From 5ad8f57a799836dd0749b738895803a4e6f02f59 Mon Sep 17 00:00:00 2001 From: NeoZng Date: Thu, 1 Dec 2022 16:06:11 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E4=BA=86=E9=98=9F=E5=88=97?= =?UTF-8?q?=E7=9A=84=E5=AE=9E=E7=8E=B0,=E5=87=8F=E5=B0=91=E7=A9=BA?= =?UTF-8?q?=E9=97=B4=E5=8D=A0=E7=94=A8.=E5=AE=8C=E6=88=90message=20center?= =?UTF-8?q?=E7=9A=84=E6=96=87=E6=A1=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- HAL_N_Middlewares/Src/main.c | 20 +-- README.md | 2 +- VSCode+Ozone使用方法.md | 10 ++ assets/image-20221113212616636.png | Bin 29818 -> 0 bytes assets/image-20221201134906999.png | Bin 0 -> 22216 bytes assets/image-20221201144336613.png | Bin 0 -> 29283 bytes assets/image-20221201150945052.png | Bin 0 -> 94896 bytes assets/image-20221201152530558.png | Bin 0 -> 35307 bytes assets/image-20221201152904044.png | Bin 0 -> 49408 bytes assets/image-20221201155228196.png | Bin 0 -> 4073 bytes modules/message_center/message_center.c | 201 ++++++++++++---------- modules/message_center/message_center.h | 3 +- modules/message_center/message_center.md | 202 +++++++++++++++++++++++ 13 files changed, 328 insertions(+), 110 deletions(-) delete mode 100644 assets/image-20221113212616636.png create mode 100644 assets/image-20221201134906999.png create mode 100644 assets/image-20221201144336613.png create mode 100644 assets/image-20221201150945052.png create mode 100644 assets/image-20221201152530558.png create mode 100644 assets/image-20221201152904044.png create mode 100644 assets/image-20221201155228196.png diff --git a/HAL_N_Middlewares/Src/main.c b/HAL_N_Middlewares/Src/main.c index af48ed2..f599d14 100644 --- a/HAL_N_Middlewares/Src/main.c +++ b/HAL_N_Middlewares/Src/main.c @@ -65,13 +65,7 @@ void MX_FREERTOS_Init(void); /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ - typedef struct - { - float a; - uint8_t b; - uint32_t c; - /* data */ - }good; + /* USER CODE END 0 */ /** @@ -120,17 +114,7 @@ int main(void) RobotInit(); - good asdf; - good asdfsadf; - good pub={.a=1,.b=2,.c=3}; - Subscriber_t* s=SubRegister("test\0",sizeof(good)); - Subscriber_t* ss=SubRegister("test\0",sizeof(good)); - Publisher_t* p=PubRegister("test\0",sizeof(asdf)); - PubPushMessage(p,&pub); - PubPushMessage(p,&pub); - volatile uint8_t d= SubGetMessage(s,&asdf); - d=SubGetMessage(s,&asdf); - d=SubGetMessage(ss,&asdfsadf); + /* USER CODE END 2 */ /* Call init function for freertos objects (in freertos.c) */ diff --git a/README.md b/README.md index 39bc745..fd9c1e8 100644 --- a/README.md +++ b/README.md @@ -270,7 +270,7 @@ ROOT:. ### 运行任务 -![image-20221113212616636](assets\image-20221113212616636.png) +![image-20221201144336613](assets/image-20221201144336613.png) ### 初始化流程 diff --git a/VSCode+Ozone使用方法.md b/VSCode+Ozone使用方法.md index a1cd6a2..3d7af12 100644 --- a/VSCode+Ozone使用方法.md +++ b/VSCode+Ozone使用方法.md @@ -153,6 +153,16 @@ ITM是instrument trace macrocell指令追踪宏单元的缩写,它用于提供 > ***所有需要编辑的配置文件都已经在basic_framework的仓库中提供,如果不会写,照猫画虎。*** +> 2022-12-01更新: +> +> ​ VSCode上线了一款新的插件: +> +> ![image-20221201134906999](assets/image-20221201134906999.png) +> +> 支持一键配置Arm GNU工具链、MinGW64(make工具)和OpenOCD!可以尝试使用这个插件替代下面的配置流程。并且,此插件还提供了一键下载、一键调试的支持,只需要选择合适的下载器配置即可,全部都是图形化界面的操作! +> +> 你可以尝试使用这个插件进行环境的配置。当然,环境变量仍然需要手动添加。 + - 安装STM32CubeMX,并安装F4支持包和DSP库支持包 - 安装VSCode,并安装以下插件: diff --git a/assets/image-20221113212616636.png b/assets/image-20221113212616636.png deleted file mode 100644 index ad80a749299255c558289d9b1fb86a11dbd6fed2..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 29818 zcmd43by$__yDmBi0civU>5!0akOmP{K#*2IkQ9*aMgi#(kuH%gk?t;08j+ChPHET= z&h=Yot-aSiXYKvh`7S2cbPUG#z4g?6-_HnCdLoO1Ns5U;AaEW%lvYL{kWt`2E(~ON zMHh=T6M>*cJd&1FbxvIW?V?FIaw53h^8Ome%j?0c?5S*d82UCj4~Vn~3ihjqtQORn zZq`)Wuq`|`OJG1k zmSPaxT3VUoiMwaFn55d9aL>dzOkGhC4@MwiFs6zQ1M$|6xDLNJsR`j9za<&qceRf^ 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----------------------------------第三方指针传递版的实现----------------------------------- */ void MessageInit() { @@ -14,25 +16,26 @@ void MessageInit() // 对每一个subscriber,寻找相同消息名称的publisher,可能有多个sub从相同pub获取消息 for (size_t i = 0; i < MAX_EVENT_COUNT; i++) { - if(s_pptr[i]!=NULL) + if (s_pptr[i] != NULL) { - for (size_t j = 0; j < MAX_EVENT_COUNT; j++) //遍历publisher + for (size_t j = 0; j < MAX_EVENT_COUNT; j++) // 遍历publisher { - if(p_ptr[j]!=NULL) //不为空 + if (p_ptr[j] != NULL) // 不为空 { - if(strcmp(sname[i],pname[j])==0) //比较消息名是否一致 + if (strcmp(sname[i], pname[j]) == 0) // 比较消息名是否一致 { - *s_pptr[i]=p_ptr[j]; // 将sub的指针指向pub的数据 + *s_pptr[i] = p_ptr[j]; // 将sub的指针指向pub的数据 break; } } - else //到结尾,退出 + else // 到结尾,退出 { - while(1); //如果你卡在这里,说明没有找到消息发布者!请确认消息名称是否键入错误 + while (1) + ; // 如果你卡在这里,说明没有找到消息发布者!请确认消息名称是否键入错误 } } } - else //说明已经遍历完所有的subs + else // 说明已经遍历完所有的subs { break; } @@ -40,129 +43,149 @@ void MessageInit() } /* 传入数据地址 */ -void PublisherRegister(char* name,void* data) +void PublisherRegister(char *name, void *data) { static uint8_t idx; for (size_t i = 0; i < idx; i++) { - if(strcmp(pname[i],name)==0) - while(1); //运行至此说明pub的消息发布名称冲突 + if (strcmp(pname[i], name) == 0) + while (1) + ; // 运行至此说明pub的消息发布名称冲突 } - strcpy(pname[idx],name); - p_ptr[idx++]=data; + strcpy(pname[idx], name); + p_ptr[idx++] = data; } /* 注意传入的是指针的地址,传参时使用&对数据指针取地址 */ -void SubscribeEvent(char* name,void** data_ptr) +void SubscribeEvent(char *name, void **data_ptr) { static uint8_t idx; - strcpy(sname[idx],name); - s_pptr[idx++]=data_ptr; + strcpy(sname[idx], name); + s_pptr[idx++] = data_ptr; } +/* ----------------------------------链表-队列版的实现----------------------------------- */ +/* message_center是fake node,是方便链表编写的技巧,这样不需要处理链表头的特殊情况 */ +static Publisher_t message_center = { + .event_name = "Message_Manager", + .first_subs = NULL, + .next_event_node = NULL}; - - - -/* 以下是队列版的pubsub,TODO */ - -/* message_center是fake node,方便链表编写的技巧,这样不需要处理链表头的特殊情况 */ -static Publisher_t message_center={ - .event_name="Message_Manager", - .first_subs=NULL, - .next_event_node=NULL -}; - -Subscriber_t* SubRegister(char* name,uint8_t data_len) +static void CheckName(char* name) { - Publisher_t* node=&message_center; - while(node->next_event_node) // 遍历链表 + if(strnlen(name,MAX_EVENT_NAME_LEN+1)>=MAX_EVENT_NAME_LEN) { - node=node->next_event_node; - if(strcmp(name,node->event_name)==0) //如果事件名相同就订阅这个事件 + while (1); // 进入这里说明事件名超出长度限制 + } +} + +static void CheckLen(uint8_t len1,uint8_t len2) +{ + if(len1!=len2) + { + while(1); // 相同事件的消息长度不同 + } +} + +Subscriber_t *SubRegister(char *name, uint8_t data_len) +{ + CheckName(name); + Publisher_t *node = &message_center; // 可以将message_center看作对消息管理器的抽象,它用于管理所有pub和sub + while (node->next_event_node) // 遍历链表,如果当前有发布者已经注册 + { + node = node->next_event_node; // 指向下一个发布者(发布者发布的事件) + if (strcmp(name, node->event_name) == 0) // 如果事件名相同就订阅这个事件 { - Subscriber_t* sub=node->first_subs; //指向第一个事件 - while (sub->next_subs_queue) //遍历订阅了该事件的链表 + CheckLen(data_len,node->data_len); + Subscriber_t *sub = node->first_subs; // 指向订阅了该事件的第一个订阅者 + while (sub->next_subs_queue) // 遍历订阅了该事件的链表 { - sub=sub->next_subs_queue; - } //遇到空指针停下,创建新的订阅节点 - Subscriber_t* ret=(Subscriber_t*)malloc(sizeof(Subscriber_t)); - memset(ret,0,sizeof(Subscriber_t)); - ret->data_len=data_len; + sub = sub->next_subs_queue; // 移动到下一个订阅者 + } // 遇到空指针停下,说明到了链表尾部,创建新的订阅节点 + + // 申请内存,注意要memset因为新空间不一定是空的,可能有之前留存的垃圾值 + Subscriber_t *ret = (Subscriber_t *)malloc(sizeof(Subscriber_t)); + memset(ret, 0, sizeof(Subscriber_t)); + // 对新建的Subscriber进行初始化 + ret->data_len = data_len; // 设定数据长度 for (size_t i = 0; i < QUEUE_SIZE; i++) - { //给消息队列分配空间,queue里保存的实际上是数据执指针,这样可以兼容不同的数据长度 - ret->queue[i]=malloc(sizeof(data_len)); + { // 给消息队列的每一个元素分配空间,queue里保存的实际上是数据执指针,这样可以兼容不同的数据长度 + ret->queue[i] = malloc(sizeof(data_len)); } - sub->next_subs_queue=ret; //接到尾部,延长该订阅该事件的subs链表 + + sub->next_subs_queue = ret; // 接到链表尾部,延长该订阅该事件的subs链表 return ret; } // 时间名不同,在下一轮循环访问下一个结点 - } - //遍历完,发现尚未注册事件,那么创建一个事件.此时node是publisher链表的最后一个结点 - node->next_event_node=(Publisher_t*)malloc(sizeof(Publisher_t)); - memset(node->next_event_node,0,sizeof(Publisher_t)); - strcpy(node->next_event_node->event_name,name); - node->next_event_node->data_len=data_len; - //创建subscriber作为新事件的第一个订阅者 - Subscriber_t* ret=(Subscriber_t*)malloc(sizeof(Subscriber_t)); - memset(ret,0,sizeof(Subscriber_t)); - ret->data_len=data_len; - for (size_t i = 0; i < QUEUE_SIZE; i++) - { //给消息队列分配空间 - ret->queue[i]=malloc(sizeof(data_len)); } - node->next_event_node->first_subs=ret; + // 遍历完,发现尚未注册事件(还没有发布者);那么创建一个事件,此时node是publisher链表的最后一个结点 + node->next_event_node = (Publisher_t *)malloc(sizeof(Publisher_t)); + memset(node->next_event_node, 0, sizeof(Publisher_t)); + strcpy(node->next_event_node->event_name, name); + node->next_event_node->data_len = data_len; + // 同之前,创建subscriber作为新事件的第一个订阅者 + Subscriber_t *ret = (Subscriber_t *)malloc(sizeof(Subscriber_t)); + memset(ret, 0, sizeof(Subscriber_t)); + ret->data_len = data_len; + for (size_t i = 0; i < QUEUE_SIZE; i++) + { // 给消息队列分配空间 + ret->queue[i] = malloc(sizeof(data_len)); + } + // 新建的订阅者是该发布者的第一个订阅者,发布者会通过这个指针顺序访问所有订阅者 + node->next_event_node->first_subs = ret; return ret; - } -Publisher_t* PubRegister(char* name,uint8_t data_len) +Publisher_t *PubRegister(char *name, uint8_t data_len) { - Publisher_t* node=&message_center; - while(node->next_event_node) //message_center会直接跳过,不需要特殊处理 + CheckName(name); + Publisher_t *node = &message_center; + while (node->next_event_node) // message_center会直接跳过,不需要特殊处理,这被称作dumb_head(编程技巧) { - node=node->next_event_node; - if(strcmp(node->event_name,name)==0) + node = node->next_event_node; // 切换到下一个发布者(事件)结点 + if (strcmp(node->event_name, name) == 0) // 如果已经注册了相同的事件,直接返回结点指针 { + CheckLen(data_len,node->data_len); return node; } - } //遍历完发现尚未创建name对应的事件 - node->next_event_node=(Publisher_t*)malloc(sizeof(Publisher_t)); - memset(node->next_event_node,0,sizeof(Publisher_t)); - node->next_event_node->data_len=data_len; - strcpy(node->next_event_node->event_name,name); + } // 遍历完发现尚未创建name对应的事件 + // 在链表尾部创建新的事件并初始化 + node->next_event_node = (Publisher_t *)malloc(sizeof(Publisher_t)); + memset(node->next_event_node, 0, sizeof(Publisher_t)); + node->next_event_node->data_len = data_len; + strcpy(node->next_event_node->event_name, name); return node->next_event_node; } -/* 如果队列为空,会返回0;成功获取数据,返回1 */ -uint8_t SubGetMessage(Subscriber_t* sub,void* data_ptr) +/* 如果队列为空,会返回0;成功获取数据,返回1;后续可以做更多的修改,比如剩余消息数目等 */ +uint8_t SubGetMessage(Subscriber_t *sub, void *data_ptr) { - if(sub->temp_size==0) + if (sub->temp_size == 0) { return 0; } - memcpy(data_ptr,sub->queue[sub->front_idx],sub->data_len); - sub->front_idx=(sub->front_idx++)%QUEUE_SIZE; - sub->temp_size--; + memcpy(data_ptr, sub->queue[sub->front_idx], sub->data_len); + sub->front_idx = (sub->front_idx++) % QUEUE_SIZE; // 队列头索引增加 + sub->temp_size--; // pop一个数据,长度减1 return 1; } -void PubPushMessage(Publisher_t* pub,void* data_ptr) +void PubPushMessage(Publisher_t *pub, void *data_ptr) { - pub->iter=pub->first_subs; - while (pub->iter) //遍历订阅了当前事件的所有订阅者,依次填入最新消息 + Subscriber_t *iter = pub->first_subs; // iter作为订阅者指针,遍历订阅该事件的所有订阅者;如果为空说明遍历结束 + while (iter) // 遍历订阅了当前事件的所有订阅者,依次填入最新消息 { - if(pub->iter->temp_size==QUEUE_SIZE) //如果队列已满,则需要删除最老的数据(头部),再填入 - { //头索引增加,相当于移动到新一个位置上 - pub->iter->front_idx=(pub->iter->front_idx+1)%QUEUE_SIZE; - pub->iter->temp_size--; //相当于出队,size-1 + if (iter->temp_size == QUEUE_SIZE) // 如果队列已满,则需要删除最老的数据(头部),再填入 + { // 队列头索引前移动,相当于抛弃前一个位置,被抛弃的位置稍后会被写入新的数据 + iter->front_idx = (iter->front_idx + 1) % QUEUE_SIZE; + iter->temp_size--; // 相当于出队,size-1 } // 将Pub的数据复制到队列的尾部(最新) - memcpy(pub->iter->queue[pub->iter->back_idx],data_ptr,pub->data_len); - pub->iter->back_idx=(pub->iter->back_idx+1)%QUEUE_SIZE; //队列尾部前移 - pub->iter->temp_size++; //入队,size+1 + memcpy(iter->queue[iter->back_idx], data_ptr, pub->data_len); + iter->back_idx = (iter->back_idx + 1) % QUEUE_SIZE; // 队列尾部前移 + iter->temp_size++; // 入队,size+1 - pub->iter=pub->iter->next_subs_queue; + iter = iter->next_subs_queue; // 访问下一个订阅者 } } \ No newline at end of file diff --git a/modules/message_center/message_center.h b/modules/message_center/message_center.h index 85b5c96..4143335 100644 --- a/modules/message_center/message_center.h +++ b/modules/message_center/message_center.h @@ -69,11 +69,10 @@ typedef struct mqt typedef struct ent { /* 事件名称 */ - char event_name[MAX_EVENT_NAME_LEN]; + char event_name[MAX_EVENT_NAME_LEN+2]; uint8_t data_len; /* 指向第一个订阅了该事件的订阅者,通过链表访问所有订阅者 */ Subscriber_t* first_subs; - Subscriber_t* iter;// 用于遍历所有订阅了该事件的订阅者的指针 /* 指向下一个Publisher的指针 */ struct ent* next_event_node; diff --git a/modules/message_center/message_center.md b/modules/message_center/message_center.md index e69de29..183a02d 100644 --- a/modules/message_center/message_center.md +++ b/modules/message_center/message_center.md @@ -0,0 +1,202 @@ +# message_center + +

neozng1@hnu.edu.cn

+ +> TODO: +> +> 1. 增加互斥锁或在读写数据的时候进入临界区,防止数据竞争 +> +> 2. 降低代码冗杂度,将`PubRegister`和`SubRegister`的共同部分抽象出来编写新的函数 +> +> 3. 支持自定义队列长度,使得订阅者可以自行确定需要的队列长度,适应不同的需求 +> +> 4. ==**!!!重要!!!**== +> +> ==**Legacy support:将在正式版发布的时候剔除第三方指针传递者的实现,请迁移到新的链表实现。**== + + + +## 总览和封装说明 + +**重要定义:** + +- 发布者:发布消息的对象。发布者会将自己的消息推送给所有订阅了某个特定**事件**的订阅者。 +- 订阅者:获取消息的对象。订阅者在订阅了某个事件之后,可以通过接口获得该事件的消息。 +- 事件(event / topic):用于区分消息来源的对象。可以将一个事件看作一刊杂志,不同的发布者会将文章汇集到杂志上,而订阅者选择订阅一种杂志,然后就可以获取所有写在杂志上的文章。 + +Message Center不同应用间进行消息传递的中介,它的存在可以在相当大的程度上解耦不同的app,使得不同的应用之间**不存在包含关系**,让代码的自由度更大,将不同模块之间的关系降为**松耦合**。在以往,如果一个.c文件中的数据需要被其他任务/源文件共享,那么其他模块应该要包含前者的头文件,或头文件中应当存在获取该模块数据的接口(即函数,一般是返回数据指针或直接返回数据);但现在,不同的应用之间完全隔离,他们不需要了解彼此的存在,而是只能看见一个**消息中心**。 + +需要被共享的消息,将会被**发布者**(publisher)发送到消息中心;要获取消息,则由**订阅者**(subscriber)从消息中心根据订阅的消息名(事件)获取。在这之前,发布者要在消息中心完成**注册**,将自己要发布的消息类型和消息名称提交到消息中心;订阅者同样要先在消息中心完成订阅,将自己要接收的消息类型和消息名称提交到订阅中心。消息中心会根据**消息名称**,把订阅者绑定到发布相同名称的发布者上。 + +> 为了节省空间,数据结构上采用了链表+循环数组模拟队列的方式。C没有哈希表,因此让发布者保存所有订阅者的地址(实际上只保存首地址,然后通过链表访问所有订阅者)。 + +Message Center对外提供了四个接口,所有原本要进行信息交互的应用都应该包含`message_center.h`,并在初始化的时候进行注册。 + + + +## 代码结构 + +.h 文件中包含了外部接口和类型定义,.c中包含了各个接口的具体实现。 + + + +## 外部接口 + +**在代码实现上,事件实际上就是通过一个字符串体现的。** + +```c +Subscriber_t* SubRegister(char* name,uint8_t data_len); + +Publisher_t* PubRegister(char* name,uint8_t data_len); + +uint8_t SubGetMessage(Subscriber_t* sub,void* data_ptr); + +void PubPushMessage(Publisher_t* pub,void* data_ptr); +``` + +### 订阅者 + +订阅者应该保存一个订阅者类型的指针`Subscriber_t*`,在初始化的时候调用`SubRegister()`并传入要订阅的事件名和该事件对应消息的长度,可以直接输入字符串,示例如下,将从event_name订阅float数据: + +```c +Subscriber_t* my_sub; +my_sub=SubRegister("event_name",sizeof(float)); +``` + +订阅完毕后,在应用中通过`SubGetMessage()`获取消息,调用时传入订阅时获得的指针,以及要存放数据的指针。在使用的时候,建议使用强制类型转换将`data_ptr` cast成void*类型(好习惯)。 + +如果消息队列中有消息,返回值为1;否则,返回值为0,说明没有新的消息可用。 + +### 发布者 + +发布者应该保存一个发布者类型的指针,在初始化的时候传入要发布的事件名和该事件对应的消息长度。 + +完成注册后,通过`PubPushMessage()`发布新的消息。所有订阅了该事件的订阅者都会收到新的消息推送。 + +### 可修改的宏 + +```c +#define MAX_EVENT_NAME_LEN 32 //最大的事件名长度,每个事件都由字符串来命名 +#define QUEUE_SIZE 1 //消息队列的长度 +``` + +修改第一个可以扩大事件名长度,第二个确定消息队列的长度,数量越大可以保存的消息越多。 + + + +## 私有函数和定义 + +```c +static Publisher_t message_center = { + .event_name = "Message_Manager", + .first_subs = NULL, + .next_event_node = NULL}; + +static void CheckName(char* name) +{ + if(strnlen(name,MAX_EVENT_NAME_LEN+1)>=MAX_EVENT_NAME_LEN) + { + while (1); // 进入这里说明事件名超出长度限制 + } +} +``` + +`message_center`内部保存了指向第一个发布者的指针,可以看作整个消息中心的抽象。通过这个变量,可以访问所有发布者和订阅者。它将会在各个函数中作为dumb_head(哑结点)以简化逻辑,这样不需要对链表头进行特殊处理。 + +`CheckName()`在发布者/订阅者注册的时候被调用,用于检查事件名是否超过长度限制。超长后会进入死循环,方便开发者检查。 + +> 四个外部接口的实现都有详细的注释,有兴趣的同学可以自行阅读。下方也提供了流程图。 + + + +## 注册、发布、获取消息流程 + +包含一个结构图和四个流程图。 + +### Message Center的结构![image-20221201150945052](../../assets/image-20221201150945052.png) + +
建议打开原图查看
+ +**多个publisher可以绑定同一个事件,往该事件推送消息。但一个subscriber只能订阅一个事件,如果应用需要订阅多个事件,则要创建对应数量的订阅者。** + +> 对于电控程序目前的情况,不存在多个publisher向同一个事件推送消息的情况。 + +**对于一个事件,其消息长度必须相同**。发布者和订阅者在注册时都会传入消息长度,用`sizof(your_data)`获取。应当保证不同的模块在进行交互式,使用相同的数据长度。 + +### 发布者和订阅者注册的流程 + +- **发布者:** + + 遍历发布者的事件结点,如果发现相同的事件,直接返回指针即可;遍历完成后发现尚未创建则创建新的事件。 + +image-20221201152530558 + +- **订阅者:** + + 需要注意,由于不同应用/模块的初始化顺序不同,可能出现订阅者先于发布者订阅某一消息的情况,所以要进行发布者链表的遍历,判断是否已经存在相同事件名的发布者,不存在则要先创建发布者结点再将新建订阅者结点并挂载到前者上。 + +image-20221201152904044 + +### 推送/获取消息的流程 + +- **数组+头尾索引模拟队列** + +image-20221201155228196 + +front指向队列头,即最早入队的数据;back指向队列尾,即最新的数据。队列是first in first out(FIFO,先进先出)的结构。back指向的位置是入队数据被写入的位置,front指向的是读取时会出队的位置。当有数据入队,back++;出队则front++。若碰到数组边界,则返回数组头,可以通过取模实现: + +```C +idx=(idx+1)%SIZE_OF_ARRAY; //SIZE_OF_ARRAY是数组大小 +``` + +我们还需要一个变量用于保存当前队列的元素个数,如果在写入时,队列长度等于上限,应该先将最老的数据出队,再写入新的数据,即: + +```c +back=(back+1)%SIZE_OF_ARRAY; +size--; +queue[front]=new_data; +front=(front+1)%SIZE_OF_ARRAY; +``` + + + +- **发布者推送消息到指定事件** + +通过发布者指针,将订阅了该事件的所有订阅者遍历,将新数据入队。 + +- **订阅者获取消息** + +从订阅者指针访问消息队列,取出最先进入队列的数据。注意判断队列是否为空,如果为空则返回0。 + + + +## 示例代码 + +```c +typedef struct +{ + float a; + uint8_t b; + uint32_t c; +}good; + +good g1; +good g2; +good pub_data={.a=1,.b=2,.c=3}; +// 一个发布者,两个订阅者 +Subscriber_t* s=SubRegister("test",sizeof(good)); +Subscriber_t* ss=SubRegister("test",sizeof(good)); +Publisher_t* p=PubRegister("test",sizeof(good)); +// 推送消息 +PubPushMessage(p,&pub_data); +pub_data.a=4; +pub_data.b=5; +pub_data.c=6; +// 推送新消息 +PubPushMessage(p,&pub_data); +volatile uint8_t d= 0; // 确定收到的消息是否有效,可以根据d的值进一步处理 +d=SubGetMessage(s,&g1); +d=SubGetMessage(s,&g1); +d=SubGetMessage(s,&g1); // 此时d等于0 +d=SubGetMessage(ss,&g2); +``` \ No newline at end of file