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增加代码健壮性和可读性

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This commit is contained in:
张兆鹏
2025-12-27 17:15:03 +08:00
parent 425a771ca4
commit 772d6597ce
2 changed files with 143 additions and 101 deletions
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230
mw/has_task_msg_manager/has_task_msg_mamanger.c
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@@ -1,6 +1,4 @@
#include <string.h> #include <string.h>
#include <stdio.h>
#include <stdint.h>
#include "list.h" #include "list.h"
#include "has_task_msg.h" #include "has_task_msg.h"
#include "has_task_msg_os_port.h" #include "has_task_msg_os_port.h"
@@ -15,10 +13,12 @@
#endif #endif
#ifdef MSG_OPT_DEBUG #ifdef MSG_OPT_DEBUG
/* 打开检查订阅表是否配置正确 */ #define msg_debug(fmt, ...) msg_printf("[msg]"fmt, ##__VA_ARGS__)
#define MSG_OPT_CHECK_SUBSCRIBE_LIST #else
#define msg_debug(fmt, ...)
#endif #endif
#define MSG_ASSERT {while(1);}
#pragma pack(1) #pragma pack(1)
#ifdef MSG_OPT_PUB_LIST #ifdef MSG_OPT_PUB_LIST
@@ -59,7 +59,7 @@ static has_static_pub_list_t g_pub_list[MODULE_MAX] = {0};
/* 静态订阅列表 */ /* 静态订阅列表 */
typedef struct { typedef struct {
#if defined(MSG_OPT_CHECK_SUBSCRIBE_LIST) || defined(MSG_OPT_DYNAMIC_SUB) #if defined(MSG_OPT_DYNAMIC_SUB)
unsigned char module_id; // 当前模块ID unsigned char module_id; // 当前模块ID
unsigned char sub_module_cnt; // 订阅数量 unsigned char sub_module_cnt; // 订阅数量
unsigned char sub_module[MODULE_MAX - 1]; // 订阅表 unsigned char sub_module[MODULE_MAX - 1]; // 订阅表
@@ -76,35 +76,24 @@ typedef struct {
static has_static_sub_list_t g_sub_list[] = SUBSCIBE_INFO; static has_static_sub_list_t g_sub_list[] = SUBSCIBE_INFO;
static unsigned char g_sub_list_index[MODULE_MAX] = {0}; // 订阅表id索引 static unsigned char g_sub_list_index[MODULE_MAX] = {0}; // 订阅表id索引
#ifdef MSG_OPT_CHECK_SUBSCRIBE_LIST
#define MSG_CHECK_SUBSCIBE_INFO(id, ret) \
if ((id) == INVALID_ID) { \
msg_printf("%s invalid id:0, please check SUBSCIBE_INFO\n", __func__); \
return (ret);}
#else
#define MSG_CHECK_SUBSCIBE_INFO(id, ret)
#endif
/* 检查ID是否合法，id:检查的ID，ret:不合法时return的结果 */ /* 检查ID是否合法，id:检查的ID，ret:不合法时return的结果 */
#define MSG_CHECK_MODULE_ID(id, ret) \ #define MSG_CHECK_MODULE_ID(id, ret) \
if (((id) >= MODULE_MAX) || ((id) == INVALID_ID)) { \ if (((id) >= MODULE_MAX) || ((id) == INVALID_ID)) { \
msg_printf("%s ID wrong:%d\n", __func__, (id)); return (ret); } msg_printf("%s ID wrong:%d\n", __func__, (id)); return (ret); }
int has_msg_init() { int has_msg_init()
{
int j; int j;
memset(g_sub_list_index, 0, sizeof(g_sub_list_index)); memset(g_sub_list_index, 0, sizeof(g_sub_list_index));
#ifdef MSG_OPT_PUB_LIST #ifdef MSG_OPT_PUB_LIST
memset(g_pub_list, 0, sizeof(g_pub_list)); memset(g_pub_list, 0, sizeof(g_pub_list));
#endif #endif
for (int i = 0; i < (sizeof(g_sub_list) / sizeof(g_sub_list[0])); i++) { for (int i = 0; i < (sizeof(g_sub_list) / sizeof(g_sub_list[0])); i++) {
#ifdef MSG_OPT_CHECK_SUBSCRIBE_LIST
/* 检查各模块ID是否配置正确 */ /* 检查各模块ID是否配置正确 */
if ((g_sub_list[i].module_id >= MODULE_MAX) || (g_sub_list[i].module_id == INVALID_ID)) { if ((g_sub_list[i].module_id >= MODULE_MAX) || (g_sub_list[i].module_id == INVALID_ID)) {
msg_printf("module_id:%d is invalid, please check the macro:SUBSCIBE_INFO row:%d\n", g_sub_list[i].module_id, i); msg_printf("module_id:%d is invalid, please check the macro:SUBSCIBE_INFO row:%d\n", g_sub_list[i].module_id, i);
memset(g_sub_list, 0, sizeof(g_sub_list)); MSG_ASSERT; // 配置都能写错，必须进断言
#ifdef MSG_OPT_PUB_LIST
memset(g_pub_list, 0, sizeof(g_pub_list));
#endif
return -1; return -1;
} }
@@ -113,26 +102,19 @@ int has_msg_init() {
if (g_sub_list[i].sub_module[j] == INVALID_ID) { if (g_sub_list[i].sub_module[j] == INVALID_ID) {
break; break;
} else if (g_sub_list[i].sub_module[j] >= MODULE_MAX) { } else if (g_sub_list[i].sub_module[j] >= MODULE_MAX) {
msg_printf("sub_module id:%d is invalid, module:id %d\n please check the macro:\ msg_printf("sub_module id:%d is invalid, module:id %d\nplease check the macro:"
SUBSCIBE_INFO row:%d, sub list:%d\n", g_sub_list[i].sub_module[j], g_sub_list[i].module_id, i, j); " SUBSCIBE_INFO row:%d, sub list:%d\n", g_sub_list[i].sub_module[j], g_sub_list[i].module_id, i, j);
memset(g_sub_list, 0, sizeof(g_sub_list)); MSG_ASSERT; // 配置都能写错，必须进断言
#ifdef MSG_OPT_PUB_LIST
memset(g_pub_list, 0, sizeof(g_pub_list));
#endif
return -1; return -1;
} }
} }
/* 检查订阅数量是否配置正确 */ /* 检查订阅数量是否配置正确 */
if (g_sub_list[i].sub_module_cnt != j) { if (g_sub_list[i].sub_module_cnt != j) {
msg_printf("sub_module_cnt is config as %d, which actually is %d, please check the\ msg_printf("sub_module_cnt is config as %d, which actually is %d, please check the"
macro: SUBSCIBE_INFO row:%d\n", g_sub_list[i].sub_module_cnt, j, i); " macro: SUBSCIBE_INFO row:%d\n", g_sub_list[i].sub_module_cnt, j, i);
memset(g_sub_list, 0, sizeof(g_sub_list)); MSG_ASSERT; // 配置都能写错，必须进断言
#ifdef MSG_OPT_PUB_LIST
memset(g_pub_list, 0, sizeof(g_pub_list));
#endif
return -1; return -1;
} }
#endif
g_sub_list_index[g_sub_list[i].module_id] = i; // 索引表赋值 g_sub_list_index[g_sub_list[i].module_id] = i; // 索引表赋值
#ifdef MSG_OPT_PUB_LIST #ifdef MSG_OPT_PUB_LIST
/* 构建发布表 */ /* 构建发布表 */
@@ -148,11 +130,31 @@ int has_msg_init() {
msg_mutex_init(&g_sub_list[i].msg_mutex); // 初始化该模块互斥量 msg_mutex_init(&g_sub_list[i].msg_mutex); // 初始化该模块互斥量
INIT_LIST_HEAD(&g_sub_list[i].msg_list); // 初始化订阅链表 INIT_LIST_HEAD(&g_sub_list[i].msg_list); // 初始化订阅链表
} }
#ifdef MSG_OPT_DEBUG
// for (int i = 0; i < (sizeof(g_sub_list) / sizeof(g_sub_list[0])); i++) {
// msg_printf("module:%d subscribes to:\n", g_sub_list[i].module_id);
// for (int x = 0; x < g_sub_list[i].sub_module_cnt; x++) {
// msg_printf("%d ", g_sub_list[i].sub_module[x]);
// }
// msg_printf("\n");
// }
#ifdef MSG_OPT_PUB_LIST
// msg_printf("\n");
// for (int i = 1; i < MODULE_MAX; i++) {
// msg_printf("module:%d publish to:\n", i);
// for (int x = 0; x < g_pub_list[i].pub_num; x++) {
// msg_printf("%d ", g_pub_list[i].pub_module[x]);
// }
// msg_printf("\n");
// }
#endif
#endif
return 0; return 0;
} }
int has_msg_publish(has_module_ID_e module_id, void *buffer, unsigned int length) { int has_msg_publish(has_module_ID_e module_id, void *buffer, unsigned int length)
{
has_msg_node_t *node; has_msg_node_t *node;
if (buffer == NULL) { if (buffer == NULL) {
return -1; return -1;
@@ -176,6 +178,7 @@ int has_msg_publish(has_module_ID_e module_id, void *buffer, unsigned int length
msg_printf("malloc fail,pub id:%d\n", module_id); msg_printf("malloc fail,pub id:%d\n", module_id);
return -1; return -1;
} }
msg_debug("publish: id:%d node addr:0x%p\n", module_id, node);
msg_buffer = (has_msg_buffer_t *)(&node[g_pub_list[module_id].pub_num]); msg_buffer = (has_msg_buffer_t *)(&node[g_pub_list[module_id].pub_num]);
msg_buffer->node_cnt = g_pub_list[module_id].pub_num; msg_buffer->node_cnt = g_pub_list[module_id].pub_num;
msg_buffer->length = length; msg_buffer->length = length;
@@ -192,13 +195,15 @@ int has_msg_publish(has_module_ID_e module_id, void *buffer, unsigned int length
#else #else
int i; int i;
msg_debug("publish: id:%d\n", module_id);
for (i = 0; i < (sizeof(g_sub_list) / sizeof(g_sub_list[0])); i++) { // 遍历模块 for (i = 0; i < (sizeof(g_sub_list) / sizeof(g_sub_list[0])); i++) { // 遍历模块
#ifdef MSG_OPT_DYNAMIC_SUB #ifdef MSG_OPT_DYNAMIC_SUB
msg_mutex_lock(&g_sub_list[i].msg_mutex); msg_mutex_lock(&g_sub_list[i].msg_mutex);
#endif #endif
for (int j = 0; j < g_sub_list[i].sub_module_cnt; j++) { // 查找订阅表 for (int j = 0; j < g_sub_list[i].sub_module_cnt; j++) { // 查找订阅表
if (module_id == g_sub_list[i].sub_module[j]) { // 找到订阅信息 if ((unsigned char)module_id == g_sub_list[i].sub_module[j]) { // 找到订阅信息
node = msg_malloc(sizeof(has_msg_node_t) + length); node = msg_malloc(sizeof(has_msg_node_t) + length);
msg_debug("node addr:0x%p\n", node);
if (node == NULL) { if (node == NULL) {
msg_printf("malloc fail,pub id:%d\n", module_id); msg_printf("malloc fail,pub id:%d\n", module_id);
#ifdef MSG_OPT_DYNAMIC_SUB #ifdef MSG_OPT_DYNAMIC_SUB
@@ -230,27 +235,34 @@ int has_msg_publish(has_module_ID_e module_id, void *buffer, unsigned int length
/* TODO:更合理的方式是每个消息一个互斥量，但是可能会导致每个消息malloc和free的时候频繁init和deinit */ /* TODO:更合理的方式是每个消息一个互斥量，但是可能会导致每个消息malloc和free的时候频繁init和deinit */
#ifdef MSG_OPT_PUB_LIST #ifdef MSG_OPT_PUB_LIST
/* 检查计数判断该消息是否被所有订阅模块处理完，处理完就释放内存 /* 检查计数判断该消息是否被所有订阅模块处理完，处理完就释放内存 */
msg_buff_stu：消息结构体指针 np:节点结构体指针 */ static inline void msg_check_and_free_message(has_msg_node_t *node)
#define MSG_CHECK_AND_FREE_MESSAGE(msg_buff_stu, np) \ {
{ \ has_msg_node_t *temp = NULL;
msg_mutex_lock(&g_pub_list[msg_buff_stu->module_id].buffer_mutex); \ unsigned char id = node->msg_buff->module_id;
msg_buff_stu->node_cnt --; \ #ifdef MSG_OPT_USE_MUTEX
if (msg_buff_stu->node_cnt == 0) { \ msg_mutex_t *target_mutex = &g_pub_list[id].buffer_mutex;
np = (has_msg_node_t *)((unsigned char *)msg_buff_stu \ #endif
- g_pub_list[msg_buff_stu->module_id].pub_num * sizeof(has_msg_node_t)); \ msg_mutex_lock(target_mutex);
msg_free(np);} \ node->msg_buff->node_cnt --;
msg_mutex_unlock(&g_pub_list[msg_buff_stu->module_id].buffer_mutex); \ if (node->msg_buff->node_cnt == 0) {
temp = ((has_msg_node_t *)node->msg_buff - g_pub_list[id].pub_num);
}
msg_mutex_unlock(target_mutex);
if (temp) {
msg_debug("free node addr:0x%p\n", temp);
msg_free(temp);
}
} }
#endif #endif
int has_msg_handle(has_module_ID_e module_id, has_msg_handle_cb cb) { int has_msg_handle(has_module_ID_e module_id, has_msg_handle_cb cb)
{
has_msg_node_t *node; has_msg_node_t *node;
has_static_sub_list_t *sub_list; has_static_sub_list_t *sub_list;
MSG_CHECK_MODULE_ID(module_id, -1); MSG_CHECK_MODULE_ID(module_id, -1);
sub_list = &g_sub_list[g_sub_list_index[module_id]]; sub_list = &g_sub_list[g_sub_list_index[module_id]];
MSG_CHECK_SUBSCIBE_INFO(sub_list->module_id, -1);
/* 处理一个消息，先入先出 */ /* 处理一个消息，先入先出 */
msg_mutex_lock(&sub_list->msg_mutex); msg_mutex_lock(&sub_list->msg_mutex);
@@ -264,31 +276,31 @@ int has_msg_handle(has_module_ID_e module_id, has_msg_handle_cb cb) {
} }
#ifdef MSG_OPT_PUB_LIST #ifdef MSG_OPT_PUB_LIST
has_msg_buffer_t *msg_buffer;
msg_buffer = node->msg_buff;
if (cb != NULL) { if (cb != NULL) {
cb(msg_buffer->module_id, msg_buffer->buffer, msg_buffer->length); cb(node->msg_buff->module_id, node->msg_buff->buffer, node->msg_buff->length);
} }
MSG_CHECK_AND_FREE_MESSAGE(msg_buffer, node); msg_debug("handle:pub id:%d handle id:%d\n", node->msg_buff->module_id, module_id);
msg_check_and_free_message(node);
#else #else
if (cb != NULL) { if (cb != NULL) {
cb(node->module_id, node->buffer, node->length); cb(node->module_id, node->buffer, node->length);
} }
msg_debug("handle:pub id:%d handle id:%d free addr:0x%p\n", node->module_id, module_id, node);
msg_free(node);
#endif #endif
msg_free(node);
return 0; return 0;
} }
int has_msg_handle_by_module(has_module_ID_e module_id, has_msg_handle_cb cb, has_module_ID_e pub_module_id) { int has_msg_handle_by_module(has_module_ID_e module_id, has_msg_handle_cb cb, has_module_ID_e pub_module_id)
{
has_msg_node_t *node, *temp; has_msg_node_t *node, *temp;
has_static_sub_list_t *sub_list; has_static_sub_list_t *sub_list;
MSG_CHECK_MODULE_ID(module_id, -1); MSG_CHECK_MODULE_ID(module_id, -1);
MSG_CHECK_MODULE_ID(pub_module_id, -1); MSG_CHECK_MODULE_ID(pub_module_id, -1);
sub_list = &g_sub_list[g_sub_list_index[module_id]]; sub_list = &g_sub_list[g_sub_list_index[module_id]];
MSG_CHECK_SUBSCIBE_INFO(sub_list->module_id, -1);
/* 处理一个指定模块的消息，先入先出 */ /* 处理一个指定模块的消息，先入先出 */
msg_mutex_lock(&sub_list->msg_mutex); msg_mutex_lock(&sub_list->msg_mutex);
@@ -310,30 +322,30 @@ int has_msg_handle_by_module(has_module_ID_e module_id, has_msg_handle_cb cb, ha
} }
#ifdef MSG_OPT_PUB_LIST #ifdef MSG_OPT_PUB_LIST
has_msg_buffer_t *msg_buffer;
msg_buffer = node->msg_buff;
if (cb != NULL) { if (cb != NULL) {
cb(msg_buffer->module_id, msg_buffer->buffer, msg_buffer->length); cb(node->msg_buff->module_id, node->msg_buff->buffer, node->msg_buff->length);
} }
MSG_CHECK_AND_FREE_MESSAGE(msg_buffer, node); msg_debug("handle:pub id:%d handle id:%d\n", node->msg_buff->module_id, module_id);
msg_check_and_free_message(node);
#else #else
if (cb != NULL) { if (cb != NULL) {
cb(node->module_id, node->buffer, node->length); cb(node->module_id, node->buffer, node->length);
} }
msg_debug("handle:pub id:%d handle id:%d free addr:0x%p\n", node->module_id, module_id, node);
msg_free(node);
#endif #endif
msg_free(node);
return 0; return 0;
} }
int has_msg_handle_latest(has_module_ID_e module_id, has_msg_handle_cb cb) { int has_msg_handle_latest(has_module_ID_e module_id, has_msg_handle_cb cb)
{
has_msg_node_t *node; has_msg_node_t *node;
has_static_sub_list_t *sub_list; has_static_sub_list_t *sub_list;
MSG_CHECK_MODULE_ID(module_id, -1); MSG_CHECK_MODULE_ID(module_id, -1);
sub_list = &g_sub_list[g_sub_list_index[module_id]]; sub_list = &g_sub_list[g_sub_list_index[module_id]];
MSG_CHECK_SUBSCIBE_INFO(sub_list->module_id, -1);
/* 处理最新的消息 */ /* 处理最新的消息 */
msg_mutex_lock(&sub_list->msg_mutex); msg_mutex_lock(&sub_list->msg_mutex);
@@ -347,26 +359,27 @@ int has_msg_handle_latest(has_module_ID_e module_id, has_msg_handle_cb cb) {
} }
#ifdef MSG_OPT_PUB_LIST #ifdef MSG_OPT_PUB_LIST
has_msg_buffer_t *msg_buffer;
msg_buffer = node->msg_buff;
if (cb != NULL) { if (cb != NULL) {
cb(msg_buffer->module_id, msg_buffer->buffer, msg_buffer->length); cb(node->msg_buff->module_id, node->msg_buff->buffer, node->msg_buff->length);
} }
MSG_CHECK_AND_FREE_MESSAGE(msg_buffer, node); msg_debug("handle:pub id:%d handle id:%d\n", node->msg_buff->module_id, module_id);
msg_check_and_free_message(node);
#else #else
if (cb != NULL) { if (cb != NULL) {
cb(node->module_id, node->buffer, node->length); cb(node->module_id, node->buffer, node->length);
} }
msg_debug("handle:pub id:%d handle id:%d free addr:0x%p\n", node->module_id, module_id, node);
msg_free(node);
#endif #endif
msg_free(node);
return 0; return 0;
} }
/* 将消息复制出接口处理，不建议使用 */ /* 将消息复制出接口处理，不建议使用 */
#if 1 #if 1
unsigned int has_msg_receive(has_module_ID_e module_id, unsigned char *pub_module_id, unsigned char *buf_out) { unsigned int has_msg_receive(has_module_ID_e module_id, unsigned char *pub_module_id, unsigned char *buf_out)
{
has_msg_node_t *node; has_msg_node_t *node;
has_static_sub_list_t *sub_list; has_static_sub_list_t *sub_list;
unsigned int len = 0; unsigned int len = 0;
@@ -376,7 +389,6 @@ unsigned int has_msg_receive(has_module_ID_e module_id, unsigned char *pub_modul
} }
sub_list = &g_sub_list[g_sub_list_index[module_id]]; sub_list = &g_sub_list[g_sub_list_index[module_id]];
MSG_CHECK_SUBSCIBE_INFO(sub_list->module_id, 0);
/* 处理一个消息，先入先出 */ /* 处理一个消息，先入先出 */
msg_mutex_lock(&sub_list->msg_mutex); msg_mutex_lock(&sub_list->msg_mutex);
@@ -390,14 +402,13 @@ unsigned int has_msg_receive(has_module_ID_e module_id, unsigned char *pub_modul
} }
#ifdef MSG_OPT_PUB_LIST #ifdef MSG_OPT_PUB_LIST
has_msg_buffer_t *msg_buffer; memcpy(buf_out, node->msg_buff->buffer, node->msg_buff->length);
msg_buffer = node->msg_buff;
memcpy(buf_out, msg_buffer->buffer, msg_buffer->length);
if (pub_module_id != NULL) { if (pub_module_id != NULL) {
*pub_module_id = msg_buffer->module_id; *pub_module_id = node->msg_buff->module_id;
} }
len = msg_buffer->length; len = node->msg_buff->length;
MSG_CHECK_AND_FREE_MESSAGE(msg_buffer, node); msg_debug("handle:pub id:%d handle id:%d\n", node->msg_buff->module_id, module_id);
msg_check_and_free_message(node);
#else #else
memcpy(buf_out, node->buffer, node->length); memcpy(buf_out, node->buffer, node->length);
if (pub_module_id != NULL) { if (pub_module_id != NULL) {
@@ -405,12 +416,14 @@ unsigned int has_msg_receive(has_module_ID_e module_id, unsigned char *pub_modul
} }
len = node->length; len = node->length;
msg_debug("handle:pub id:%d handle id:%d free addr:0x%p\n", node->module_id, module_id, node);
msg_free(node); msg_free(node);
#endif #endif
return len; return len;
} }
unsigned int has_msg_receive_latest(has_module_ID_e module_id, unsigned char *pub_module_id, unsigned char *buf_out) { unsigned int has_msg_receive_latest(has_module_ID_e module_id, unsigned char *pub_module_id, unsigned char *buf_out)
{
has_msg_node_t *node; has_msg_node_t *node;
has_static_sub_list_t *sub_list; has_static_sub_list_t *sub_list;
unsigned int len = 0; unsigned int len = 0;
@@ -420,7 +433,6 @@ unsigned int has_msg_receive_latest(has_module_ID_e module_id, unsigned char *pu
} }
sub_list = &g_sub_list[g_sub_list_index[module_id]]; sub_list = &g_sub_list[g_sub_list_index[module_id]];
MSG_CHECK_SUBSCIBE_INFO(sub_list->module_id, 0);
/* 处理最新的消息 */ /* 处理最新的消息 */
msg_mutex_lock(&sub_list->msg_mutex); msg_mutex_lock(&sub_list->msg_mutex);
@@ -434,14 +446,13 @@ unsigned int has_msg_receive_latest(has_module_ID_e module_id, unsigned char *pu
} }
#ifdef MSG_OPT_PUB_LIST #ifdef MSG_OPT_PUB_LIST
has_msg_buffer_t *msg_buffer; memcpy(buf_out, node->msg_buff->buffer, node->msg_buff->length);
msg_buffer = node->msg_buff;
memcpy(buf_out, msg_buffer->buffer, msg_buffer->length);
if (pub_module_id != NULL) { if (pub_module_id != NULL) {
*pub_module_id = msg_buffer->module_id; *pub_module_id = node->msg_buff->module_id;
} }
len = msg_buffer->length; len = node->msg_buff->length;
MSG_CHECK_AND_FREE_MESSAGE(msg_buffer, node); msg_debug("handle:pub id:%d handle id:%d\n", node->msg_buff->module_id, module_id);
msg_check_and_free_message(node);
#else #else
memcpy(buf_out, node->buffer, node->length); memcpy(buf_out, node->buffer, node->length);
if (pub_module_id != NULL) { if (pub_module_id != NULL) {
@@ -449,20 +460,21 @@ unsigned int has_msg_receive_latest(has_module_ID_e module_id, unsigned char *pu
} }
len = node->length; len = node->length;
msg_debug("handle:pub id:%d handle id:%d free addr:0x%p\n", node->module_id, module_id, node);
msg_free(node); msg_free(node);
#endif #endif
return len; return len;
} }
#endif #endif
unsigned int has_msg_is_message_empty(has_module_ID_e module_id) { unsigned int has_msg_is_message_empty(has_module_ID_e module_id)
{
has_msg_node_t *node, *temp; has_msg_node_t *node, *temp;
has_static_sub_list_t *sub_list; has_static_sub_list_t *sub_list;
unsigned int num = 0; unsigned int num = 0;
MSG_CHECK_MODULE_ID(module_id, -1); MSG_CHECK_MODULE_ID(module_id, -1);
sub_list = &g_sub_list[g_sub_list_index[module_id]]; sub_list = &g_sub_list[g_sub_list_index[module_id]];
MSG_CHECK_SUBSCIBE_INFO(sub_list->module_id, -1);
msg_mutex_lock(&sub_list->msg_mutex); msg_mutex_lock(&sub_list->msg_mutex);
if (list_empty(&sub_list->msg_list)) { if (list_empty(&sub_list->msg_list)) {
@@ -474,14 +486,14 @@ unsigned int has_msg_is_message_empty(has_module_ID_e module_id) {
} }
} }
unsigned int has_msg_get_message_number(has_module_ID_e module_id) { unsigned int has_msg_get_message_number(has_module_ID_e module_id)
{
has_msg_node_t *node, *temp; has_msg_node_t *node, *temp;
has_static_sub_list_t *sub_list; has_static_sub_list_t *sub_list;
unsigned int num = 0; unsigned int num = 0;
MSG_CHECK_MODULE_ID(module_id, 0); MSG_CHECK_MODULE_ID(module_id, 0);
sub_list = &g_sub_list[g_sub_list_index[module_id]]; sub_list = &g_sub_list[g_sub_list_index[module_id]];
MSG_CHECK_SUBSCIBE_INFO(sub_list->module_id, 0);
msg_mutex_lock(&sub_list->msg_mutex); msg_mutex_lock(&sub_list->msg_mutex);
list_for_each_entry_safe(node, temp, &sub_list->msg_list, list) { list_for_each_entry_safe(node, temp, &sub_list->msg_list, list) {
@@ -491,42 +503,73 @@ unsigned int has_msg_get_message_number(has_module_ID_e module_id) {
return num; return num;
} }
int has_msg_printf_subscribe(has_module_ID_e module_id) { int has_msg_printf_subscribe(has_module_ID_e module_id)
{
has_static_sub_list_t *sub_list; has_static_sub_list_t *sub_list;
MSG_CHECK_MODULE_ID(module_id, -1); MSG_CHECK_MODULE_ID(module_id, -1);
sub_list = &g_sub_list[g_sub_list_index[module_id]]; sub_list = &g_sub_list[g_sub_list_index[module_id]];
MSG_CHECK_SUBSCIBE_INFO(sub_list->module_id, -1);
msg_printf("module:%d subscribes to:\n", module_id); msg_printf("module:%d subscribes to:\n", module_id);
for (int i = 0; i < sub_list->sub_module_cnt; i++) { for (int i = 0; i < sub_list->sub_module_cnt; i++) {
msg_printf("%d ", sub_list->sub_module[i]); msg_printf("%d ", sub_list->sub_module[i]);
} }
msg_printf("\n");
return 0; return 0;
} }
int has_msg_delete_all_message(has_module_ID_e module_id) { int has_msg_delete_all_message(has_module_ID_e module_id)
{
has_msg_node_t *node, *temp; has_msg_node_t *node, *temp;
has_static_sub_list_t *sub_list; has_static_sub_list_t *sub_list;
#ifdef MSG_OPT_PUB_LIST
struct list_head free_list;
has_msg_node_t *free_temp;
unsigned char id;
INIT_LIST_HEAD(&free_list);
#endif
MSG_CHECK_MODULE_ID(module_id, -1); MSG_CHECK_MODULE_ID(module_id, -1);
sub_list = &g_sub_list[g_sub_list_index[module_id]]; sub_list = &g_sub_list[g_sub_list_index[module_id]];
MSG_CHECK_SUBSCIBE_INFO(sub_list->module_id, -1);
msg_mutex_lock(&sub_list->msg_mutex); msg_mutex_lock(&sub_list->msg_mutex);
if (!list_empty(&sub_list->msg_list)) { if (!list_empty(&sub_list->msg_list)) {
list_for_each_entry_safe(node, temp, &sub_list->msg_list, list) { list_for_each_entry_safe(node, temp, &sub_list->msg_list, list) {
list_del(&node->list); list_del(&node->list);
#ifdef MSG_OPT_PUB_LIST
list_add_tail(&node->list, &free_list); // 加入临时链表
#else
msg_debug("id:%d free addr:0x%p\n", module_id, node);
msg_free(node); msg_free(node);
#endif
} }
} }
INIT_LIST_HEAD(&sub_list->msg_list); INIT_LIST_HEAD(&sub_list->msg_list);
msg_mutex_unlock(&sub_list->msg_mutex); msg_mutex_unlock(&sub_list->msg_mutex);
#ifdef MSG_OPT_PUB_LIST
/* 释放内存 */
list_for_each_entry_safe(node, temp, &free_list, list) {
/* msg_check_and_free_message(node); */
free_temp = NULL;
id = node->msg_buff->module_id;
msg_mutex_lock(&g_pub_list[id].buffer_mutex);
node->msg_buff->node_cnt --;
if (node->msg_buff->node_cnt == 0) {
free_temp = ((has_msg_node_t *)node->msg_buff - g_pub_list[id].pub_num);
}
msg_mutex_unlock(&g_pub_list[id].buffer_mutex);
if (free_temp) {
msg_debug("id:%d free addr:0x%p\n", module_id, free_temp);
msg_free(free_temp);
}
}
#endif
return 0; return 0;
} }
#ifdef MSG_OPT_DYNAMIC_SUB #ifdef MSG_OPT_DYNAMIC_SUB
int has_msg_subscribe(has_module_ID_e module_id, has_module_ID_e sub_id) { int has_msg_subscribe(has_module_ID_e module_id, has_module_ID_e sub_id)
{
has_static_sub_list_t *sub_list; has_static_sub_list_t *sub_list;
int j; int j;
if ((module_id >= MODULE_MAX) || (sub_id >= MODULE_MAX) if ((module_id >= MODULE_MAX) || (sub_id >= MODULE_MAX)
@@ -534,7 +577,6 @@ int has_msg_subscribe(has_module_ID_e module_id, has_module_ID_e sub_id) {
return -1; return -1;
} }
sub_list = &g_sub_list[g_sub_list_index[module_id]]; sub_list = &g_sub_list[g_sub_list_index[module_id]];
MSG_CHECK_SUBSCIBE_INFO(sub_list->module_id, -1);
msg_mutex_lock(&sub_list->msg_mutex); msg_mutex_lock(&sub_list->msg_mutex);
if (sub_list->sub_module_cnt < (MODULE_MAX - 1)) { if (sub_list->sub_module_cnt < (MODULE_MAX - 1)) {
@@ -559,14 +601,14 @@ int has_msg_subscribe(has_module_ID_e module_id, has_module_ID_e sub_id) {
} }
} }
int has_msg_unsubscribe(has_module_ID_e module_id, has_module_ID_e sub_id) { int has_msg_unsubscribe(has_module_ID_e module_id, has_module_ID_e sub_id)
{
has_static_sub_list_t *sub_list; has_static_sub_list_t *sub_list;
if ((module_id >= MODULE_MAX) || (sub_id >= MODULE_MAX) if ((module_id >= MODULE_MAX) || (sub_id >= MODULE_MAX)
|| (module_id == INVALID_ID) || (sub_id == INVALID_ID)) { || (module_id == INVALID_ID) || (sub_id == INVALID_ID)) {
return -1; return -1;
} }
sub_list = &g_sub_list[g_sub_list_index[module_id]]; sub_list = &g_sub_list[g_sub_list_index[module_id]];
MSG_CHECK_SUBSCIBE_INFO(sub_list->module_id, -1);
msg_mutex_lock(&sub_list->msg_mutex); msg_mutex_lock(&sub_list->msg_mutex);
for (int j = 0; j < sub_list->sub_module_cnt; j++) { for (int j = 0; j < sub_list->sub_module_cnt; j++) {

14
mw/has_task_msg_manager/has_task_msg_os_port.h
View File

@@ -5,14 +5,14 @@
#define MSG_OPT_OS_freeRTOS 2 #define MSG_OPT_OS_freeRTOS 2
#define MSG_OPT_OS_RT_THREAD 3 #define MSG_OPT_OS_RT_THREAD 3
#define MSG_OPT_OS_NONE_OR_OSAL 4 #define MSG_OPT_OS_NONE_OR_OSAL 4
#define MSG_OPT_OS_USER_DEFINE 5 #define MSG_OPT_OS_USER_DEFINED 5
/* TODO:rtt和freertos未测过 */ /* TODO:rtt和freertos未测过 */
#define MSG_OPT_OS MSG_OPT_OS_LINUX #define MSG_OPT_OS MSG_OPT_OS_LINUX
// #define MSG_OPT_OS MSG_OPT_OS_freeRTOS // #define MSG_OPT_OS MSG_OPT_OS_freeRTOS
// #define MSG_OPT_OS MSG_OPT_OS_RT_THREAD // #define MSG_OPT_OS MSG_OPT_OS_RT_THREAD
// #define MSG_OPT_OS MSG_OPT_OS_NONE_OR_OSAL // #define MSG_OPT_OS MSG_OPT_OS_NONE_OR_OSAL // 裸机或osal
// #define MSG_OPT_OS MSG_OPT_OS_USER_DEFINE // #define MSG_OPT_OS MSG_OPT_OS_USER_DEFINED // 自定义
#define MSG_OPT_USE_MUTEX // 支持互斥量 #define MSG_OPT_USE_MUTEX // 支持互斥量
@@ -26,9 +26,9 @@
#ifdef MSG_OPT_USE_MUTEX #ifdef MSG_OPT_USE_MUTEX
#define msg_mutex_t pthread_mutex_t #define msg_mutex_t pthread_mutex_t
#define msg_mutex_init(m) pthread_mutex_init((msg_mutex_t *)m, NULL) #define msg_mutex_init(m) pthread_mutex_init(m, NULL)
#define msg_mutex_lock(m) pthread_mutex_lock((msg_mutex_t *)m) #define msg_mutex_lock(m) pthread_mutex_lock(m)
#define msg_mutex_unlock(m) pthread_mutex_unlock((msg_mutex_t *)m) #define msg_mutex_unlock(m) pthread_mutex_unlock(m)
#else #else
#define msg_mutex_t #define msg_mutex_t
#define msg_mutex_init(m) #define msg_mutex_init(m)
@@ -125,7 +125,7 @@ static inline void msg_mutex_unlock(void *mutex) {
#define msg_printf printf #define msg_printf printf
/* ----------------------- for user define ----------------------- */ /* ----------------------- for user define ----------------------- */
#elif (MSG_OPT_OS == MSG_OPT_OS_USER_DEFINE) #elif (MSG_OPT_OS == MSG_OPT_OS_USER_DEFINED)
#include <stdlib.h> #include <stdlib.h>
#include <stdio.h> #include <stdio.h>