TencentOS-tiny 任务间通信（十）- 优先级消息队列

一、任务间通信

1. 优先级消息队列

概述

优先级消息队列相对消息队列来说，给消息附加了一个优先级的概念，较高优先级的消息会比较低优先级的消息更快地被其他任务收到（本质上，消息队列的底层数据容器是环形队列，优先级消息队列的底层数据容器是优先级队列）。

API讲解

编程实例

1、在tos_config.h中，配置优先级消息队列组件开关TOS_CFG_PRIORITY_MESSAGE_QUEUE_EN：

#define TOS_CFG_PRIORITY_MESSAGE_QUEUE_EN 1u

2、编写main.c示例代码：

/* USER CODE END Header */
 
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usart.h"
#include "gpio.h"
 
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "cmsis_os.h" 
#include "stdio.h"
 
#include "tos_k.h"
/* USER CODE END Includes */
 
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
#define STK_SIZE_TASK_RECEIVER      512
#define STK_SIZE_TASK_SENDER        512
 
#define MESSAGE_MAX     10
 
/* USER CODE END PTD */
 
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
k_stack_t stack_task_receiver[STK_SIZE_TASK_RECEIVER];
k_stack_t stack_task_sender[STK_SIZE_TASK_SENDER];
 
uint8_t msg_pool[MESSAGE_MAX * sizeof(void *)];
 
k_task_t task_receiver;
k_task_t task_sender;
 
k_prio_msg_q_t prio_msg_q;
 
extern void entry_task_receiver(void *arg);
extern void entry_task_sender(void *arg);
 
/* USER CODE END PD */
 
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
void entry_task_receiver(void *arg)
{
    k_err_t err;
    void *msg_received;
 
    while (K_TRUE) {
        err = tos_prio_msg_q_pend(&prio_msg_q, &msg_received, TOS_TIME_FOREVER);
        if (err == K_ERR_NONE) {
            printf("receiver: msg incoming[%s]\n", (char *)msg_received);
        }
    }
}
 
void entry_task_sender(void *arg)
{
    char *msg_prio_0 = "msg with priority 0";
    char *msg_prio_1 = "msg with priority 1";
    char *msg_prio_2 = "msg with priority 2";
 
    printf("sender: post a message with priority 2\n");
    tos_prio_msg_q_post(&prio_msg_q, msg_prio_2, 2);
 
    printf("sender: post a message with priority 1\n");
    tos_prio_msg_q_post(&prio_msg_q, msg_prio_1, 1);
 
    printf("sender: post a message with priority 0\n");
    tos_prio_msg_q_post(&prio_msg_q, msg_prio_0, 0);
}
/* USER CODE END PM */
 
/* Private variables ---------------------------------------------------------*/
 
/* USER CODE BEGIN PV */
 
/* USER CODE END PV */
 
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
 
/* USER CODE END PFP */
 
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
 
/* USER CODE END 0 */
 
/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
 
  /* USER CODE END 1 */
 
  /* MCU Configuration--------------------------------------------------------*/
 
  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();
 
  /* USER CODE BEGIN Init */
 
  /* USER CODE END Init */
 
  /* Configure the system clock */
  SystemClock_Config();
 
  /* USER CODE BEGIN SysInit */
 
  /* USER CODE END SysInit */
 
  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
	
	tos_knl_init();
	tos_prio_msg_q_create(&prio_msg_q, msg_pool, MESSAGE_MAX);
	(void)tos_task_create(&task_receiver, "receiver", entry_task_receiver, NULL,
													5, stack_task_receiver, STK_SIZE_TASK_RECEIVER, 0);
	(void)tos_task_create(&task_sender, "sender", entry_task_sender, NULL,
													4, stack_task_sender, STK_SIZE_TASK_SENDER, 0);
	tos_knl_start();
  /* USER CODE END 2 */
 
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
 
    /* USER CODE BEGIN 3 */
		
  }
  /* USER CODE END 3 */
}

3、运行效果：

源码链接：Git​​​​​​​