声明：此处代码分析，来源与 nuttx 12.8.0版本。
在分析之前，需要一图镇楼。
/***************************************************************************** Name: nxsched_add_blocked** Description:* This function adds a TCB to one of the blocked state task lists as* inferred from task_state.** Input Parameters:* btcb - Points to the TCB that is blocked* task_state - identifies the state of the blocked task** Returned Value:* None** Assumptions:* - The caller has established a critical section before* calling this function.*****************************************************************************/void nxsched_add_blocked(FAR struct tcb_s *btcb, tstate_t task_state)
{FAR dq_queue_t *tasklist;/* Make sure that we received a valid blocked state */DEBUGASSERT(task_state >= FIRST_BLOCKED_STATE &&task_state <= LAST_BLOCKED_STATE);/* Make sure the TCB's state corresponds to the list */btcb->task_state = task_state;/* Add the TCB to the blocked task list associated with this state. */tasklist = TLIST_BLOCKED(btcb);/* Determine if the task is to be added to a prioritized task list. */if (TLIST_ISPRIORITIZED(task_state)){/* Add the task to a prioritized list */nxsched_add_prioritized(btcb, tasklist);}else{/* Add the task to a non-prioritized list */dq_addlast((FAR dq_entry_t *)btcb, tasklist);}
}
显然，此函数的作用是依据task_state,将btcb放入阻塞队列。
既然是放入队列，首先是要找到具体的队列。
/* Make sure the TCB's state corresponds to the list */btcb->task_state = task_state;/* Add the TCB to the blocked task list associated with this state. */tasklist = TLIST_BLOCKED(btcb);
TLIST_BLOCKED在sched.h中的定义如下。
/* List attribute flags */#define TLIST_ATTR_PRIORITIZED (1 << 0) /* Bit 0: List is prioritized */
#define TLIST_ATTR_INDEXED (1 << 1) /* Bit 1: List is indexed by CPU */
#define TLIST_ATTR_RUNNABLE (1 << 2) /* Bit 2: List includes running tasks */
#define TLIST_ATTR_OFFSET (1 << 3) /* Bit 3: Pointer of task list is offset */#define __TLIST_ATTR(s) g_tasklisttable[s].attr
#define TLIST_ISPRIORITIZED(s) ((__TLIST_ATTR(s) & TLIST_ATTR_PRIORITIZED) != 0)
#define TLIST_ISINDEXED(s) ((__TLIST_ATTR(s) & TLIST_ATTR_INDEXED) != 0)
#define TLIST_ISRUNNABLE(s) ((__TLIST_ATTR(s) & TLIST_ATTR_RUNNABLE) != 0)
#define TLIST_ISOFFSET(s) ((__TLIST_ATTR(s) & TLIST_ATTR_OFFSET) != 0)#define __TLIST_HEAD(t) \(TLIST_ISOFFSET((t)->task_state) ? (FAR dq_queue_t *)((FAR uint8_t *)((t)->waitobj) + \(uintptr_t)g_tasklisttable[(t)->task_state].list) : g_tasklisttable[(t)->task_state].list)#ifdef CONFIG_SMP
# define TLIST_HEAD(t,c) \((TLIST_ISINDEXED((t)->task_state)) ? (&(__TLIST_HEAD(t))[c]) : __TLIST_HEAD(t))
# define TLIST_BLOCKED(t) __TLIST_HEAD(t)
#else
# define TLIST_HEAD(t) __TLIST_HEAD(t)
# define TLIST_BLOCKED(t) __TLIST_HEAD(t)
#endif在计算__TLIST_HEAD的时候，会有一个TLIST_ISOFFSET的判断。那什么队列会符合要求呢？根据定义，我们知道当g_tasklisttable[s].attr &TLIST_ATTR_OFFSET != 0 就满足条件。
那，具体是什么队列呢？
static void tasklist_initialize(void)
{....../* TSTATE_WAIT_SEM */tlist[TSTATE_WAIT_SEM].list = (FAR void *)offsetof(sem_t, waitlist);tlist[TSTATE_WAIT_SEM].attr = TLIST_ATTR_PRIORITIZED |TLIST_ATTR_OFFSET;....../* TSTATE_WAIT_MQNOTEMPTY */tlist[TSTATE_WAIT_MQNOTEMPTY].list =(FAR void *)offsetof(struct mqueue_inode_s, cmn.waitfornotempty);tlist[TSTATE_WAIT_MQNOTEMPTY].attr = TLIST_ATTR_PRIORITIZED |TLIST_ATTR_OFFSET;/* TSTATE_WAIT_MQNOTFULL */tlist[TSTATE_WAIT_MQNOTFULL].list =(FAR void *)offsetof(struct mqueue_inode_s, cmn.waitfornotfull);tlist[TSTATE_WAIT_MQNOTFULL].attr = TLIST_ATTR_PRIORITIZED |TLIST_ATTR_OFFSET;......}显然，信号量和消息队列会符合要求。
那么，
(FAR dq_queue_t *)((FAR uint8_t *)((t)->waitobj) + (uintptr_t)g_tasklisttable[(t)->task_state].list)具体指向那里呢？
为回答此问题，我们需要弄清楚对于信号量和消息队列来说，waitobj 和g_tasklisttable[(t)->task_state].list各指代什么意思。
对于g_tasklisttable[(t)->task_state].list，由上述代码可知，g_tasklisttable[TSTATE_WAIT_SEM].list 是 struct mqueue_inode_s结构体中，waitlist的偏移量。
struct sem_s
{......dq_queue_t waitlist;......}typedef struct sem_s sem_t;
对于g_tasklisttable[(t)->task_state].list，由上述代码可知，g_tasklisttable[TSTATE_WAIT_MQNOTEMPTY].list 是 sem_t结构体中，mn.waitfornotempty的偏移量。
struct mqueue_inode_s
{struct mqueue_cmn_s cmn; /* Common prologue */......
}struct mqueue_cmn_s
{dq_queue_t waitfornotempty; /* Task list waiting for not empty */dq_queue_t waitfornotfull; /* Task list waiting for not full */......
};g_tasklisttable[TSTATE_WAIT_MQNOTFULL].list 同理。
waitobj的定义如下。
struct tcb_s
{..../* POSIX Semaphore and Message Queue Control Fields ***********************/FAR void *waitobj; /* Object thread waiting on */......
}那么，waitobj的赋值是什么呢？
int nxmq_wait_receive(FAR struct mqueue_inode_s *msgq,FAR struct mqueue_msg_s **rcvmsg,FAR const struct timespec *abstime,sclock_t ticks)
{......FAR struct tcb_s *rtcb = this_task();......rtcb->waitobj = msgq;......
}对于信号量，waitobj同理。可见，waitobj指代的是具体等待的信号量或者消息队列。
那，为什么要这样呢？答案就藏在数据结构的定义里。
以sem_t来说，
struct sem_s
{......dq_queue_t waitlist;......}typedef struct sem_s sem_t;
有人可能会问，这能说明什么？这能说明，对于每一个sem_t实例来说，他们都有各自的队列。与之对应的g_tasklisttable.list中存放的是偏移值。
为什么这样设计呢？
这样设计实现了所有阻塞类型的统一管理。
找到具体的队列之后，调用nxsched_add_prioritized或dq_addlast 将tcb_s加入队列。
除了，信号量和消息队列，还有哪些阻塞队列呢？
enum tstate_e
{......TSTATE_TASK_INACTIVE, /* BLOCKED - Initialized but not yet activated */TSTATE_WAIT_SEM, /* BLOCKED - Waiting for a semaphore */TSTATE_WAIT_SIG, /* BLOCKED - Waiting for a signal */
#if !defined(CONFIG_DISABLE_MQUEUE) || !defined(CONFIG_DISABLE_MQUEUE_SYSV)TSTATE_WAIT_MQNOTEMPTY, /* BLOCKED - Waiting for a MQ to become not empty. */TSTATE_WAIT_MQNOTFULL, /* BLOCKED - Waiting for a MQ to become not full. */
#endif
#ifdef CONFIG_LEGACY_PAGINGTSTATE_WAIT_PAGEFILL, /* BLOCKED - Waiting for page fill */
#endif
#ifdef CONFIG_SIG_SIGSTOP_ACTIONTSTATE_TASK_STOPPED, /* BLOCKED - Waiting for SIGCONT */
#endif......
};