/* * Copyright (c) 2022 Rodrigo Peixoto * SPDX-License-Identifier: Apache-2.0 */ #include #include #include #include LOG_MODULE_DECLARE(zbus, CONFIG_ZBUS_LOG_LEVEL); struct sensor_data_msg { int a; int b; }; ZBUS_CHAN_DEFINE(chan1, /* Name */ struct sensor_data_msg, /* Message type */ NULL, /* Validator */ NULL, /* User data */ ZBUS_OBSERVERS_EMPTY, /* observers */ ZBUS_MSG_INIT(0) /* Initial value major 0, minor 1, build 1023 */ ); ZBUS_CHAN_DEFINE(chan2, /* Name */ struct sensor_data_msg, /* Message type */ NULL, /* Validator */ NULL, /* User data */ ZBUS_OBSERVERS(lis2), /* observers */ ZBUS_MSG_INIT(0) /* Initial value major 0, minor 1, build 1023 */ ); ZBUS_CHAN_DEFINE(chan3, /* Name */ struct sensor_data_msg, /* Message type */ NULL, /* Validator */ NULL, /* User data */ ZBUS_OBSERVERS_EMPTY, /* observers */ ZBUS_MSG_INIT(0) /* Initial value major 0, minor 1, build 1023 */ ); ZBUS_SUBSCRIBER_DEFINE(sub1, 1); ZBUS_SUBSCRIBER_DEFINE(sub2, 1); static int count_callback1; static void callback1(const struct zbus_channel *chan) { ++count_callback1; } ZBUS_LISTENER_DEFINE(lis1, callback1); static int count_callback2; static void callback2(const struct zbus_channel *chan) { ++count_callback2; } ZBUS_LISTENER_DEFINE(lis2, callback2); ZBUS_LISTENER_DEFINE(lis3, callback2); ZBUS_LISTENER_DEFINE(lis4, callback2); ZBUS_LISTENER_DEFINE(lis5, callback2); ZBUS_LISTENER_DEFINE(lis6, callback2); ZBUS_LISTENER_DEFINE(lis7, callback2); ZTEST(basic, test_specification_based__zbus_obs_add_rm_obs) { count_callback1 = 0; struct sensor_data_msg sd = {.a = 10, .b = 100}; /* Tyring to add same static observer as one dynamic */ zassert_equal(-EEXIST, zbus_chan_add_obs(&chan2, &lis2, 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)), "It cannot be added twice"); zassert_equal(0, zbus_chan_pub(&chan1, &sd, K_MSEC(500)), NULL); zassert_equal(count_callback1, 1, "The counter could not be more than zero, no obs, %d", count_callback1); zassert_equal(0, zbus_chan_rm_obs(&chan1, &lis1, K_MSEC(200)), "It must remove the obs"); zassert_equal(-ENODATA, zbus_chan_rm_obs(&chan1, &lis1, K_MSEC(200)), "It cannot be removed twice"); zassert_equal(0, zbus_chan_pub(&chan1, &sd, K_MSEC(500)), NULL); zassert_equal(count_callback1, 1, "The counter could not be more than zero, no obs, %d", count_callback1); count_callback2 = 0; 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(-EALREADY, zbus_chan_add_obs(&chan2, &lis3, 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"); /* 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); /* To cause an error to sub1 and sub2. They have the queue full in this point */ /* ENOMSG must be the result */ zassert_equal(-ENOMSG, zbus_chan_pub(&chan2, &sd, K_MSEC(500)), NULL); zassert_equal(count_callback2, 10, NULL); zassert_equal(0, zbus_chan_rm_obs(&chan2, &sub1, K_MSEC(200)), NULL); zassert_equal(0, zbus_chan_rm_obs(&chan2, &sub2, K_MSEC(200)), NULL); } struct aux2_wq_data { struct k_work work; }; 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); zassert_equal(-EAGAIN, zbus_chan_rm_obs(&chan2, &sub2, K_MSEC(200)), NULL); } ZTEST(basic, test_specification_based__zbus_obs_add_rm_obs_busy) { zassert_equal(0, zbus_chan_claim(&chan2, K_NO_WAIT), NULL); k_work_init(&wq_handler.work, wq_dh_cb); k_work_submit(&wq_handler.work); k_msleep(1000); zassert_equal(0, zbus_chan_finish(&chan2), NULL); } ZBUS_CHAN_DEFINE(chan4, /* Name */ struct sensor_data_msg, /* Message type */ NULL, /* Validator */ NULL, /* User data */ ZBUS_OBSERVERS(prio_lis6, prio_lis5), /* observers */ ZBUS_MSG_INIT(0) /* Initial value major 0, minor 1, build 1023 */ ); static int execution_sequence_idx; static uint8_t execution_sequence[6] = {0}; #define CALLBACK_DEF(_lis, _idx) \ static void _CONCAT(prio_cb, _idx)(const struct zbus_channel *chan) \ { \ execution_sequence[execution_sequence_idx] = _idx; \ ++execution_sequence_idx; \ } \ ZBUS_LISTENER_DEFINE(_lis, _CONCAT(prio_cb, _idx)) CALLBACK_DEF(prio_lis1, 1); CALLBACK_DEF(prio_lis2, 2); CALLBACK_DEF(prio_lis3, 3); CALLBACK_DEF(prio_lis4, 4); CALLBACK_DEF(prio_lis5, 5); CALLBACK_DEF(prio_lis6, 6); ZBUS_CHAN_ADD_OBS(chan4, prio_lis3, 3); ZBUS_CHAN_ADD_OBS(chan4, prio_lis4, 2); /* Checking the ZBUS_CHAN_ADD_OBS. The execution sequence must be: 6, 5, 4, 3, 2, 1. */ ZTEST(basic, test_specification_based__zbus_obs_priority) { struct sensor_data_msg sd = {.a = 70, .b = 116}; 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_pub(&chan4, &sd, K_MSEC(500)), NULL); zassert_equal(execution_sequence[0], 6, NULL); zassert_equal(execution_sequence[1], 5, NULL); zassert_equal(execution_sequence[2], 4, NULL); zassert_equal(execution_sequence[3], 3, NULL); zassert_equal(execution_sequence[4], 2, NULL); zassert_equal(execution_sequence[5], 1, NULL); } ZTEST_SUITE(basic, NULL, NULL, NULL, NULL, NULL);