Browse Source
This sample illustrates how to properly use zbus priority boost feature. Signed-off-by: Rodrigo Peixoto <rodrigopex@gmail.com>pull/67192/head
Rodrigo Peixoto
2 years ago
committed by
Carles Cufí
8 changed files with 617 additions and 0 deletions
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# SPDX-License-Identifier: Apache-2.0 |
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cmake_minimum_required(VERSION 3.20.0) |
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE}) |
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project(priority_boost) |
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file(GLOB app_sources src/*.c) |
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target_sources(app PRIVATE ${app_sources}) |
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.. zephyr:code-sample:: zbus-priority-boost |
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:name: zbus Priority Boost |
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:relevant-api: zbus_apis |
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Illustrates zbus priority boost feature with a priority inversion scenario. |
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Overview |
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******** |
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This sample implements a simple application that illustrates the priority boost feature. The |
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application implements the below figure scenario. When the priority boost feature is disabled, the |
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execution sequence presents a priority inversion problem, which may not affect much of the |
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developer's application. Those who want to avoid priority inversions between message subscribers and |
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plain subscribers should use the priority boost strategy. |
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.. code-block:: c |
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ZBUS_CHAN_DEFINE(chan_a, |
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int, |
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NULL, |
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NULL, |
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ZBUS_OBSERVERS(l1, ms1, ms2, s1, l2), |
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0 |
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); |
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.. figure:: zbus_publishing_process_example_scenario.svg |
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:alt: ZBus priority boost scenario example. |
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:width: 45% |
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.. note:: |
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The developer must use the :c:func:`zbus_obs_attach_to_thread` function to ensure a proper |
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priority boost execution. |
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Building and Running |
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******************** |
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The figure below illustrates the execution of the cited scenario but with the priority boost |
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disabled. |
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.. figure:: without_hlp_priority_boost_feature.svg |
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:alt: ZBus example scenario for priority boost disabled. |
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:width: 70% |
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It can be built and executed on QEMU as follows: |
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.. zephyr-app-commands:: |
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:zephyr-app: samples/subsys/zbus/priority_boost -- -DCONFIG_ZBUS_PRIORITY_BOOST=n |
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:host-os: unix |
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:board: qemu_x86 |
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:goals: run |
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Sample Output |
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============= |
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.. code-block:: console |
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I: -------------- |
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I: 0 -> T1: prio before 5 |
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I: 0 ---> L1: T1 prio 5 |
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I: 0 -> MS1: T1 prio 5 |
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I: 0 -> MS2: T1 prio 5 |
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I: 0 ---> L2: T1 prio 5 |
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I: 0 -> T1: prio after 5 |
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I: N -> S1: T1 prio 5 |
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I: 0 -> S1: T1 prio 5 |
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I: -------------- |
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I: 1 -> T1: prio before 5 |
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I: 1 ---> L1: T1 prio 5 |
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I: 1 -> MS1: T1 prio 5 |
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I: 1 -> MS2: T1 prio 5 |
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I: 1 ---> L2: T1 prio 5 |
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I: 1 -> T1: prio after 5 |
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I: N -> S1: T1 prio 5 |
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I: 1 -> S1: T1 prio 5 |
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I: -------------- |
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I: 2 -> T1: prio before 5 |
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I: 2 ---> L1: T1 prio 5 |
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I: 2 -> MS1: T1 prio 5 |
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I: 2 ---> L2: T1 prio 5 |
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I: 2 -> T1: prio after 5 |
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I: 2 -> MS2: T1 prio 5 |
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I: -------------- |
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I: 3 -> T1: prio before 5 |
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I: 3 ---> L1: T1 prio 5 |
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I: 3 -> MS1: T1 prio 5 |
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I: 3 ---> L2: T1 prio 5 |
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I: 3 -> T1: prio after 5 |
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I: 3 -> MS2: T1 prio 5 |
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I: -------------- |
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I: 4 -> T1: prio before 5 |
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I: 4 ---> L1: T1 prio 5 |
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I: 4 ---> L2: T1 prio 5 |
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I: 4 -> T1: prio after 5 |
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I: 4 -> MS2: T1 prio 5 |
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I: -------------- |
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I: 5 -> T1: prio before 5 |
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I: 5 ---> L1: T1 prio 5 |
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I: 5 ---> L2: T1 prio 5 |
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I: 5 -> T1: prio after 5 |
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I: 5 -> MS2: T1 prio 5 |
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I: -------------- |
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I: 6 -> T1: prio before 5 |
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I: 6 ---> L1: T1 prio 5 |
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I: 6 -> MS1: T1 prio 5 |
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I: 6 -> MS2: T1 prio 5 |
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I: 6 ---> L2: T1 prio 5 |
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I: 6 -> T1: prio after 5 |
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I: N -> S1: T1 prio 5 |
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I: 6 -> S1: T1 prio 5 |
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I: -------------- |
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<continues> |
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Exit QEMU by pressing :kbd:`CTRL+A` :kbd:`x`. |
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The figure below illustrates the execution of the same scenario but with the priority boost enabled. |
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The developer must enable the priority boost and properly attach all the observers to their threads. |
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.. figure:: with_hlp_priority_boost_feature.svg |
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:alt: ZBus example scenario for priority boost enabled. |
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:width: 75% |
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To execute the sample with priority boost feature enabled, run the following command: |
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.. zephyr-app-commands:: |
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:zephyr-app: samples/subsys/zbus/priority_boost -- -DCONFIG_ZBUS_PRIORITY_BOOST=y |
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:host-os: unix |
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:board: qemu_x86 |
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:goals: run |
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Sample Output |
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============= |
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.. code-block:: console |
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I: -------------- |
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I: 0 -> T1: prio before 5 |
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I: 0 ---> L1: T1 prio 1 |
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I: 0 ---> L2: T1 prio 1 |
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I: N -> S1: T1 prio 5 |
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I: 0 -> S1: T1 prio 5 |
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I: 0 -> MS1: T1 prio 5 |
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I: 0 -> MS2: T1 prio 5 |
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I: 0 -> T1: prio after 5 |
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I: -------------- |
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I: 1 -> T1: prio before 5 |
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I: 1 ---> L1: T1 prio 1 |
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I: 1 ---> L2: T1 prio 1 |
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I: N -> S1: T1 prio 5 |
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I: 1 -> S1: T1 prio 5 |
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I: 1 -> MS1: T1 prio 5 |
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I: 1 -> MS2: T1 prio 5 |
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I: 1 -> T1: prio after 5 |
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I: -------------- |
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I: 2 -> T1: prio before 5 |
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I: 2 ---> L1: T1 prio 2 |
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I: 2 ---> L2: T1 prio 2 |
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I: 2 -> MS1: T1 prio 5 |
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I: 2 -> MS2: T1 prio 5 |
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I: 2 -> T1: prio after 5 |
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I: -------------- |
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I: 3 -> T1: prio before 5 |
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I: 3 ---> L1: T1 prio 2 |
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I: 3 ---> L2: T1 prio 2 |
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I: 3 -> MS1: T1 prio 5 |
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I: 3 -> MS2: T1 prio 5 |
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I: 3 -> T1: prio after 5 |
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I: -------------- |
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I: 4 -> T1: prio before 5 |
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I: 4 ---> L1: T1 prio 3 |
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I: 4 ---> L2: T1 prio 3 |
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I: 4 -> MS2: T1 prio 5 |
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I: 4 -> T1: prio after 5 |
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I: -------------- |
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I: 5 -> T1: prio before 5 |
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I: 5 ---> L1: T1 prio 3 |
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I: 5 ---> L2: T1 prio 3 |
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I: 5 -> MS2: T1 prio 5 |
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I: 5 -> T1: prio after 5 |
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I: -------------- |
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I: 6 -> T1: prio before 5 |
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I: 6 ---> L1: T1 prio 1 |
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I: 6 ---> L2: T1 prio 1 |
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I: N -> S1: T1 prio 5 |
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I: 6 -> S1: T1 prio 5 |
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I: 6 -> MS1: T1 prio 5 |
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I: 6 -> MS2: T1 prio 5 |
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I: 6 -> T1: prio after 5 |
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I: -------------- |
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<continues> |
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Exit QEMU by pressing :kbd:`CTRL+A` :kbd:`x`. |
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CONFIG_LOG=y |
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CONFIG_LOG_MODE_MINIMAL=y |
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CONFIG_ZBUS_LOG_LEVEL_INF=y |
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CONFIG_ZBUS=y |
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CONFIG_ZBUS_MSG_SUBSCRIBER=y |
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CONFIG_HEAP_MEM_POOL_SIZE=1024 |
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sample: |
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name: Priority boost |
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tests: |
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sample.zbus.non_priority_boost: |
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harness: console |
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harness_config: |
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type: multi_line |
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ordered: false |
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regex: |
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- "I: 0 -> T1: prio before 5" |
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- "I: 0 ---> L1: T1 prio 5" |
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- "I: 0 ---> L2: T1 prio 5" |
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- "I: 0 -> T1: prio after 5" |
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- "I: 1 -> T1: prio before 5" |
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- "I: 1 ---> L1: T1 prio 5" |
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- "I: 1 ---> L2: T1 prio 5" |
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- "I: 1 -> T1: prio after 5" |
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- "I: 2 -> T1: prio before 5" |
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- "I: 2 ---> L1: T1 prio 5" |
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- "I: 2 ---> L2: T1 prio 5" |
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- "I: 2 -> T1: prio after 5" |
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- "I: 3 -> T1: prio before 5" |
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- "I: 3 ---> L1: T1 prio 5" |
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- "I: 3 ---> L2: T1 prio 5" |
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- "I: 3 -> T1: prio after 5" |
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- "I: 4 -> T1: prio before 5" |
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- "I: 4 ---> L1: T1 prio 5" |
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- "I: 4 ---> L2: T1 prio 5" |
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- "I: 4 -> T1: prio after 5" |
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- "I: 5 -> T1: prio before 5" |
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- "I: 5 ---> L1: T1 prio 5" |
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- "I: 5 ---> L2: T1 prio 5" |
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- "I: 5 -> T1: prio after 5" |
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- "I: 6 -> T1: prio before 5" |
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- "I: 6 ---> L1: T1 prio 5" |
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- "I: 6 ---> L2: T1 prio 5" |
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- "I: 6 -> T1: prio after 5" |
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extra_configs: |
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- CONFIG_ZBUS_PRIORITY_BOOST=n |
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tags: zbus |
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integration_platforms: |
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- qemu_x86 |
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sample.zbus.priority_boost: |
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harness: console |
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harness_config: |
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type: multi_line |
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ordered: false |
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regex: |
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- "I: 0 -> T1: prio before 5" |
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- "I: 0 ---> L1: T1 prio 1" |
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- "I: 0 ---> L2: T1 prio 1" |
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- "I: 0 -> T1: prio after 5" |
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- "I: 1 -> T1: prio before 5" |
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- "I: 1 ---> L1: T1 prio 1" |
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- "I: 1 ---> L2: T1 prio 1" |
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- "I: 1 -> T1: prio after 5" |
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- "I: 2 -> T1: prio before 5" |
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- "I: 2 ---> L1: T1 prio 2" |
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- "I: 2 ---> L2: T1 prio 2" |
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- "I: 2 -> T1: prio after 5" |
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- "I: 3 -> T1: prio before 5" |
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- "I: 3 ---> L1: T1 prio 2" |
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- "I: 3 ---> L2: T1 prio 2" |
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- "I: 3 -> T1: prio after 5" |
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- "I: 4 -> T1: prio before 5" |
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- "I: 4 ---> L1: T1 prio 3" |
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- "I: 4 ---> L2: T1 prio 3" |
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- "I: 4 -> T1: prio after 5" |
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- "I: 5 -> T1: prio before 5" |
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- "I: 5 ---> L1: T1 prio 3" |
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- "I: 5 ---> L2: T1 prio 3" |
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- "I: 5 -> T1: prio after 5" |
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- "I: 6 -> T1: prio before 5" |
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- "I: 6 ---> L1: T1 prio 1" |
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- "I: 6 ---> L2: T1 prio 1" |
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- "I: 6 -> T1: prio after 5" |
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extra_configs: |
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- CONFIG_ZBUS_PRIORITY_BOOST=y |
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tags: zbus |
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integration_platforms: |
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- qemu_x86 |
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/*
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* Copyright (c) 2023 Rodrigo Peixoto <rodrigopex@gmail.com> |
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* SPDX-License-Identifier: Apache-2.0 |
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*/ |
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#include <zephyr/kernel.h> |
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#include <zephyr/logging/log.h> |
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#include <zephyr/zbus/zbus.h> |
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LOG_MODULE_DECLARE(zbus, CONFIG_ZBUS_LOG_LEVEL); |
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ZBUS_CHAN_DEFINE(chan_a, int, NULL, NULL, ZBUS_OBSERVERS(l1, ms1, ms2, s1, l2), 0); |
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static void t1_thread(void *ptr1, void *ptr2, void *ptr3); |
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K_THREAD_DEFINE(t1_id, CONFIG_MAIN_STACK_SIZE, t1_thread, NULL, NULL, NULL, 5, 0, 0); |
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ZBUS_SUBSCRIBER_DEFINE(s1, 4); |
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static void s1_thread(void *ptr1, void *ptr2, void *ptr3) |
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{ |
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ARG_UNUSED(ptr1); |
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ARG_UNUSED(ptr2); |
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ARG_UNUSED(ptr3); |
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int err; |
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int a = 0; |
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const struct zbus_channel *chan; |
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IF_ENABLED(CONFIG_ZBUS_PRIORITY_BOOST, (zbus_obs_attach_to_thread(&s1);)); |
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while (1) { |
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err = zbus_sub_wait(&s1, &chan, K_FOREVER); |
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if (err) { |
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return; |
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} |
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/* Faking some workload */ |
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k_busy_wait(200000); |
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LOG_INF("N -> S1: T1 prio %d", k_thread_priority_get(t1_id)); |
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err = zbus_chan_read(chan, &a, K_FOREVER); |
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if (err) { |
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return; |
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} |
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LOG_INF("%d -> S1: T1 prio %d", a, k_thread_priority_get(t1_id)); |
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} |
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} |
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K_THREAD_DEFINE(s1_id, CONFIG_MAIN_STACK_SIZE, s1_thread, NULL, NULL, NULL, 2, 0, 0); |
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ZBUS_MSG_SUBSCRIBER_DEFINE(ms1); |
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static void ms1_thread(void *ptr1, void *ptr2, void *ptr3) |
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{ |
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ARG_UNUSED(ptr1); |
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ARG_UNUSED(ptr2); |
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ARG_UNUSED(ptr3); |
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int err; |
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const struct zbus_channel *chan; |
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int a = 0; |
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IF_ENABLED(CONFIG_ZBUS_PRIORITY_BOOST, (zbus_obs_attach_to_thread(&ms1);)); |
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while (1) { |
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err = zbus_sub_wait_msg(&ms1, &chan, &a, K_FOREVER); |
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if (err) { |
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return; |
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} |
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/* Faking some workload */ |
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k_busy_wait(200000); |
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LOG_INF("%d -> MS1: T1 prio %d", a, k_thread_priority_get(t1_id)); |
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} |
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} |
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K_THREAD_DEFINE(ms1_id, CONFIG_MAIN_STACK_SIZE, ms1_thread, NULL, NULL, NULL, 3, 0, 0); |
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ZBUS_MSG_SUBSCRIBER_DEFINE(ms2); |
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static void ms2_thread(void *ptr1, void *ptr2, void *ptr3) |
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{ |
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ARG_UNUSED(ptr1); |
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ARG_UNUSED(ptr2); |
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ARG_UNUSED(ptr3); |
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int err; |
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const struct zbus_channel *chan; |
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int a = 0; |
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IF_ENABLED(CONFIG_ZBUS_PRIORITY_BOOST, (zbus_obs_attach_to_thread(&ms2);)); |
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while (1) { |
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err = zbus_sub_wait_msg(&ms2, &chan, &a, K_FOREVER); |
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if (err) { |
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return; |
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} |
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/* Faking some workload */ |
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k_busy_wait(200 * USEC_PER_MSEC); |
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LOG_INF("%d -> MS2: T1 prio %d", a, k_thread_priority_get(t1_id)); |
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} |
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} |
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K_THREAD_DEFINE(ms2_id, CONFIG_MAIN_STACK_SIZE, ms2_thread, NULL, NULL, NULL, 4, 0, 0); |
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static void l1_callback(const struct zbus_channel *chan) |
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{ |
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LOG_INF("%d ---> L1: T1 prio %d", *((int *)zbus_chan_const_msg(chan)), |
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k_thread_priority_get(t1_id)); |
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} |
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ZBUS_LISTENER_DEFINE(l1, l1_callback); |
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static void l2_callback(const struct zbus_channel *chan) |
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{ |
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LOG_INF("%d ---> L2: T1 prio %d", *((int *)zbus_chan_const_msg(chan)), |
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k_thread_priority_get(t1_id)); |
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} |
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ZBUS_LISTENER_DEFINE(l2, l2_callback); |
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static void t1_thread(void *ptr1, void *ptr2, void *ptr3) |
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{ |
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ARG_UNUSED(ptr1); |
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ARG_UNUSED(ptr2); |
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ARG_UNUSED(ptr3); |
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int err; |
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int a = 0; |
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while (1) { |
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LOG_INF("--------------"); |
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if (a == 2) { |
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zbus_obs_set_enable(&s1, false); |
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} else if (a == 4) { |
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zbus_obs_set_enable(&ms1, false); |
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} else if (a == 6) { |
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zbus_obs_set_enable(&s1, true); |
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zbus_obs_set_enable(&ms1, true); |
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} |
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LOG_INF("%d -> T1: prio before %d", a, k_thread_priority_get(k_current_get())); |
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err = zbus_chan_pub(&chan_a, &a, K_FOREVER); |
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if (err) { |
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return; |
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} |
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LOG_INF("%d -> T1: prio after %d", a, k_thread_priority_get(k_current_get())); |
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++a; |
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k_msleep(2000); |
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} |
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} |
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After Width: | Height: | Size: 33 KiB |
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After Width: | Height: | Size: 30 KiB |
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