6#ifndef ZEPHYR_INCLUDE_ZBUS_H_
7#define ZEPHYR_INCLUDE_ZBUS_H_
46#if defined(CONFIG_ZBUS_PRIORITY_BOOST)
50 int highest_observer_priority;
53#if defined(CONFIG_ZBUS_RUNTIME_OBSERVERS) || defined(__DOXYGEN__)
60#if defined(CONFIG_ZBUS_MSG_SUBSCRIBER_NET_BUF_POOL_ISOLATION) || defined(__DOXYGEN__)
66#if defined(CONFIG_ZBUS_CHANNEL_PUBLISH_STATS) || defined(__DOXYGEN__)
81#if defined(CONFIG_ZBUS_CHANNEL_NAME) || defined(__DOXYGEN__)
123#if defined(CONFIG_ZBUS_PRIORITY_BOOST)
145#if defined(CONFIG_ZBUS_OBSERVER_NAME) || defined(__DOXYGEN__)
162#if defined(CONFIG_ZBUS_MSG_SUBSCRIBER) || defined(__DOXYGEN__)
172struct zbus_channel_observation_mask {
176struct zbus_channel_observation {
182#define _ZBUS_CPP_EXTERN extern
184#define _ZBUS_CPP_EXTERN
187#define ZBUS_MIN_THREAD_PRIORITY (CONFIG_NUM_PREEMPT_PRIORITIES - 1)
189#if defined(CONFIG_ZBUS_ASSERT_MOCK)
190#define _ZBUS_ASSERT(_cond, _fmt, ...) \
193 printk("ZBUS ASSERT: "); \
194 printk(_fmt, ##__VA_ARGS__); \
200#define _ZBUS_ASSERT(_cond, _fmt, ...) __ASSERT(_cond, _fmt, ##__VA_ARGS__)
203#if defined(CONFIG_ZBUS_CHANNEL_NAME)
204#define ZBUS_CHANNEL_NAME_INIT(_name) .name = #_name,
205#define _ZBUS_CHAN_NAME(_chan) (_chan)->name
207#define ZBUS_CHANNEL_NAME_INIT(_name)
208#define _ZBUS_CHAN_NAME(_chan) ""
211#if defined(CONFIG_ZBUS_OBSERVER_NAME)
212#define ZBUS_OBSERVER_NAME_INIT(_name) .name = #_name,
213#define _ZBUS_OBS_NAME(_obs) (_obs)->name
215#define ZBUS_OBSERVER_NAME_INIT(_name)
216#define _ZBUS_OBS_NAME(_obs) ""
219#if defined(CONFIG_ZBUS_RUNTIME_OBSERVERS)
220#define ZBUS_RUNTIME_OBSERVERS_LIST_DECL(_slist_name) static sys_slist_t _slist_name
221#define ZBUS_RUNTIME_OBSERVERS_LIST_INIT(_slist_name) .runtime_observers = &_slist_name,
223#define ZBUS_RUNTIME_OBSERVERS_LIST_DECL(_slist_name)
224#define ZBUS_RUNTIME_OBSERVERS_LIST_INIT(_slist_name)
227#define _ZBUS_OBS_EXTERN(_name) extern const struct zbus_observer _name
229#define _ZBUS_CHAN_EXTERN(_name) extern const struct zbus_channel _name
231#define ZBUS_REF(_value) &(_value)
233#define FOR_EACH_FIXED_ARG_NONEMPTY_TERM(F, sep, fixed_arg, ...) \
235 NUM_VA_ARGS_LESS_1( \
236 LIST_DROP_EMPTY(__VA_ARGS__, _)), \
238 (FOR_EACH_IDX_FIXED_ARG( \
240 LIST_DROP_EMPTY(__VA_ARGS__)) \
243#define _ZBUS_OBSERVATION_PREFIX(_idx) \
244 GET_ARG_N(_idx, 00, 01, 02, 03, 04, 05, 06, 07, 08, 09, 10, 11, 12, 13, 14, 15, 16, 17, \
245 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, \
246 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, \
247 58, 59, 60, 61, 62, 63)
249#define _ZBUS_CHAN_OBSERVATION(_idx, _obs, _chan) \
250 const STRUCT_SECTION_ITERABLE( \
251 zbus_channel_observation, \
252 _CONCAT(_chan, _ZBUS_OBSERVATION_PREFIX(UTIL_INC(_idx)))) = {.chan = &_chan, \
254 STRUCT_SECTION_ITERABLE(zbus_channel_observation_mask, \
255 _CONCAT(_CONCAT(_chan, _ZBUS_OBSERVATION_PREFIX(UTIL_INC(_idx))), \
256 _mask)) = {.enabled = false};
258#if defined(CONFIG_ZBUS_RUNTIME_OBSERVERS) || defined(__DOXYGEN__)
259#define _ZBUS_RUNTIME_OBSERVERS(_name) .observers = &(_CONCAT(_observers_, _name)),
260#define _ZBUS_RUNTIME_OBSERVERS_DECL(_name) static sys_slist_t _CONCAT(_observers_, _name);
262#define _ZBUS_RUNTIME_OBSERVERS(_name)
263#define _ZBUS_RUNTIME_OBSERVERS_DECL(_name)
281#define ZBUS_CHAN_ADD_OBS_WITH_MASK(_chan, _obs, _masked, _prio) \
282 const STRUCT_SECTION_ITERABLE(zbus_channel_observation, \
283 _CONCAT(_CONCAT(_chan, zz), _CONCAT(_prio, _obs))) = { \
287 STRUCT_SECTION_ITERABLE(zbus_channel_observation_mask, \
288 _CONCAT(_CONCAT(_CONCAT(_chan, zz), _CONCAT(_prio, _obs)), \
289 _mask)) = {.enabled = _masked}
302#define ZBUS_CHAN_ADD_OBS(_chan, _obs, _prio) ZBUS_CHAN_ADD_OBS_WITH_MASK(_chan, _obs, false, _prio)
309#define ZBUS_OBS_DECLARE(...) FOR_EACH_NONEMPTY_TERM(_ZBUS_OBS_EXTERN, (;), __VA_ARGS__)
316#define ZBUS_CHAN_DECLARE(...) FOR_EACH(_ZBUS_CHAN_EXTERN, (;), __VA_ARGS__)
322#define ZBUS_OBSERVERS_EMPTY
329#define ZBUS_OBSERVERS(...) __VA_ARGS__
348#define ZBUS_CHAN_DEFINE(_name, _type, _validator, _user_data, _observers, _init_val) \
349 static _type _CONCAT(_zbus_message_, _name) = _init_val; \
350 static struct zbus_channel_data _CONCAT(_zbus_chan_data_, _name) = { \
351 .observers_start_idx = -1, \
352 .observers_end_idx = -1, \
353 .sem = Z_SEM_INITIALIZER(_CONCAT(_zbus_chan_data_, _name).sem, 1, 1), \
354 IF_ENABLED(CONFIG_ZBUS_PRIORITY_BOOST, ( \
355 .highest_observer_priority = ZBUS_MIN_THREAD_PRIORITY, \
357 IF_ENABLED(CONFIG_ZBUS_RUNTIME_OBSERVERS, ( \
358 .observers = SYS_SLIST_STATIC_INIT( \
359 &_CONCAT(_zbus_chan_data_, _name).observers), \
362 static K_MUTEX_DEFINE(_CONCAT(_zbus_mutex_, _name)); \
363 _ZBUS_CPP_EXTERN const STRUCT_SECTION_ITERABLE(zbus_channel, _name) = { \
364 ZBUS_CHANNEL_NAME_INIT(_name) \
365 .message = &_CONCAT(_zbus_message_, _name), \
366 .message_size = sizeof(_type), \
367 .user_data = _user_data, \
368 .validator = _validator, \
369 .data = &_CONCAT(_zbus_chan_data_, _name), \
370 IF_ENABLED(ZBUS_MSG_SUBSCRIBER_NET_BUF_POOL_ISOLATION, ( \
371 .msg_subscriber_pool = &_zbus_msg_subscribers_pool, \
375 ZBUS_OBS_DECLARE(_observers); \
377 FOR_EACH_FIXED_ARG_NONEMPTY_TERM(_ZBUS_CHAN_OBSERVATION, (;), _name, _observers)
389#define ZBUS_MSG_INIT(_val, ...) \
391 _val, ##__VA_ARGS__ \
407#define ZBUS_SUBSCRIBER_DEFINE_WITH_ENABLE(_name, _queue_size, _enable) \
408 K_MSGQ_DEFINE(_zbus_observer_queue_##_name, \
409 sizeof(struct zbus_channel *), \
410 _queue_size, sizeof(struct zbus_channel *) \
412 static struct zbus_observer_data _CONCAT(_zbus_obs_data_, _name) = { \
413 .enabled = _enable, \
414 IF_ENABLED(CONFIG_ZBUS_PRIORITY_BOOST, ( \
415 .priority = ZBUS_MIN_THREAD_PRIORITY, \
418 _ZBUS_CPP_EXTERN const STRUCT_SECTION_ITERABLE(zbus_observer, _name) = { \
419 ZBUS_OBSERVER_NAME_INIT(_name) \
420 .type = ZBUS_OBSERVER_SUBSCRIBER_TYPE, \
421 .data = &_CONCAT(_zbus_obs_data_, _name), \
422 .queue = &_zbus_observer_queue_##_name, \
437#define ZBUS_SUBSCRIBER_DEFINE(_name, _queue_size) \
438 ZBUS_SUBSCRIBER_DEFINE_WITH_ENABLE(_name, _queue_size, true)
453#define ZBUS_LISTENER_DEFINE_WITH_ENABLE(_name, _cb, _enable) \
454 static struct zbus_observer_data _CONCAT(_zbus_obs_data_, _name) = { \
455 .enabled = _enable, \
456 IF_ENABLED(CONFIG_ZBUS_PRIORITY_BOOST, ( \
457 .priority = ZBUS_MIN_THREAD_PRIORITY, \
460 _ZBUS_CPP_EXTERN const STRUCT_SECTION_ITERABLE(zbus_observer, _name) = { \
461 ZBUS_OBSERVER_NAME_INIT(_name) \
462 .type = ZBUS_OBSERVER_LISTENER_TYPE, \
463 .data = &_CONCAT(_zbus_obs_data_, _name), \
478#define ZBUS_LISTENER_DEFINE(_name, _cb) ZBUS_LISTENER_DEFINE_WITH_ENABLE(_name, _cb, true)
492#define ZBUS_MSG_SUBSCRIBER_DEFINE_WITH_ENABLE(_name, _enable) \
493 static K_FIFO_DEFINE(_zbus_observer_fifo_##_name); \
494 static struct zbus_observer_data _CONCAT(_zbus_obs_data_, _name) = { \
495 .enabled = _enable, \
496 IF_ENABLED(CONFIG_ZBUS_PRIORITY_BOOST, ( \
497 .priority = ZBUS_MIN_THREAD_PRIORITY, \
500 _ZBUS_CPP_EXTERN const STRUCT_SECTION_ITERABLE(zbus_observer, _name) = { \
501 ZBUS_OBSERVER_NAME_INIT(_name) \
502 .type = ZBUS_OBSERVER_MSG_SUBSCRIBER_TYPE, \
503 .data = &_CONCAT(_zbus_obs_data_, _name), \
504 .message_fifo = &_zbus_observer_fifo_##_name, \
519#define ZBUS_MSG_SUBSCRIBER_DEFINE(_name) ZBUS_MSG_SUBSCRIBER_DEFINE_WITH_ENABLE(_name, true)
621#if defined(CONFIG_ZBUS_CHANNEL_NAME) || defined(__DOXYGEN__)
634 __ASSERT(chan != NULL,
"chan is required");
655 __ASSERT(chan != NULL,
"chan is required");
676 __ASSERT(chan != NULL,
"chan is required");
692 __ASSERT(chan != NULL,
"chan is required");
708 __ASSERT(chan != NULL,
"chan is required");
713#if defined(CONFIG_ZBUS_MSG_SUBSCRIBER_NET_BUF_POOL_ISOLATION) || defined(__DOXYGEN__)
724 __ASSERT(chan != NULL,
"chan is required");
725 __ASSERT(pool != NULL,
"pool is required");
732#if defined(CONFIG_ZBUS_CHANNEL_PUBLISH_STATS) || defined(__DOXYGEN__)
747 __ASSERT(chan != NULL,
"chan is required");
764 __ASSERT(chan != NULL,
"chan is required");
780 __ASSERT(chan != NULL,
"chan is required");
796 __ASSERT(chan != NULL,
"chan is required");
815#if defined(CONFIG_ZBUS_RUNTIME_OBSERVERS) || defined(__DOXYGEN__)
858struct zbus_observer_node {
894 _ZBUS_ASSERT(obs != NULL,
"obs is required");
895 _ZBUS_ASSERT(enable != NULL,
"enable is required");
934#if defined(CONFIG_ZBUS_OBSERVER_NAME) || defined(__DOXYGEN__)
947 __ASSERT(obs != NULL,
"obs is required");
954#if defined(CONFIG_ZBUS_PRIORITY_BOOST) || defined(__DOXYGEN__)
1001#if defined(CONFIG_ZBUS_MSG_SUBSCRIBER) || defined(__DOXYGEN__)
1055 bool (*iterator_func)(
const struct zbus_channel *chan,
void *user_data),
void *user_data);
1086 bool (*iterator_func)(
const struct zbus_observer *obs,
void *user_data),
void *user_data);
int64_t k_uptime_ticks(void)
Get system uptime, in system ticks.
uint32_t k_ticks_t
Tick precision used in timeout APIs.
Definition sys_clock.h:48
static int64_t k_uptime_get(void)
Get system uptime.
Definition kernel.h:1828
struct _slist sys_slist_t
Single-linked list structure.
Definition slist.h:49
struct _snode sys_snode_t
Single-linked list node structure.
Definition slist.h:39
int zbus_chan_claim(const struct zbus_channel *chan, k_timeout_t timeout)
Claim a channel.
static const char * zbus_chan_name(const struct zbus_channel *chan)
Get the channel's name.
Definition zbus.h:632
static uint32_t zbus_chan_pub_stats_avg_period(const struct zbus_channel *chan)
Get the average period between publishes to a channel.
Definition zbus.h:794
bool zbus_iterate_over_observers_with_user_data(bool(*iterator_func)(const struct zbus_observer *obs, void *user_data), void *user_data)
Iterate over observers with user data.
bool zbus_iterate_over_observers(bool(*iterator_func)(const struct zbus_observer *obs))
Iterate over observers.
static int zbus_obs_is_enabled(const struct zbus_observer *obs, bool *enable)
Get the observer state.
Definition zbus.h:892
static void zbus_chan_set_msg_sub_pool(const struct zbus_channel *chan, struct net_buf_pool *pool)
Set the channel's msg subscriber net_buf pool.
Definition zbus.h:721
int zbus_obs_is_chan_notification_masked(const struct zbus_observer *obs, const struct zbus_channel *chan, bool *masked)
Get the notifications masking state from a channel to an observer.
int zbus_obs_detach_from_thread(const struct zbus_observer *obs)
Clear the observer thread priority by detaching it from a thread.
static uint32_t zbus_chan_pub_stats_count(const struct zbus_channel *chan)
Get the number of times a channel has been published to.
Definition zbus.h:778
static const char * zbus_obs_name(const struct zbus_observer *obs)
Get the observer's name.
Definition zbus.h:945
bool zbus_iterate_over_channels(bool(*iterator_func)(const struct zbus_channel *chan))
Iterate over channels.
int zbus_chan_notify(const struct zbus_channel *chan, k_timeout_t timeout)
Force a channel notification.
int zbus_chan_finish(const struct zbus_channel *chan)
Finish a channel claim.
int zbus_chan_read(const struct zbus_channel *chan, void *msg, k_timeout_t timeout)
Read a channel.
int zbus_sub_wait(const struct zbus_observer *sub, const struct zbus_channel **chan, k_timeout_t timeout)
Wait for a channel notification.
zbus_observer_type
Type used to represent an observer type.
Definition zbus.h:113
static uint16_t zbus_chan_msg_size(const struct zbus_channel *chan)
Get the channel's message size.
Definition zbus.h:690
int zbus_obs_set_chan_notification_mask(const struct zbus_observer *obs, const struct zbus_channel *chan, bool masked)
Mask notifications from a channel to an observer.
int zbus_obs_set_enable(const struct zbus_observer *obs, bool enabled)
Change the observer state.
static void * zbus_chan_msg(const struct zbus_channel *chan)
Get the reference for a channel message directly.
Definition zbus.h:653
bool zbus_iterate_over_channels_with_user_data(bool(*iterator_func)(const struct zbus_channel *chan, void *user_data), void *user_data)
Iterate over channels with user data.
int zbus_obs_attach_to_thread(const struct zbus_observer *obs)
Set the observer thread priority by attaching it to a thread.
static void * zbus_chan_user_data(const struct zbus_channel *chan)
Get the channel's user data.
Definition zbus.h:706
static k_ticks_t zbus_chan_pub_stats_last_time(const struct zbus_channel *chan)
Get the time a channel was last published to.
Definition zbus.h:762
int zbus_chan_add_obs(const struct zbus_channel *chan, const struct zbus_observer *obs, k_timeout_t timeout)
Add an observer to a channel.
int zbus_chan_pub(const struct zbus_channel *chan, const void *msg, k_timeout_t timeout)
Publish to a channel.
int zbus_chan_rm_obs(const struct zbus_channel *chan, const struct zbus_observer *obs, k_timeout_t timeout)
Remove an observer from a channel.
static void zbus_chan_pub_stats_update(const struct zbus_channel *chan)
Update the publishing statistics for a channel.
Definition zbus.h:745
int zbus_sub_wait_msg(const struct zbus_observer *sub, const struct zbus_channel **chan, void *msg, k_timeout_t timeout)
Wait for a channel message.
static const void * zbus_chan_const_msg(const struct zbus_channel *chan)
Get a constant reference for a channel message directly.
Definition zbus.h:674
@ ZBUS_OBSERVER_LISTENER_TYPE
Definition zbus.h:114
@ ZBUS_OBSERVER_SUBSCRIBER_TYPE
Definition zbus.h:115
@ ZBUS_OBSERVER_MSG_SUBSCRIBER_TYPE
Definition zbus.h:116
#define bool
Definition stdbool.h:13
__UINT32_TYPE__ uint32_t
Definition stdint.h:90
__UINT16_TYPE__ uint16_t
Definition stdint.h:89
__INT16_TYPE__ int16_t
Definition stdint.h:73
Message Queue Structure.
Definition kernel.h:4503
Kernel timeout type.
Definition sys_clock.h:65
Network buffer pool representation.
Definition net_buf.h:1078
Type used to represent a channel mutable data.
Definition zbus.h:30
k_ticks_t publish_timestamp
Kernel timestamp of the last publish action on this channel.
Definition zbus.h:68
struct net_buf_pool * msg_subscriber_pool
Net buf pool for message subscribers.
Definition zbus.h:63
uint32_t publish_count
Number of times data has been published to this channel.
Definition zbus.h:70
int16_t observers_end_idx
Static channel observer list end index.
Definition zbus.h:39
int16_t observers_start_idx
Static channel observer list start index.
Definition zbus.h:34
struct k_sem sem
Access control semaphore.
Definition zbus.h:44
sys_slist_t observers
Channel observer list.
Definition zbus.h:57
Type used to represent a channel.
Definition zbus.h:80
void * user_data
User data available to extend zbus features.
Definition zbus.h:96
struct zbus_channel_data * data
Mutable channel data struct.
Definition zbus.h:105
bool(* validator)(const void *msg, size_t msg_size)
Message validator.
Definition zbus.h:102
size_t message_size
Message size.
Definition zbus.h:91
const char * name
Channel name.
Definition zbus.h:83
void * message
Message reference.
Definition zbus.h:88
bool enabled
Enabled flag.
Definition zbus.h:121
Type used to represent an observer.
Definition zbus.h:144
enum zbus_observer_type type
Type indication.
Definition zbus.h:150
struct k_fifo * message_fifo
Observer message FIFO.
Definition zbus.h:166
struct zbus_observer_data * data
Mutable observer data struct.
Definition zbus.h:153
struct k_msgq * queue
Observer message queue.
Definition zbus.h:157
const char * name
Observer name.
Definition zbus.h:147