mimiclaw/main/bus/message_bus.c

#include "message_bus.h"
#include "mimi_config.h"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"
#include <string.h>

static const char *TAG = "bus";

static QueueHandle_t s_inbound_queue;
static QueueHandle_t s_outbound_queue;

esp_err_t message_bus_init(void)
{
    s_inbound_queue = xQueueCreate(MIMI_BUS_QUEUE_LEN, sizeof(mimi_msg_t));
    s_outbound_queue = xQueueCreate(MIMI_BUS_QUEUE_LEN, sizeof(mimi_msg_t));

    if (!s_inbound_queue || !s_outbound_queue) {
        ESP_LOGE(TAG, "Failed to create message queues");
        return ESP_ERR_NO_MEM;
    }

    ESP_LOGI(TAG, "Message bus initialized (queue depth %d)", MIMI_BUS_QUEUE_LEN);
    return ESP_OK;
}

esp_err_t message_bus_push_inbound(const mimi_msg_t *msg)
{
    if (xQueueSend(s_inbound_queue, msg, pdMS_TO_TICKS(1000)) != pdTRUE) {
        ESP_LOGW(TAG, "Inbound queue full, dropping message");
        return ESP_ERR_NO_MEM;
    }
    return ESP_OK;
}

esp_err_t message_bus_pop_inbound(mimi_msg_t *msg, uint32_t timeout_ms)
{
    TickType_t ticks = (timeout_ms == UINT32_MAX) ? portMAX_DELAY : pdMS_TO_TICKS(timeout_ms);
    if (xQueueReceive(s_inbound_queue, msg, ticks) != pdTRUE) {
        return ESP_ERR_TIMEOUT;
    }
    return ESP_OK;
}

esp_err_t message_bus_push_outbound(const mimi_msg_t *msg)
{
    if (xQueueSend(s_outbound_queue, msg, pdMS_TO_TICKS(1000)) != pdTRUE) {
        ESP_LOGW(TAG, "Outbound queue full, dropping message");
        return ESP_ERR_NO_MEM;
    }
    return ESP_OK;
}

esp_err_t message_bus_pop_outbound(mimi_msg_t *msg, uint32_t timeout_ms)
{
    TickType_t ticks = (timeout_ms == UINT32_MAX) ? portMAX_DELAY : pdMS_TO_TICKS(timeout_ms);
    if (xQueueReceive(s_outbound_queue, msg, ticks) != pdTRUE) {
        return ESP_ERR_TIMEOUT;
    }
    return ESP_OK;
}