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nuttx-apps/include/system/zbus.h
Jorge Guzman ee20ddd0ba system/zbus: Port the Zephyr zbus message bus to NuttX 
Port of the Zephyr RTOS zbus (many-to-many message bus with typed
channels and decoupled observers), built entirely on native NuttX
primitives and preserving the original declarative API
(ZBUS_CHAN_DEFINE, ZBUS_LISTENER_DEFINE, ZBUS_SUBSCRIBER_DEFINE, ...).

Features: listeners (synchronous callbacks), subscribers (queue of
channel references), message subscribers (ordered message copies),
async listeners (callback on a dedicated task), runtime observers,
per-observation notification masks, observer enable/disable, message
validators, channel user data, publish statistics, lookup by
name/numeric id and channel/observer iteration.

Mapping to NuttX primitives:
- Channel/observer registration: link-time iterable sections
  (include/nuttx/iterable_sections.h); the observers of a channel are
  named after their position in the definition, so the linker sorts the
  notification order, and the declarative macros are built on
  nuttx/macro.h (CONCATENATE, FOREACH_ARG and the FOREACH_IDX_ARG added
  in a companion nuttx commit) rather than on a private macro engine.
  Notification masks live in .bss with their initial value preserved in
  ROM and applied on lazy init.
- Channel lock: sem_t (enable CONFIG_PRIORITY_INHERITANCE instead of
  the Zephyr priority-boost/HLP); timeouts are computed with the
  clock_timespec_* helpers from nuttx/clock.h.
- Subscriber queues: kernel message queues (file_mq_*) opened lazily
  via pthread_once, usable from any task; mq payload copying replaces
  the Zephyr net_buf machinery entirely.
- Async listeners: one task per listener (task_create, priority and
  stack size configurable) blocking on the listener queue; a task
  rather than a pthread so it outlives the first API caller.
- Timeouts: milliseconds with CLOCK_MONOTONIC deadlines
  (ZBUS_NO_WAIT/ZBUS_FOREVER).

Includes a runnable example (examples/zbus, CONFIG_EXAMPLES_ZBUS) and a
cmocka test suite (testing/zbus, CONFIG_TESTING_ZBUS) covering the full
API: 17/17 tests passing on linum-stm32h753bi hardware, including
multi-channel index grouping, mask semantics, runtime observer error
paths, notification order (the observers of a channel run in the order
they are listed, and an observation bound with ZBUS_CHAN_ADD_OBS() runs
after all of them), queue overflow/timeout semantics, async listener
bursts,
bit-exact float/double payload delivery across every observer type
(sensor-style messages with a float-math validator) and an
interrupt-driven publisher (kernel timer interrupt -> signal -> sampling
thread -> zbus_chan_pub, the recommended pattern for interrupt sources).

Requirements: FLAT build; CONFIG_MQ_MAXMSGSIZE >= pointer size +
CONFIG_ZBUS_MSG_SUBSCRIBER_MAX_MSG_SIZE for message subscribers; board
linker script including <nuttx/linker/common-rom.ld> or the generic
CONFIG_ITERABLE_SECTIONS_LINKER_INSERT mode.

Not ported: multi-domain proxy agent (experimental upstream); publishing
from interrupt handlers (userspace library: hand the data to a thread).

Documentation lives in the nuttx repository
(Documentation/applications/system/zbus).

Assisted-by: Claude Code
Signed-off-by: Jorge Guzman <jorge.gzm@gmail.com>
2026-09-21 18:46:31 -03:00

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/****************************************************************************
* apps/include/system/zbus.h
*
* SPDX-License-Identifier: Apache-2.0
*
* Copyright (c) 2022 Rodrigo Peixoto <rodrigopex@gmail.com>
* Copyright (c) 2026 NuttX port
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may
* not use this file except in compliance with the License. You may obtain
* a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/* NuttX port of the Zephyr zbus message bus.
*
* Differences from the Zephyr original:
* - Timeouts are given in milliseconds (int32_t): ZBUS_NO_WAIT (0) and
* ZBUS_FOREVER (-1) replace K_NO_WAIT/K_FOREVER.
* - Subscribers and message subscribers use POSIX message queues opened
* lazily on first zbus API call (no k_msgq/k_fifo/net_buf).
* - Priority boost (HLP) is not implemented; enable NuttX native
* CONFIG_PRIORITY_INHERITANCE for equivalent protection.
* - Publishing from interrupt context is not supported.
* - Requires the board linker script to include the iterable section
* fragments <nuttx/linker/common-rom.ld> and common-ram.ld.
*/
#ifndef __APPS_INCLUDE_SYSTEM_ZBUS_H
#define __APPS_INCLUDE_SYSTEM_ZBUS_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/fs/fs.h>
#include <nuttx/iterable_sections.h>
#include <assert.h>
#include <errno.h>
#include <semaphore.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include <string.h>
#include <time.h>
#ifdef CONFIG_ZBUS_RUNTIME_OBSERVERS
# include <nuttx/list.h>
#endif
#include <sys/types.h>
#include <nuttx/macro.h>
#ifdef __cplusplus
#define _ZBUS_CPP_EXTERN extern
extern "C"
{
#else
#define _ZBUS_CPP_EXTERN
#endif
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Timeout special values (milliseconds) */
#define ZBUS_NO_WAIT 0
#define ZBUS_FOREVER (-1)
/* Channel without a unique numeric identifier */
#define ZBUS_CHAN_ID_INVALID UINT32_MAX
#ifdef CONFIG_ZBUS_ASSERT_MOCK
# define _ZBUS_ASSERT(cond, msg) \
do \
{ \
if (!(cond)) \
{ \
return -EFAULT; \
} \
} \
while (0)
#else
# define _ZBUS_ASSERT(cond, msg) DEBUGASSERT(cond)
#endif
/****************************************************************************
* Public Types
****************************************************************************/
struct zbus_channel;
/* Mutable data associated with every channel */
struct zbus_channel_data
{
/* Boundaries of this channel's static observations inside the sorted
* zbus_channel_observation iterable section (computed on first use).
*/
int16_t observers_start_idx;
int16_t observers_end_idx;
/* Channel access semaphore */
sem_t sem;
#ifdef CONFIG_ZBUS_RUNTIME_OBSERVERS
/* Runtime (dynamically added) observers */
struct list_node observers;
#endif
#ifdef CONFIG_ZBUS_CHANNEL_PUBLISH_STATS
struct timespec publish_timestamp;
uint32_t publish_count;
#endif
};
/* A channel: constant descriptor placed in ROM (iterable section) */
struct zbus_channel
{
#ifdef CONFIG_ZBUS_CHANNEL_NAME
const char *name;
#endif
#ifdef CONFIG_ZBUS_CHANNEL_ID
uint32_t id;
#endif
/* Shared message memory, its size, and optional user data/validator */
void *message;
size_t message_size;
void *user_data;
bool (*validator)(const void *msg, size_t msg_size);
struct zbus_channel_data *data;
};
/* Observer types */
enum zbus_observer_type
{
ZBUS_OBSERVER_LISTENER_TYPE = 0,
ZBUS_OBSERVER_SUBSCRIBER_TYPE,
ZBUS_OBSERVER_MSG_SUBSCRIBER_TYPE,
ZBUS_OBSERVER_ASYNC_LISTENER_TYPE,
};
/* Mutable data associated with every observer */
struct zbus_observer_data
{
bool enabled;
/* Notification queue (subscriber/msg subscriber/async listener), opened
* lazily with file_mq_open() so it is usable from any task, unlike
* per-task mqd_t descriptors. mq.f_inode == NULL means "not opened".
*/
struct file mq;
#ifdef CONFIG_ZBUS_ASYNC_LISTENER
/* Dedicated task running the async listener callback. A task (not a
* pthread) so it outlives the task that triggered the lazy init.
*/
pid_t pid;
#endif
};
/* An observer: constant descriptor placed in ROM (iterable section) */
struct zbus_observer
{
#ifdef CONFIG_ZBUS_OBSERVER_NAME
const char *name;
#endif
enum zbus_observer_type type;
/* Notification queue depth (subscriber types only) */
uint16_t queue_size;
struct zbus_observer_data *data;
/* Listener callback (listener type only) */
void (*callback)(const struct zbus_channel *chan);
#ifdef CONFIG_ZBUS_ASYNC_LISTENER
/* Async listener callback (async listener type only). Executed on the
* listener's dedicated task with a copy of the published message.
*/
void (*async_callback)(const struct zbus_channel *chan, const void *msg);
#endif
};
/* Link between one channel and one observer (ROM iterable section, sorted
* by name so that entries are grouped by channel and ordered by observer
* priority). The mutable notification mask lives in .bss and is pointed
* to from here; its initial value is preserved in ROM (mask_init) and
* applied by the one-time lazy initialization.
*/
struct zbus_channel_observation
{
const struct zbus_channel *chan;
const struct zbus_observer *obs;
bool *mask;
bool mask_init;
};
#ifdef CONFIG_ZBUS_RUNTIME_OBSERVERS
/* Node linking a runtime observer to a channel */
struct zbus_observer_node
{
struct list_node node;
const struct zbus_observer *obs;
};
#endif
/****************************************************************************
* Definition macros
****************************************************************************/
#ifdef CONFIG_ZBUS_CHANNEL_NAME
# define ZBUS_CHANNEL_NAME_INIT(_name) .name = #_name,
#else
# define ZBUS_CHANNEL_NAME_INIT(_name)
#endif
#ifdef CONFIG_ZBUS_CHANNEL_ID
# define _ZBUS_CHANNEL_ID_INIT(_id) .id = _id,
#else
# define _ZBUS_CHANNEL_ID_INIT(_id)
#endif
#ifdef CONFIG_ZBUS_OBSERVER_NAME
# define ZBUS_OBSERVER_NAME_INIT(_name) .name = #_name,
#else
# define ZBUS_OBSERVER_NAME_INIT(_name)
#endif
#ifdef CONFIG_ZBUS_RUNTIME_OBSERVERS
# define _ZBUS_RUNTIME_OBS_INIT(_name) \
.observers = LIST_INITIAL_VALUE(_zbus_chan_data_##_name.observers),
#else
# define _ZBUS_RUNTIME_OBS_INIT(_name)
#endif
#define _ZBUS_MESSAGE_NAME(_name) _zbus_message_##_name
/* Declare channels/observers defined in other files */
#define _ZBUS_OBS_EXTERN(_p, _name, _i) \
extern const struct zbus_observer _name;
#define _ZBUS_CHAN_EXTERN(_p, _name, _i) \
extern const struct zbus_channel _name;
#define ZBUS_OBS_DECLARE(...) \
FOREACH_ARG(_ZBUS_OBS_EXTERN, 0, __VA_ARGS__)
#define ZBUS_CHAN_DECLARE(...) \
FOREACH_ARG(_ZBUS_CHAN_EXTERN, 0, __VA_ARGS__)
/* Observer list helpers for ZBUS_CHAN_DEFINE */
#define ZBUS_OBSERVERS_EMPTY
#define ZBUS_OBSERVERS(...) __VA_ARGS__
/* Message initializer: ZBUS_MSG_INIT(.a = 1, .b = 2) -> {.a = 1, .b = 2} */
#define ZBUS_MSG_INIT(_val, ...) {_val, ##__VA_ARGS__}
/* One channel<->observer observation and its mask. The variable name
* embeds the channel and observer names, so the linker's SORT_BY_NAME()
* keeps the observations of a channel contiguous, and the index embedded
* in the name gives the notification order within the channel.
*/
/* FOREACH_ARG() hands the position as a plain literal, and the linker
* sorts the observations of a channel by name, so the index has to be
* zero padded to a fixed width for the sort to follow the declaration
* order beyond ten observers. Same table as the original zbus.
*/
#define _ZBUS_OBS_IDX_0 00
#define _ZBUS_OBS_IDX_1 01
#define _ZBUS_OBS_IDX_2 02
#define _ZBUS_OBS_IDX_3 03
#define _ZBUS_OBS_IDX_4 04
#define _ZBUS_OBS_IDX_5 05
#define _ZBUS_OBS_IDX_6 06
#define _ZBUS_OBS_IDX_7 07
#define _ZBUS_OBS_IDX_8 08
#define _ZBUS_OBS_IDX_9 09
#define _ZBUS_OBS_IDX_10 10
#define _ZBUS_OBS_IDX_11 11
#define _ZBUS_OBS_IDX_12 12
#define _ZBUS_OBS_IDX_13 13
#define _ZBUS_OBS_IDX_14 14
#define _ZBUS_OBS_IDX_15 15
#define _ZBUS_OBS_IDX_16 16
#define _ZBUS_OBS_IDX_17 17
#define _ZBUS_OBS_IDX_18 18
#define _ZBUS_OBS_IDX_19 19
#define _ZBUS_OBS_IDX_20 20
#define _ZBUS_OBS_IDX_21 21
#define _ZBUS_OBS_IDX_22 22
#define _ZBUS_OBS_IDX_23 23
#define _ZBUS_OBS_IDX_24 24
#define _ZBUS_OBS_IDX_25 25
#define _ZBUS_OBS_IDX_26 26
#define _ZBUS_OBS_IDX_27 27
#define _ZBUS_OBS_IDX_28 28
#define _ZBUS_OBS_IDX_29 29
#define _ZBUS_OBS_IDX_30 30
#define _ZBUS_OBS_IDX_31 31
#define _ZBUS_OBS_IDX(_idx) CONCATENATE(_ZBUS_OBS_IDX_, _idx)
#define _ZBUS_OBSERVATION_NAME_(_chan, _idx, _obs) \
_zbus_obn_##_chan##_##_idx##_##_obs
/* One level of indirection so that _idx is expanded before the paste,
* which is what lets the caller build it with CONCATENATE().
*/
#define _ZBUS_OBSERVATION_NAME(_chan, _idx, _obs) \
_ZBUS_OBSERVATION_NAME_(_chan, _idx, _obs)
/* The observation name reaches this macro already expanded, so the input
* section is named after the variable. It must not expand FOREACH_ARG():
* it is itself expanded from within one, and the preprocessor does not
* rescan a macro that is already being expanded.
*/
#define _ZBUS_OBSERVATION_DEFINE(_obn, _chan, _obs, _masked) \
static bool CONCATENATE(_obn, _mask) = _masked; \
const STRUCT_SECTION_ITERABLE(zbus_channel_observation, _obn) = \
{ \
.chan = &_chan, \
.obs = &_obs, \
.mask = &CONCATENATE(_obn, _mask), \
.mask_init = _masked, \
}
#define _ZBUS_CHAN_OBSERVATION(_chan, _obs, _idx) \
_ZBUS_OBSERVATION_DEFINE( \
_ZBUS_OBSERVATION_NAME(_chan, _ZBUS_OBS_IDX(_idx), _obs), \
_chan, _obs, false);
#define _ZBUS_CHAN_DEFINE(_name, _id, _type, _validator, _user_data) \
static struct zbus_channel_data _zbus_chan_data_##_name = \
{ \
.observers_start_idx = -1, \
.observers_end_idx = -1, \
.sem = SEM_INITIALIZER(1), \
_ZBUS_RUNTIME_OBS_INIT(_name) \
}; \
_ZBUS_CPP_EXTERN const STRUCT_SECTION_ITERABLE(zbus_channel, _name) = \
{ \
ZBUS_CHANNEL_NAME_INIT(_name) \
_ZBUS_CHANNEL_ID_INIT(_id) \
.message = &_ZBUS_MESSAGE_NAME(_name), \
.message_size = sizeof(_type), \
.user_data = _user_data, \
.validator = _validator, \
.data = &_zbus_chan_data_##_name, \
}
/* Define a channel.
*
* _name channel name (C identifier)
* _type message type (struct or union)
* _validator optional validator function or NULL
* _user_data optional user data pointer or NULL
* _observers ZBUS_OBSERVERS(obs1, obs2, ...) or ZBUS_OBSERVERS_EMPTY;
* the position in the list becomes the observation priority,
* so the observers are notified in the order listed
* _init_val message initial value, e.g. ZBUS_MSG_INIT(0)
*/
#define ZBUS_CHAN_DEFINE(_name, _type, _validator, _user_data, _observers, \
_init_val) \
static _type _ZBUS_MESSAGE_NAME(_name) = _init_val; \
_ZBUS_CHAN_DEFINE(_name, ZBUS_CHAN_ID_INVALID, _type, _validator, \
_user_data); \
ZBUS_OBS_DECLARE(_observers) \
FOREACH_ARG(_ZBUS_CHAN_OBSERVATION, _name, _observers)
/* Same as ZBUS_CHAN_DEFINE with a unique numeric channel identifier */
#define ZBUS_CHAN_DEFINE_WITH_ID(_name, _id, _type, _validator, _user_data, \
_observers, _init_val) \
static _type _ZBUS_MESSAGE_NAME(_name) = _init_val; \
_ZBUS_CHAN_DEFINE(_name, _id, _type, _validator, _user_data); \
ZBUS_OBS_DECLARE(_observers) \
FOREACH_ARG(_ZBUS_CHAN_OBSERVATION, _name, _observers)
/* Add a static observation to a channel defined elsewhere. _prio defines
* the notification order relative to other ADD_OBS observations of the
* same channel (use two-digit literals, e.g. 01, 02, ... so the linker
* name sort orders them correctly). ADD_OBS observations are notified
* after the ones listed in ZBUS_CHAN_DEFINE.
*/
/* Observations added out of line are notified after every observer listed
* in the channel definition, and _prio only orders them among themselves:
* the "zz" infix places them after the two digit indexes in the name
* sorted section, exactly as the original zbus does.
*/
#define ZBUS_CHAN_ADD_OBS_WITH_MASK(_chan, _obs, _masked, _prio) \
_ZBUS_OBSERVATION_DEFINE( \
_ZBUS_OBSERVATION_NAME(_chan, CONCATENATE(zz, _prio), _obs), \
_chan, _obs, _masked)
#define ZBUS_CHAN_ADD_OBS(_chan, _obs, _prio) \
ZBUS_CHAN_ADD_OBS_WITH_MASK(_chan, _obs, false, _prio)
/* Define a listener observer (synchronous callback) */
#define ZBUS_LISTENER_DEFINE_WITH_ENABLE(_name, _cb, _enable) \
static struct zbus_observer_data _zbus_obs_data_##_name = \
{ \
.enabled = _enable, \
}; \
_ZBUS_CPP_EXTERN const STRUCT_SECTION_ITERABLE(zbus_observer, _name) = \
{ \
ZBUS_OBSERVER_NAME_INIT(_name) \
.type = ZBUS_OBSERVER_LISTENER_TYPE, \
.queue_size = 0, \
.data = &_zbus_obs_data_##_name, \
.callback = (_cb), \
}
#define ZBUS_LISTENER_DEFINE(_name, _cb) \
ZBUS_LISTENER_DEFINE_WITH_ENABLE(_name, _cb, true)
/* Define a subscriber observer (receives channel references through a
* message queue of depth _queue_size; use zbus_sub_wait() to wait).
*/
#define ZBUS_SUBSCRIBER_DEFINE_WITH_ENABLE(_name, _queue_size, _enable) \
static struct zbus_observer_data _zbus_obs_data_##_name = \
{ \
.enabled = _enable, \
}; \
_ZBUS_CPP_EXTERN const STRUCT_SECTION_ITERABLE(zbus_observer, _name) = \
{ \
ZBUS_OBSERVER_NAME_INIT(_name) \
.type = ZBUS_OBSERVER_SUBSCRIBER_TYPE, \
.queue_size = _queue_size, \
.data = &_zbus_obs_data_##_name, \
.callback = NULL, \
}
#define ZBUS_SUBSCRIBER_DEFINE(_name, _queue_size) \
ZBUS_SUBSCRIBER_DEFINE_WITH_ENABLE(_name, _queue_size, true)
#ifdef CONFIG_ZBUS_MSG_SUBSCRIBER
/* Define a message subscriber observer (receives copies of the published
* messages through a message queue; use zbus_sub_wait_msg() to wait).
* Messages larger than CONFIG_ZBUS_MSG_SUBSCRIBER_MAX_MSG_SIZE cannot be
* delivered to message subscribers.
*/
#define ZBUS_MSG_SUBSCRIBER_DEFINE_WITH_ENABLE(_name, _enable) \
static struct zbus_observer_data _zbus_obs_data_##_name = \
{ \
.enabled = _enable, \
}; \
_ZBUS_CPP_EXTERN const STRUCT_SECTION_ITERABLE(zbus_observer, _name) = \
{ \
ZBUS_OBSERVER_NAME_INIT(_name) \
.type = ZBUS_OBSERVER_MSG_SUBSCRIBER_TYPE, \
.queue_size = CONFIG_ZBUS_MSG_SUBSCRIBER_QUEUE_SIZE, \
.data = &_zbus_obs_data_##_name, \
.callback = NULL, \
}
#define ZBUS_MSG_SUBSCRIBER_DEFINE(_name) \
ZBUS_MSG_SUBSCRIBER_DEFINE_WITH_ENABLE(_name, true)
#endif /* CONFIG_ZBUS_MSG_SUBSCRIBER */
#ifdef CONFIG_ZBUS_ASYNC_LISTENER
/* Define an async listener observer. The callback executes on a
* dedicated task (not in the publisher context) and receives a copy of
* the published message. Messages larger than
* CONFIG_ZBUS_MSG_SUBSCRIBER_MAX_MSG_SIZE cannot be delivered.
*/
#define ZBUS_ASYNC_LISTENER_DEFINE_WITH_ENABLE(_name, _cb, _enable) \
static struct zbus_observer_data _zbus_obs_data_##_name = \
{ \
.enabled = _enable, \
}; \
_ZBUS_CPP_EXTERN const STRUCT_SECTION_ITERABLE(zbus_observer, _name) = \
{ \
ZBUS_OBSERVER_NAME_INIT(_name) \
.type = ZBUS_OBSERVER_ASYNC_LISTENER_TYPE, \
.queue_size = CONFIG_ZBUS_MSG_SUBSCRIBER_QUEUE_SIZE, \
.data = &_zbus_obs_data_##_name, \
.callback = NULL, \
.async_callback = (_cb), \
}
#define ZBUS_ASYNC_LISTENER_DEFINE(_name, _cb) \
ZBUS_ASYNC_LISTENER_DEFINE_WITH_ENABLE(_name, _cb, true)
#endif /* CONFIG_ZBUS_ASYNC_LISTENER */
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/* Publish a message to a channel. Copies *msg into the channel and runs
* the dispatcher, notifying every observer. Returns 0 or -errno
* (-ENOMSG: validator rejected; -EBUSY/-EAGAIN: could not lock in time).
*/
int zbus_chan_pub(const struct zbus_channel *chan, const void *msg,
int32_t timeout_ms);
/* Read a channel message (copies the channel message into *msg) */
int zbus_chan_read(const struct zbus_channel *chan, void *msg,
int32_t timeout_ms);
/* Force the notification of a channel's observers without publishing */
int zbus_chan_notify(const struct zbus_channel *chan, int32_t timeout_ms);
/* Claim/finish a channel for direct access to zbus_chan_msg() */
int zbus_chan_claim(const struct zbus_channel *chan, int32_t timeout_ms);
int zbus_chan_finish(const struct zbus_channel *chan);
/* Wait for a notification (subscriber observers) */
int zbus_sub_wait(const struct zbus_observer *sub,
const struct zbus_channel **chan, int32_t timeout_ms);
#ifdef CONFIG_ZBUS_MSG_SUBSCRIBER
/* Wait for a message copy (message subscriber observers) */
int zbus_sub_wait_msg(const struct zbus_observer *sub,
const struct zbus_channel **chan, void *msg,
int32_t timeout_ms);
#endif
/* Enable/disable an observer */
int zbus_obs_set_enable(const struct zbus_observer *obs, bool enabled);
/* Mask/unmask the notifications from one channel to one observer */
int zbus_obs_set_chan_notification_mask(const struct zbus_observer *obs,
const struct zbus_channel *chan,
bool masked);
int zbus_obs_is_chan_notification_masked(const struct zbus_observer *obs,
const struct zbus_channel *chan,
bool *masked);
#ifdef CONFIG_ZBUS_RUNTIME_OBSERVERS
/* Add/remove observers at runtime */
int zbus_chan_add_obs(const struct zbus_channel *chan,
const struct zbus_observer *obs, int32_t timeout_ms);
int zbus_chan_rm_obs(const struct zbus_channel *chan,
const struct zbus_observer *obs, int32_t timeout_ms);
#endif
#ifdef CONFIG_ZBUS_CHANNEL_ID
const struct zbus_channel *zbus_chan_from_id(uint32_t channel_id);
#endif
#ifdef CONFIG_ZBUS_CHANNEL_NAME
const struct zbus_channel *zbus_chan_from_name(const char *name);
#endif
/* Iteration over all channels/observers. The iterator function returns
* false to stop the iteration.
*/
bool zbus_iterate_over_channels(
bool (*iterator_func)(const struct zbus_channel *chan));
bool zbus_iterate_over_channels_with_user_data(
bool (*iterator_func)(const struct zbus_channel *chan, void *user_data),
void *user_data);
bool zbus_iterate_over_observers(
bool (*iterator_func)(const struct zbus_observer *obs));
bool zbus_iterate_over_observers_with_user_data(
bool (*iterator_func)(const struct zbus_observer *obs, void *user_data),
void *user_data);
/****************************************************************************
* Inline Functions
****************************************************************************/
#ifdef CONFIG_ZBUS_CHANNEL_NAME
static inline const char *zbus_chan_name(const struct zbus_channel *chan)
{
DEBUGASSERT(chan != NULL);
return chan->name;
}
#endif
/* Direct access to the channel message. Only valid while the channel is
* locked (inside a listener callback or between claim/finish).
*/
static inline void *zbus_chan_msg(const struct zbus_channel *chan)
{
DEBUGASSERT(chan != NULL);
return chan->message;
}
static inline const void *zbus_chan_const_msg(
const struct zbus_channel *chan)
{
DEBUGASSERT(chan != NULL);
return chan->message;
}
static inline size_t zbus_chan_msg_size(const struct zbus_channel *chan)
{
DEBUGASSERT(chan != NULL);
return chan->message_size;
}
static inline void *zbus_chan_user_data(const struct zbus_channel *chan)
{
DEBUGASSERT(chan != NULL);
return chan->user_data;
}
static inline int zbus_obs_is_enabled(const struct zbus_observer *obs,
bool *enable)
{
_ZBUS_ASSERT(obs != NULL, "obs is required");
_ZBUS_ASSERT(enable != NULL, "enable is required");
*enable = obs->data->enabled;
return 0;
}
#ifdef CONFIG_ZBUS_OBSERVER_NAME
static inline const char *zbus_obs_name(const struct zbus_observer *obs)
{
DEBUGASSERT(obs != NULL);
return obs->name;
}
#endif
#ifdef CONFIG_ZBUS_CHANNEL_PUBLISH_STATS
/* Update the publish statistics (claim/finish workflow only; the channel
* must be locked).
*/
static inline void zbus_chan_pub_stats_update(
const struct zbus_channel *chan)
{
DEBUGASSERT(chan != NULL);
clock_gettime(CLOCK_MONOTONIC, &chan->data->publish_timestamp);
chan->data->publish_count += 1;
}
static inline struct timespec zbus_chan_pub_stats_last_time(
const struct zbus_channel *chan)
{
DEBUGASSERT(chan != NULL);
return chan->data->publish_timestamp;
}
static inline uint32_t zbus_chan_pub_stats_count(
const struct zbus_channel *chan)
{
DEBUGASSERT(chan != NULL);
return chan->data->publish_count;
}
#else
static inline void zbus_chan_pub_stats_update(
const struct zbus_channel *chan)
{
(void)chan;
}
#endif /* CONFIG_ZBUS_CHANNEL_PUBLISH_STATS */
#ifdef __cplusplus
}
#endif
#endif /* __APPS_INCLUDE_SYSTEM_ZBUS_H */
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