消息队列能够接收来自线程或中断服务例程中不固定长度的消息，并把消息缓存在自己的内存空间中。其他线程也能够从消息队列中读取相应的消息，而当消息队列是空的时候，可以挂起读取线程。当有新的消息到达时，挂起的线程将被唤醒以接收并处理消息。消息队列是一种异步的通信方式。
如下所示，线程或中断服务例程可以将一条或多条消息放入消息队列中。同样，一个或多个线程也可以从消息队列中获得消息。当有多个消息发送到消息队列时，通常将先进入消息队列的消息先传给线程，也就是说，线程先得到的是最先进入消息队列的消息，即先进先出原则 (FIFO)。
RT-Thread操作系统的消息队列对象由多个元素组成，当消息队列被创建时，它就被分配了消息队列控制块：消息队列名称、内存缓冲区、消息大小以及队列长度等。同时每个消息队列对象中包含着多个消息框，每个消息框可以存放一条消息；消息队列中的第一个和最后一个消息框被分别称为消息链表头和消息链表尾，对应于消息队列控制块中的msg_queue_head和 msg_queue_tail；有些消息框可能是空的，它们通过msg_queue_free形成一个空闲消息框链表。所有消息队列中的消息框总数即是消息队列的长度，这个长度可在消息队列创建时指定。
消息队列控制块是操作系统用于管理消息队列的一个数据结构，由结构体 struct rt_messagequeue 表示。
struct rt_messagequeue
{
struct rt_ipc_object parent;
void* msg_pool; /*指向存放消息的缓冲区的指针*/
rt_uint16_t msg_size; /*每个消息的长度*/
rt_uint16_t max_msgs; /*最大能够容纳的消息数*/
rt_uint16_t entry; /*队列中已有的消息数*/
void* msg_queue_head; /*消息链表头*/
void* msg_queue_tail; /*消息链表尾*/
void* msg_queue_free; /*空闲消息链表*/
rt_list_t suspend_sender_thread; /*发送线程的挂起等待队列*/
};
typedef struct rt_messagequeue* rt_mq_t;消息队列的相关接口如下图所示，对一个消息队列的操作包含：创建消息队列，发送消息，接收消息，删除消息队列等。
消息队列有关的代码在源码文件的ipc.c中，接下来详细看一下是怎样实现上述功能的。
#ifdef RT_USING_MESSAGEQUEUE
struct rt_mq_message
{
struct rt_mq_message *next;
};
/**
* This function will initialize a message queue and put it under control of
* resource management.
*
* @param mq the message object
* @param name the name of message queue
* @param msgpool the beginning address of buffer to save messages
* @param msg_size the maximum size of message
* @param pool_size the size of buffer to save messages
* @param flag the flag of message queue
*
* @return the operation status, RT_EOK on successful
*/
//初始化静态消息队列对象
rt_err_t rt_mq_init(rt_mq_t mq,
const char *name,
void *msgpool,
rt_size_t msg_size,
rt_size_t pool_size,
rt_uint8_t flag)
{
struct rt_mq_message *head;
register rt_base_t temp;
/* parameter check */
RT_ASSERT(mq != RT_NULL);
/* init object */
rt_object_init(&(mq->parent.parent), RT_Object_Class_MessageQueue, name);
/* set parent flag */
mq->parent.parent.flag = flag;
/* init ipc object */
rt_ipc_object_init(&(mq->parent));
/* set messasge pool */
mq->msg_pool = msgpool; //指向存放消息的缓冲区的指针
/* get correct message size */
mq->msg_size = RT_ALIGN(msg_size, RT_ALIGN_SIZE); //消息队列中每条消息的长度
mq->max_msgs = pool_size / (mq->msg_size + sizeof(struct rt_mq_message)); //最大能够容纳消息数
/* init message list */
mq->msg_queue_head = RT_NULL; //消息链表头
mq->msg_queue_tail = RT_NULL; //消息链表尾
/* init message empty list */
mq->msg_queue_free = RT_NULL; //空闲消息链表
//消息队列初始化后所有消息都挂在空闲消息链表上，消息队列为空
for (temp = 0; temp < mq->max_msgs; temp ++)
{
//struct rt_mq_message消息头，用于链表连接
head = (struct rt_mq_message *)((rt_uint8_t *)mq->msg_pool +
temp * (mq->msg_size + sizeof(struct rt_mq_message)));
head->next = mq->msg_queue_free;
mq->msg_queue_free = head;
}
/* the initial entry is zero */
mq->entry = 0; //消息队列中已有的消息数
return RT_EOK;
}
RTM_EXPORT(rt_mq_init);
/**
* This function will detach a message queue object from resource management
*
* @param mq the message queue object
*
* @return the operation status, RT_EOK on successful
*/
//静态消息队列脱离
rt_err_t rt_mq_detach(rt_mq_t mq)
{
/* parameter check */
RT_ASSERT(mq != RT_NULL);
RT_ASSERT(rt_object_get_type(&mq->parent.parent) == RT_Object_Class_MessageQueue);
RT_ASSERT(rt_object_is_systemobject(&mq->parent.parent));
/* resume all suspended thread */
rt_ipc_list_resume_all(&mq->parent.suspend_thread);
/* detach message queue object */
rt_object_detach(&(mq->parent.parent));
return RT_EOK;
}
RTM_EXPORT(rt_mq_detach);
#ifdef RT_USING_HEAP
/**
* This function will create a message queue object from system resource
*
* @param name the name of message queue
* @param msg_size the size of message
* @param max_msgs the maximum number of message in queue
* @param flag the flag of message queue
*
* @return the created message queue, RT_NULL on error happen
*/
//创建动态消息队列对象
rt_mq_t rt_mq_create(const char *name,
rt_size_t msg_size,
rt_size_t max_msgs,
rt_uint8_t flag)
{
struct rt_messagequeue *mq;
struct rt_mq_message *head;
register rt_base_t temp;
RT_DEBUG_NOT_IN_INTERRUPT;
/* allocate object */
mq = (rt_mq_t)rt_object_allocate(RT_Object_Class_MessageQueue, name);
if (mq == RT_NULL)
return mq;
/* set parent */
mq->parent.parent.flag = flag;
/* init ipc object */
rt_ipc_object_init(&(mq->parent));
/* init message queue */
/* get correct message size */
mq->msg_size = RT_ALIGN(msg_size, RT_ALIGN_SIZE);
mq->max_msgs = max_msgs;
/* allocate message pool */
//消息内存池空间也需要分配
mq->msg_pool = RT_KERNEL_MALLOC((mq->msg_size + sizeof(struct rt_mq_message)) * mq->max_msgs);
if (mq->msg_pool == RT_NULL)
{
rt_mq_delete(mq);
return RT_NULL;
}
/* init message list */
mq->msg_queue_head = RT_NULL;
mq->msg_queue_tail = RT_NULL;
/* init message empty list */
mq->msg_queue_free = RT_NULL;
for (temp = 0; temp < mq->max_msgs; temp ++)
{
head = (struct rt_mq_message *)((rt_uint8_t *)mq->msg_pool +
temp * (mq->msg_size + sizeof(struct rt_mq_message)));
head->next = mq->msg_queue_free;
mq->msg_queue_free = head;
}
/* the initial entry is zero */
mq->entry = 0;
return mq;
}
RTM_EXPORT(rt_mq_create);
/**
* This function will delete a message queue object and release the memory
*
* @param mq the message queue object
*
* @return the error code
*/
//删除动态消息队列对象
rt_err_t rt_mq_delete(rt_mq_t mq)
{
RT_DEBUG_NOT_IN_INTERRUPT;
/* parameter check */
RT_ASSERT(mq != RT_NULL);
RT_ASSERT(rt_object_get_type(&mq->parent.parent) == RT_Object_Class_MessageQueue);
RT_ASSERT(rt_object_is_systemobject(&mq->parent.parent) == RT_FALSE);
/* resume all suspended thread */
rt_ipc_list_resume_all(&(mq->parent.suspend_thread));
/* free message queue pool */
RT_KERNEL_FREE(mq->msg_pool);
/* delete message queue object */
rt_object_delete(&(mq->parent.parent));
return RT_EOK;
}
RTM_EXPORT(rt_mq_delete);
#endif
/**
* This function will send a message to message queue object, if there are
* threads suspended on message queue object, it will be waked up.
*
* @param mq the message queue object
* @param buffer the message
* @param size the size of buffer
*
* @return the error code
*/
//发送消息。
//线程或者中断服务程序都可以给消息队列发送消息。
//当发送消息时，消息队列对象先从空闲消息链表上取下一个空闲消息块，
//把线程或者中断服务程序发送的消息内容复制到消息块上，然后把该消息块挂到
//消息队列的尾部。
//当且仅当空闲消息链表上有可用的空闲消息块时，发送者才能成功发送消息；当空闲消
//息链表上无可用消息块，说明消息队列已满，此时，发送消息的的线程或者中断程序会收到一个错误码。
//发送消息时，发送者需指定发送的消息队列的对象句柄（即指向消息队列控制块的指针），并且指定发
//送的消息内容以及消息大小。
//mq为消息队列对象句柄，*buffer为发送消息的内容，size为发送消息的大小。
rt_err_t rt_mq_send(rt_mq_t mq, void *buffer, rt_size_t size)
{
register rt_ubase_t temp;
struct rt_mq_message *msg;
/* parameter check */
RT_ASSERT(mq != RT_NULL);
RT_ASSERT(rt_object_get_type(&mq->parent.parent) == RT_Object_Class_MessageQueue);
RT_ASSERT(buffer != RT_NULL);
RT_ASSERT(size != 0);
/* greater than one message size */
//发送消息的大小大于消息队列中定义消息的大小，返回错误。
if (size > mq->msg_size)
return -RT_ERROR;
RT_OBJECT_HOOK_CALL(rt_object_put_hook, (&(mq->parent.parent)));
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* get a free list, there must be an empty item */
msg = (struct rt_mq_message *)mq->msg_queue_free; //消息队列对象中，空闲消息链表
/* message queue is full */
if (msg == RT_NULL) //没有空闲消息块说明消息队列已满
{
/* enable interrupt */
rt_hw_interrupt_enable(temp);
return -RT_EFULL;
}
/* move free list pointer */
mq->msg_queue_free = msg->next; //从空闲消息链表头取出一个空闲消息块
/* enable interrupt */
rt_hw_interrupt_enable(temp);
/* the msg is the new tailer of list, the next shall be NULL */
msg->next = RT_NULL;
/* copy buffer */
rt_memcpy(msg + 1, buffer, size);
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* link msg to message queue */
if (mq->msg_queue_tail != RT_NULL)
{
/* if the tail exists, */
//若队列尾指针存在，将刚发送的消息添加至消息链表尾
((struct rt_mq_message *)mq->msg_queue_tail)->next = msg;
}
/* set new tail */
mq->msg_queue_tail = msg;
/* if the head is empty, set head */
if (mq->msg_queue_head == RT_NULL)
mq->msg_queue_head = msg;
/* increase message entry */
mq->entry ++; //消息数加一
/* resume suspended thread */
if (!rt_list_isempty(&mq->parent.suspend_thread))
{
rt_ipc_list_resume(&(mq->parent.suspend_thread));
/* enable interrupt */
rt_hw_interrupt_enable(temp);
rt_schedule();
return RT_EOK;
}
/* enable interrupt */
rt_hw_interrupt_enable(temp);
return RT_EOK;
}
RTM_EXPORT(rt_mq_send);
/**
* This function will send an urgent message to message queue object, which
* means the message will be inserted to the head of message queue. If there
* are threads suspended on message queue object, it will be waked up.
*
* @param mq the message queue object
* @param buffer the message
* @param size the size of buffer
*
* @return the error code
*/
//发送紧急消息。
//当发送紧急消息时，从空闲消息链表上取
//下来的消息块不是挂到消息队列的队尾，而是挂到队首，这样，接收者就能够优先接收到紧急消息，从而
//及时进行消息处理。
rt_err_t rt_mq_urgent(rt_mq_t mq, void *buffer, rt_size_t size)
{
register rt_ubase_t temp;
struct rt_mq_message *msg;
/* parameter check */
RT_ASSERT(mq != RT_NULL);
RT_ASSERT(rt_object_get_type(&mq->parent.parent) == RT_Object_Class_MessageQueue);
RT_ASSERT(buffer != RT_NULL);
RT_ASSERT(size != 0);
/* greater than one message size */
if (size > mq->msg_size)
return -RT_ERROR;
RT_OBJECT_HOOK_CALL(rt_object_put_hook, (&(mq->parent.parent)));
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* get a free list, there must be an empty item */
msg = (struct rt_mq_message *)mq->msg_queue_free;
/* message queue is full */
if (msg == RT_NULL)
{
/* enable interrupt */
rt_hw_interrupt_enable(temp);
return -RT_EFULL;
}
/* move free list pointer */
mq->msg_queue_free = msg->next;
/* enable interrupt */
rt_hw_interrupt_enable(temp);
/* copy buffer */
rt_memcpy(msg + 1, buffer, size);
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* link msg to the beginning of message queue */
msg->next = mq->msg_queue_head; //和普通发送消息区别在这里，将消息链接到队列头
mq->msg_queue_head = msg;
/* if there is no tail */
if (mq->msg_queue_tail == RT_NULL)
mq->msg_queue_tail = msg;
/* increase message entry */
mq->entry ++;
/* resume suspended thread */
if (!rt_list_isempty(&mq->parent.suspend_thread))
{
rt_ipc_list_resume(&(mq->parent.suspend_thread));
/* enable interrupt */
rt_hw_interrupt_enable(temp);
rt_schedule();
return RT_EOK;
}
/* enable interrupt */
rt_hw_interrupt_enable(temp);
return RT_EOK;
}
RTM_EXPORT(rt_mq_urgent);
/**
* This function will receive a message from message queue object, if there is
* no message in message queue object, the thread shall wait for a specified
* time.
*
* @param mq the message queue object
* @param buffer the received message will be saved in
* @param size the size of buffer
* @param timeout the waiting time
*
* @return the error code
*/
//接收消息。
//当消息队列中有消息时，接收者才能接收消息，否则接收者会根据超时时间设置，或挂起在消息队列
//的等待线程队列上，或直接返回。
//接收消息时，接收者需指定存储消息的消息队列对象句柄，并且指定一个内存缓冲区，接收到的消息
//内容将被复制到该缓冲区里。此外，还需指定未能及时取到消息时的超时时间。
//mq为消息队列对象句柄，*buffer为接收消息的缓冲区，size为接收消息的大小。
rt_err_t rt_mq_recv(rt_mq_t mq,
void *buffer,
rt_size_t size,
rt_int32_t timeout)
{
struct rt_thread *thread;
register rt_ubase_t temp;
struct rt_mq_message *msg;
rt_uint32_t tick_delta;
/* parameter check */
RT_ASSERT(mq != RT_NULL);
RT_ASSERT(rt_object_get_type(&mq->parent.parent) == RT_Object_Class_MessageQueue);
RT_ASSERT(buffer != RT_NULL);
RT_ASSERT(size != 0);
/* initialize delta tick */
tick_delta = 0;
/* get current thread */
thread = rt_thread_self();
RT_OBJECT_HOOK_CALL(rt_object_trytake_hook, (&(mq->parent.parent)));
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* for non-blocking call */
if (mq->entry == 0 && timeout == 0)
{
rt_hw_interrupt_enable(temp);
return -RT_ETIMEOUT;
}
/* message queue is empty */
while (mq->entry == 0) //消息队列中消息数为0
{
RT_DEBUG_IN_THREAD_CONTEXT;
/* reset error number in thread */
thread->error = RT_EOK;
/* no waiting, return timeout */
if (timeout == 0)
{
/* enable interrupt */
rt_hw_interrupt_enable(temp);
thread->error = -RT_ETIMEOUT;
return -RT_ETIMEOUT;
}
/* suspend current thread */
rt_ipc_list_suspend(&(mq->parent.suspend_thread),
thread,
mq->parent.parent.flag);
/* has waiting time, start thread timer */
if (timeout > 0)
{
/* get the start tick of timer */
tick_delta = rt_tick_get();
RT_DEBUG_LOG(RT_DEBUG_IPC, ("set thread:%s to timer listn",
thread->name));
/* reset the timeout of thread timer and start it */
rt_timer_control(&(thread->thread_timer),
RT_TIMER_CTRL_SET_TIME,
&timeout);
rt_timer_start(&(thread->thread_timer));
}
/* enable interrupt */
rt_hw_interrupt_enable(temp);
/* re-schedule */
rt_schedule();
/* recv message */
if (thread->error != RT_EOK)
{
/* return error */
return thread->error;
}
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* if it's not waiting forever and then re-calculate timeout tick */
if (timeout > 0)
{
tick_delta = rt_tick_get() - tick_delta;
timeout -= tick_delta;
if (timeout < 0)
timeout = 0;
}
}
/* get message from queue */
msg = (struct rt_mq_message *)mq->msg_queue_head; //从消息队列链表头取出一个消息
/* move message queue head */
mq->msg_queue_head = msg->next;
/* reach queue tail, set to NULL */
if (mq->msg_queue_tail == msg)
mq->msg_queue_tail = RT_NULL;
/* decrease message entry */
mq->entry --; //取出一个消息后，消息队列中消息数减一
/* enable interrupt */
rt_hw_interrupt_enable(temp);
/* copy message */
rt_memcpy(buffer, msg + 1, size > mq->msg_size ? mq->msg_size : size);
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* put message to free list */
msg->next = (struct rt_mq_message *)mq->msg_queue_free;
mq->msg_queue_free = msg;
/* enable interrupt */
rt_hw_interrupt_enable(temp);
RT_OBJECT_HOOK_CALL(rt_object_take_hook, (&(mq->parent.parent)));
return RT_EOK;
}
RTM_EXPORT(rt_mq_recv);
/**
* This function can get or set some extra attributions of a message queue
* object.
*
* @param mq the message queue object
* @param cmd the execution command
* @param arg the execution argument
*
* @return the error code
*/
rt_err_t rt_mq_control(rt_mq_t mq, int cmd, void *arg)
{
rt_ubase_t level;
struct rt_mq_message *msg;
/* parameter check */
RT_ASSERT(mq != RT_NULL);
RT_ASSERT(rt_object_get_type(&mq->parent.parent) == RT_Object_Class_MessageQueue);
if (cmd == RT_IPC_CMD_RESET)
{
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* resume all waiting thread */
rt_ipc_list_resume_all(&mq->parent.suspend_thread);
/* release all message in the queue */
while (mq->msg_queue_head != RT_NULL)
{
/* get message from queue */
msg = (struct rt_mq_message *)mq->msg_queue_head;
/* move message queue head */
mq->msg_queue_head = msg->next;
/* reach queue tail, set to NULL */
if (mq->msg_queue_tail == msg)
mq->msg_queue_tail = RT_NULL;
/* put message to free list */
msg->next = (struct rt_mq_message *)mq->msg_queue_free;
mq->msg_queue_free = msg;
}
/* clean entry */
mq->entry = 0;
/* enable interrupt */
rt_hw_interrupt_enable(level);
rt_schedule();
return RT_EOK;
}
return -RT_ERROR;
}
RTM_EXPORT(rt_mq_control);
#endif /* end of RT_USING_MESSAGEQUEUE */
消息队列可以应用于发送不定长消息的场合，包括线程与线程间的消息交换，以及中断服务例程中给线程发送消息（中断服务例程不能接收消息）。下面分发送消息和同步消息两部分来介绍消息队列的使用。
发送消息：
消息队列和邮箱的明显不同是消息的长度并不限定在4个字节以内；另外，消息队列也包括了一个发送紧急消息的函数接口。但是当创建的是一个所有消息的最大长度是4字节的消息队列时，消息队列对象将蜕化成邮箱。
同步消息：
在一般的系统设计中会经常遇到要发送同步消息的问题，这个时候就可以根据当时状态的不同选择相应的实现：两个线程间可以采用[消息队列+信号量或邮箱]的形式实现。发送线程通过消息发送的形式发送相应的消息给消息队列，发送完毕后希望获得接收线程的收到确认。
定义消息结构体：
struct msg
{
struct rt_mailbox ack;
};
/* 或 者 */
struct msg
{
struct rt_semaphore ack;
};第一种类型的消息使用了邮箱来作为确认标志，而第二种类型的消息采用了信号量来作为确认标志。邮箱作为确认标志，代表着接收线程能够通知一些状态值给发送线程；而信号量作为确认标志只能够单一的通知发送线程，消息已经确认接收。
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