lib: Add zephyr queue functionality

CODEOWNERS

@@ -48,6 +48,7 @@
 /lib/boot_banner/                         @nrfconnect/ncs-bm
 /lib/event_scheduler/                     @nrfconnect/ncs-bm
 /lib/sensorsim/                           @nrfconnect/ncs-bm
+/lib/zephyr_queue/                        @nrfconnect/ncs-pluto
 
 # Samples
 /samples/bluetooth/                       @nrfconnect/ncs-bm

lib/CMakeLists.txt

@@ -14,3 +14,4 @@ add_subdirectory_ifdef(CONFIG_BM_TIMER bm_timer)
 add_subdirectory_ifdef(CONFIG_BLE_QWR ble_qwr)
 add_subdirectory_ifdef(CONFIG_SENSORSIM sensorsim)
 add_subdirectory_ifdef(CONFIG_NCS_BARE_METAL_BOOT_BANNER boot_banner)
+add_subdirectory_ifdef(CONFIG_ZEPHYR_QUEUE zephyr_queue)

lib/Kconfig

@@ -15,5 +15,6 @@ rsource "bm_timer/Kconfig"
 rsource "ble_qwr/Kconfig"
 rsource "sensorsim/Kconfig"
 rsource "boot_banner/Kconfig"
+rsource "zephyr_queue/Kconfig"
 
 endmenu

lib/zephyr_queue/CMakeLists.txt

@@ -0,0 +1,7 @@
+#
+# Copyright (c) 2024 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+#
+
+zephyr_sources(src/queue.c)

lib/zephyr_queue/Kconfig

@@ -0,0 +1,10 @@
+#
+# Copyright (c) 2025 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+#
+
+config ZEPHYR_QUEUE
+	bool "Zephyr queue implementation"
+	help
+	  Includes support for the k_queue_* functions from upstream zephyr

lib/zephyr_queue/src/queue.c

@@ -0,0 +1,301 @@
+/*
+ * Copyright (c) 2010-2016 Wind River Systems, Inc.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/**
+ * @file
+ *
+ * @brief dynamic-size QUEUE object.
+ */
+
+
+#include <zephyr/kernel.h>
+#include <zephyr/kernel_structs.h>
+
+#include <zephyr/toolchain.h>
+#include <wait_q.h>
+#include <ksched.h>
+#include <zephyr/init.h>
+#include <zephyr/internal/syscall_handler.h>
+#include <kernel_internal.h>
+#include <zephyr/sys/check.h>
+
+struct alloc_node {
+	sys_sfnode_t node;
+	void *data;
+};
+
+void *z_queue_node_peek(sys_sfnode_t *node, bool needs_free)
+{
+	void *ret;
+
+	if ((node != NULL) && (sys_sfnode_flags_get(node) != (uint8_t)0)) {
+		/* If the flag is set, then the enqueue operation for this item
+		 * did a behind-the scenes memory allocation of an alloc_node
+		 * struct, which is what got put in the queue. Free it and pass
+		 * back the data pointer.
+		 */
+		struct alloc_node *anode;
+
+		anode = CONTAINER_OF(node, struct alloc_node, node);
+		ret = anode->data;
+		if (needs_free) {
+			k_free(anode);
+		}
+	} else {
+		/* Data was directly placed in the queue, the first word
+		 * reserved for the linked list. User mode isn't allowed to
+		 * do this, although it can get data sent this way.
+		 */
+		ret = (void *)node;
+	}
+
+	return ret;
+}
+
+void z_impl_k_queue_init(struct k_queue *queue)
+{
+	sys_sflist_init(&queue->data_q);
+	z_waitq_init(&queue->wait_q);
+#if defined(CONFIG_POLL)
+	sys_dlist_init(&queue->poll_events);
+#endif
+
+	SYS_PORT_TRACING_OBJ_INIT(k_queue, queue);
+
+	k_object_init(queue);
+}
+
+static inline void handle_poll_events(struct k_queue *queue, uint32_t state)
+{
+#ifdef CONFIG_POLL
+	z_handle_obj_poll_events(&queue->poll_events, state);
+#else
+	ARG_UNUSED(queue);
+	ARG_UNUSED(state);
+#endif /* CONFIG_POLL */
+}
+
+static int32_t queue_insert(struct k_queue *queue, void *prev, void *data,
+			    bool alloc, bool is_append)
+{
+	SYS_PORT_TRACING_OBJ_FUNC_ENTER(k_queue, queue_insert, queue, alloc);
+
+	if (is_append) {
+		prev = sys_sflist_peek_tail(&queue->data_q);
+	}
+
+	/* Only need to actually allocate if no threads are pending */
+	if (alloc) {
+		struct alloc_node *anode;
+
+		anode = z_thread_malloc(sizeof(*anode));
+		if (anode == NULL) {
+			SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, queue_insert, queue, alloc,
+				-ENOMEM);
+
+			return -ENOMEM;
+		}
+		anode->data = data;
+		sys_sfnode_init(&anode->node, 0x1);
+		data = anode;
+	} else {
+		sys_sfnode_init(data, 0x0);
+	}
+
+	SYS_PORT_TRACING_OBJ_FUNC_BLOCKING(k_queue, queue_insert, queue, alloc, K_FOREVER);
+
+	sys_sflist_insert(&queue->data_q, prev, data);
+	handle_poll_events(queue, K_POLL_STATE_DATA_AVAILABLE);
+
+	SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, queue_insert, queue, alloc, 0);
+
+	return 0;
+}
+
+void k_queue_insert(struct k_queue *queue, void *prev, void *data)
+{
+	SYS_PORT_TRACING_OBJ_FUNC_ENTER(k_queue, insert, queue);
+
+	(void)queue_insert(queue, prev, data, false, false);
+
+	SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, insert, queue);
+}
+
+void k_queue_append(struct k_queue *queue, void *data)
+{
+	SYS_PORT_TRACING_OBJ_FUNC_ENTER(k_queue, append, queue);
+
+	(void)queue_insert(queue, NULL, data, false, true);
+
+	SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, append, queue);
+}
+
+void k_queue_prepend(struct k_queue *queue, void *data)
+{
+	SYS_PORT_TRACING_OBJ_FUNC_ENTER(k_queue, prepend, queue);
+
+	(void)queue_insert(queue, NULL, data, false, false);
+
+	SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, prepend, queue);
+}
+
+int32_t z_impl_k_queue_alloc_append(struct k_queue *queue, void *data)
+{
+	SYS_PORT_TRACING_OBJ_FUNC_ENTER(k_queue, alloc_append, queue);
+
+	int32_t ret = queue_insert(queue, NULL, data, true, true);
+
+	SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, alloc_append, queue, ret);
+
+	return ret;
+}
+
+int32_t z_impl_k_queue_alloc_prepend(struct k_queue *queue, void *data)
+{
+	SYS_PORT_TRACING_OBJ_FUNC_ENTER(k_queue, alloc_prepend, queue);
+
+	int32_t ret = queue_insert(queue, NULL, data, true, false);
+
+	SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, alloc_prepend, queue, ret);
+
+	return ret;
+}
+
+int k_queue_append_list(struct k_queue *queue, void *head, void *tail)
+{
+	SYS_PORT_TRACING_OBJ_FUNC_ENTER(k_queue, append_list, queue);
+
+	/* invalid head or tail of list */
+	CHECKIF((head == NULL) || (tail == NULL)) {
+		SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, append_list, queue, -EINVAL);
+
+		return -EINVAL;
+	}
+
+	if (head != NULL) {
+		sys_sflist_append_list(&queue->data_q, head, tail);
+	}
+
+	SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, append_list, queue, 0);
+
+	handle_poll_events(queue, K_POLL_STATE_DATA_AVAILABLE);
+	return 0;
+}
+
+int k_queue_merge_slist(struct k_queue *queue, sys_slist_t *list)
+{
+	int ret;
+
+	SYS_PORT_TRACING_OBJ_FUNC_ENTER(k_queue, merge_slist, queue);
+
+	/* list must not be empty */
+	CHECKIF(sys_slist_is_empty(list)) {
+		SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, merge_slist, queue, -EINVAL);
+
+		return -EINVAL;
+	}
+
+	/*
+	 * note: this works as long as:
+	 * - the slist implementation keeps the next pointer as the first
+	 *   field of the node object type
+	 * - list->tail->next = NULL.
+	 * - sflist implementation only differs from slist by stuffing
+	 *   flag bytes in the lower order bits of the data pointer
+	 * - source list is really an slist and not an sflist with flags set
+	 */
+	ret = k_queue_append_list(queue, list->head, list->tail);
+	CHECKIF(ret != 0) {
+		SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, merge_slist, queue, ret);
+
+		return ret;
+	}
+	sys_slist_init(list);
+
+	SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, merge_slist, queue, 0);
+
+	return 0;
+}
+
+void *z_impl_k_queue_get(struct k_queue *queue, k_timeout_t timeout)
+{
+	void *data;
+
+	SYS_PORT_TRACING_OBJ_FUNC_ENTER(k_queue, get, queue, timeout);
+
+	if (likely(!sys_sflist_is_empty(&queue->data_q))) {
+		sys_sfnode_t *node;
+
+		node = sys_sflist_get_not_empty(&queue->data_q);
+		data = z_queue_node_peek(node, true);
+
+		SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, get, queue, timeout, data);
+
+		return data;
+	}
+
+	SYS_PORT_TRACING_OBJ_FUNC_BLOCKING(k_queue, get, queue, timeout);
+
+	if (K_TIMEOUT_EQ(timeout, K_NO_WAIT)) {
+		SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, get, queue, timeout, NULL);
+
+		return NULL;
+	}
+
+	SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, get, queue, timeout,
+		(ret != 0) ? NULL : _current->base.swap_data);
+	return _current->base.swap_data;
+}
+
+bool k_queue_remove(struct k_queue *queue, void *data)
+{
+	SYS_PORT_TRACING_OBJ_FUNC_ENTER(k_queue, remove, queue);
+
+	bool ret = sys_sflist_find_and_remove(&queue->data_q, (sys_sfnode_t *)data);
+
+	SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, remove, queue, ret);
+
+	return ret;
+}
+
+bool k_queue_unique_append(struct k_queue *queue, void *data)
+{
+	SYS_PORT_TRACING_OBJ_FUNC_ENTER(k_queue, unique_append, queue);
+
+	sys_sfnode_t *test;
+
+	SYS_SFLIST_FOR_EACH_NODE(&queue->data_q, test) {
+		if (test == (sys_sfnode_t *) data) {
+			SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, unique_append, queue, false);
+
+			return false;
+		}
+	}
+
+	k_queue_append(queue, data);
+
+	SYS_PORT_TRACING_OBJ_FUNC_EXIT(k_queue, unique_append, queue, true);
+
+	return true;
+}
+
+void *z_impl_k_queue_peek_head(struct k_queue *queue)
+{
+	void *ret = z_queue_node_peek(sys_sflist_peek_head(&queue->data_q), false);
+
+	SYS_PORT_TRACING_OBJ_FUNC(k_queue, peek_head, queue, ret);
+
+	return ret;
+}
+
+void *z_impl_k_queue_peek_tail(struct k_queue *queue)
+{
+	void *ret = z_queue_node_peek(sys_sflist_peek_tail(&queue->data_q), false);
+
+	SYS_PORT_TRACING_OBJ_FUNC(k_queue, peek_tail, queue, ret);
+
+	return ret;
+}