osIII任务同时等待多个内核对象

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前面我们讲过都是等待单个内核对象，包括：信号量、互斥信号量、消息队列和事件标志组。在UCOS–III中允许任务同时等待多个信号量和多个消息队列，也就是说，UCOS–III不支持同时等待多个事件标志组或互斥信号量。
一个任务可以等待任意数量的信号量和消息队列，第一个信号量或消息队列的发布会导致该任务进入就绪态。

一个任务可以调用函数OSPendMulti()函数来等待多个对象，并且可以根据需要指定一个等待超时值，函数OSPendMulti()，举个例子-

OSPendMulti((OS_PEND_DATA*  )pend_multi_tbl,//需定义的数组，数组的例子在此函数下面            (OS_OBJ_QTY     )CORE_OBJ_NUM,  //内核对象数量            (OS_TICK        )0,             //0就是一直等待下去            (OS_OPT         )OS_OPT_PEND_BLOCKING,//对象未发送时任务挂起等待，OS_OPT_NON_PEND_BLOCKING就是对象未发送直接返回            (OS_ERR*        )&err);        //同样是返回的错误信息1
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OS_PEND_DATA pend_multi_tbl[CORE_OBJ_NUM];//定义一个数组，数组大小推荐使用宏定义方式定义pend_multi_tbl[0].PendObjPtr=(OS_PEND_OBJ*)&Test_Sem1;//等待信号Test_Sem1pend_multi_tbl[1].PendObjPtr=(OS_PEND_OBJ*)&Test_Sem2;//等待信号Test_Sem2pend_multi_tbl[2].PendObjPtr=(OS_PEND_OBJ*)&Test_Q;//等待消息Test-Q--------------------------------------------------------------------------------------------------------------
OS_OBJ_QTY  OSPendMulti (OS_PEND_DATA  *p_pend_data_tbl,  指向一个OS_PEND_DATA表的指针                                                 OS_OBJ_QTY     tbl_size,                    OS_PEND_DATA表的表项数目                                                 OS_TICK        timeout,                          指定超时值（时钟节拍数）                                                 OS_OPT         opt,                                                                                  OS_ERR        *p_err)                            该函数返回的错误码
struct  OS_PEND_DATA{                                    OS_PEND_DATA        *PrevPtr;                                    OS_PEND_DATA        *NextPtr;                                    OS_TCB                      *TCBPtr;                                    OS_PEND_OBJ          *PendObjPtr;                                    OS_PEND_OBJ          *RdyObjPtr;                                    void                             *RdyMsgPtr;                                    OS_MSG_SIZE           RdyMsgSize;                                    CPU_TS                      RdyTS;                                     };
opt  OS_OPT_PEND_BLOCKING  阻塞模式  OS_OPT_PEND_NON_BLOCKING 非阻塞模式
使用实例
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#define  APP_TASK_START_PRIO                               4u
#define  APP_TASK_1_PRIO                                   5u
#define  APP_TASK_2_PRIO                                   6u
#define  APP_TASK_3_PRIO                                   7u
#define  APP_TASK_4_PRIO                                   8u
#define  APP_TASK_5_PRIO                                   9u
#define  APP_TASK_START_STK_SIZE                         256u
#define  APP_TASK_1_STK_SIZE                             256u
#define  APP_TASK_2_STK_SIZE                             256u
#define  APP_TASK_3_STK_SIZE                             256u
#define  APP_TASK_4_STK_SIZE                             256u
#define  APP_TASK_5_STK_SIZE                             256u
static  OS_TCB   AppTaskStartTCB;
static  OS_TCB   AppTask1TCB;
static  OS_TCB   AppTask2TCB;
static  OS_TCB   AppTask3TCB;
static  OS_TCB   AppTask4TCB;
static  OS_TCB   AppTask5TCB;
static  OS_SEM   MYSEM1;
static  OS_SEM   MYSEM2;
static  OS_Q     MYQ1;
static  OS_Q     MYQ2;
static  CPU_STK  AppTaskStartStk[APP_TASK_START_STK_SIZE];
static  CPU_STK  AppTask1Stk[APP_TASK_1_STK_SIZE];
static  CPU_STK  AppTask2Stk[APP_TASK_2_STK_SIZE];
static  CPU_STK  AppTask3Stk[APP_TASK_3_STK_SIZE];
static  CPU_STK  AppTask4Stk[APP_TASK_4_STK_SIZE];
static  CPU_STK  AppTask5Stk[APP_TASK_5_STK_SIZE];
static  void  AppTaskStart(void  *p_arg);
void AppTask1(void *p_arg);
void AppTask2(void *p_arg);
void AppTask3(void *p_arg);
void AppTask4(CPU_CHAR *p_arg);
void AppTask5(void *p_arg);
CPU_CHAR *s_M = "NWPU";
CPU_CHAR *BLOCK1 = "消息传递Task4";
CPU_CHAR *BLOCK2 = "消息传递Task5";
int  main (void)
{
    OS_ERR  err;
    OSInit(&err);                                               
OSQCreate((OS_Q     *)&MYQ1,
     (CPU_CHAR *)"MYQ1",
     (OS_MSG_QTY)10,
     (OS_ERR   *)&err);
OSQCreate((OS_Q     *)&MYQ2,
     (CPU_CHAR *)"MYQ2",
     (OS_MSG_QTY)10,
     (OS_ERR   *)&err);
OSSemCreate((OS_SEM    *)&MYSEM1,
        (CPU_CHAR  *)"MYSEM1",
        (OS_SEM_CTR)0,
        (OS_ERR    *)&err);
OSSemCreate((OS_SEM    *)&MYSEM2,
        (CPU_CHAR  *)"MYSEM2",
        (OS_SEM_CTR)0,
        (OS_ERR    *)&err);
    OSTaskCreate((OS_TCB     *)&AppTaskStartTCB,                
                 (CPU_CHAR   *)"App Task Start",
                 (OS_TASK_PTR ) AppTaskStart,
                 (void       *) 0,
                 (OS_PRIO     ) APP_TASK_START_PRIO,
                 (CPU_STK    *)&AppTaskStartStk[0],
                 (CPU_STK_SIZE) APP_TASK_START_STK_SIZE / 10u,
                 (CPU_STK_SIZE) APP_TASK_START_STK_SIZE,
                 (OS_MSG_QTY  ) 0u,
                 (OS_TICK     ) 0u,
                 (void       *) 0,
                 (OS_OPT      )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
                 (OS_ERR     *)&err);
    OSStart(&err);                                             
}
static  void  AppTaskStart (void *p_arg)
{
    OS_ERR  err;
   (void)p_arg;
    CPU_Init();                                                
OSTaskCreate((OS_TCB     *)&AppTask1TCB,               
(CPU_CHAR   *)"AppTask1",
(OS_TASK_PTR)AppTask1,
(void       *)0,
(OS_PRIO)APP_TASK_1_PRIO,
(CPU_STK    *)&AppTask1Stk[0],
(CPU_STK_SIZE)APP_TASK_1_STK_SIZE / 10u,
(CPU_STK_SIZE)APP_TASK_1_STK_SIZE,
(OS_MSG_QTY)0u,
(OS_TICK)0u,
(void       *)0,
(OS_OPT)(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR     *)&err);
OSTaskCreate((OS_TCB     *)&AppTask2TCB,
(CPU_CHAR   *)"AppTask2",
(OS_TASK_PTR)AppTask2,
(void       *)0,
(OS_PRIO)APP_TASK_2_PRIO,
(CPU_STK    *)&AppTask2Stk[0],
(CPU_STK_SIZE)APP_TASK_2_STK_SIZE / 10u,
(CPU_STK_SIZE)APP_TASK_2_STK_SIZE,
(OS_MSG_QTY)0u,
(OS_TICK)0u,
(void       *)0,
(OS_OPT)(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR     *)&err);
OSTaskCreate((OS_TCB     *)&AppTask3TCB,
(CPU_CHAR   *)"AppTask3",
(OS_TASK_PTR)AppTask3,
(void       *)0,
(OS_PRIO)APP_TASK_3_PRIO,
(CPU_STK    *)&AppTask3Stk[0],
(CPU_STK_SIZE)APP_TASK_3_STK_SIZE / 10u,
(CPU_STK_SIZE)APP_TASK_3_STK_SIZE,
(OS_MSG_QTY)0u,
(OS_TICK)0u,
(void       *)0,
(OS_OPT)(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR     *)&err);
OSTaskCreate((OS_TCB     *)&AppTask4TCB,
(CPU_CHAR   *)"AppTask4",
(OS_TASK_PTR)AppTask4,
(CPU_CHAR   *)s_M,
(OS_PRIO)APP_TASK_4_PRIO,
(CPU_STK    *)&AppTask4Stk[0],
(CPU_STK_SIZE)APP_TASK_4_STK_SIZE / 10u,
(CPU_STK_SIZE)APP_TASK_4_STK_SIZE,
(OS_MSG_QTY)0u,
(OS_TICK)0u,
(void       *)0,
(OS_OPT)(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR     *)&err);
OSTaskCreate((OS_TCB     *)&AppTask5TCB,
(CPU_CHAR   *)"AppTask5",
(OS_TASK_PTR)AppTask5,
(CPU_CHAR   *)s_M,
(OS_PRIO)APP_TASK_5_PRIO,
(CPU_STK    *)&AppTask5Stk[0],
(CPU_STK_SIZE)APP_TASK_5_STK_SIZE / 10u,
(CPU_STK_SIZE)APP_TASK_5_STK_SIZE,
(OS_MSG_QTY)0u,
(OS_TICK)0u,
(void       *)0,
(OS_OPT)(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR     *)&err);
}
void AppTask1(void *p_arg)
{
OS_ERR  err;
OS_PEND_DATA MULTI_TBL[4];
(void)p_arg;
while (DEF_ON){
MULTI_TBL[0].PendObjPtr = &MYSEM1;
MULTI_TBL[1].PendObjPtr = &MYSEM2;
MULTI_TBL[2].PendObjPtr = &MYQ1;
MULTI_TBL[3].PendObjPtr = &MYQ2;
OSPendMulti((OS_PEND_DATA  *)&MULTI_TBL[0],
 (OS_OBJ_QTY)4,
 (OS_TICK)0,
 (OS_OPT)OS_OPT_PEND_BLOCKING,
 (OS_ERR        *)&err);
APP_TRACE_DBG(("Task1 is running...\n\r"));
}
}
void AppTask2(void *p_arg)
{
OS_ERR  err;
(void)p_arg;
while (DEF_ON){
APP_TRACE_DBG(("Task2 is running...\n\r"));
OSSemPost((OS_SEM  *)&MYSEM1,
 (OS_OPT)OS_OPT_POST_1,
 (OS_ERR  *)&err);
OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_DLY, &err);
}
}
void AppTask3(void *p_arg)
{
OS_ERR err;
    (void)p_arg;
while (DEF_ON){
APP_TRACE_DBG(("Time:%ld\n\r", OSTimeGet(&err)));
OSSemPost((OS_SEM  *)&MYSEM2,
(OS_OPT)OS_OPT_POST_1,
(OS_ERR  *)&err);
OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_DLY, &err);
}
}
void AppTask4(CPU_CHAR *p_arg)
{
OS_ERR err;
while (DEF_ON){
APP_TRACE_DBG(("%s\n\r", p_arg));
OSQPost((OS_Q      *)&MYQ1,
(void      *)BLOCK1,
(OS_MSG_SIZE)sizeof(BLOCK1),
(OS_OPT)OS_OPT_POST_FIFO,
(OS_ERR    *)&err);
OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_DLY, &err);
}
}
void AppTask5(void *p_arg)
{
OS_ERR  err;
(void)p_arg;
while (DEF_ON){
APP_TRACE_DBG(("Task5 is running...\n\r"));
OSQPost((OS_Q      *)&MYQ2,
(void      *)BLOCK2,
(OS_MSG_SIZE)sizeof(BLOCK2),
(OS_OPT)OS_OPT_POST_FIFO,
(OS_ERR    *)&err);
OSTimeDlyHMSM(0, 0, 1, 0, OS_OPT_TIME_DLY, &err);
}
}

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