表做客制化的操作；

比如我们客制化的一个链表Item

typedef struct _Rpmsg_Listener {       RpmsgCallbackFunction_t pxCallbackFunction;       RpmsgSendFunction_t pxSendFunction;       ListItem_t  xRpmsgListenerListItem;       RpmsgEvent_t *mEvent; }RpmsgListener_t;

 刚刚初始化表头后的链表形态如下：

插入Item之后的链表结构如下图：

4.1.1 数据存储

4.1.1.1 表头指针

/*  * Definition of the type of queue used by the scheduler.  */ typedef struct xLIST {         configLIST_VOLATILE UBaseType_t uxNumberOfItems;         ListItem_t * configLIST_VOLATILE pxIndex;             /*< Used to walk through the list.  Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */         MiniListItem_t xListEnd;                                             /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ } List_t;

• l  uxNumberOfItems：记录链表的ITEM数目；
• l  pxIndex：链表游标
• l  xListEnd：队尾标志

4.1.1.2 链表表项

/*  * Definition of the only type of object that a list can contain.  */ struct xLIST_ITEM {         configLIST_VOLATILE TickType_t xItemValue;                  /*< The value being listed.  In most cases this is used to sort the list in descending order. */         struct xLIST_ITEM * configLIST_VOLATILE pxNext;         /*< Pointer to the next ListItem_t in the list. */         struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;   /*< Pointer to the previous ListItem_t in the list. */         void * pvOwner;                                                                                    /*< Pointer to the object (normally a TCB) that contains the list item.  There is therefore a two way link between the object containing the list item and the list item itself. */         void * configLIST_VOLATILE pvContainer;                                 /*< Pointer to the list in which this list item is placed (if any). */ };

• l  xItemValue：表项数值，常用于链表排序；
• l  pxNext：指针，指向下一个；
• l  pxPrevious：指针，指向前一个；
• l  pvOwner：指针，常指向TCB；
• l  pvContainer：指针，常指向链表表头。

4.2 使用链表

4.2.1 初始化链表

voidvListInitialise( List_t * const pxList )

参数：

• pxList：链表表头指针

4.2.2 初始化表项

voidvListInitialiseItem( ListItem_t * const pxItem )

参数：

• pxItem：链表表项

4.2.3 插入表项

voidvListInsert( List_t * const pxList, ListItem_t * const pxNewListItem )

参数：

•  pxList：需要插入的链表
• pxNewListItem：链表项目

4.2.4 链表尾部插入

void vListInsertEnd(List_t * const pxList, ListItem_t * const pxNewListItem )

参数：

• pxList：需要插入的链表
• pxNewListItem：链表项目

4.2.5 移除表项

UBaseType_tuxListRemove( ListItem_t * const pxItemToRemove )

参数：

• pxItemToRemove ：需要移除的表项

4.2.6 其他宏定义操作

• l  listSET_LIST_ITEM_VALUE

设置Item Value

• l  listSET_LIST_ITEM_OWNER

设置List Owner

• l  listCURRENT_LIST_LENGTH

当前链表的长度

• l  listGET_LIST_ITEM_OWNER

取得链表的Owner

4.3 使用实例

typedef struct _Sensor_Event_ {     Sensor mSenor;     float values[4]; }SensorEvent_t; /*  * Defines the prototype to which timer callback functions must conform.  */ typedef void (*SensorCallbackFunction_t)(SensorEvent_t * mListener);   typedef struct _Sensor_Listener {       int mSensorType;       SensorCallbackFunction_t pxCallbackFunction;       ListItem_t  xSensorListenerListItem;       SensorEvent_t *mEvent; }SensorListener_t;   void ap_RegisterSensorListener(int RegiterID,int mSensorType,SensorCallbackFunction_t mpxCallbackFunction,SensorEvent_t* mEvent) {     //Create the new Sensor Listener     SensorListener_t *pxNewSensorListener;     pxNewSensorListener =(SensorListener_t *)pvPortMalloc( sizeof( SensorListener_t ) );     pxNewSensorListener->mSensorType = mSensorType;     pxNewSensorListener->pxCallbackFunction = mpxCallbackFunction;        pxNewSensorListener->mEvent=mEvent;     vListInitialiseItem( &( pxNewSensorListener->xSensorListenerListItem ) );     #ifdef SUPPORT_GSENSOR     //Add the new Item to the list by the Sensor Type     if(mSensorType == TYPE_GYROSCOPE)     {         listSET_LIST_ITEM_VALUE( &( pxNewSensorListener->xSensorListenerListItem ), RegiterID );         listSET_LIST_ITEM_OWNER( &( pxNewSensorListener->xSensorListenerListItem ), pxNewSensorListener );         vListInsert( &xGsensorList, &( pxNewSensorListener->xSensorListenerListItem ) );     } #endif    PRINTF("The xGsensorList length is %d\n",listCURRENT_LIST_LENGTH(&xGsensorList)); }   void mw_sensor_init(void) {      //Add Listener List for Sensor Listenor #ifdef SUPPORT_GSENSOR     vListInitialise( &xGsensorList ); #endif }   #ifdef SUPPORT_GSENSOR //Called by the HAL_Sensor void OnGyroSensorChangedCallBack(float Gxf, float Gyf,float Gzf) {     List_t * pxConstList;     SensorListener_t* vSensorListener;     pxConstList = &xGsensorList;     pxConstList->pxIndex = pxConstList->pxIndex->pxNext;            while(( void * ) ( pxConstList )->pxIndex != ( void * ) &( ( pxConstList )->xListEnd ))     {          vSensorListener = (SensorListener_t *)listGET_LIST_ITEM_OWNER( ( pxConstList )->pxIndex );          vSensorListener->mEvent->values[0] = Gxf;          vSensorListener->mEvent->values[1] = Gyf;          vSensorListener->mEvent->values[2] = Gzf;          vSensorListener->pxCallbackFunction( ( SensorEvent_t *) vSensorListener->mEvent);          pxConstList->pxIndex = pxConstList->pxIndex->pxNext;           } } #endif   BaseType_t ap_unRegisterSensorListener(int RegiterID,int mSensorType) {     SensorListener_t* vSensorListener;     List_t * pxConstList;     if(mSensorType == TYPE_GYROSCOPE)     {         pxConstList = &xGsensorList;     }else     {         return pdFAIL;     }     while( (( pxConstList )->pxIndex->xItemValue == RegiterID)           &&(( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) )           )     {           ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext;                                                            }     if(( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) )     {         return pdFAIL;     }     vSensorListener = (SensorListener_t *)listGET_LIST_ITEM_OWNER( ( pxConstList )->pxIndex );     ( void ) uxListRemove(&(vSensorListener->xSensorListenerListItem));     vPortFree(vSensorListener);     return pdPASS;   }