VxWorks多任务调度器实现及技术解析

本示例展示了在VxWorks实时操作系统中实现多任务调度器的方法。通过创建多个任务并使用VxWorks提供的任务管理函数进行调度，实现了任务的并发执行，展示了VxWorks强大的实时任务调度能力。任务间通过消息队列进行通信和同步，确保数据传输的安全性和可靠性。

#include <vxWorks.h>
#include <taskLib.h>
#include <msgQLib.h>
#include <stdio.h>

#define TASK_PRIORITY 100
#define TASK_STACK_SIZE 20000
#define MSG_SIZE 50

MSG_Q_ID msgQueue;

void task1() {
    char message[MSG_SIZE] = "Task 1 sending message";
    while(1) {
        taskDelay(rand() % 100);
        msgQSend(msgQueue, message, MSG_SIZE, WAIT_FOREVER, MSG_PRI_NORMAL);
    }
}

void task2() {
    char receivedMessage[MSG_SIZE];
    while(1) {
        taskDelay(rand() % 100);
        if (msgQReceive(msgQueue, receivedMessage, MSG_SIZE, WAIT_FOREVER) != ERROR) {
            printf("Task 2 received: %s\n", receivedMessage);
        }
    }
}

void vxWorksSchedulerExample() {
    msgQueue = msgQCreate(100, MSG_SIZE, MSG_Q_FIFO);
    taskSpawn("Task1", TASK_PRIORITY, 0, TASK_STACK_SIZE, (FUNCPTR)task1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
    taskSpawn("Task2", TASK_PRIORITY, 0, TASK_STACK_SIZE, (FUNCPTR)task2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
}

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