FreeRTOS开发实战_链表管理

typedef struct _Rpmsg_Listener

{

      RpmsgCallbackFunction_t pxCallbackFunction;

      RpmsgSendFunction_t pxSendFunction;

      ListItem_t  xRpmsgListenerListItem;

      RpmsgEvent_t *mEvent;

}RpmsgListener_t;

/*

 * Definition of the type of queue used by the scheduler.

 */

typedef struct xLIST

{

        configLIST_VOLATILE UBaseType_t uxNumberOfItems;

        ListItem_t * configLIST_VOLATILE pxIndex;             /*

        MiniListItem_t xListEnd;                                             /*

} List_t;

/*

 * Definition of the only type of object that a list can contain.

 */

struct xLIST_ITEM

{

        configLIST_VOLATILE TickType_t xItemValue;                  /*

        struct xLIST_ITEM * configLIST_VOLATILE pxNext;         /*

        struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;   /*

        void * pvOwner;                                                                                    /*

        void * configLIST_VOLATILE pvContainer;                                 /*

};

typedef struct _Sensor_Event_

{

    Sensor mSenor;

    float values[4];

}SensorEvent_t;

/*

 * Defines the prototype to which timer callback functions must conform.

 */

typedef void (*SensorCallbackFunction_t)(SensorEvent_t * mListener);

typedef struct _Sensor_Listener

{

      int mSensorType;

      SensorCallbackFunction_t pxCallbackFunction;

      ListItem_t  xSensorListenerListItem;

      SensorEvent_t *mEvent;

}SensorListener_t;

void ap_RegisterSensorListener(int RegiterID,int mSensorType,SensorCallbackFunction_t mpxCallbackFunction,SensorEvent_t* mEvent)

{

    //Create the new Sensor Listener

    SensorListener_t *pxNewSensorListener;

    pxNewSensorListener =(SensorListener_t *)pvPortMalloc( sizeof( SensorListener_t ) );

    pxNewSensorListener->mSensorType = mSensorType;

    pxNewSensorListener->pxCallbackFunction = mpxCallbackFunction;   

    pxNewSensorListener->mEvent=mEvent;

    vListInitialiseItem( &( pxNewSensorListener->xSensorListenerListItem ) );

#ifdef SUPPORT_GSENSOR

    //Add the new Item to the list by the Sensor Type

    if(mSensorType == TYPE_GYROSCOPE)

    {

        listSET_LIST_ITEM_VALUE( &( pxNewSensorListener->xSensorListenerListItem ), RegiterID );

        listSET_LIST_ITEM_OWNER( &( pxNewSensorListener->xSensorListenerListItem ), pxNewSensorListener );

        vListInsert( &xGsensorList, &( pxNewSensorListener->xSensorListenerListItem ) );

    }

#endif

   PRINTF("The xGsensorList length is %d\n",listCURRENT_LIST_LENGTH(&xGsensorList));

}

void mw_sensor_init(void)

{ 

    //Add Listener List for Sensor Listenor

#ifdef SUPPORT_GSENSOR

    vListInitialise( &xGsensorList );

#endif

}

#ifdef SUPPORT_GSENSOR

//Called by the HAL_Sensor

void OnGyroSensorChangedCallBack(float Gxf, float Gyf,float Gzf)

{

    List_t * pxConstList;

    SensorListener_t* vSensorListener;

    pxCOnstList= &xGsensorList;

    pxConstList->pxIndex = pxConstList->pxIndex->pxNext;       

    while(( void * ) ( pxConstList )->pxIndex != ( void * ) &( ( pxConstList )->xListEnd ))

    {

         vSensorListener = (SensorListener_t *)listGET_LIST_ITEM_OWNER( ( pxConstList )->pxIndex );

         vSensorListener->mEvent->values[0] = Gxf;

         vSensorListener->mEvent->values[1] = Gyf;

         vSensorListener->mEvent->values[2] = Gzf;

         vSensorListener->pxCallbackFunction( ( SensorEvent_t *) vSensorListener->mEvent);

         pxConstList->pxIndex = pxConstList->pxIndex->pxNext;      

    }

}

#endif

BaseType_t ap_unRegisterSensorListener(int RegiterID,int mSensorType)

{

    SensorListener_t* vSensorListener;

    List_t * pxConstList;

    if(mSensorType == TYPE_GYROSCOPE)

    {

        pxCOnstList= &xGsensorList;

    }else

    {

        return pdFAIL;

    }

    while( (( pxConstList )->pxIndex->xItemValue == RegiterID)

          &&(( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) )

          )

    {

          ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext;                                                       

    }

    if(( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) )

    {

        return pdFAIL;

    }

    vSensorListener = (SensorListener_t *)listGET_LIST_ITEM_OWNER( ( pxConstList )->pxIndex );

    ( void ) uxListRemove(&(vSensorListener->xSensorListenerListItem));

    vPortFree(vSensorListener);

    return pdPASS;  

}