ESP-IDF与freeRTOS(三) 队列扩展

书接上回

队列多进单出模型

与单进单出基本没区别，主要注意任务优先级分配，读取时可以设置如下

xStatus = xQueueReceive(QHandle, &x, portMAX_DELAY);

其中最后一个参数会使任务阻塞，等待队列中数据到来

队列集合

QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength );

代码示例

#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_system.h"
#include "esp_spi_flash.h"

#include "freertos/queue.h"

#include "myled.h"

typedef struct A_STRUCT
{
    char id;
    char data;
} xStruct;

// 输入参数定义为void类型指针，可强转其他任何类型参数传入，在函数内再转换回去
void sendTask1(void *pvParam)
{
    int i = 111;

    QueueHandle_t QHandle;
    QHandle = (QueueHandle_t)pvParam;

    BaseType_t xStatus;

    while (1)
    {
        xStatus = xQueueSend(QHandle, &i, 0);
        if (xStatus != pdPASS)
        {
            // 发送失败
            printf("send fail!\n");
        }
        else
        {
            printf("send done!\n");
        }
        vTaskDelay(1000 / portTICK_PERIOD_MS);
    }
}

void sendTask2(void *pvParam)
{
    int i = 222;

    QueueHandle_t QHandle;
    QHandle = (QueueHandle_t)pvParam;

    BaseType_t xStatus;

    while (1)
    {
        xStatus = xQueueSend(QHandle, &i, 0);
        if (xStatus != pdPASS)
        {
            // 发送失败
            printf("send fail!\n");
        }
        else
        {
            printf("send done!\n");
        }
        vTaskDelay(1000 / portTICK_PERIOD_MS);
    }
}

void recTask(void *pvParam)
{
    // 创建QueueSet句柄，将入口参数转为此类型
    QueueSetHandle_t QueueSet;
    QueueSet = (QueueSetHandle_t)pvParam;

    QueueSetMemberHandle_t QueueData;
    BaseType_t xStatus;
    int x = 0;
    while (1)
    {
        // 取出有数据的队列
        QueueData = xQueueSelectFromSet(QueueSet, portMAX_DELAY);
        // 从有数据的队列取出值
        xStatus = xQueueReceive(QueueData, &x, portMAX_DELAY);
        if (xStatus != pdPASS)
        {
            // 发送失败
            printf("rec fail!\n");
        }
        else
        {
            printf("rec: %d\r\n", x);
        }
    }
}

void app_main(void)
{
    led_init();

    xTaskCreatePinnedToCore(ledTask, "ledTask", 1024, NULL, 1, NULL, 1);

    // 创建队列句柄
    QueueHandle_t QHandle1;
    QueueHandle_t QHandle2;
    // 创建队列，参数为队列长度、Item大小
    QHandle1 = xQueueCreate(5, sizeof(int));
    QHandle2 = xQueueCreate(5, sizeof(int));

    QueueSetHandle_t QueueSet;

    // 创建QueueSet，长度为要接入集合的队列的长度和
    QueueSet = xQueueCreateSet(10);

    // 将队列加入集合
    xQueueAddToSet(QHandle1, QueueSet);
    xQueueAddToSet(QHandle2, QueueSet);

    // 判断是否创建成功
    if ((QHandle1 != NULL) && (QHandle2 != NULL) && (QueueSet != NULL))
    {

        // 接收任务优先级更高时，一旦有数据就会被接收
        printf("Creat queue successfully!\n");
        xTaskCreatePinnedToCore(sendTask1, "sendTask1", 1024 * 5, (void *)QHandle1, 1, NULL, 0);
        xTaskCreatePinnedToCore(sendTask2, "sendTask2", 1024 * 5, (void *)QHandle2, 1, NULL, 0);
        xTaskCreatePinnedToCore(recTask, "recTask", 1024 * 5, (void *)QueueSet, 2, NULL, 0);
    }
    else
    {
        printf("Can't creat queue successfully!\n");
    }
}

队列邮箱(单发多收)

队列和邮箱都用于任务、中断等传递数据，但队列传递时取出即删除数据，数据将不会保持。邮箱传递数据时数据会被保持，取出数据不会删除数据，直到数据被覆盖。（以下文本来自FreeRTOS官方文档）

• A queue is used to send data from one task to another task, or from an interrupt
  service routine to a task. The sender places an item in the queue, and the receiver
  removes the item from the queue. The data passes through the queue from the sender
  to the receiver.
• A mailbox is used to hold data that can be read by any task, or any interrupt service
  routine. The data does not pass through the mailbox, but instead remains in the
  mailbox until it is overwritten. The sender overwrites the value in the mailbox. The
  receiver reads the value from the mailbox, but does not remove the value from the
  mailbox.

示例代码:

#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_system.h"
#include "esp_spi_flash.h"

#include "freertos/queue.h"

#include "myled.h"

typedef struct A_STRUCT
{
    char id;
    char data;
} xStruct;

// 输入参数定义为void类型指针，可强转其他任何类型参数传入，在函数内再转换回去
void writeTask1(void *pvParam)
{
    int i = 0;

    QueueHandle_t Mailbox;
    Mailbox = (QueueHandle_t)pvParam;

    BaseType_t xStatus;

    while (1)
    {
        // mailbox写入使用overwrite
        xStatus = xQueueOverwrite(Mailbox, &i);
        if (xStatus != pdPASS)
        {
            // 发送失败
            printf("send fail!\n");
        }
        else
        {
            printf("send done!\n");
        }
        i++;
        vTaskDelay(6000 / portTICK_PERIOD_MS);
    }
}

void readTask(void *pvParam)
{
    QueueHandle_t Mailbox;
    Mailbox = (QueueHandle_t)pvParam;

    BaseType_t xStatus;
    int i = 0;
    while (1)
    {
        // 从队列读出值，但不删除，无数据则等待
        // 但Peek读数不会删除队列数据，会导致读进程一直运行不会停止
        xStatus = xQueuePeek(Mailbox, &i, portMAX_DELAY);
        if (xStatus != pdPASS)
        {
            // 发送失败
            printf("read fail!\n");
        }
        else
        {
            printf("read i = %d done!\n", i);
        }
        vTaskDelay(1000 / portTICK_PERIOD_MS);
    }
}

void app_main(void)
{
    led_init();

    xTaskCreatePinnedToCore(ledTask, "ledTask", 1024, NULL, 1, NULL, 1);

    // 创建队列句柄
    QueueHandle_t Mailbox;
    Mailbox = xQueueCreate(1, sizeof(int));

    // 判断是否创建成功
    if (Mailbox != NULL)
    {
        // 接收任务优先级更高时，一旦有数据就会被接收
        printf("Creat queue successfully!\n");
        // 此处可用一个主体函数创建3个readTask
        xTaskCreatePinnedToCore(writeTask1, "writeTask1", 1024 * 5, (void *)Mailbox, 1, NULL, 0);
        xTaskCreatePinnedToCore(readTask, "readTask1", 1024 * 5, (void *)Mailbox, 2, NULL, 0);
        xTaskCreatePinnedToCore(readTask, "readTask2", 1024 * 5, (void *)Mailbox, 2, NULL, 0);
        xTaskCreatePinnedToCore(readTask, "readTask3", 1024 * 5, (void *)Mailbox, 2, NULL, 0);
    }
    else
    {
        printf("Can't creat queue successfully!\n");
    }
}