zbus: Add Zephyr message bus

doc/services/index.rst

@@ -29,4 +29,5 @@ OS Services
    usb/index.rst
    virtualization/index.rst
    rtio/index.rst
+   zbus/index.rst
    misc.rst

samples/subsys/zbus/benchmark/CMakeLists.txt

@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: Apache-2.0
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(benchmark)
+
+FILE(GLOB app_sources src/*.c)
+target_sources(app PRIVATE ${app_sources})

samples/subsys/zbus/benchmark/Kconfig

@@ -0,0 +1,16 @@
+# Copyright (c) 2022 Rodrigo Peixoto <[email protected]>
+# SPDX-License-Identifier: Apache-2.0
+
+config BM_MESSAGE_SIZE
+	int "Message size"
+	default 256
+
+config BM_ONE_TO
+	int "Number of consumers"
+	default 8
+
+config BM_ASYNC
+	bool "Consuming in asynchronous mode"
+	default false
+
+source "Kconfig.zephyr"

samples/subsys/zbus/benchmark/README.rst

@@ -0,0 +1,132 @@
+.. _zbus-benchmark-sample:
+
+Benchmark sample
+################
+
+This sample implements an application to measure the time for sending 256KB from the producer to the consumers.
+
+Building and Running
+********************
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/subsys/zbus/dyn_channel
+   :host-os: unix
+   :board: qemu_cortex_m3
+   :gen-args: -DCONFIG_BM_MESSAGE_SIZE=1 -DCONFIG_BM_ONE_TO=1 -DCONFIG_BM_ASYNC=0
+   :goals: build run
+
+Notice we have the following parameters:
+
+* **CONFIG_BM_MESSAGE_SIZE** the size of the message to be transferred;
+* **CONFIG_BM_ONE_TO** number of consumers to send;
+* **CONFIG_BM_ASYNC** if the execution must be asynchronous or synchronous. Use y to async and n to sync;
+
+Sample Output
+=============
+The result would be something like:
+
+.. code-block:: console
+
+    *** Booting Zephyr OS build zephyr-v3.2.0  ***
+    I: Benchmark 1 to 8: Dynamic memory, ASYNC transmission and message size 256
+    I: Bytes sent = 262144, received = 262144
+    I: Average data rate: 1872457.14B/s
+    I: Duration: 140ms
+
+    @140
+
+
+Running the benchmark automatically
+===================================
+
+There is a Robot script called ``benchmark_256KB.robot`` which runs all the input combinations as the complete benchmark.
+The resulting file, ''zbus_dyn_benchmark_256KB.csv`` is generated in the project root folder. It takes a long time to execute. In the CSV file, we have the following columns:
+
++------------+---------------------+--------------------------+---------------+-------------+-------------+
+| Style      | Number of consumers | Message size (bytes)     | Duration (ms) | RAM (bytes) | ROM (bytes) |
++============+=====================+==========================+===============+=============+=============+
+| SYNC/ASYNC | 1,2,4,8             | 1,2,4,8,16,32,64,128,256 | float         | int         | int         |
++------------+---------------------+--------------------------+---------------+-------------+-------------+
+
+The complete benchmark command using Robot framework is:
+
+.. code-block:: console
+
+    robot --variable serial_port:/dev/ttyACM0 -d /tmp/benchmark_out   benchmark_256KB.robot
+
+An example of execution using the ``hifive1_revb`` board would generate a file like this:
+
+.. code-block::
+
+    SYNC,1,1,8534.0,6856,17434
+    SYNC,1,2,4469.0,6856,17440
+    SYNC,1,4,2362.3333333333335,6856,17438
+    SYNC,1,8,1307.6666666666667,6864,17448
+    SYNC,1,16,768.6666666666666,6872,17478
+    SYNC,1,32,492.0,6888,17506
+    SYNC,1,64,391.0,6920,17540
+    SYNC,1,128,321.0,6984,17600
+    SYNC,1,256,258.0,7112,17758
+    SYNC,2,1,4856.666666666667,6880,17490
+    SYNC,2,2,2464.0,6880,17494
+    SYNC,2,4,1367.0,6880,17494
+    SYNC,2,8,778.6666666666666,6888,17504
+    SYNC,2,16,477.0,6896,17534
+    SYNC,2,32,321.0,6912,17562
+    SYNC,2,64,266.0,6944,17592
+    SYNC,2,128,203.0,7008,17662
+    SYNC,2,256,188.0,7136,17814
+    SYNC,4,1,3021.3333333333335,6920,17536
+    SYNC,4,2,1505.3333333333333,6920,17542
+    SYNC,4,4,860.0,6920,17542
+    SYNC,4,8,521.3333333333334,6928,17552
+    SYNC,4,16,328.0,6936,17582
+    SYNC,4,32,227.0,6952,17606
+    SYNC,4,64,180.0,6984,17646
+    SYNC,4,128,164.0,7048,17710
+    SYNC,4,256,149.0,7176,17854
+    SYNC,8,1,2044.3333333333333,7000,17632
+    SYNC,8,2,1002.6666666666666,7000,17638
+    SYNC,8,4,586.0,7000,17638
+    SYNC,8,8,383.0,7008,17648
+    SYNC,8,16,250.0,7016,17674
+    SYNC,8,32,203.0,7032,17708
+    SYNC,8,64,156.0,7064,17742
+    SYNC,8,128,141.0,7128,17806
+    SYNC,8,256,133.0,7256,17958
+    ASYNC,1,1,22187.666666666668,7312,17776
+    ASYNC,1,2,11424.666666666666,7312,17782
+    ASYNC,1,4,5823.0,7312,17778
+    ASYNC,1,8,3071.0,7312,17790
+    ASYNC,1,16,1625.0,7328,17832
+    ASYNC,1,32,966.3333333333334,7344,17862
+    ASYNC,1,64,578.0,7376,17896
+    ASYNC,1,128,403.6666666666667,7440,17956
+    ASYNC,1,256,352.0,7568,18126
+    ASYNC,2,1,18547.333333333332,7792,18030
+    ASYNC,2,2,9563.0,7792,18034
+    ASYNC,2,4,4831.0,7792,18030
+    ASYNC,2,8,2497.3333333333335,7792,18044
+    ASYNC,2,16,1377.6666666666667,7824,18098
+    ASYNC,2,32,747.3333333333334,7856,18132
+    ASYNC,2,64,492.0,7920,18162
+    ASYNC,2,128,321.0,8048,18232
+    ASYNC,2,256,239.33333333333334,8304,18408
+    ASYNC,4,1,16823.0,8744,18474
+    ASYNC,4,2,8604.333333333334,8744,18480
+    ASYNC,4,4,4325.666666666667,8744,18472
+    ASYNC,4,8,2258.0,8744,18490
+    ASYNC,4,16,1198.3333333333333,8808,18572
+    ASYNC,4,32,696.0,8872,18610
+    ASYNC,4,64,430.0,9000,18650
+    ASYNC,4,128,289.0,9256,18714
+    ASYNC,4,256,227.0,9768,18906
+    ASYNC,8,1,15976.666666666666,10648,19366
+    ASYNC,8,2,7929.666666666667,10648,19372
+    ASYNC,8,4,4070.6666666666665,10648,19356
+    ASYNC,8,8,2158.6666666666665,10648,19382
+    ASYNC,8,16,1119.6666666666667,10776,19506
+    ASYNC,8,32,619.6666666666666,10904,19566
+    ASYNC,8,64,391.0,11160,19600
+    ASYNC,8,128,273.0,11672,19686
+    ASYNC,8,256,211.0,12696,19934

samples/subsys/zbus/benchmark/benchmark_256KB.robot

@@ -0,0 +1,83 @@
+*** Settings ***
+Library             Process
+Library             String
+Library             SerialLibrary
+Library             CSVLibrary
+
+Suite Teardown      Terminate All Processes    kill=True
+
+
+*** Variables ***
+${csv_file}     zbus_dyn_benchmark_256kb.csv
+${board}        hifive1_revb
+${serial_port}     /dev/ttyACM0
+
+*** Tasks ***
+Clear Old CSV File
+    Empty Csv File    ${csv_file}
+
+Zbus Benchmark
+    FOR    ${async}    IN    "n"    "y"
+        FOR    ${consumers}    IN    1    2    4    8
+            FOR    ${msg_size}    IN    1    2    4    8    16    32    64    128    256
+                Benchmark Report For    message_size=${msg_size}    one_to=${consumers}    asynchronous=${async}
+            END
+        END
+    END
+
+
+*** Keywords ***
+Run Memory Report
+    [Arguments]    ${type}
+    ${result}    Run Process    west build -t ${type}_report    shell=True
+    Should Be Equal As Integers    ${result.rc}    0
+    ${mem}    Get Substring    ${result.stdout}    -20
+    ${mem}    Strip String    ${mem}
+    ${mem}    Convert To Integer    ${mem}
+    RETURN    ${mem}
+
+Measure Results
+    ${total}    Set Variable    0
+    Add Port    ${serial_port}    timeout=120    baudrate=115200
+    Set Encoding    ascii
+    FOR    ${count}    IN RANGE    3
+        ${result}    Run Process    west flash    shell=True
+        Should Be Equal As Integers    ${result.rc}    0
+        ${val}    Read Until    expected=@    encoding=ascii
+        ${val}    Read Until    encoding=ascii
+        ${val}    Strip String    ${val}
+        ${val}    Convert To Integer    ${val}
+        ${total}    Evaluate    ${total}+${val}
+    END
+    ${duration}    Evaluate    ${total}/3.0
+    RETURN    ${duration}
+    [Teardown]    Delete All Ports
+
+Benchmark
+    [Arguments]    ${message_size}=256    ${one_to}=1    ${asynchronous}=n
+    ${result}    Run Process
+    ...    west build -b ${board} -p always -- -DCONFIG_BM_MESSAGE_SIZE\=${message_size} -DCONFIG_BM_ONE_TO\=${one_to} -DCONFIG_BM_ASYNC\=${asynchronous}
+    ...    shell=True
+    Should Be Equal As Integers    ${result.rc}    0
+    ${duration}    Measure Results
+    RETURN    ${duration}
+
+Benchmark Report For
+    [Arguments]    ${message_size}=256    ${one_to}=1    ${asynchronous}=n
+    ${duration}    Benchmark    message_size=${message_size}    one_to=${one_to}    asynchronous=${asynchronous}
+    ${ram_amount}    Run Memory Report    ram
+    ${rom_amount}    Run Memory Report    rom
+    IF    ${asynchronous} == "y"
+        ${async_str}    Set Variable    ASYNC
+    ELSE
+        ${async_str}    Set Variable    SYNC
+    END
+    @{results}    Create List
+    ...    ${async_str}
+    ...    ${one_to}
+    ...    ${message_size}
+    ...    ${duration}
+    ...    ${ram_amount}
+    ...    ${rom_amount}
+    Log To Console    \n${results}
+    Append To Csv File    ${csv_file}    ${results}

samples/subsys/zbus/benchmark/prj.conf

@@ -0,0 +1,6 @@
+CONFIG_LOG=y
+CONFIG_LOG_MODE_MINIMAL=y
+CONFIG_HEAP_MEM_POOL_SIZE=1024
+CONFIG_ASSERT=n
+CONFIG_ZBUS=y
+CONFIG_ZBUS_LOG_LEVEL_INF=y

samples/subsys/zbus/benchmark/sample.yaml

@@ -0,0 +1,41 @@
+sample:
+  name: Benchmark
+tests:
+  sample.zbus.benchmark_async:
+    tags: zbus
+    min_ram: 16
+    filter: CONFIG_SYS_CLOCK_EXISTS
+    harness: console
+    harness_config:
+      type: multi_line
+      ordered: true
+      regex:
+        - "I: Benchmark 1 to 8: Dynamic memory, ASYNC transmission and message size 256"
+        - "I: Bytes sent = 262144, received = 262144"
+        - "I: Average data rate: (.*)B/s"
+        - "I: Duration: (.*)ms"
+        - "@(.*)"
+    extra_configs:
+      - CONFIG_BM_ONE_TO=8
+      - CONFIG_BM_MESSAGE_SIZE=256
+      - CONFIG_BM_ASYNC=y
+    platform_exclude: qemu_x86 qemu_x86_64 qemu_riscv32_smp native_posix native_posix_64 qemu_riscv32_smp qemu_cortex_a53_smp qemu_riscv64_smp qemu_leon3 qemu_xtensa qemu_cortex_a53 qemu_riscv32 qemu_malta qemu_malta_be qemu_arc_hs6x qemu_riscv64 m2gl025_miv hifive_unleashed
+  sample.zbus.benchmark_sync:
+    tags: zbus
+    min_ram: 16
+    filter: CONFIG_SYS_CLOCK_EXISTS
+    harness: console
+    harness_config:
+      type: multi_line
+      ordered: true
+      regex:
+        - "I: Benchmark 1 to 8: Dynamic memory, SYNC transmission and message size 256"
+        - "I: Bytes sent = 262144, received = 262144"
+        - "I: Average data rate: (.*)B/s"
+        - "I: Duration: (.*)ms"
+        - "@(.*)"
+    extra_configs:
+      - CONFIG_BM_ONE_TO=8
+      - CONFIG_BM_MESSAGE_SIZE=256
+      - CONFIG_BM_ASYNC=n
+    platform_exclude: qemu_x86 qemu_x86_64 qemu_riscv32_smp native_posix native_posix_64 qemu_riscv32_smp qemu_cortex_a53_smp qemu_riscv64_smp qemu_leon3 qemu_xtensa qemu_cortex_a53 qemu_riscv32 m2gl025_miv m2gl025_miv