嵌入式实验（消息队列）

#include <string.h> #include <stdio.h> #include "vxWorks.h" #include "msgQLib.h" #include "taskLib.h" /*#include "memPartLib.h"*/ #include "memLib.h" /*宏定义*/ #define MAX_MSGS (10) /* the length of msg*/ #define MAX_MSG_LEN sizeof(MESSAGE) /*the length of message*/ #define STACK_SIZE 20000 /*the stack size of task*/ #define DELAY_TICKS 50 /*the time of sending message*/ #define MAX_point 5 /*用户从系统内存池中获得内存的最大次数*/ #define size_1 30 /*用户分区的分配的大小*/ #define size_2 40 /*全局变量*/ int tidtask1; int tidtask2; int tidtask3; SEM_ID syncSemId; SEM_ID waitSemId; MSG_Q_ID myMsgQId1; MSG_Q_ID myMsgQId2; MSG_Q_ID myMsgQId3; typedef struct _MESSAGE { int mSendId; /*发送任务 ID*/ int mRecvId; /*接收任务 ID*/ int mData; /*消息中传递的数据*/ char Data[14]; } MESSAGE; /*内存管理*/ char* usermem1; char* usermem2; MESSAGE *point1[MAX_point]; MESSAGE *point2[MAX_point]; MESSAGE *point3[MAX_point]; int point1_index=0; int point2_index=0; int point3_index=0; PART_ID partid1; PART_ID partid2; #define MID_MESSAGE(id) (id) /*函数声明*/ int start(void); int task1(void); int task2(void); int task3(void); template<T> T* mymalloc(unsigned nBytes); void myfree(void); void bye(void); /***************************************[progStart]*******************************************/ /*启动程序，创建息队例，任务*/ int start(void) { tidtask1=taskSpawn("tTask1", 220, 0, STACK_SIZE, (FUNCPTR)task1,0,0,0,0,0,0,0,0,0,0); usermem1=malloc(200); partid1=memPartCreate(usermem1,200); usermem2=malloc(400); partid2=memPartCreate(usermem2,400); return; } /**************************************[test_end]********************************************/ /*是否相等，相等返回1*/ int test_end(char *end,char *target) { int ret; if(!strcmp(end,target)) ret=1; else ret=0; return ret; } /****************************************[task1]***********************************************/ /*管理Task。负责系统启动时同步系统中其他Task的启动同步，利用信号量的semFlush()完成。同时接收各*/ /*Task的告警信息，告警信息需编号以logmsg方式输出。本task负责系统结束时的Task删除处理*/ int task1(void) { int singal; int message; MESSAGE *rxMsg=mymalloc<MESSAGE>(26); /*define messages,and alloc memory*/ memset(rxMsg,0,26); syncSemId=semBCreate(SEM_Q_FIFO,SEM_EMPTY); /*creat semaphore*/ waitSemId=semBCreate(SEM_Q_PRIORITY,SEM_EMPTY); myMsgQId1=msgQCreate(MAX_MSGS,MAX_MSG_LEN,MSG_Q_PRIORITY); /*create msgQ*/ myMsgQId2=msgQCreate(MAX_MSGS,MAX_MSG_LEN,MSG_Q_PRIORITY); myMsgQId3=msgQCreate(MAX_MSGS,MAX_MSG_LEN,MSG_Q_PRIORITY); tidtask2=taskSpawn("tTask2", 200, 0, STACK_SIZE, (FUNCPTR)task2,0,0,0,0,0,0,0,0,0,0); /*create task*/ tidtask3=taskSpawn("tTask3", 210, 0, STACK_SIZE, (FUNCPTR)task3,0,0,0,0,0,0,0,0,0,0); printf("Please input one of the following commands:add,sub,multiply,divide,testcommand\n"); /*the command we should put into the console*/ semFlush(syncSemId); /*release semaphore*/ semGive(waitSemId); while(1) { singal=1; msgQReceive(myMsgQId1,(char*)&rxMsg,sizeof(rxMsg),WAIT_FOREVER); if(rxMsg->mRecvId==MID_MESSAGE(3)) /*receive MsgQ from task3*/ { singal=test_end(rxMsg->Data,"wrong length")-1; logMsg("task3 receiveing a:%s\n",rxMsg->Data); /*put the warn from task3*/ logMsg("Please reput the other command!\n"); msgQReceive(myMsgQId1,(char*)&rxMsg,MAX_MSG_LEN,WAIT_FOREVER); /*recive MsgQ from task3*/ } if(rxMsg->mRecvId==MID_MESSAGE(2)) /*receive MsgQ from task2*/ { message=test_end(rxMsg->Data,"sysend"); if(message) { /*if the message from task2 is "sysend" and did not receive the warn from task3, close the system*/ if(singal) { bye(); } } else {/*if the message from task2 is "sysend" and receive the warn from task3, reput the command*/ if(singal) logMsg("task2 receiveing a %s\n",rxMsg->Data); logMsg("please reput the correct command!\n"); } } } return; } /********************************************************************************************/ int change_buf(char *command) { int ret; if(!strcmp(command,"add")) ret=1; else if(!strcmp(command,"sub")) ret=2; else if(!strcmp(command,"multiply")) ret=3; else if(!strcmp(command,"divide")) ret=4; else if(!strcmp(command,"testcommand")) ret=5; else ret=0; return ret; } /****************************************[task2]*********************************************/ /*console 命令行接收Task。接收并分析console发来的命令行及参数。自行设置5种以上命令，并根据命*/ /*令的内容向Task3发送激励消息。同时实现系统退出命令，使系统采用适当方式安全退出。收到非法命令*/ /*向Task1告警*/ int task2(void) { char buf[100]; int command; char *str=mymalloc<char>(35); MESSAGE *txMsg=mymalloc<MESSAGE>(26); memset(str,0,35); memset(txMsg,0,26); txMsg->mSendId=MID_MESSAGE(2); txMsg->mRecvId=MID_MESSAGE(2); FOREVER { semTake(syncSemId,WAIT_FOREVER); semTake(waitSemId,WAIT_FOREVER); gets(buf); command=change_buf(buf);/*change the commands into numbers*/ switch(command) { case 0:/*receive uncorrect command*/ txMsg->mData=0; strcpy(txMsg->Data,"wrong command");/*send warn to task1*/ msgQSend(myMsgQId1,(char*)&txMsg,sizeof(txMsg),WAIT_FOREVER,MSG_PRI_NORMAL); break; case 1:/*receive add command*/ strcpy(str,"This an add caculate!\0"); txMsg->mData=1; break; case 2:/*receive sub command*/ strcpy(str,"This a sub caculate!\0"); txMsg->mData=2; break; case 3:/*receive multiply command*/ strcpy(str,"This a multiply caculate!\0"); txMsg->mData=3; break; case 4:/*receive divide command*/ strcpy(str,"This a divide caculate!\0"); txMsg->mData=4; break; case 5:/*receive testcommand,send a long string to task3*/ strcpy(str,"This a testcommand to warn task1!\0"); txMsg->mData=5; break; default: break; } if(txMsg->mData!=0) {/*send along string to task3,and send a message to taks3*/ msgQSend(myMsgQId3,(char*)&str,sizeof(str),WAIT_FOREVER,MSG_PRI_NORMAL); msgQSend(myMsgQId3,(char*)&txMsg,sizeof(txMsg),WAIT_FOREVER,MSG_PRI_NORMAL); } semGive(waitSemId); semGive(syncSemId); taskDelay(DELAY_TICKS); if(txMsg->mData!=0) {/*send sysend to task1 to let task1 close system*/ strcpy(txMsg->Data,"sysend"); msgQSend(myMsgQId1,(char*)&txMsg,sizeof(txMsg),WAIT_FOREVER,MSG_PRI_NORMAL); } } return; } /****************************************[task3]********************************************/ /*console输出Task。接收需打印输出的字串消息（命令），输出到console。收到长度为0或超常字串向*/ /*Task1告警*/ int task3(void) { int firstData=100; int secondData=10; MESSAGE *rxMsg=mymalloc<MESSAGE>(26); MESSAGE *txMsg=mymalloc<MESSAGE>(26); char *rstr=mymalloc<char>(35); memset(txMsg,0,26); memset(txMsg,0,26); memset(rstr,0,35); txMsg->mSendId=MID_MESSAGE(3); txMsg->mRecvId=MID_MESSAGE(3); while(1) { semTake(syncSemId,WAIT_FOREVER); msgQReceive(myMsgQId3,(char*)&rstr,sizeof(rstr),WAIT_FOREVER); if(strlen(rstr)<=0||strlen(rstr)>=26) {/*make sure whether the string is too long or short*/ strcpy(txMsg->Data,"wrong length"); msgQSend(myMsgQId1,(char*)&txMsg,sizeof(txMsg),WAIT_FOREVER,MSG_PRI_NORMAL); /*msgQReceive(myMsgQId3,(char*)&rxMsg,sizeof(rxMsg),WAIT_FOREVER);*/ } semTake(waitSemId,WAIT_FOREVER); msgQReceive(myMsgQId3,(char*)&rxMsg,sizeof(rxMsg),WAIT_FOREVER); if(rxMsg->mData!=5) {/*when it is not testcommand,printf these*/ printf("%s\n",rstr); printf("there are two datas!\n"); printf("firstData:100\n"); printf("secondData:10\n"); } switch(rxMsg->mData) { case 1:/*printf add caculate*/ printf("The result is:%d\n",firstData+secondData); break; case 2:/*printf sub caculate*/ printf("The result is:%d\n",firstData-secondData); break; case 3:/*printf multiply caculate*/ printf("The result is:%d\n",firstData*secondData); break; case 4:/*printf divide caculate*/ printf("The result is:%d\n",firstData/secondData); break; case 5: break; default: break; } semGive(waitSemId); semGive(syncSemId); taskDelay(DELAY_TICKS); } return; } template<T> T* mymalloc(unsigned nBytes) { T* point; int i=0; /*用户分区一是否能分配的标志位*/ int j=0; /*用户分区二是否能分配的标志位*/ if(nBytes<size_1) { point=memPartAlloc(partid1,size_1); if(point==NULL) { i=1; /*标志位为一，不能再分配*/ printf("the small partid has full or not enough!\n"); printf("we will try to malloc it in the big partid\n"); } else { point1[point1_index]=point; printf("the number of the point1_index is:%d\n",point1_index); point1_index++; } } if (i==1 || (nBytes>=size_1 && nBytes<size_2)) /*若用户分区一不能分配，由分区二来分配*/ { point=memPartAlloc(partid2,size_2); if(point==NULL) { j=1; /*标志位为一，不能再分配*/ printf("the big partid has full or not enough!\n"); printf("we will try to malloc it in system memery\n"); } else { i=0; point2[point2_index]=point; printf("the number of the point2_index is:%d\n",point2_index); point2_index++; } } if((j==1 || nBytes>=size_2) && point3_index<MAX_point) /*若用户分区二不能分配，由系统内存池来分配，且只能从系统内存池中分配MAX_point次*/ { point=malloc(nBytes); point3[point3_index]=point; printf("the number of the point3_index is:%d\n",point3_index); point3_index++; } return point; } void myfree(void) { int i=0; for (i=0;i<point1_index;i++) { memPartFree(partid1,point1[i]); } for (i=0;i<point2_index;i++) { memPartFree(partid2,point2[i]); } for (i=0;i<point3_index;i++) { free(point3[i]); } free(usermem1); free(usermem2); printf("The memory have freed!\n"); } void bye(void) { myfree(); logMsg("Bye-bye\n"); taskDelete(tidtask2); taskDelete(tidtask3); msgQDelete(myMsgQId1); msgQDelete(myMsgQId2); msgQDelete(myMsgQId3); semDelete(syncSemId); taskDelete(tidtask1); }