1 /*
2 * Copyright (c) 2022 Rodrigo Peixoto <rodrigopex@gmail.com>
3 * SPDX-License-Identifier: Apache-2.0
4 */
5
6 #include "messages.h"
7
8 #include <stdint.h>
9
10 #include <zephyr/kernel.h>
11 #include <zephyr/logging/log.h>
12 #include <zephyr/sys/util_macro.h>
13 #include <zephyr/zbus/zbus.h>
14 LOG_MODULE_DECLARE(zbus, CONFIG_ZBUS_LOG_LEVEL);
15
16 ZBUS_CHAN_DEFINE(version_chan, /* Name */
17 struct version_msg, /* Message type */
18
19 NULL, /* Validator */
20 NULL, /* User data */
21 ZBUS_OBSERVERS_EMPTY, /* observers */
22 ZBUS_MSG_INIT(.major = 0, .minor = 1,
23 .build = 1023) /* Initial value major 0, minor 1, build 1023 */
24 );
25
26 ZBUS_CHAN_DEFINE(sensor_data_chan, /* Name */
27 struct sensor_msg, /* Message type */
28
29 NULL, /* Validator */
30 NULL, /* User data */
31 ZBUS_OBSERVERS(fast_handler1_lis, fast_handler2_lis, fast_handler3_lis,
32 delay_handler1_lis, delay_handler2_lis, delay_handler3_lis,
33 thread_handler1_sub, thread_handler2_sub,
34 thread_handler3_sub), /* observers */
35 ZBUS_MSG_INIT(0) /* Initial value {0} */
36 );
37
fh1_cb(const struct zbus_channel * chan)38 static void fh1_cb(const struct zbus_channel *chan)
39 {
40 const struct sensor_msg *msg = zbus_chan_const_msg(chan);
41
42 LOG_INF("Sensor msg processed by CALLBACK fh1: temp = %u, press = %u, humidity = %u",
43 msg->temp, msg->press, msg->humidity);
44 }
45
46 ZBUS_LISTENER_DEFINE(fast_handler1_lis, fh1_cb);
47
fh2_cb(const struct zbus_channel * chan)48 static void fh2_cb(const struct zbus_channel *chan)
49 {
50 const struct sensor_msg *msg = zbus_chan_const_msg(chan);
51
52 LOG_INF("Sensor msg processed by CALLBACK fh2: temp = %u, press = %u, humidity = %u",
53 msg->temp, msg->press, msg->humidity);
54 }
55
56 ZBUS_LISTENER_DEFINE(fast_handler2_lis, fh2_cb);
57
fh3_cb(const struct zbus_channel * chan)58 static void fh3_cb(const struct zbus_channel *chan)
59 {
60 const struct sensor_msg *msg = zbus_chan_const_msg(chan);
61
62 LOG_INF("Sensor msg processed by CALLBACK fh3: temp = %u, press = %u, humidity = %u",
63 msg->temp, msg->press, msg->humidity);
64 }
65
66 ZBUS_LISTENER_DEFINE(fast_handler3_lis, fh3_cb);
67
68 struct sensor_wq_info {
69 struct k_work work;
70 const struct zbus_channel *chan;
71 uint8_t handle;
72 };
73
74 static struct sensor_wq_info wq_handler1 = {.handle = 1};
75 static struct sensor_wq_info wq_handler2 = {.handle = 2};
76 static struct sensor_wq_info wq_handler3 = {.handle = 3};
77
wq_dh_cb(struct k_work * item)78 static void wq_dh_cb(struct k_work *item)
79 {
80 struct sensor_msg msg;
81 struct sensor_wq_info *sens = CONTAINER_OF(item, struct sensor_wq_info, work);
82
83 zbus_chan_read(sens->chan, &msg, K_MSEC(200));
84
85 LOG_INF("Sensor msg processed by WORK QUEUE handler dh%u: temp = %u, press = %u, "
86 "humidity = %u",
87 sens->handle, msg.temp, msg.press, msg.humidity);
88 }
89
dh1_cb(const struct zbus_channel * chan)90 static void dh1_cb(const struct zbus_channel *chan)
91 {
92 wq_handler1.chan = chan;
93
94 k_work_submit(&wq_handler1.work);
95 }
96
97 ZBUS_LISTENER_DEFINE(delay_handler1_lis, dh1_cb);
98
dh2_cb(const struct zbus_channel * chan)99 static void dh2_cb(const struct zbus_channel *chan)
100 {
101 wq_handler2.chan = chan;
102
103 k_work_submit(&wq_handler2.work);
104 }
105
106 ZBUS_LISTENER_DEFINE(delay_handler2_lis, dh2_cb);
107
dh3_cb(const struct zbus_channel * chan)108 static void dh3_cb(const struct zbus_channel *chan)
109 {
110 wq_handler3.chan = chan;
111
112 k_work_submit(&wq_handler3.work);
113 }
114
115 ZBUS_LISTENER_DEFINE(delay_handler3_lis, dh3_cb);
116
main(void)117 int main(void)
118 {
119 k_work_init(&wq_handler1.work, wq_dh_cb);
120 k_work_init(&wq_handler2.work, wq_dh_cb);
121 k_work_init(&wq_handler3.work, wq_dh_cb);
122
123 struct version_msg *v = zbus_chan_msg(&version_chan);
124
125 LOG_DBG("Sensor sample started, version %u.%u-%u!", v->major, v->minor, v->build);
126 return 0;
127 }
128
129 ZBUS_SUBSCRIBER_DEFINE(thread_handler1_sub, 4);
130
thread_handler1_task(void)131 static void thread_handler1_task(void)
132 {
133 const struct zbus_channel *chan;
134
135 while (!zbus_sub_wait(&thread_handler1_sub, &chan, K_FOREVER)) {
136 struct sensor_msg msg;
137
138 zbus_chan_read(chan, &msg, K_MSEC(200));
139
140 LOG_INF("Sensor msg processed by THREAD handler 1: temp = %u, press = %u, "
141 "humidity = %u",
142 msg.temp, msg.press, msg.humidity);
143 }
144 }
145
146 K_THREAD_DEFINE(thread_handler1_id, 1024, thread_handler1_task, NULL, NULL, NULL, 3, 0, 0);
147
148 ZBUS_SUBSCRIBER_DEFINE(thread_handler2_sub, 4);
149
thread_handler2_task(void)150 static void thread_handler2_task(void)
151 {
152 const struct zbus_channel *chan;
153
154 while (!zbus_sub_wait(&thread_handler2_sub, &chan, K_FOREVER)) {
155 struct sensor_msg msg;
156
157 zbus_chan_read(chan, &msg, K_MSEC(200));
158
159 LOG_INF("Sensor msg processed by THREAD handler 2: temp = %u, press = %u, "
160 "humidity = %u",
161 msg.temp, msg.press, msg.humidity);
162 }
163 }
164
165 K_THREAD_DEFINE(thread_handler2_id, 1024, thread_handler2_task, NULL, NULL, NULL, 3, 0, 0);
166
167 ZBUS_SUBSCRIBER_DEFINE(thread_handler3_sub, 4);
168
thread_handler3_task(void)169 static void thread_handler3_task(void)
170 {
171 const struct zbus_channel *chan;
172
173 while (!zbus_sub_wait(&thread_handler3_sub, &chan, K_FOREVER)) {
174 struct sensor_msg msg;
175
176 zbus_chan_read(chan, &msg, K_MSEC(200));
177
178 LOG_INF("Sensor msg processed by THREAD handler 3: temp = %u, press = %u, "
179 "humidity = %u",
180 msg.temp, msg.press, msg.humidity);
181 }
182 }
183
184 K_THREAD_DEFINE(thread_handler3_id, 1024, thread_handler3_task, NULL, NULL, NULL, 3, 0, 0);
185
