1 /*
2 * Copyright (c) 2022 Rodrigo Peixoto <rodrigopex@gmail.com>
3 * SPDX-License-Identifier: Apache-2.0
4 */
5
6 #include <zephyr/kernel.h>
7 #include <zephyr/logging/log.h>
8 #include <zephyr/zbus/zbus.h>
9 #include <zephyr/ztest.h>
10 LOG_MODULE_DECLARE(zbus, CONFIG_ZBUS_LOG_LEVEL);
11
12 struct sensor_data_msg {
13 int a;
14 int b;
15 };
16
17 ZBUS_CHAN_DEFINE(chan1, /* Name */
18 struct sensor_data_msg, /* Message type */
19
20 NULL, /* Validator */
21 NULL, /* User data */
22 ZBUS_OBSERVERS_EMPTY, /* observers */
23 ZBUS_MSG_INIT(0) /* Initial value major 0, minor 1, build 1023 */
24 );
25
26 ZBUS_CHAN_DEFINE(chan2, /* Name */
27 struct sensor_data_msg, /* Message type */
28
29 NULL, /* Validator */
30 NULL, /* User data */
31 ZBUS_OBSERVERS(lis2), /* observers */
32 ZBUS_MSG_INIT(0) /* Initial value major 0, minor 1, build 1023 */
33 );
34
35 ZBUS_CHAN_DEFINE(chan3, /* Name */
36 struct sensor_data_msg, /* Message type */
37
38 NULL, /* Validator */
39 NULL, /* User data */
40 ZBUS_OBSERVERS_EMPTY, /* observers */
41 ZBUS_MSG_INIT(0) /* Initial value major 0, minor 1, build 1023 */
42 );
43
44 ZBUS_SUBSCRIBER_DEFINE(sub1, 1);
45 ZBUS_SUBSCRIBER_DEFINE(sub2, 1);
46
47 static int count_callback1;
callback1(const struct zbus_channel * chan)48 static void callback1(const struct zbus_channel *chan)
49 {
50 ++count_callback1;
51 }
52
53 ZBUS_LISTENER_DEFINE(lis1, callback1);
54
55 static int count_callback2;
callback2(const struct zbus_channel * chan)56 static void callback2(const struct zbus_channel *chan)
57 {
58 ++count_callback2;
59 }
60
61 ZBUS_LISTENER_DEFINE(lis2, callback2);
62 ZBUS_LISTENER_DEFINE(lis3, callback2);
63 ZBUS_LISTENER_DEFINE(lis4, callback2);
64 ZBUS_LISTENER_DEFINE(lis5, callback2);
65 ZBUS_LISTENER_DEFINE(lis6, callback2);
66 ZBUS_LISTENER_DEFINE(lis7, callback2);
67
ZTEST(basic,test_specification_based__zbus_obs_add_rm_obs)68 ZTEST(basic, test_specification_based__zbus_obs_add_rm_obs)
69 {
70 count_callback1 = 0;
71 struct sensor_data_msg sd = {.a = 10, .b = 100};
72
73 /* Tyring to add same static observer as one dynamic */
74 zassert_equal(-EEXIST, zbus_chan_add_obs(&chan2, &lis2, K_MSEC(200)), NULL);
75
76 zassert_equal(0, zbus_chan_pub(&chan1, &sd, K_MSEC(500)), NULL);
77 zassert_equal(count_callback1, 0, "The counter could not be more than zero, no obs");
78
79 zassert_equal(0, zbus_chan_add_obs(&chan1, &lis1, K_MSEC(200)), NULL);
80 zassert_equal(-EALREADY, zbus_chan_add_obs(&chan1, &lis1, K_MSEC(200)),
81 "It cannot be added twice");
82
83 zassert_equal(0, zbus_chan_pub(&chan1, &sd, K_MSEC(500)), NULL);
84 zassert_equal(count_callback1, 1, "The counter could not be more than zero, no obs, %d",
85 count_callback1);
86
87 zassert_equal(0, zbus_chan_rm_obs(&chan1, &lis1, K_MSEC(200)), "It must remove the obs");
88
89 zassert_equal(-ENODATA, zbus_chan_rm_obs(&chan1, &lis1, K_MSEC(200)),
90 "It cannot be removed twice");
91
92 zassert_equal(0, zbus_chan_pub(&chan1, &sd, K_MSEC(500)), NULL);
93 zassert_equal(count_callback1, 1, "The counter could not be more than zero, no obs, %d",
94 count_callback1);
95
96 count_callback2 = 0;
97
98 zassert_equal(0, zbus_chan_pub(&chan2, &sd, K_MSEC(500)), NULL);
99 zassert_equal(count_callback2, 1, "The counter could not be more than zero, no obs");
100
101 zassert_equal(0, zbus_chan_add_obs(&chan2, &lis3, K_MSEC(200)), NULL);
102
103 zassert_equal(-EALREADY, zbus_chan_add_obs(&chan2, &lis3, K_MSEC(200)),
104 "It cannot be added twice");
105
106 zassert_equal(0, zbus_chan_pub(&chan2, &sd, K_MSEC(500)), NULL);
107 zassert_equal(count_callback2, 3, "The counter could not be more than zero, no obs, %d",
108 count_callback2);
109 count_callback2 = 0;
110 zassert_equal(0, zbus_chan_add_obs(&chan2, &sub1, K_MSEC(200)), NULL);
111 zassert_equal(0, zbus_chan_add_obs(&chan2, &sub2, K_MSEC(200)), NULL);
112 zassert_equal(0, zbus_chan_add_obs(&chan2, &lis4, K_MSEC(200)), "It must add the obs");
113 zassert_equal(0, zbus_chan_add_obs(&chan2, &lis5, K_MSEC(200)), "It must add the obs");
114 zassert_equal(0, zbus_chan_add_obs(&chan2, &lis6, K_MSEC(200)), "It must add the obs");
115
116 /* Make the heap full */
117 void *mem;
118
119 do {
120 mem = k_malloc(1);
121 } while (mem != NULL);
122
123 /* With the heap full it will not be possible to add another obs */
124 zassert_equal(-ENOMEM, zbus_chan_add_obs(&chan2, &lis7, K_MSEC(200)), NULL);
125 zassert_equal(0, zbus_chan_pub(&chan2, &sd, K_MSEC(500)), NULL);
126 zassert_equal(count_callback2, 5, NULL);
127
128 /* To cause an error to sub1 and sub2. They have the queue full in this point */
129 /* ENOMSG must be the result */
130 zassert_equal(-ENOMSG, zbus_chan_pub(&chan2, &sd, K_MSEC(500)), NULL);
131 zassert_equal(count_callback2, 10, NULL);
132
133 zassert_equal(0, zbus_chan_rm_obs(&chan2, &sub1, K_MSEC(200)), NULL);
134 zassert_equal(0, zbus_chan_rm_obs(&chan2, &sub2, K_MSEC(200)), NULL);
135 }
136
137 struct aux2_wq_data {
138 struct k_work work;
139 };
140
141 static struct aux2_wq_data wq_handler;
142
wq_dh_cb(struct k_work * item)143 static void wq_dh_cb(struct k_work *item)
144 {
145 zassert_equal(-EAGAIN, zbus_chan_add_obs(&chan2, &sub1, K_MSEC(200)), NULL);
146 zassert_equal(-EAGAIN, zbus_chan_rm_obs(&chan2, &sub2, K_MSEC(200)), NULL);
147 }
148
ZTEST(basic,test_specification_based__zbus_obs_add_rm_obs_busy)149 ZTEST(basic, test_specification_based__zbus_obs_add_rm_obs_busy)
150 {
151 zassert_equal(0, zbus_chan_claim(&chan2, K_NO_WAIT), NULL);
152
153 k_work_init(&wq_handler.work, wq_dh_cb);
154 k_work_submit(&wq_handler.work);
155 k_msleep(1000);
156
157 zassert_equal(0, zbus_chan_finish(&chan2), NULL);
158 }
159
160 ZBUS_CHAN_DEFINE(chan4, /* Name */
161 struct sensor_data_msg, /* Message type */
162
163 NULL, /* Validator */
164 NULL, /* User data */
165 ZBUS_OBSERVERS(prio_lis6, prio_lis5), /* observers */
166 ZBUS_MSG_INIT(0) /* Initial value major 0, minor 1, build 1023 */
167 );
168
169 static int execution_sequence_idx;
170 static uint8_t execution_sequence[6] = {0};
171
172 #define CALLBACK_DEF(_lis, _idx) \
173 static void _CONCAT(prio_cb, _idx)(const struct zbus_channel *chan) \
174 { \
175 execution_sequence[execution_sequence_idx] = _idx; \
176 ++execution_sequence_idx; \
177 } \
178 ZBUS_LISTENER_DEFINE(_lis, _CONCAT(prio_cb, _idx))
179
180 CALLBACK_DEF(prio_lis1, 1);
181 CALLBACK_DEF(prio_lis2, 2);
182 CALLBACK_DEF(prio_lis3, 3);
183 CALLBACK_DEF(prio_lis4, 4);
184 CALLBACK_DEF(prio_lis5, 5);
185 CALLBACK_DEF(prio_lis6, 6);
186
187 ZBUS_CHAN_ADD_OBS(chan4, prio_lis3, 3);
188 ZBUS_CHAN_ADD_OBS(chan4, prio_lis4, 2);
189
190 /* Checking the ZBUS_CHAN_ADD_OBS. The execution sequence must be: 6, 5, 4, 3, 2, 1. */
191
ZTEST(basic,test_specification_based__zbus_obs_priority)192 ZTEST(basic, test_specification_based__zbus_obs_priority)
193 {
194 struct sensor_data_msg sd = {.a = 70, .b = 116};
195
196 execution_sequence_idx = 0;
197
198 zassert_equal(0, zbus_chan_add_obs(&chan4, &prio_lis2, K_MSEC(200)), NULL);
199 zassert_equal(0, zbus_chan_add_obs(&chan4, &prio_lis1, K_MSEC(200)), NULL);
200
201 zassert_equal(0, zbus_chan_pub(&chan4, &sd, K_MSEC(500)), NULL);
202
203 zassert_equal(execution_sequence[0], 6, NULL);
204 zassert_equal(execution_sequence[1], 5, NULL);
205 zassert_equal(execution_sequence[2], 4, NULL);
206 zassert_equal(execution_sequence[3], 3, NULL);
207 zassert_equal(execution_sequence[4], 2, NULL);
208 zassert_equal(execution_sequence[5], 1, NULL);
209 }
210
211 ZTEST_SUITE(basic, NULL, NULL, NULL, NULL, NULL);
212
