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zbus: Add message bus subsystem to Zephyr Add zbus message bus as a Zephyr subsystem. No message bus or communication abstraction other than the usual (message queues, mailboxes, etc.) enabled developers to implement event-driven systems in Zephyr quickly. Zbus would fill that gap by providing the community with a lightweight and flexible message bus. The implementation tries to be closest as possible to the existing ones. We use the claim/finish approach, and the API for publishing and reading channels are similar in message queues. Zbus is about channels, messages, and observers. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2022-07-30 23:40:36 -03:00
# Copyright (c) 2022 Rodrigo Peixoto <rodrigopex@gmail.com>
# SPDX-License-Identifier: Apache-2.0
menuconfig ZBUS
bool "Zbus support"
zbus: add MULTITHREADING dependency Zbus uses mutexes internally that are available only when MULTITHREADING is enabled so add it to fix the following error: /opt/zephyr-sdk-0.16.3/arm-zephyr-eabi/bin/../lib/gcc/arm-zephyr-eabi/ 12.2.0/../../../../arm-zephyr-eabi/bin/ld.bfd: zephyr/subsys/ zbus/libsubsys__zbus.a(zbus.c.obj): in function `k_mutex_init': /builds/zephyr/mcuboot/zephyr/include/generated/syscalls/kernel.h:969: undefined reference to `z_impl_k_mutex_init' Signed-off-by: Bartosz Bilas <b.bilas@grinn-global.com>
2023-11-22 15:40:15 +01:00
depends on MULTITHREADING
zbus: Add message bus subsystem to Zephyr Add zbus message bus as a Zephyr subsystem. No message bus or communication abstraction other than the usual (message queues, mailboxes, etc.) enabled developers to implement event-driven systems in Zephyr quickly. Zbus would fill that gap by providing the community with a lightweight and flexible message bus. The implementation tries to be closest as possible to the existing ones. We use the claim/finish approach, and the API for publishing and reading channels are similar in message queues. Zbus is about channels, messages, and observers. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2022-07-30 23:40:36 -03:00
help
Enables support for Zephyr message bus.
if ZBUS
zbus: Improve consistency with runtime observers A previous PR merged (to remove runtime observers' dependency with heap) added inconsistencies and compatibility breaks to the zbus. This commit improves that by removing the inconsistencies and still attending to the features requested by the community. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2025-04-19 09:56:50 -03:00
config ZBUS_PREFER_DYNAMIC_ALLOCATION
bool "Set zbus to work with dynamic allocation using the system heap"
default y
zbus: improve the way of storing observers ZBus stores observers in two ways: statically using a list and dynamically using a memory slab. Both present limitations. Static observers work only for channel definition. The dynamic observers rely on a memory slab that forces the user to manage its size to avoid issues with adding observers. This commit fixes the static allocation problem by using the iterable sections for allocating observation data and replacing the VDED execution sequence since now it is possible to prioritize static observer execution. All the runtime observers are dynamically allocated on the heap instead of a specific memory pool. BREAK changes (only internal, not APIs): * ZBus channel metadata changed. Remove the observers' static array pointer. Rename the `runtime_observers` pointer to `observers`. Add `observer_start_idx` and `observer_end_idx`; * Change the VDED execution sequence. The position (on definition time), the priority in conjunction with the lexical order, is considered for static post-definition time observers. At last, the runtime observer follows the adding sequence; * Replace the `CONFIG_ZBUS_RUNTIME_OBSERVERS_POOL_SIZE` with `CONFIG_ZBUS_RUNTIME_OBSERVERS`. New APIs: * New iterable section iterators (for channels and observers) can now receive a user_data pointer to keep context between the function calls; * New `ZBUS_LISTENER_DEFINE_WITH_ENABLE(_name, _cb, _enable)` and `ZBUS_SUBSCRIBER_DEFINE_WITH_ENABLE(_name, _queue_size, enable)` that enable developers define disabled observers. They need to be enabled during runtime to receive notifications from the bus; * `ZBUS_CHAN_ADD_OBS` macro for adding post-definition static observers of a channel. Important changes: * Move the ZBus LD file content to the `common-ram.ld` LD file. That was necessary to make ZBus compatible with some Xtensa and RISCV boards. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2023-07-22 12:55:48 -03:00
config ZBUS_CHANNELS_SYS_INIT_PRIORITY
default 5
int "The priority used during the SYS_INIT procedure."
zbus: Add message bus subsystem to Zephyr Add zbus message bus as a Zephyr subsystem. No message bus or communication abstraction other than the usual (message queues, mailboxes, etc.) enabled developers to implement event-driven systems in Zephyr quickly. Zbus would fill that gap by providing the community with a lightweight and flexible message bus. The implementation tries to be closest as possible to the existing ones. We use the claim/finish approach, and the API for publishing and reading channels are similar in message queues. Zbus is about channels, messages, and observers. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2022-07-30 23:40:36 -03:00
config ZBUS_CHANNEL_NAME
bool "Channel name field"
zbus: optional unique channel numeric identifiers Add the option for a unique numeric identifiers to be attached to a zbus channel. This identifier can then be used to lookup the channel structure at runtime. This is useful in two situations (that I can immediately think of). Firstly for external interaction, i.e a text shell or remote procedure calls. The current state of a channel can be queried by an ID that never changes, as opposed to the external entity needing to know the exact memory address of the channel for a given application binary. Secondly for integrating with dynamically loaded extensions (llext). These extensions can hook into the existing data streams without each individual channel needing to be exported and visible to the loader. Signed-off-by: Jordan Yates <jordan@embeint.com>
2024-07-05 20:15:13 +10:00
config ZBUS_CHANNEL_ID
bool "Channel identifier field"
zbus: Add message bus subsystem to Zephyr Add zbus message bus as a Zephyr subsystem. No message bus or communication abstraction other than the usual (message queues, mailboxes, etc.) enabled developers to implement event-driven systems in Zephyr quickly. Zbus would fill that gap by providing the community with a lightweight and flexible message bus. The implementation tries to be closest as possible to the existing ones. We use the claim/finish approach, and the API for publishing and reading channels are similar in message queues. Zbus is about channels, messages, and observers. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2022-07-30 23:40:36 -03:00
config ZBUS_OBSERVER_NAME
bool "Observer name field"
zbus: optional publishing statistics Add optional statistics around the channel publishing action. Store the time a channel was last published to, and a total publish count. This information can be used to determine how old a given channels data is, and an average channel publishing frequency. Signed-off-by: Jordan Yates <jordan@embeint.com>
2024-07-08 14:38:47 +10:00
config ZBUS_CHANNEL_PUBLISH_STATS
bool "Channel publishing statistics (Timestamp and count)"
zbus: Add Message subscriber Besides the changed channel reference, the message subscribers receive a copy of the message during the VDED execution. ZBus guarantees message delivery for `MSG_SUBSCRIBERS`. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2023-09-02 13:35:14 -03:00
config ZBUS_MSG_SUBSCRIBER
select NET_BUF
bool "Message subscribers will receive all messages in sequence."
if ZBUS_MSG_SUBSCRIBER
zbus: rework buffer allocation Kconfig options Add a name for the Kconfig choice symbol indicating the Zbus subscriber buffer allocation and adjust the name of the existing choices. Signed-off-by: Bartosz Bilas <bartosz.bilas@hotmail.com>
2023-11-22 20:03:30 +01:00
choice ZBUS_MSG_SUBSCRIBER_BUF_ALLOC
zbus: Add Message subscriber Besides the changed channel reference, the message subscribers receive a copy of the message during the VDED execution. ZBus guarantees message delivery for `MSG_SUBSCRIBERS`. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2023-09-02 13:35:14 -03:00
prompt "ZBus msg_subscribers buffer allocation"
zbus: Improve consistency with runtime observers A previous PR merged (to remove runtime observers' dependency with heap) added inconsistencies and compatibility breaks to the zbus. This commit improves that by removing the inconsistencies and still attending to the features requested by the community. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2025-04-19 09:56:50 -03:00
default ZBUS_MSG_SUBSCRIBER_BUF_ALLOC_DYNAMIC if ZBUS_PREFER_DYNAMIC_ALLOCATION
default ZBUS_MSG_SUBSCRIBER_BUF_ALLOC_STATIC
zbus: Add Message subscriber Besides the changed channel reference, the message subscribers receive a copy of the message during the VDED execution. ZBus guarantees message delivery for `MSG_SUBSCRIBERS`. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2023-09-02 13:35:14 -03:00
zbus: rework buffer allocation Kconfig options Add a name for the Kconfig choice symbol indicating the Zbus subscriber buffer allocation and adjust the name of the existing choices. Signed-off-by: Bartosz Bilas <bartosz.bilas@hotmail.com>
2023-11-22 20:03:30 +01:00
config ZBUS_MSG_SUBSCRIBER_BUF_ALLOC_DYNAMIC
zbus: Add Message subscriber Besides the changed channel reference, the message subscribers receive a copy of the message during the VDED execution. ZBus guarantees message delivery for `MSG_SUBSCRIBERS`. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2023-09-02 13:35:14 -03:00
bool "Use heap to allocate msg_subscriber buffers data"
zbus: rework buffer allocation Kconfig options Add a name for the Kconfig choice symbol indicating the Zbus subscriber buffer allocation and adjust the name of the existing choices. Signed-off-by: Bartosz Bilas <bartosz.bilas@hotmail.com>
2023-11-22 20:03:30 +01:00
config ZBUS_MSG_SUBSCRIBER_BUF_ALLOC_STATIC
zbus: Add Message subscriber Besides the changed channel reference, the message subscribers receive a copy of the message during the VDED execution. ZBus guarantees message delivery for `MSG_SUBSCRIBERS`. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2023-09-02 13:35:14 -03:00
bool "Use fixed data size for msg_subscriber buffers pool"
endchoice
zbus: channel msg subscriber pool isolation Currently, zbus uses a single global `net_buf`pool to publish messages to msg_subscribers. It would be good to have a way to separate the pools for channels related to critical parts of the systems to avoid publication failure on these particular channels. These channels will not use the global pool. They can set an isolated pool by calling the `zbus_chan_set_msg_sub_pool.` Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2024-06-06 15:22:09 -03:00
config ZBUS_MSG_SUBSCRIBER_NET_BUF_POOL_ISOLATION
default n
bool "Use isolated pools instead of only using the global pool."
zbus: Add Message subscriber Besides the changed channel reference, the message subscribers receive a copy of the message during the VDED execution. ZBus guarantees message delivery for `MSG_SUBSCRIBERS`. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2023-09-02 13:35:14 -03:00
config ZBUS_MSG_SUBSCRIBER_NET_BUF_POOL_SIZE
default 16
int "The count of net_buf available to be used simutaneously."
zbus: rework buffer allocation Kconfig options Add a name for the Kconfig choice symbol indicating the Zbus subscriber buffer allocation and adjust the name of the existing choices. Signed-off-by: Bartosz Bilas <bartosz.bilas@hotmail.com>
2023-11-22 20:03:30 +01:00
if ZBUS_MSG_SUBSCRIBER_BUF_ALLOC_STATIC
zbus: Add Message subscriber Besides the changed channel reference, the message subscribers receive a copy of the message during the VDED execution. ZBus guarantees message delivery for `MSG_SUBSCRIBERS`. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2023-09-02 13:35:14 -03:00
config ZBUS_MSG_SUBSCRIBER_NET_BUF_STATIC_DATA_SIZE
int "The size of the biggest message used with ZBus."
zbus: rework buffer allocation Kconfig options Add a name for the Kconfig choice symbol indicating the Zbus subscriber buffer allocation and adjust the name of the existing choices. Signed-off-by: Bartosz Bilas <bartosz.bilas@hotmail.com>
2023-11-22 20:03:30 +01:00
endif # ZBUS_MSG_SUBSCRIBER_BUF_ALLOC_STATIC
zbus: Add Message subscriber Besides the changed channel reference, the message subscribers receive a copy of the message during the VDED execution. ZBus guarantees message delivery for `MSG_SUBSCRIBERS`. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2023-09-02 13:35:14 -03:00
endif # ZBUS_MSG_SUBSCRIBER
zbus: improve the way of storing observers ZBus stores observers in two ways: statically using a list and dynamically using a memory slab. Both present limitations. Static observers work only for channel definition. The dynamic observers rely on a memory slab that forces the user to manage its size to avoid issues with adding observers. This commit fixes the static allocation problem by using the iterable sections for allocating observation data and replacing the VDED execution sequence since now it is possible to prioritize static observer execution. All the runtime observers are dynamically allocated on the heap instead of a specific memory pool. BREAK changes (only internal, not APIs): * ZBus channel metadata changed. Remove the observers' static array pointer. Rename the `runtime_observers` pointer to `observers`. Add `observer_start_idx` and `observer_end_idx`; * Change the VDED execution sequence. The position (on definition time), the priority in conjunction with the lexical order, is considered for static post-definition time observers. At last, the runtime observer follows the adding sequence; * Replace the `CONFIG_ZBUS_RUNTIME_OBSERVERS_POOL_SIZE` with `CONFIG_ZBUS_RUNTIME_OBSERVERS`. New APIs: * New iterable section iterators (for channels and observers) can now receive a user_data pointer to keep context between the function calls; * New `ZBUS_LISTENER_DEFINE_WITH_ENABLE(_name, _cb, _enable)` and `ZBUS_SUBSCRIBER_DEFINE_WITH_ENABLE(_name, _queue_size, enable)` that enable developers define disabled observers. They need to be enabled during runtime to receive notifications from the bus; * `ZBUS_CHAN_ADD_OBS` macro for adding post-definition static observers of a channel. Important changes: * Move the ZBus LD file content to the `common-ram.ld` LD file. That was necessary to make ZBus compatible with some Xtensa and RISCV boards. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2023-07-22 12:55:48 -03:00
config ZBUS_RUNTIME_OBSERVERS
bool "Runtime observers support."
zbus: Add message bus subsystem to Zephyr Add zbus message bus as a Zephyr subsystem. No message bus or communication abstraction other than the usual (message queues, mailboxes, etc.) enabled developers to implement event-driven systems in Zephyr quickly. Zbus would fill that gap by providing the community with a lightweight and flexible message bus. The implementation tries to be closest as possible to the existing ones. We use the claim/finish approach, and the API for publishing and reading channels are similar in message queues. Zbus is about channels, messages, and observers. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2022-07-30 23:40:36 -03:00
zbus: Improve consistency with runtime observers A previous PR merged (to remove runtime observers' dependency with heap) added inconsistencies and compatibility breaks to the zbus. This commit improves that by removing the inconsistencies and still attending to the features requested by the community. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2025-04-19 09:56:50 -03:00
if ZBUS_RUNTIME_OBSERVERS
choice ZBUS_RUNTIME_OBSERVERS_NODE_ALLOC
prompt "ZBus runtime observers node allocation"
default ZBUS_RUNTIME_OBSERVERS_NODE_ALLOC_DYNAMIC if ZBUS_PREFER_DYNAMIC_ALLOCATION
default ZBUS_RUNTIME_OBSERVERS_NODE_ALLOC_STATIC
config ZBUS_RUNTIME_OBSERVERS_NODE_ALLOC_DYNAMIC
bool "Use heap to allocate runtime observers node"
config ZBUS_RUNTIME_OBSERVERS_NODE_ALLOC_STATIC
bool "Use a pool of runtime observers nodes"
config ZBUS_RUNTIME_OBSERVERS_NODE_ALLOC_NONE
bool "Use user-provided runtime observers nodes"
endchoice
config ZBUS_RUNTIME_OBSERVERS_NODE_POOL_SIZE
int "Runtime observer pool size"
depends on ZBUS_RUNTIME_OBSERVERS_NODE_ALLOC_STATIC
default 8
endif # ZBUS_RUNTIME_OBSERVERS
zbus: add priority boost feature Replace mutexes with semaphores to protect the channels in conjunction with a priority boost algorithm based on the observers' priority. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2023-09-05 12:48:55 -03:00
config ZBUS_PRIORITY_BOOST
bool "ZBus priority boost algorithm"
default y
help
ZBus implements the Highest Locker Protocol that relies on the observers’ thread priority
to determine a temporary publisher priority.
zbus: Add message bus subsystem to Zephyr Add zbus message bus as a Zephyr subsystem. No message bus or communication abstraction other than the usual (message queues, mailboxes, etc.) enabled developers to implement event-driven systems in Zephyr quickly. Zbus would fill that gap by providing the community with a lightweight and flexible message bus. The implementation tries to be closest as possible to the existing ones. We use the claim/finish approach, and the API for publishing and reading channels are similar in message queues. Zbus is about channels, messages, and observers. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2022-07-30 23:40:36 -03:00
config ZBUS_ASSERT_MOCK
bool "Zbus assert mock for test purposes."
help
This configuration enables the developer to change the _ZBUS_ASSERT behavior. When this configuration is
enabled, _ZBUS_ASSERT returns -EFAULT instead of assert. It makes it more straightforward to test invalid
parameters.
zbus: add HEAP_MEM_POOL_ADD_SIZE_ZBUS ZBus currently does not have a `HEAP_MEM_POOL_ADD_SIZE_ZBUS` when using message subscribers or runtime observers, forcing the developer to set that manually. Adding the configuration option to zbus would improve its usability and make zbus easier to use. With this feature, zbus aligns with the other Zephyr subsystems' heap memory allocation approach. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2024-08-27 08:21:16 -03:00
config HEAP_MEM_POOL_ADD_SIZE_ZBUS
int
zbus: Improve consistency with runtime observers A previous PR merged (to remove runtime observers' dependency with heap) added inconsistencies and compatibility breaks to the zbus. This commit improves that by removing the inconsistencies and still attending to the features requested by the community. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2025-04-19 09:56:50 -03:00
default 2048 if ZBUS_MSG_SUBSCRIBER_BUF_ALLOC_DYNAMIC && !ZBUS_RUNTIME_OBSERVERS_NODE_ALLOC_DYNAMIC
default 1024 if !ZBUS_MSG_SUBSCRIBER_BUF_ALLOC_DYNAMIC && ZBUS_RUNTIME_OBSERVERS_NODE_ALLOC_DYNAMIC
default 3072 if ZBUS_MSG_SUBSCRIBER_BUF_ALLOC_DYNAMIC && ZBUS_RUNTIME_OBSERVERS_NODE_ALLOC_DYNAMIC
zbus: add HEAP_MEM_POOL_ADD_SIZE_ZBUS ZBus currently does not have a `HEAP_MEM_POOL_ADD_SIZE_ZBUS` when using message subscribers or runtime observers, forcing the developer to set that manually. Adding the configuration option to zbus would improve its usability and make zbus easier to use. With this feature, zbus aligns with the other Zephyr subsystems' heap memory allocation approach. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2024-08-27 08:21:16 -03:00
zbus: Add message bus subsystem to Zephyr Add zbus message bus as a Zephyr subsystem. No message bus or communication abstraction other than the usual (message queues, mailboxes, etc.) enabled developers to implement event-driven systems in Zephyr quickly. Zbus would fill that gap by providing the community with a lightweight and flexible message bus. The implementation tries to be closest as possible to the existing ones. We use the claim/finish approach, and the API for publishing and reading channels are similar in message queues. Zbus is about channels, messages, and observers. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>
2022-07-30 23:40:36 -03:00
module = ZBUS
module-str = zbus
source "subsys/logging/Kconfig.template.log_config"
endif # ZBUS
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