bartoszek/zephyr
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
94de015498
zephyr/samples/subsys/zbus/msg_subscriber/src/main.c
Henrik Brix Andersen 159f7dbbb1 lib: net_buf: rename header file from zephyr/net/buf.h to zephyr/net_buf.h 
Move the network buffer header file from zephyr/net/buf.h to
zephyr/net_buf.h as the implementation now lives outside of the networking
subsystem.

Add (deprecated) zephyr/net/buf.h header to maintain compatibility with old
file path.

Signed-off-by: Henrik Brix Andersen <henrik@brixandersen.dk>
2024-09-07 11:19:05 -05:00

211 lines
7.1 KiB
C
Raw Blame History

/*
* Copyright (c) 2022 Rodrigo Peixoto <rodrigopex@gmail.com>
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/kernel.h>
#include <zephyr/logging/log.h>
#include <zephyr/sys/heap_listener.h>
#include <zephyr/zbus/zbus.h>
LOG_MODULE_REGISTER(sample, CONFIG_LOG_MAX_LEVEL);
extern struct sys_heap _system_heap;
static size_t total_allocated;
void on_heap_alloc(uintptr_t heap_id, void *mem, size_t bytes)
{
total_allocated += bytes;
LOG_INF(" AL Memory allocated %u bytes. Total allocated %u bytes", (unsigned int)bytes,
(unsigned int)total_allocated);
}
void on_heap_free(uintptr_t heap_id, void *mem, size_t bytes)
{
total_allocated -= bytes;
LOG_INF(" FR Memory freed %u bytes. Total allocated %u bytes", (unsigned int)bytes,
(unsigned int)total_allocated);
}
#if defined(CONFIG_ZBUS_MSG_SUBSCRIBER_BUF_ALLOC_DYNAMIC)
HEAP_LISTENER_ALLOC_DEFINE(my_heap_listener_alloc, HEAP_ID_FROM_POINTER(&_system_heap),
on_heap_alloc);
HEAP_LISTENER_FREE_DEFINE(my_heap_listener_free, HEAP_ID_FROM_POINTER(&_system_heap), on_heap_free);
#endif /* CONFIG_ZBUS_MSG_SUBSCRIBER_BUF_ALLOC_DYNAMIC */
struct acc_msg {
int x;
int y;
int z;
};
ZBUS_CHAN_DEFINE(acc_data_chan, /* Name */
struct acc_msg, /* Message type */
NULL, /* Validator */
NULL, /* User data */
ZBUS_OBSERVERS(bar_sub1, bar_msg_sub1, bar_msg_sub2, bar_msg_sub3, bar_msg_sub4,
bar_msg_sub5, bar_msg_sub6, bar_msg_sub7, bar_msg_sub8,
bar_msg_sub9, foo_lis), /* observers */
ZBUS_MSG_INIT(.x = 0, .y = 0, .z = 0) /* Initial value */
);
static void listener_callback_example(const struct zbus_channel *chan)
{
const struct acc_msg *acc = zbus_chan_const_msg(chan);
LOG_INF("From listener foo_lis -> Acc x=%d, y=%d, z=%d", acc->x, acc->y, acc->z);
}
ZBUS_LISTENER_DEFINE(foo_lis, listener_callback_example);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub1);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub2);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub3);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub4);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub5);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub6);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub7);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub8);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub9);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub10);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub11);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub12);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub13);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub14);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub15);
ZBUS_MSG_SUBSCRIBER_DEFINE(bar_msg_sub16);
ZBUS_SUBSCRIBER_DEFINE(bar_sub1, 4);
ZBUS_SUBSCRIBER_DEFINE(bar_sub2, 4);
static void msg_subscriber_task(void *sub)
{
const struct zbus_channel *chan;
struct acc_msg acc;
const struct zbus_observer *subscriber = sub;
while (!zbus_sub_wait_msg(subscriber, &chan, &acc, K_FOREVER)) {
if (&acc_data_chan != chan) {
LOG_ERR("Wrong channel %p!", chan);
continue;
}
LOG_INF("From msg subscriber %s -> Acc x=%d, y=%d, z=%d", zbus_obs_name(subscriber),
acc.x, acc.y, acc.z);
}
}
K_THREAD_DEFINE(subscriber_task_id1, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub1,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id2, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub2,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id3, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub3,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id4, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub4,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id5, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub5,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id6, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub6,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id7, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub7,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id8, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub8,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id9, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub9,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id10, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub10,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id11, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub11,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id12, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub12,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id13, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub13,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id14, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub14,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id15, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub15,
NULL, NULL, 3, 0, 0);
K_THREAD_DEFINE(subscriber_task_id16, CONFIG_MAIN_STACK_SIZE, msg_subscriber_task, &bar_msg_sub16,
NULL, NULL, 3, 0, 0);
static void subscriber_task(void *sub)
{
const struct zbus_channel *chan;
struct acc_msg acc;
const struct zbus_observer *subscriber = sub;
while (!zbus_sub_wait(subscriber, &chan, K_FOREVER)) {
if (&acc_data_chan != chan) {
LOG_ERR("Wrong channel %p!", chan);
continue;
}
zbus_chan_read(chan, &acc, K_MSEC(250));
LOG_INF("From subscriber %s -> Acc x=%d, y=%d, z=%d", zbus_obs_name(subscriber),
acc.x, acc.y, acc.z);
}
}
K_THREAD_DEFINE(subscriber_task_id17, CONFIG_MAIN_STACK_SIZE, subscriber_task, &bar_sub1, NULL,
NULL, 2, 0, 0);
K_THREAD_DEFINE(subscriber_task_id18, CONFIG_MAIN_STACK_SIZE, subscriber_task, &bar_sub2, NULL,
NULL, 4, 0, 0);
ZBUS_CHAN_ADD_OBS(acc_data_chan, bar_sub2, 3);
ZBUS_CHAN_ADD_OBS(acc_data_chan, bar_msg_sub10, 3);
ZBUS_CHAN_ADD_OBS(acc_data_chan, bar_msg_sub11, 3);
ZBUS_CHAN_ADD_OBS(acc_data_chan, bar_msg_sub12, 3);
ZBUS_CHAN_ADD_OBS(acc_data_chan, bar_msg_sub13, 3);
ZBUS_CHAN_ADD_OBS(acc_data_chan, bar_msg_sub14, 3);
ZBUS_CHAN_ADD_OBS(acc_data_chan, bar_msg_sub15, 3);
ZBUS_CHAN_ADD_OBS(acc_data_chan, bar_msg_sub16, 3);
static struct acc_msg acc = {.x = 1, .y = 10, .z = 100};
#if defined(CONFIG_ZBUS_MSG_SUBSCRIBER_NET_BUF_POOL_ISOLATION)
#include <zephyr/net_buf.h>
#if defined(CONFIG_ZBUS_MSG_SUBSCRIBER_BUF_ALLOC_DYNAMIC)
NET_BUF_POOL_HEAP_DEFINE(isolated_pool, (CONFIG_ZBUS_MSG_SUBSCRIBER_SAMPLE_ISOLATED_BUF_POOL_SIZE),
(sizeof(struct zbus_channel *)), NULL);
#else
NET_BUF_POOL_FIXED_DEFINE(isolated_pool, (CONFIG_ZBUS_MSG_SUBSCRIBER_SAMPLE_ISOLATED_BUF_POOL_SIZE),
(CONFIG_ZBUS_MSG_SUBSCRIBER_NET_BUF_STATIC_DATA_SIZE),
sizeof(struct zbus_channel *), NULL);
#endif
#endif
int main(void)
{
total_allocated = 0;
#if defined(CONFIG_ZBUS_MSG_SUBSCRIBER_NET_BUF_POOL_ISOLATION)
zbus_chan_set_msg_sub_pool(&acc_data_chan, &isolated_pool);
#endif
#if defined(CONFIG_ZBUS_MSG_SUBSCRIBER_BUF_ALLOC_DYNAMIC)
heap_listener_register(&my_heap_listener_alloc);
heap_listener_register(&my_heap_listener_free);
#endif /* CONFIG_ZBUS_MSG_SUBSCRIBER_BUF_ALLOC_DYNAMIC */
while (1) {
LOG_INF("----> Publishing to %s channel", zbus_chan_name(&acc_data_chan));
zbus_chan_pub(&acc_data_chan, &acc, K_NO_WAIT);
acc.x += 1;
acc.y += 10;
acc.z += 100;
k_msleep(1000);
}
return 0;
}
Reference in New Issue View Git Blame Copy Permalink