Queue. - Hướng Dẫn điện Tử

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Các API Queue và freeRTOS nằm ở thư mục:

Users\LENOVO\AppData\Local\Arduino15\packages\esp32\hardware\esp32\1.0.4\tools\sdk\include\freertos\freertos

Queue dùng để lưu trữ dữ liệu hoặc truyền dữ liệu giữa các task. Queue có 2 dạng là message queue và mail queue, đây là 2 cơ chế được dùng để các task có thể trao đổi với nhau, sự khác biệt lớn nhất giữa 2 dạng này là message queue thì truyền dữ liệu dưới dạng đơn, còn mail queue sẽ truyền dưới dạng khối.

/* structure that hold data*/ typedef struct{ int sender; int counter; }Data; /* this variable hold queue handle */ xQueueHandle xQueue; void setup() { Serial.begin(112500); /* create the queue which size can contains 5 elements of Data */ xQueue = xQueueCreate(5, sizeof(Data)); xTaskCreate( sendTask1, /* Task function. */ "sendTask1", /* name of task. */ 10000, /* Stack size of task */ NULL, /* parameter of the task */ 2, /* priority of the task */ NULL); /* Task handle to keep track of created task */ xTaskCreate( sendTask2, /* Task function. */ "sendTask2", /* name of task. */ 10000, /* Stack size of task */ NULL, /* parameter of the task */ 2, /* priority of the task */ NULL); /* Task handle to keep track of created task */ xTaskCreate( receiveTask, /* Task function. */ "receiveTask", /* name of task. */ 10000, /* Stack size of task */ NULL, /* parameter of the task */ 1, /* priority of the task */ NULL); /* Task handle to keep track of created task */ } void loop() { } void sendTask1( void * parameter ) { /* keep the status of sending data */ BaseType_t xStatus; /* time to block the task until the queue has free space */ const TickType_t xTicksToWait = pdMS_TO_TICKS(100); /* create data to send */ Data data; /* sender 1 has id is 1 */ data.sender = 1; data.counter = 1; for(;;){ Serial.println("sendTask1 is sending data"); /* send data to front of the queue */ xStatus = xQueueSendToFront( xQueue, &data, xTicksToWait ); /* check whether sending is ok or not */ if( xStatus == pdPASS ) { /* increase counter of sender 1 */ data.counter = data.counter + 1; } /* we delay here so that receiveTask has chance to receive data */ delay(1000); } vTaskDelete( NULL ); } /* this task is similar to sendTask1 */ void sendTask2( void * parameter ) { BaseType_t xStatus; const TickType_t xTicksToWait = pdMS_TO_TICKS(100); Data data; data.sender = 2; data.counter = 1; for(;;){ Serial.println("sendTask2 is sending data"); xStatus = xQueueSendToFront( xQueue, &data, xTicksToWait ); if( xStatus == pdPASS ) { data.counter = data.counter + 1; } delay(1000); } vTaskDelete( NULL ); } void receiveTask( void * parameter ) { /* keep the status of receiving data */ BaseType_t xStatus; /* time to block the task until data is available */ const TickType_t xTicksToWait = pdMS_TO_TICKS(100); Data data; for(;;){ /* receive data from the queue */ xStatus = xQueueReceive( xQueue, &data, xTicksToWait ); /* check whether receiving is ok or not */ if(xStatus == pdPASS){ /* print the data to terminal */ Serial.print("receiveTask got data: "); Serial.print("sender = "); Serial.print(data.sender); Serial.print(" counter = "); Serial.println(data.counter); } } vTaskDelete( NULL ); }

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