FreeRTOSのタスク遷移とタスク間通信

QueueHandle_t xQueue = xQueueCreate( 10, sizeof( unsigned long ) );
void threadA( void *pvParameters ) 
{
  int32_t SendValue = 0;
  BaseType_t xStatus;
  SERIAL.println("Thread A: Started");
  while(1){
  //for(int x=0; x<100; ++x)
  //{
    //SERIAL.print("A");
    //SERIAL.flush();
    web_server();
    ++SendValue;
    xStatus = xQueueSend(xQueue, &SendValue, 0);
         if(xStatus != pdPASS) // send error check
         {
             while(1)
             {
                 Serial.println("rtos queue send error, stopped");
                 delay(1000);
             }
         }
    myDelayMs(2000);
  //}
  
  // delete ourselves.
  // Have to call this or the system crashes when you reach the end bracket and then get scheduled.
  //vTaskDelete( Handle_bTask );
  }
  SERIAL.println("Thread A: Deleting");
  vTaskDelete( NULL );
}

//*****************************************************************
// Create a thread that prints out B to the screen every second
// this task will run forever
//*****************************************************************
void threadB( void *pvParameters ) 
{ 
  BaseType_t xStatus;
  int32_t ReceivedValue = 0;
  const TickType_t xTicksToWait = 500U;
  SERIAL.println("Thread B: Started");

  while(1){
      distance=s_sensor();
      xStatus = xQueueReceive(xQueue, &ReceivedValue, xTicksToWait);

      //Serial.println("check if data is received");

      if(xStatus == pdPASS) // receive error check
         {
             Serial.print("received data : ");
             Serial.println(ReceivedValue);
         }
      else{
        Serial.println("No data available");
      }
      /*
         {
             if(uxQueueMessagesWaiting(xQueue) != 0)
             {
                 while(1)
                 {
                     Serial.println("rtos queue receive error, stopped");
                     delay(1000);
                 }
             }
         }
         */
    //SERIAL.println("B");
    SERIAL.flush();
    myDelayMs(500);
  }
}