[src][components][include]消息队列支持优先级 (#7382)
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64c1d626e2
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@ -24,6 +24,7 @@ config RT_USING_POSIX_PIPE_SIZE
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config RT_USING_POSIX_MESSAGE_QUEUE
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bool "Enable posix message queue <mqueue.h>"
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select RT_USING_POSIX_CLOCK
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select RT_USING_MESSAGEQUEUE_PRIORITY
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default n
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config RT_USING_POSIX_MESSAGE_SEMAPHORE
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@ -232,7 +232,7 @@ ssize_t mq_receive(mqd_t id, char *msg_ptr, size_t msg_len, unsigned *msg_prio)
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return -1;
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}
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result = rt_mq_recv(mqdes->mq, msg_ptr, msg_len, RT_WAITING_FOREVER);
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result = rt_mq_recv_prio(mqdes->mq, msg_ptr, msg_len, (rt_int32_t *)msg_prio, RT_WAITING_FOREVER, RT_UNINTERRUPTIBLE);
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if (result >= 0)
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return rt_strlen(msg_ptr);
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@ -255,7 +255,7 @@ int mq_send(mqd_t id, const char *msg_ptr, size_t msg_len, unsigned msg_prio)
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return -1;
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}
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result = rt_mq_send(mqdes->mq, (void*)msg_ptr, msg_len);
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result = rt_mq_send_wait_prio(mqdes->mq, (void *)msg_ptr, msg_len, msg_prio, 0, RT_UNINTERRUPTIBLE);
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if (result == RT_EOK)
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return 0;
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@ -287,7 +287,8 @@ ssize_t mq_timedreceive(mqd_t id,
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if (abs_timeout != RT_NULL)
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tick = rt_timespec_to_tick(abs_timeout);
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result = rt_mq_recv(mqdes->mq, msg_ptr, msg_len, tick);
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result = rt_mq_recv_prio(mqdes->mq, msg_ptr, msg_len, (rt_int32_t *)msg_prio, tick, RT_UNINTERRUPTIBLE);
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if (result >= 0)
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return rt_strlen(msg_ptr);
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@ -82,6 +82,25 @@ static void mq_send_case(rt_mq_t testmq)
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rt_thread_delay(100);
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}
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#ifdef RT_USING_MESSAGEQUEUE_PRIORITY
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ret = rt_mq_send_wait_prio(testmq, &send_buf[3], sizeof(send_buf[0]), 3, 0, RT_UNINTERRUPTIBLE);
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uassert_true(ret == RT_EOK);
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ret = rt_mq_send_wait_prio(testmq, &send_buf[0], sizeof(send_buf[0]), 0, 0, RT_UNINTERRUPTIBLE);
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uassert_true(ret == RT_EOK);
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ret = rt_mq_send_wait_prio(testmq, &send_buf[2], sizeof(send_buf[0]), 1, 0, RT_UNINTERRUPTIBLE);
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uassert_true(ret == RT_EOK);
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ret = rt_mq_send_wait_prio(testmq, &send_buf[4], sizeof(send_buf[0]), 4, 0, RT_UNINTERRUPTIBLE);
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uassert_true(ret == RT_EOK);
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ret = rt_mq_send_wait_prio(testmq, &send_buf[1], sizeof(send_buf[0]), 1, 0, RT_UNINTERRUPTIBLE);
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uassert_true(ret == RT_EOK);
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while (testmq->entry != 0)
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{
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rt_thread_delay(100);
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}
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#endif
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ret = rt_mq_send(testmq, &send_buf[1], sizeof(send_buf[0]));
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uassert_true(ret == RT_EOK);
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ret = rt_mq_control(testmq, RT_IPC_CMD_RESET, RT_NULL);
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@ -121,6 +140,20 @@ static void mq_recv_case(rt_mq_t testmq)
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uassert_true(ret >= 0);
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uassert_true(recv_buf[var] == (var + 1));
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}
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#ifdef RT_USING_MESSAGEQUEUE_PRIORITY
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rt_int32_t msg_prio;
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while (testmq->entry == MAX_MSGS)
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{
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rt_thread_delay(100);
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}
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for (int var = 0; var < MAX_MSGS; ++var)
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{
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ret = rt_mq_recv_prio(testmq, &recv_buf[var], sizeof(recv_buf[0]), &msg_prio, RT_WAITING_FOREVER, RT_UNINTERRUPTIBLE);
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rt_kprintf("msg_prio = %d\r\n", msg_prio);
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uassert_true(ret >= 0);
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uassert_true(recv_buf[var] == (MAX_MSGS - var));
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}
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#endif
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}
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static void mq_recv_entry(void *param)
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@ -463,6 +463,9 @@ struct rt_mq_message
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{
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struct rt_mq_message *next;
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rt_ssize_t length;
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#ifdef RT_USING_MESSAGEQUEUE_PRIORITY
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rt_int32_t prio;
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#endif
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};
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#define RT_MQ_BUF_SIZE(msg_size, max_msgs) \
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@ -515,6 +518,21 @@ rt_ssize_t rt_mq_recv_killable(rt_mq_t mq,
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rt_size_t size,
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rt_int32_t timeout);
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rt_err_t rt_mq_control(rt_mq_t mq, int cmd, void *arg);
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#ifdef RT_USING_MESSAGEQUEUE_PRIORITY
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rt_err_t rt_mq_send_wait_prio(rt_mq_t mq,
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const void *buffer,
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rt_size_t size,
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rt_int32_t prio,
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rt_int32_t timeout,
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int suspend_flag);
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rt_err_t rt_mq_recv_prio(rt_mq_t mq,
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void *buffer,
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rt_size_t size,
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rt_int32_t *prio,
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rt_int32_t timeout,
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int suspend_flag);
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#endif
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#endif
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/* defunct */
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@ -317,6 +317,12 @@ menu "Inter-Thread communication"
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bool "Enable message queue"
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default y
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if RT_USING_MESSAGEQUEUE
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config RT_USING_MESSAGEQUEUE_PRIORITY
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bool "Enable message queue priority"
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default n
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endif
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config RT_USING_SIGNALS
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bool "Enable signals"
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select RT_USING_MEMPOOL
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80
src/ipc.c
80
src/ipc.c
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@ -3144,7 +3144,6 @@ rt_err_t rt_mq_delete(rt_mq_t mq)
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RTM_EXPORT(rt_mq_delete);
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#endif /* RT_USING_HEAP */
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/**
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* @brief This function will send a message to the messagequeue object. If
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* there is a thread suspended on the messagequeue, the thread will be
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@ -3154,10 +3153,10 @@ RTM_EXPORT(rt_mq_delete);
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* fully used, the current thread will wait for a timeout. If reaching
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* the timeout and there is still no space available, the sending
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* thread will be resumed and an error code will be returned. By
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* contrast, the rt_mq_send() function will return an error code
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* contrast, the _rt_mq_send_wait() function will return an error code
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* immediately without waiting when the messagequeue if fully used.
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*
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* @see rt_mq_send()
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* @see _rt_mq_send_wait()
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*
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* @param mq is a pointer to the messagequeue object to be sent.
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*
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@ -3165,8 +3164,12 @@ RTM_EXPORT(rt_mq_delete);
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*
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* @param size is the length of the message(Unit: Byte).
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*
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* @param prio is message priority, A larger value indicates a higher priority
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*
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* @param timeout is a timeout period (unit: an OS tick).
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*
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* @param suspend_flag status flag of the thread to be suspended.
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*
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* @return Return the operation status. When the return value is RT_EOK, the
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* operation is successful. If the return value is any other values,
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* it means that the messagequeue detach failed.
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@ -3177,6 +3180,7 @@ RTM_EXPORT(rt_mq_delete);
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static rt_err_t _rt_mq_send_wait(rt_mq_t mq,
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const void *buffer,
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rt_size_t size,
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rt_int32_t prio,
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rt_int32_t timeout,
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int suspend_flag)
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{
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@ -3304,6 +3308,33 @@ static rt_err_t _rt_mq_send_wait(rt_mq_t mq,
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/* disable interrupt */
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level = rt_hw_interrupt_disable();
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#ifdef RT_USING_MESSAGEQUEUE_PRIORITY
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msg->prio = prio;
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if (mq->msg_queue_head == RT_NULL)
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mq->msg_queue_head = msg;
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struct rt_mq_message *node, *prev_node = RT_NULL;
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for (node = mq->msg_queue_head; node != RT_NULL; node = node->next)
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{
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if (node->prio < msg->prio)
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{
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if (prev_node == RT_NULL)
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mq->msg_queue_head = msg;
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else
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prev_node->next = msg;
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msg->next = node;
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break;
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}
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if (node->next == RT_NULL)
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{
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if (node != msg)
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node->next = msg;
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mq->msg_queue_tail = msg;
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break;
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}
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prev_node = node;
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}
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#else
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/* link msg to message queue */
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if (mq->msg_queue_tail != RT_NULL)
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{
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@ -3316,6 +3347,7 @@ static rt_err_t _rt_mq_send_wait(rt_mq_t mq,
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/* if the head is empty, set head */
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if (mq->msg_queue_head == RT_NULL)
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mq->msg_queue_head = msg;
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#endif
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if(mq->entry < RT_MQ_ENTRY_MAX)
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{
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@ -3352,7 +3384,7 @@ rt_err_t rt_mq_send_wait(rt_mq_t mq,
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rt_size_t size,
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rt_int32_t timeout)
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{
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return _rt_mq_send_wait(mq, buffer, size, timeout, RT_UNINTERRUPTIBLE);
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return _rt_mq_send_wait(mq, buffer, size, 0, timeout, RT_UNINTERRUPTIBLE);
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}
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RTM_EXPORT(rt_mq_send_wait);
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@ -3361,7 +3393,7 @@ rt_err_t rt_mq_send_wait_interruptible(rt_mq_t mq,
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rt_size_t size,
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rt_int32_t timeout)
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{
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return _rt_mq_send_wait(mq, buffer, size, timeout, RT_INTERRUPTIBLE);
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return _rt_mq_send_wait(mq, buffer, size, 0, timeout, RT_INTERRUPTIBLE);
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}
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RTM_EXPORT(rt_mq_send_wait_interruptible);
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@ -3370,7 +3402,7 @@ rt_err_t rt_mq_send_wait_killable(rt_mq_t mq,
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rt_size_t size,
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rt_int32_t timeout)
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{
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return _rt_mq_send_wait(mq, buffer, size, timeout, RT_KILLABLE);
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return _rt_mq_send_wait(mq, buffer, size, 0, timeout, RT_KILLABLE);
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}
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RTM_EXPORT(rt_mq_send_wait_killable);
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/**
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@ -3513,7 +3545,6 @@ rt_err_t rt_mq_urgent(rt_mq_t mq, const void *buffer, rt_size_t size)
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}
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RTM_EXPORT(rt_mq_urgent);
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/**
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* @brief This function will receive a message from message queue object,
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* if there is no message in messagequeue object, the thread shall wait for a specified time.
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@ -3526,11 +3557,15 @@ RTM_EXPORT(rt_mq_urgent);
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*
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* @param buffer is the content of the message.
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*
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* @param prio is message priority, A larger value indicates a higher priority
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*
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* @param size is the length of the message(Unit: Byte).
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*
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* @param timeout is a timeout period (unit: an OS tick). If the message is unavailable, the thread will wait for
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* the message in the queue up to the amount of time specified by this parameter.
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*
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* @param suspend_flag status flag of the thread to be suspended.
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*
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* NOTE:
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* If use Macro RT_WAITING_FOREVER to set this parameter, which means that when the
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* message is unavailable in the queue, the thread will be waiting forever.
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@ -3543,6 +3578,7 @@ RTM_EXPORT(rt_mq_urgent);
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static rt_ssize_t _rt_mq_recv(rt_mq_t mq,
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void *buffer,
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rt_size_t size,
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rt_int32_t *prio,
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rt_int32_t timeout,
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int suspend_flag)
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{
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@ -3675,6 +3711,10 @@ static rt_ssize_t _rt_mq_recv(rt_mq_t mq,
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/* copy message */
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rt_memcpy(buffer, GET_MESSAGEBYTE_ADDR(msg), len);
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#ifdef RT_USING_MESSAGEQUEUE_PRIORITY
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if (prio != RT_NULL)
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*prio = msg->prio;
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#endif
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/* disable interrupt */
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level = rt_hw_interrupt_disable();
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/* put message to free list */
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@ -3709,7 +3749,7 @@ rt_ssize_t rt_mq_recv(rt_mq_t mq,
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rt_size_t size,
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rt_int32_t timeout)
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{
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return _rt_mq_recv(mq, buffer, size, timeout, RT_UNINTERRUPTIBLE);
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return _rt_mq_recv(mq, buffer, size, 0, timeout, RT_UNINTERRUPTIBLE);
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}
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RTM_EXPORT(rt_mq_recv);
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rt_size_t size,
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rt_int32_t timeout)
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{
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return _rt_mq_recv(mq, buffer, size, timeout, RT_INTERRUPTIBLE);
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return _rt_mq_recv(mq, buffer, size, 0, timeout, RT_INTERRUPTIBLE);
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}
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RTM_EXPORT(rt_mq_recv_interruptible);
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@ -3727,8 +3767,28 @@ rt_ssize_t rt_mq_recv_killable(rt_mq_t mq,
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rt_size_t size,
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rt_int32_t timeout)
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{
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return _rt_mq_recv(mq, buffer, size, timeout, RT_KILLABLE);
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return _rt_mq_recv(mq, buffer, size, 0, timeout, RT_KILLABLE);
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}
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#ifdef RT_USING_MESSAGEQUEUE_PRIORITY
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rt_err_t rt_mq_send_wait_prio(rt_mq_t mq,
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const void *buffer,
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rt_size_t size,
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rt_int32_t prio,
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rt_int32_t timeout,
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int suspend_flag)
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{
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return _rt_mq_send_wait(mq, buffer, size, prio, timeout, suspend_flag);
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}
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rt_err_t rt_mq_recv_prio(rt_mq_t mq,
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void *buffer,
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rt_size_t size,
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rt_int32_t *prio,
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rt_int32_t timeout,
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int suspend_flag)
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{
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return _rt_mq_recv(mq, buffer, size, prio, timeout, suspend_flag);
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}
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#endif
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RTM_EXPORT(rt_mq_recv_killable);
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/**
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* @brief This function will set some extra attributions of a messagequeue object.
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