任务操作发起任务taskSpawn)删除任务taskDelete()taskDeleteForce0删除设置了安全保护的任务taskSafe()设置任务的安全保护取消任务的安全保护taskUnsafe()taskSuspend(挂起一个任务使任务退出挂起状态taskResume0设定任务的优先级taskPrioritySetotaskPriorityGetO获得任务的优先级锁定任务调度taskLock(重新允许任务调度taskUnLock()获得任务本身的IDtaskldSelf0判断ID对应的任务是否仍然存在taskldVerify延迟taskDelay0taskTcb获得任务的控制块TCB
任务操作 ⚫ taskSpawn() 发起任务 ⚫ taskDelete() 删除任务 ⚫ taskDeleteForce() 删除设置了安全保护的任务 ⚫ taskSafe() 设置任务的安全保护 ⚫ taskUnsafe() 取消任务的安全保护 ⚫ taskSuspend()挂起一个任务 ⚫ taskResume() 使任务退出挂起状态 ⚫ taskPrioritySet() 设定任务的优先级 ⚫ taskPriorityGet() 获得任务的优先级 ⚫ taskLock() 锁定任务调度 ⚫ taskUnLock() 重新允许任务调度 ⚫ taskIdSelf() 获得任务本身的ID ⚫ taskIdVerify() 判断ID对应的任务是否仍然存在 ⚫ taskDelay() 延迟 ⚫ taskTcb 获得任务的控制块TCB
任务间通讯共享内存（全局变量、数组、结构体）管道（pipe)信号灯（semaphore）消息队列（messagequeue）
任务间通讯 ⚫ 共享内存（全局变量、数组、结构体） ⚫ 管道(pipe) ⚫ 信号灯(semaphore) ⚫ 消息队列 (message queue)
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二、Tornado-集成编译环境
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GDB-调试界面