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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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21
include/zephyr/zbus/zbus.h
View file

@ -861,6 +861,14 @@ static inline void zbus_chan_pub_stats_update(const struct zbus_channel *chan)
#if defined(CONFIG_ZBUS_RUNTIME_OBSERVERS) || defined(__DOXYGEN__) #if defined(CONFIG_ZBUS_RUNTIME_OBSERVERS) || defined(__DOXYGEN__)
/**
* @brief Structure for linking observers to chanels
*/
struct zbus_observer_node {
sys_snode_t node;
const struct zbus_observer *obs;
};
/** /**
* @brief Add an observer to a channel. * @brief Add an observer to a channel.
* *
@ -868,17 +876,17 @@ static inline void zbus_chan_pub_stats_update(const struct zbus_channel *chan)
* *
* @param chan The channel's reference. * @param chan The channel's reference.
* @param obs The observer's reference to be added. * @param obs The observer's reference to be added.
* @param node Persistent structure to link the channel to the observer
* @param timeout Waiting period to add an observer, * @param timeout Waiting period to add an observer,
* or one of the special values K_NO_WAIT and K_FOREVER. * or one of the special values K_NO_WAIT and K_FOREVER.
* *
* @retval 0 Observer added to the channel. * @retval 0 Observer added to the channel.
* @retval -EALREADY The observer is already present in the channel's runtime observers list. * @retval -EALREADY The observer is already present in the channel's runtime observers list.
* @retval -ENOMEM Returned without waiting.
* @retval -EAGAIN Waiting period timed out. * @retval -EAGAIN Waiting period timed out.
* @retval -EINVAL Some parameter is invalid. * @retval -EINVAL Some parameter is invalid.
*/ */
int zbus_chan_add_obs(const struct zbus_channel *chan, const struct zbus_observer *obs, int zbus_chan_add_obs(const struct zbus_channel *chan, const struct zbus_observer *obs,
k_timeout_t timeout); struct zbus_observer_node *node, k_timeout_t timeout);
/** /**
* @brief Remove an observer from a channel. * @brief Remove an observer from a channel.
@ -900,15 +908,6 @@ int zbus_chan_add_obs(const struct zbus_channel *chan, const struct zbus_observe
int zbus_chan_rm_obs(const struct zbus_channel *chan, const struct zbus_observer *obs, int zbus_chan_rm_obs(const struct zbus_channel *chan, const struct zbus_observer *obs,
k_timeout_t timeout); k_timeout_t timeout);
/** @cond INTERNAL_HIDDEN */
struct zbus_observer_node {
sys_snode_t node;
const struct zbus_observer *obs;
};
/** @endcond */
#endif /* CONFIG_ZBUS_RUNTIME_OBSERVERS */ #endif /* CONFIG_ZBUS_RUNTIME_OBSERVERS */
/** /**

5
samples/subsys/zbus/runtime_obs_registration/src/main.c
View file

@ -44,10 +44,11 @@ int main(void)
LOG_INF("System started"); LOG_INF("System started");
const struct zbus_channel *chan; const struct zbus_channel *chan;
struct zbus_observer_node obs_node;
while (1) { while (1) {
LOG_INF("Activating filter"); LOG_INF("Activating filter");
zbus_chan_add_obs(&raw_data_chan, &filter_lis, K_MSEC(200)); zbus_chan_add_obs(&raw_data_chan, &filter_lis, &obs_node, K_MSEC(200));
zbus_sub_wait(&state_change_sub, &chan, K_FOREVER); zbus_sub_wait(&state_change_sub, &chan, K_FOREVER);
@ -55,7 +56,7 @@ int main(void)
zbus_chan_rm_obs(&raw_data_chan, &filter_lis, K_MSEC(200)); zbus_chan_rm_obs(&raw_data_chan, &filter_lis, K_MSEC(200));
LOG_INF("Bypass filter"); LOG_INF("Bypass filter");
zbus_chan_add_obs(&raw_data_chan, &consumer_sub, K_MSEC(200)); zbus_chan_add_obs(&raw_data_chan, &consumer_sub, &obs_node, K_MSEC(200));
zbus_sub_wait(&state_change_sub, &chan, K_FOREVER); zbus_sub_wait(&state_change_sub, &chan, K_FOREVER);

19
subsys/zbus/zbus_runtime_observers.c
View file

@ -9,7 +9,7 @@
LOG_MODULE_DECLARE(zbus, CONFIG_ZBUS_LOG_LEVEL); LOG_MODULE_DECLARE(zbus, CONFIG_ZBUS_LOG_LEVEL);
int zbus_chan_add_obs(const struct zbus_channel *chan, const struct zbus_observer *obs, int zbus_chan_add_obs(const struct zbus_channel *chan, const struct zbus_observer *obs,
k_timeout_t timeout) struct zbus_observer_node *node, k_timeout_t timeout)
{ {
int err; int err;
struct zbus_observer_node *obs_nd, *tmp; struct zbus_observer_node *obs_nd, *tmp;
@ -18,6 +18,7 @@ int zbus_chan_add_obs(const struct zbus_channel *chan, const struct zbus_observe
_ZBUS_ASSERT(!k_is_in_isr(), "ISR blocked"); _ZBUS_ASSERT(!k_is_in_isr(), "ISR blocked");
_ZBUS_ASSERT(chan != NULL, "chan is required"); _ZBUS_ASSERT(chan != NULL, "chan is required");
_ZBUS_ASSERT(obs != NULL, "obs is required"); _ZBUS_ASSERT(obs != NULL, "obs is required");
_ZBUS_ASSERT(node != NULL, "node is required");
err = k_sem_take(&chan->data->sem, timeout); err = k_sem_take(&chan->data->sem, timeout);
if (err) { if (err) {
@ -46,19 +47,9 @@ int zbus_chan_add_obs(const struct zbus_channel *chan, const struct zbus_observe
} }
} }
struct zbus_observer_node *new_obs_nd = k_malloc(sizeof(struct zbus_observer_node)); node->obs = obs;
if (new_obs_nd == NULL) { sys_slist_append(&chan->data->observers, &node->node);
LOG_ERR("Could not allocate observer node the heap is full!");
k_sem_give(&chan->data->sem);
return -ENOMEM;
}
new_obs_nd->obs = obs;
sys_slist_append(&chan->data->observers, &new_obs_nd->node);
k_sem_give(&chan->data->sem); k_sem_give(&chan->data->sem);
@ -85,8 +76,6 @@ int zbus_chan_rm_obs(const struct zbus_channel *chan, const struct zbus_observer
if (obs_nd->obs == obs) { if (obs_nd->obs == obs) {
sys_slist_remove(&chan->data->observers, &prev_obs_nd->node, &obs_nd->node); sys_slist_remove(&chan->data->observers, &prev_obs_nd->node, &obs_nd->node);
k_free(obs_nd);
k_sem_give(&chan->data->sem); k_sem_give(&chan->data->sem);
return 0; return 0;

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; count_callback1 = 0;
struct sensor_data_msg sd = {.a = 10, .b = 100}; 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 */ /* 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(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(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(0, zbus_chan_add_obs(&chan1, &lis1, &n1, K_MSEC(200)), NULL);
zassert_equal(-EALREADY, zbus_chan_add_obs(&chan1, &lis1, K_MSEC(200)), zassert_equal(-EALREADY, zbus_chan_add_obs(&chan1, &lis1, &n1, K_MSEC(200)),
"It cannot be added twice"); "It cannot be added twice");
zassert_equal(0, zbus_chan_pub(&chan1, &sd, K_MSEC(500)), NULL); 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(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(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"); "It cannot be added twice");
zassert_equal(0, zbus_chan_pub(&chan2, &sd, K_MSEC(500)), NULL); 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", zassert_equal(count_callback2, 3, "The counter could not be more than zero, no obs, %d",
count_callback2); count_callback2);
count_callback2 = 0; count_callback2 = 0;
zassert_equal(0, zbus_chan_add_obs(&chan2, &sub1, K_MSEC(200)), NULL); zassert_equal(0, zbus_chan_add_obs(&chan2, &sub1, &n1, 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, &sub2, &n2, 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, &lis4, &n4, 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, &lis5, &n5, 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, &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(0, zbus_chan_pub(&chan2, &sd, K_MSEC(500)), NULL);
zassert_equal(count_callback2, 5, 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) 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); 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) ZTEST(basic, test_specification_based__zbus_obs_priority)
{ {
struct sensor_data_msg sd = {.a = 70, .b = 116}; struct sensor_data_msg sd = {.a = 70, .b = 116};
static struct zbus_observer_node n1, n2;
execution_sequence_idx = 0; 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_lis2, &n1, 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_lis1, &n2, K_MSEC(200)), NULL);
zassert_equal(0, zbus_chan_pub(&chan4, &sd, K_MSEC(500)), 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 void isr_handler(const void *operation)
{ {
static struct zbus_observer_node fast_node, aux_node;
enum operation *op = (enum operation *)operation; enum operation *op = (enum operation *)operation;
switch (*op) { switch (*op) {
@ -156,7 +157,7 @@ static void isr_handler(const void *operation)
isr_return = zbus_chan_finish(NULL); isr_return = zbus_chan_finish(NULL);
break; break;
case ADD_OBS_ISR_INVAL: 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; break;
case RM_OBS_ISR_INVAL: case RM_OBS_ISR_INVAL:
isr_return = zbus_chan_rm_obs(&aux2_chan, &fast_lis, K_MSEC(200)); 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); isr_return = zbus_chan_finish(&aux2_chan);
break; break;
case ADD_OBS_ISR: 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; break;
case RM_OBS_ISR: case RM_OBS_ISR:
isr_return = zbus_chan_rm_obs(&aux2_chan, NULL, K_MSEC(200)); 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) ZTEST(basic, test_specification_based__zbus_chan)
{ {
static struct zbus_observer_node node;
struct action_msg a = {0}; struct action_msg a = {0};
/* Trying invalid parameters */ /* 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_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); 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); 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"); 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) ZTEST(basic, test_specification_based__zbus_obs_set_enable)
{ {
struct zbus_observer_node node;
bool enable; bool enable;
count_fast = 0; count_fast = 0;
@ -617,7 +622,7 @@ ZTEST(basic, test_specification_based__zbus_obs_set_enable)
zbus_obs_is_enabled(&rt_fast_lis, &enable); zbus_obs_is_enabled(&rt_fast_lis, &enable);
zassert_equal(false, 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), zassert_equal(0, zbus_obs_set_enable(&fast_lis, false),
"Must be zero. The observer must be disabled"); "Must be zero. The observer must be disabled");