前面寫(xiě)了switch case做任務(wù)調(diào)度的應(yīng)用,這邊寫(xiě)一下如何實(shí)現(xiàn).像一般的RTOS一樣都有一個(gè)任務(wù)控制塊（TCB）列表來(lái)管理所有的任務(wù),所以這里也需要一個(gè)結(jié)構(gòu)體來(lái)管理動(dòng)作任務(wù)，這里叫做ACB吧.

動(dòng)作任務(wù)管理結(jié)構(gòu)體

這個(gè)結(jié)構(gòu)體用來(lái)記錄當(dāng)前動(dòng)作任務(wù)的當(dāng)前步驟，函數(shù)地址，事件處理函數(shù)的函數(shù)地址,動(dòng)作名稱(chēng),運(yùn)行時(shí)間等.

typedef struct _ACB
{
  uint8_t nStep;          // 分支動(dòng)作步驟 
  uint8_t nChildID;       //子動(dòng)作ID
  uint32_t nDelay;          // 延時(shí)
  uint32_t nStartTime;  
  uint32_t nUsedTime;
  uint32_t nStatus;          //當(dāng)前狀態(tài)
  
  ActionEvent EventQueue[4];    //動(dòng)作事件隊(duì)列
  uint8_t nEventCnt;            //事件數(shù)量和個(gè)數(shù)
  
  void (*AppCallBack)();        //業(yè)務(wù)動(dòng)作函數(shù)指針
  void (*EventCallback)();      //事件處理函數(shù)指針
  void (*ActionCallback)();     //當(dāng)前運(yùn)行的函數(shù)指針 
  
  char ActionParam[10];          //動(dòng)作參數(shù)
  //17
  char* pActionName;             //動(dòng)作名稱(chēng)
  char* pErrorInfo;              //錯(cuò)誤信息
  //8
  struct _ACB* next;             //上一個(gè)控制塊 便于刪除添加到就緒隊(duì)列
  struct _ACB* prev;             //下一個(gè)控制塊 便于添加刪除到就緒隊(duì)列
} ACB;

動(dòng)作任務(wù)創(chuàng)建

//將OpApp業(yè)務(wù)函數(shù)指針和ACB結(jié)構(gòu)體綁定
void AddAction(int nID,void (*OpApp)(),const char* pActionName)
{
  if(nID<90)
  {
    mOS.ActionPool[nID].AppCallBack = OpApp;
    mOS.ActionPool[nID].EventCallback = EventAction;
    mOS.ActionPool[nID].ActionCallback = OpApp;
    mOS.ActionPool[nID].nStatus = 0xff;
    mOS.ActionPool[nID].nEventCnt = 0;
    mOS.ActionPool[nID].nUsedTime = 0;
    mOS.ActionPool[nID].nStartTime = 0;
    mOS.ActionPool[nID].pActionName = (char*)pActionName;
  }
}

動(dòng)作任務(wù)執(zhí)行

1.動(dòng)作結(jié)構(gòu)體初始化，添加到就緒隊(duì)列

//根據(jù)ID啟動(dòng)動(dòng)作任務(wù)
int8_t StartAction(uint8_t ActionId)
{
  if(ActionId>90)
  {
    return false;  
  }
  ACB* pAction = &mOS.ActionPool[ActionId];
  pAction->ActionStartTime =   mOS.SystemTime;
  
  pAction->nStep = STEP1;
  pAction->nEventCnt = 0;
  pAction->nUsedTime = 0;
  pAction->nChildID = 0;
  pAction->EventCallback = EventAction;
  pAction->ActionCallback = pAction->AppCallBack;//先指向業(yè)務(wù)函數(shù)指針  
  AddReadyActionToTail(pAction);    //把當(dāng)前的控制塊添加到就緒隊(duì)列
  return true;
}
//將要運(yùn)行的動(dòng)作添加到就緒運(yùn)行隊(duì)列
void AddReadyActionToTail(ACB * pAction)
{
  pAction->nStaus = 0;
  pAction->next = NULL;
  pAction->prev = mOS.tail;  //

  if(mOS.head==NULL)
  {
    mOS.head = pAction;
  }

  if(mOS.tail!=NULL) //當(dāng)就緒鏈表沒(méi)有動(dòng)作時(shí) tail為空 
  {
    mOS.tail->next = pAction;
  }


  mOS.tail = pAction;  //移動(dòng)尾部指針
}

2.就緒隊(duì)列遍歷

inline void AppLoop()
{
  mOS.current = mOS.head;

    while(mOS.current!=NULL)
    {
      mOS.current->ActionCallback();
      DelFinishAction();  //需要把完成的任務(wù)從就緒隊(duì)列刪除
      mOS.current = mOS.current->next;
    }  
  }

  //動(dòng)作完成后，并計(jì)算動(dòng)作使用時(shí)間,從鏈表刪除
inline void DelFinishAction()
{
  if(mOS.current->nStatus==0)  //動(dòng)作任務(wù)正在運(yùn)行
  {  
    return ;
  }
  //統(tǒng)計(jì)任務(wù)耗時(shí)    
   mOS.current->nUsedTime = mOS.SystemTime - mOS.CurrentAction->nStartTime;   //當(dāng)前時(shí)間減去開(kāi)始時(shí)間
   if(mOS.head==mOS.tail)  //只有一個(gè)元素 
   {
      mOS.head= NULL;
      mOS.tail = NULL;
      return ;
    }

  if(mOS.current==mOS.head)  //頭部刪除,需要將頭部指針往后移動(dòng)
  {
    mOS.head = mOS.current->next;
    return ;
  }

  if(mOS.current==mOS.tail)  //尾部刪除,需要將尾部指針往前移動(dòng)
  {
    mOS.tail = mOS.current->prev;
    mOS.tail->next = NULL;
    return ;
  }
//中間刪除
   mOS.current->prev->next = mOS.current->next;  
   mOS.current->next->prev = mOS.current->prev;
}