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[src][components][include]消息队列支持优先级 (#7382)

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zhkag
2023-06-26 00:06:06 -04:00
committed by GitHub
parent 64c1d626e2
commit e65509a58e
6 changed files with 142 additions and 23 deletions
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src/Kconfig
+6
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@@ -317,6 +317,12 @@ menu "Inter-Thread communication"
bool "Enable message queue"
default y
if RT_USING_MESSAGEQUEUE
config RT_USING_MESSAGEQUEUE_PRIORITY
bool "Enable message queue priority"
default n
endif
config RT_USING_SIGNALS
bool "Enable signals"
select RT_USING_MEMPOOL
src/ipc.c
+80 -20
View File
@@ -3144,7 +3144,6 @@ rt_err_t rt_mq_delete(rt_mq_t mq)
RTM_EXPORT(rt_mq_delete);
#endif /* RT_USING_HEAP */
/**
* @brief This function will send a message to the messagequeue object. If
* there is a thread suspended on the messagequeue, the thread will be
@@ -3154,10 +3153,10 @@ RTM_EXPORT(rt_mq_delete);
* fully used, the current thread will wait for a timeout. If reaching
* the timeout and there is still no space available, the sending
* thread will be resumed and an error code will be returned. By
* contrast, the rt_mq_send() function will return an error code
* contrast, the _rt_mq_send_wait() function will return an error code
* immediately without waiting when the messagequeue if fully used.
*
* @see rt_mq_send()
* @see _rt_mq_send_wait()
*
* @param mq is a pointer to the messagequeue object to be sent.
*
@@ -3165,8 +3164,12 @@ RTM_EXPORT(rt_mq_delete);
*
* @param size is the length of the message(Unit: Byte).
*
* @param prio is message priority, A larger value indicates a higher priority
*
* @param timeout is a timeout period (unit: an OS tick).
*
* @param suspend_flag status flag of the thread to be suspended.
*
* @return Return the operation status. When the return value is RT_EOK, the
* operation is successful. If the return value is any other values,
* it means that the messagequeue detach failed.
@@ -3174,11 +3177,12 @@ RTM_EXPORT(rt_mq_delete);
* @warning This function can be called in interrupt context and thread
* context.
*/
static rt_err_t _rt_mq_send_wait(rt_mq_t mq,
const void *buffer,
rt_size_t size,
rt_int32_t timeout,
int suspend_flag)
static rt_err_t _rt_mq_send_wait(rt_mq_t mq,
const void *buffer,
rt_size_t size,
rt_int32_t prio,
rt_int32_t timeout,
int suspend_flag)
{
rt_base_t level;
struct rt_mq_message *msg;
@@ -3304,6 +3308,33 @@ static rt_err_t _rt_mq_send_wait(rt_mq_t mq,
/* disable interrupt */
level = rt_hw_interrupt_disable();
#ifdef RT_USING_MESSAGEQUEUE_PRIORITY
msg->prio = prio;
if (mq->msg_queue_head == RT_NULL)
mq->msg_queue_head = msg;
struct rt_mq_message *node, *prev_node = RT_NULL;
for (node = mq->msg_queue_head; node != RT_NULL; node = node->next)
{
if (node->prio < msg->prio)
{
if (prev_node == RT_NULL)
mq->msg_queue_head = msg;
else
prev_node->next = msg;
msg->next = node;
break;
}
if (node->next == RT_NULL)
{
if (node != msg)
node->next = msg;
mq->msg_queue_tail = msg;
break;
}
prev_node = node;
}
#else
/* link msg to message queue */
if (mq->msg_queue_tail != RT_NULL)
{
@@ -3316,6 +3347,7 @@ static rt_err_t _rt_mq_send_wait(rt_mq_t mq,
/* if the head is empty, set head */
if (mq->msg_queue_head == RT_NULL)
mq->msg_queue_head = msg;
#endif
if(mq->entry < RT_MQ_ENTRY_MAX)
{
@@ -3352,7 +3384,7 @@ rt_err_t rt_mq_send_wait(rt_mq_t mq,
rt_size_t size,
rt_int32_t timeout)
{
return _rt_mq_send_wait(mq, buffer, size, timeout, RT_UNINTERRUPTIBLE);
return _rt_mq_send_wait(mq, buffer, size, 0, timeout, RT_UNINTERRUPTIBLE);
}
RTM_EXPORT(rt_mq_send_wait);
@@ -3361,7 +3393,7 @@ rt_err_t rt_mq_send_wait_interruptible(rt_mq_t mq,
rt_size_t size,
rt_int32_t timeout)
{
return _rt_mq_send_wait(mq, buffer, size, timeout, RT_INTERRUPTIBLE);
return _rt_mq_send_wait(mq, buffer, size, 0, timeout, RT_INTERRUPTIBLE);
}
RTM_EXPORT(rt_mq_send_wait_interruptible);
@@ -3370,7 +3402,7 @@ rt_err_t rt_mq_send_wait_killable(rt_mq_t mq,
rt_size_t size,
rt_int32_t timeout)
{
return _rt_mq_send_wait(mq, buffer, size, timeout, RT_KILLABLE);
return _rt_mq_send_wait(mq, buffer, size, 0, timeout, RT_KILLABLE);
}
RTM_EXPORT(rt_mq_send_wait_killable);
/**
@@ -3513,7 +3545,6 @@ rt_err_t rt_mq_urgent(rt_mq_t mq, const void *buffer, rt_size_t size)
}
RTM_EXPORT(rt_mq_urgent);
/**
* @brief This function will receive a message from message queue object,
* if there is no message in messagequeue object, the thread shall wait for a specified time.
@@ -3526,11 +3557,15 @@ RTM_EXPORT(rt_mq_urgent);
*
* @param buffer is the content of the message.
*
* @param prio is message priority, A larger value indicates a higher priority
*
* @param size is the length of the message(Unit: Byte).
*
* @param timeout is a timeout period (unit: an OS tick). If the message is unavailable, the thread will wait for
* the message in the queue up to the amount of time specified by this parameter.
*
* @param suspend_flag status flag of the thread to be suspended.
*
* NOTE:
* If use Macro RT_WAITING_FOREVER to set this parameter, which means that when the
* message is unavailable in the queue, the thread will be waiting forever.
@@ -3540,11 +3575,12 @@ RTM_EXPORT(rt_mq_urgent);
* @return Return the real length of the message. When the return value is larger than zero, the operation is successful.
* If the return value is any other values, it means that the mailbox release failed.
*/
static rt_ssize_t _rt_mq_recv(rt_mq_t mq,
void *buffer,
rt_size_t size,
rt_int32_t timeout,
int suspend_flag)
static rt_ssize_t _rt_mq_recv(rt_mq_t mq,
void *buffer,
rt_size_t size,
rt_int32_t *prio,
rt_int32_t timeout,
int suspend_flag)
{
struct rt_thread *thread;
rt_base_t level;
@@ -3675,6 +3711,10 @@ static rt_ssize_t _rt_mq_recv(rt_mq_t mq,
/* copy message */
rt_memcpy(buffer, GET_MESSAGEBYTE_ADDR(msg), len);
#ifdef RT_USING_MESSAGEQUEUE_PRIORITY
if (prio != RT_NULL)
*prio = msg->prio;
#endif
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* put message to free list */
@@ -3709,7 +3749,7 @@ rt_ssize_t rt_mq_recv(rt_mq_t mq,
rt_size_t size,
rt_int32_t timeout)
{
return _rt_mq_recv(mq, buffer, size, timeout, RT_UNINTERRUPTIBLE);
return _rt_mq_recv(mq, buffer, size, 0, timeout, RT_UNINTERRUPTIBLE);
}
RTM_EXPORT(rt_mq_recv);
@@ -3718,7 +3758,7 @@ rt_ssize_t rt_mq_recv_interruptible(rt_mq_t mq,
rt_size_t size,
rt_int32_t timeout)
{
return _rt_mq_recv(mq, buffer, size, timeout, RT_INTERRUPTIBLE);
return _rt_mq_recv(mq, buffer, size, 0, timeout, RT_INTERRUPTIBLE);
}
RTM_EXPORT(rt_mq_recv_interruptible);
@@ -3727,8 +3767,28 @@ rt_ssize_t rt_mq_recv_killable(rt_mq_t mq,
rt_size_t size,
rt_int32_t timeout)
{
return _rt_mq_recv(mq, buffer, size, timeout, RT_KILLABLE);
return _rt_mq_recv(mq, buffer, size, 0, timeout, RT_KILLABLE);
}
#ifdef RT_USING_MESSAGEQUEUE_PRIORITY
rt_err_t rt_mq_send_wait_prio(rt_mq_t mq,
const void *buffer,
rt_size_t size,
rt_int32_t prio,
rt_int32_t timeout,
int suspend_flag)
{
return _rt_mq_send_wait(mq, buffer, size, prio, timeout, suspend_flag);
}
rt_err_t rt_mq_recv_prio(rt_mq_t mq,
void *buffer,
rt_size_t size,
rt_int32_t *prio,
rt_int32_t timeout,
int suspend_flag)
{
return _rt_mq_recv(mq, buffer, size, prio, timeout, suspend_flag);
}
#endif
RTM_EXPORT(rt_mq_recv_killable);
/**
* @brief This function will set some extra attributions of a messagequeue object.