samples/subsys/zbus/hello_world/src/main.c

/*
 * Copyright (c) 2022 Rodrigo Peixoto <rodrigopex@gmail.com>
 * SPDX-License-Identifier: Apache-2.0
 */

#include <stdint.h>

#include <zephyr/kernel.h>
#include <zephyr/logging/log.h>
#include <zephyr/zbus/zbus.h>
LOG_MODULE_DECLARE(zbus, CONFIG_ZBUS_LOG_LEVEL);

struct version_msg {
	uint8_t major;
	uint8_t minor;
	uint16_t build;
};

struct acc_msg {
	int x;
	int y;
	int z;
};

ZBUS_CHAN_DEFINE(version_chan,	     /* Name */
		 struct version_msg, /* Message type */

		 NULL,		       /* Validator */
		 NULL,		       /* User data */
		 ZBUS_OBSERVERS_EMPTY, /* observers */
		 ZBUS_MSG_INIT(.major = 0, .minor = 1,
			       .build = 2) /* Initial value major 0, minor 1, build 2 */
);

ZBUS_CHAN_DEFINE(acc_data_chan,	 /* Name */
		 struct acc_msg, /* Message type */

		 NULL,				       /* Validator */
		 NULL,		       /* User data */
		 ZBUS_OBSERVERS(foo_lis, bar_sub),     /* observers */
		 ZBUS_MSG_INIT(.x = 0, .y = 0, .z = 0) /* Initial value */
);

static bool simple_chan_validator(const void *msg, size_t msg_size)
{
	ARG_UNUSED(msg_size);

	const int *simple = msg;

	if ((*simple >= 0) && (*simple < 10)) {
		return true;
	}

	return false;
}

ZBUS_CHAN_DEFINE(simple_chan, /* Name */
		 int,	      /* Message type */

		 simple_chan_validator, /* Validator */
		 NULL,		       /* User data */
		 ZBUS_OBSERVERS_EMPTY,	/* observers */
		 0			/* Initial value is 0 */
);

static void listener_callback_example(const struct zbus_channel *chan)
{
	const struct acc_msg *acc = zbus_chan_const_msg(chan);

	LOG_INF("From listener -> Acc x=%d, y=%d, z=%d", acc->x, acc->y, acc->z);
}

ZBUS_LISTENER_DEFINE(foo_lis, listener_callback_example);

ZBUS_SUBSCRIBER_DEFINE(bar_sub, 4);

static void subscriber_task(void)
{
	const struct zbus_channel *chan;

	while (!zbus_sub_wait(&bar_sub, &chan, K_FOREVER)) {
		struct acc_msg acc;

		if (&acc_data_chan == chan) {
			zbus_chan_read(&acc_data_chan, &acc, K_MSEC(500));

			LOG_INF("From subscriber -> Acc x=%d, y=%d, z=%d", acc.x, acc.y, acc.z);
		}
	}
}

K_THREAD_DEFINE(subscriber_task_id, 512, subscriber_task, NULL, NULL, NULL, 3, 0, 0);

#if defined(CONFIG_ZBUS_STRUCTS_ITERABLE_ACCESS)
static int count;

static bool print_channel_data_iterator(const struct zbus_channel *chan)
{
	LOG_INF("%d - Channel %s:", count, zbus_chan_name(chan));
	LOG_INF("      Message size: %d", zbus_chan_msg_size(chan));
	++count;
	LOG_INF("      Observers:");
	for (const struct zbus_observer *const *obs = chan->observers; *obs != NULL; ++obs) {
		LOG_INF("      - %s", (*obs)->name);
	}

	return true;
}

static bool print_observer_data_iterator(const struct zbus_observer *obs)
{
	LOG_INF("%d - %s %s", count, obs->queue ? "Subscriber" : "Listener", zbus_obs_name(obs));

	++count;

	return true;
}
#endif /* CONFIG_ZBUS_STRUCTS_ITERABLE_ACCESS */

void main(void)
{
	int err, value;
	struct acc_msg acc1 = {.x = 1, .y = 1, .z = 1};
	const struct version_msg *v = zbus_chan_const_msg(&version_chan);

	LOG_INF("Sensor sample started raw reading, version %u.%u-%u!", v->major, v->minor,
		v->build);

#if defined(CONFIG_ZBUS_STRUCTS_ITERABLE_ACCESS)
	count = 0;

	LOG_INF("Channel list:");
	zbus_iterate_over_channels(print_channel_data_iterator);

	count = 0;

	LOG_INF("Observers list:");
	zbus_iterate_over_observers(print_observer_data_iterator);
#endif
	zbus_chan_pub(&acc_data_chan, &acc1, K_SECONDS(1));

	k_msleep(1000);

	acc1.x = 2;
	acc1.y = 2;
	acc1.z = 2;
	zbus_chan_pub(&acc_data_chan, &(acc1), K_SECONDS(1));

	value = 5;
	err = zbus_chan_pub(&simple_chan, &value, K_MSEC(200));

	if (err == 0) {
		LOG_INF("Pub a valid value to a channel with validator successfully.");
	}

	value = 15;
	err = zbus_chan_pub(&simple_chan, &value, K_MSEC(200));

	if (err == -ENOMSG) {
		LOG_INF("Pub an invalid value to a channel with validator successfully.");
	}
}