VxWorks任务通信实现方式及示例

本文介绍在VxWorks操作系统中实现任务通信的方法，并给出示例代码，包括共享内存和消息队列两种实现方式。

#include <stdio.h>
#include <vxWorks.h>
#include <msgQLib.h>
#include <semLib.h>
#include <memLib.h>

#define MSG_SIZE 10

LOCAL int msgQId;
LOCAL SEM_ID semId;
LOCAL char *buffer;

void taskA(int arg) 
{
    char msg[MSG_SIZE];
    while (1) 
    {
        fgets(msg, MSG_SIZE, stdin);
        semTake(semId, WAIT_FOREVER);
        if (msgQSend(msgQId, msg, MSG_SIZE, WAIT_FOREVER, MSG_PRI_NORMAL) == ERROR) 
        {
            printf("Error: Message send failed.\n");
        }
        semGive(semId);
    }
}

void taskB(int arg) 
{
    char msg[MSG_SIZE];
    while (1) 
    {
        semTake(semId, WAIT_FOREVER);
        if (msgQReceive(msgQId, msg, MSG_SIZE, WAIT_FOREVER) == ERROR) 
        {
            printf("Error: Message receive failed.\n");
        }
        printf("Task A sent message: %s\n", msg);
        semGive(semId);
    }
}

void taskC(int arg) 
{
    const int shared_mem_size = MSG_SIZE;
    char *shared_mem;
    if ((shared_mem = (char*)memPartAlignedAlloc(memSysPartId, shared_mem_size)) == NULL) 
    {
        printf("Error: Memory allocation failed.\n");
        return;
    }
    while (1) 
    {
        fgets(shared_mem, MSG_SIZE, stdin);
        semTake(semId, WAIT_FOREVER);
        strncpy(buffer, shared_mem, shared_mem_size);
        semGive(semId);
    }
}

void taskD(int arg) 
{
    while (1) 
    {
        semTake(semId, WAIT_FOREVER);
        printf("Task C sent message: %s\n", buffer);
        semGive(semId);
    }
}

void task_communication() 
{
    buffer = (char*)malloc(MSG_SIZE * sizeof(char));
    msgQId = msgQCreate(10, MSG_SIZE, MSG_Q_PRIORITY);
    semId = semBCreate(SEM_Q_PRIORITY, SEM_FULL);

    taskSpawn("taskA", 101, 0, 2048, (FUNCPTR)taskA, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
    taskSpawn("taskB", 102, 0, 2048, (FUNCPTR)taskB, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
    taskSpawn("taskC", 103, 0, 2048, (FUNCPTR)taskC, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
    taskSpawn("taskD", 104, 0, 2048, (FUNCPTR)taskD, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
}

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