[ESP32]タスク間通信でキューを使用する方法 with Arduino IDE

TaskHandle_t thp[2];

#define MAX_QUE_NUM      1
#define MAX_QUE_SIZE     sizeof(ulong)
QueueHandle_t queue;

ulong count = 0;

// the setup function runs once when you press reset or power the board
void setup() {
  
  // initialize serial communication at 115200 bits per second:
  Serial.begin(115200);
  
  queue = xQueueCreate(MAX_QUE_NUM, MAX_QUE_SIZE);

  // Now set up two tasks to run independently.
  xTaskCreatePinnedToCore( TaskA, "TaskA", 2048, NULL, 2, &thp[0], APP_CPU_NUM);
  xTaskCreatePinnedToCore( TaskB, "TaskB", 2048, NULL, 2, &thp[1], APP_CPU_NUM);
}

void loop()
{
  // Empty. Things are done in Tasks.
}

/*--------------------------------------------------*/
/*---------------------- Tasks ---------------------*/
/*--------------------------------------------------*/
void TaskA(void *pvParameters)  // This is a task.
{
  Serial.println("TaskA Start");
  while(1) {
    count++;
    xQueueSend(queue, &count, ( TickType_t ) 0);
    delay(1000);
  }
  // ここにはこないが明示的にタスク終了を記載しておく。
  vTaskDelete(NULL);
}

void TaskB(void *pvParameters)  // This is a task.
{
  ulong buf;
  Serial.println("TaskB Start");

  while(1) {
    if(xQueueReceive(queue, &buf, 0)) {
      Serial.printf("count : %ld\n", buf);
    }
    delay(100);
  }
  // ここにはこないが明示的にタスク終了を記載しておく。
  vTaskDelete(NULL);
}