void osal_start_system( void )
{
#if !defined ( ZBIT ) && !defined ( UBIT )
  for(;;)  // Forever Loop
#endif
  {
    uint8 idx = 0;
    osalTimeUpdate();
    Hal_ProcessPoll();  // This replaces MT_SerialPoll() and osal_check_timer().
    
    do {
      if (tasksEvents[idx])  // Task is highest priority that is ready.
      {
        break;
      }
    } while (++idx < tasksCnt);
    if (idx < tasksCnt)
    {
      uint16 events;
      halIntState_t intState;
      HAL_ENTER_CRITICAL_SECTION(intState);
      events = tasksEvents[idx];
      tasksEvents[idx] = 0;  // Clear the Events for this task.
      HAL_EXIT_CRITICAL_SECTION(intState);
      events = (tasksArr[idx])( idx, events );//函数指针，调用相应的事件函数处理，结合上面图一
      HAL_ENTER_CRITICAL_SECTION(intState);
      tasksEvents[idx] |= events;  // Add back unprocessed events to the current task.
      HAL_EXIT_CRITICAL_SECTION(intState);
    }
#if defined( POWER_SAVING )
    else  // Complete pass through all task events with no activity?
    {
      osal_pwrmgr_powerconserve();  // Put the processor/system into sleep
    }
#endif
  }
}

uint16 SampleApp_ProcessEvent( uint8 task_id, uint16 events )
{
  afIncomingMSGPacket_t *MSGpkt;
  (void)task_id;  // Intentionally unreferenced parameter
  if ( events & SYS_EVENT_MSG )
  {
    MSGpkt = (afIncomingMSGPacket_t *)osal_msg_receive( SampleApp_TaskID );//从消息队列上接收消息
    while ( MSGpkt )
    {
      switch ( MSGpkt->hdr.event )
      {
        // Received when a key is pressed
        case KEY_CHANGE:
          SampleApp_HandleKeys( ((keyChange_t *)MSGpkt)->state, ((keyChange_t *)MSGpkt)->keys );
          break;
        // Received when a messages is received (OTA) for this endpoint
        case AF_INCOMING_MSG_CMD:
          SampleApp_MessageMSGCB( MSGpkt );
          break;
        // Received whenever the device changes state in the network
        case ZDO_STATE_CHANGE:
          SampleApp_NwkState = (devStates_t)(MSGpkt->hdr.status);
          if ( (SampleApp_NwkState == DEV_ZB_COORD)
              || (SampleApp_NwkState == DEV_ROUTER)    
              || (SampleApp_NwkState == DEV_END_DEVICE) )
          {
            // Start sending the periodic message in a regular interval.
            osal_start_timerEx( SampleApp_TaskID,
                              SAMPLEAPP_SEND_PERIODIC_MSG_EVT,
                              SAMPLEAPP_SEND_PERIODIC_MSG_TIMEOUT );
          }
          else
          {
            // Device is no longer in the network
          }
          break;
        default:
          break;
      }
      // Release the memory
      osal_msg_deallocate( (uint8 *)MSGpkt );
      // Next - if one is available
      MSGpkt = (afIncomingMSGPacket_t *)osal_msg_receive( SampleApp_TaskID );// Get the next message
    }
    
/******************************************************
After processing the SYS_EVENT_MSG messages, 
the processing function should return the unprocessed events:
*******************************************************/
    return (events ^ SYS_EVENT_MSG);// return unprocessed events
  }
  // Send a message out - This event is generated by a timer
  //  (setup in SampleApp_Init()).
  if ( events & SAMPLEAPP_SEND_PERIODIC_MSG_EVT )
  {
    // Send the periodic message
    SampleApp_SendPeriodicMessage();
    // Setup to send message again in normal period (+ a little jitter)
    osal_start_timerEx( SampleApp_TaskID, SAMPLEAPP_SEND_PERIODIC_MSG_EVT,
        (SAMPLEAPP_SEND_PERIODIC_MSG_TIMEOUT + (osal_rand() & 0x00FF)) );
    // return unprocessed events
    return (events ^ SAMPLEAPP_SEND_PERIODIC_MSG_EVT);
  }
  // Discard unknown events
  return 0;
}