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zbus: remove k_malloc dependency for ZBUS_RUNTIME_OBSERVERS

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Remove the dependency on the system heap existing when enabling
`ZBUS_RUNTIME_OBSERVERS`. Instead the previously allocated memory is
required to be provided to `zbus_chan_add_obs` (which can still be
allocated through malloc).

Signed-off-by: Jordan Yates <jordan@embeint.com>
This commit is contained in:
Jordan Yates 2025-01-21 08:49:40 +10:00 • committed by Benjamin Cabé
commit ab34a9df48
5 changed files with 45 additions and 56 deletions
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39
tests/subsys/zbus/runtime_observers_registration/src/main.c
View file

@ -69,15 +69,16 @@ ZTEST(basic, test_specification_based__zbus_obs_add_rm_obs)
{
count_callback1 = 0;
struct sensor_data_msg sd = {.a = 10, .b = 100};
static struct zbus_observer_node n1, n2, n3, n4, n5, n6;
/* Tyring to add same static observer as one dynamic */
zassert_equal(-EEXIST, zbus_chan_add_obs(&chan2, &lis2, K_MSEC(200)), NULL);
zassert_equal(-EEXIST, zbus_chan_add_obs(&chan2, &lis2, &n2, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_pub(&chan1, &sd, K_MSEC(500)), NULL);
zassert_equal(count_callback1, 0, "The counter could not be more than zero, no obs");
zassert_equal(0, zbus_chan_add_obs(&chan1, &lis1, K_MSEC(200)), NULL);
zassert_equal(-EALREADY, zbus_chan_add_obs(&chan1, &lis1, K_MSEC(200)),
zassert_equal(0, zbus_chan_add_obs(&chan1, &lis1, &n1, K_MSEC(200)), NULL);
zassert_equal(-EALREADY, zbus_chan_add_obs(&chan1, &lis1, &n1, K_MSEC(200)),
"It cannot be added twice");
zassert_equal(0, zbus_chan_pub(&chan1, &sd, K_MSEC(500)), NULL);
@ -98,30 +99,21 @@ ZTEST(basic, test_specification_based__zbus_obs_add_rm_obs)
zassert_equal(0, zbus_chan_pub(&chan2, &sd, K_MSEC(500)), NULL);
zassert_equal(count_callback2, 1, "The counter could not be more than zero, no obs");
zassert_equal(0, zbus_chan_add_obs(&chan2, &lis3, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_add_obs(&chan2, &lis3, &n3, K_MSEC(200)), NULL);
zassert_equal(-EALREADY, zbus_chan_add_obs(&chan2, &lis3, K_MSEC(200)),
zassert_equal(-EALREADY, zbus_chan_add_obs(&chan2, &lis3, &n3, K_MSEC(200)),
"It cannot be added twice");
zassert_equal(0, zbus_chan_pub(&chan2, &sd, K_MSEC(500)), NULL);
zassert_equal(count_callback2, 3, "The counter could not be more than zero, no obs, %d",
count_callback2);
count_callback2 = 0;
zassert_equal(0, zbus_chan_add_obs(&chan2, &sub1, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_add_obs(&chan2, &sub2, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_add_obs(&chan2, &lis4, K_MSEC(200)), "It must add the obs");
zassert_equal(0, zbus_chan_add_obs(&chan2, &lis5, K_MSEC(200)), "It must add the obs");
zassert_equal(0, zbus_chan_add_obs(&chan2, &lis6, K_MSEC(200)), "It must add the obs");
zassert_equal(0, zbus_chan_add_obs(&chan2, &sub1, &n1, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_add_obs(&chan2, &sub2, &n2, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_add_obs(&chan2, &lis4, &n4, K_MSEC(200)), "It must add the obs");
zassert_equal(0, zbus_chan_add_obs(&chan2, &lis5, &n5, K_MSEC(200)), "It must add the obs");
zassert_equal(0, zbus_chan_add_obs(&chan2, &lis6, &n6, K_MSEC(200)), "It must add the obs");
/* Make the heap full */
void *mem;
do {
mem = k_malloc(1);
} while (mem != NULL);
/* With the heap full it will not be possible to add another obs */
zassert_equal(-ENOMEM, zbus_chan_add_obs(&chan2, &lis7, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_pub(&chan2, &sd, K_MSEC(500)), NULL);
zassert_equal(count_callback2, 5, NULL);
@ -142,7 +134,9 @@ static struct aux2_wq_data wq_handler;
static void wq_dh_cb(struct k_work *item)
{
zassert_equal(-EAGAIN, zbus_chan_add_obs(&chan2, &sub1, K_MSEC(200)), NULL);
static struct zbus_observer_node node;
zassert_equal(-EAGAIN, zbus_chan_add_obs(&chan2, &sub1, &node, K_MSEC(200)), NULL);
zassert_equal(-EAGAIN, zbus_chan_rm_obs(&chan2, &sub2, K_MSEC(200)), NULL);
}
@ -192,11 +186,12 @@ ZBUS_CHAN_ADD_OBS(chan4, prio_lis4, 2);
ZTEST(basic, test_specification_based__zbus_obs_priority)
{
struct sensor_data_msg sd = {.a = 70, .b = 116};
static struct zbus_observer_node n1, n2;
execution_sequence_idx = 0;
zassert_equal(0, zbus_chan_add_obs(&chan4, &prio_lis2, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_add_obs(&chan4, &prio_lis1, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_add_obs(&chan4, &prio_lis2, &n1, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_add_obs(&chan4, &prio_lis1, &n2, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_pub(&chan4, &sd, K_MSEC(500)), NULL);

17
tests/subsys/zbus/unittests/src/main.c
View file

@ -137,6 +137,7 @@ static struct action_msg ga;
static void isr_handler(const void *operation)
{
static struct zbus_observer_node fast_node, aux_node;
enum operation *op = (enum operation *)operation;
switch (*op) {
@ -156,7 +157,7 @@ static void isr_handler(const void *operation)
isr_return = zbus_chan_finish(NULL);
break;
case ADD_OBS_ISR_INVAL:
isr_return = zbus_chan_add_obs(&aux2_chan, &fast_lis, K_MSEC(200));
isr_return = zbus_chan_add_obs(&aux2_chan, &fast_lis, &fast_node, K_MSEC(200));
break;
case RM_OBS_ISR_INVAL:
isr_return = zbus_chan_rm_obs(&aux2_chan, &fast_lis, K_MSEC(200));
@ -177,7 +178,7 @@ static void isr_handler(const void *operation)
isr_return = zbus_chan_finish(&aux2_chan);
break;
case ADD_OBS_ISR:
isr_return = zbus_chan_add_obs(&aux2_chan, NULL, K_MSEC(200));
isr_return = zbus_chan_add_obs(&aux2_chan, NULL, &aux_node, K_MSEC(200));
break;
case RM_OBS_ISR:
isr_return = zbus_chan_rm_obs(&aux2_chan, NULL, K_MSEC(200));
@ -244,6 +245,7 @@ const STRUCT_SECTION_ITERABLE(zbus_observer, invalid_obs) = {
ZTEST(basic, test_specification_based__zbus_chan)
{
static struct zbus_observer_node node;
struct action_msg a = {0};
/* Trying invalid parameters */
@ -269,9 +271,11 @@ ZTEST(basic, test_specification_based__zbus_chan)
zassert_equal(-EFAULT, zbus_chan_finish(NULL), "It must be -EFAULT");
zassert_equal(-EFAULT, zbus_chan_add_obs(NULL, &sub1, K_MSEC(200)), NULL);
zassert_equal(-EFAULT, zbus_chan_add_obs(NULL, &sub1, &node, K_MSEC(200)), NULL);
zassert_equal(-EFAULT, zbus_chan_add_obs(&aux2_chan, NULL, K_MSEC(200)), NULL);
zassert_equal(-EFAULT, zbus_chan_add_obs(&aux2_chan, NULL, &node, K_MSEC(200)), NULL);
zassert_equal(-EFAULT, zbus_chan_add_obs(&aux2_chan, &sub1, NULL, K_MSEC(200)), NULL);
zassert_equal(-EFAULT, zbus_chan_rm_obs(NULL, &sub1, K_MSEC(200)), NULL);
@ -326,7 +330,7 @@ ZTEST(basic, test_specification_based__zbus_chan)
k_msleep(100);
zassert_equal(0, zbus_chan_add_obs(&stuck_chan, &sub1, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_add_obs(&stuck_chan, &sub1, &node, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_notify(&stuck_chan, K_MSEC(200)), "It must finish correctly");
@ -599,6 +603,7 @@ ZTEST(basic, test_hard_channel)
ZTEST(basic, test_specification_based__zbus_obs_set_enable)
{
struct zbus_observer_node node;
bool enable;
count_fast = 0;
@ -617,7 +622,7 @@ ZTEST(basic, test_specification_based__zbus_obs_set_enable)
zbus_obs_is_enabled(&rt_fast_lis, &enable);
zassert_equal(false, enable);
zassert_equal(0, zbus_chan_add_obs(&aux1_chan, &rt_fast_lis, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_add_obs(&aux1_chan, &rt_fast_lis, &node, K_MSEC(200)), NULL);
zassert_equal(0, zbus_obs_set_enable(&fast_lis, false),
"Must be zero. The observer must be disabled");