Add thread yield capability

README.rst

@@ -1,5 +1,5 @@
-.. Copyright (c) 2024 O.S. Systems Software LTDA.
-.. Copyright (c) 2024 Freedom Veiculos Eletricos
+.. Copyright (c) 2024-2025 O.S. Systems Software LTDA.
+.. Copyright (c) 2024-2025 Freedom Veiculos Eletricos
 .. SPDX-License-Identifier: Apache-2.0
 
 .. _zephyr_behaviour_tree_module:
@@ -14,7 +14,7 @@ Preparation
 
 The first step is prepare the development machine. The developer must follow the
 steps at `Zephyr RTOS getting started`_. The recommendation is test using the
-``native_posix`` board. In this case, the last step from procedure should try
+``qemu_cortex_m3`` board. In this case, the last step from procedure should try
 using this command:
 
 .. code-block:: console
@@ -23,7 +23,7 @@ using this command:
 
 .. code-block:: console
 
-  west build -b native_posix samples/hello_world -t run
+  west build -b qemu_cortex_m3 samples/hello_world -t run
 
 The second step is add your credentials to github. This will add necessary
 permissions to clone using ssh and send changes. The github documentation can

cmake/zephyrbt-from-behaviourtreecpp-xml.cmake

@@ -1,16 +1,17 @@
-# Copyright (c) 2024 O.S. Systems Software LTDA.
-# Copyright (c) 2024 Freedom Veiculos Eletricos
+# Copyright (c) 2024-2025 O.S. Systems Software LTDA.
+# Copyright (c) 2024-2025 Freedom Veiculos Eletricos
 # SPDX-License-Identifier: Apache-2.0
 
 include(CheckIncludeFile)
 
 function(zephyrbt_define_from_behaviourtreecpp_xml
-    target      # The current target used to add the generated files
-    input_file  # The behaviour tree input file
-    output_inc  # Output directory of the generated header
-    output_src  # Output directory of the generated sources
-    stack_size  # The amount of RAM used to run the BT
-    thread_prio # The Thread Priority
+    target       # The current target used to add the generated files
+    input_file   # The behaviour tree input file
+    output_inc   # Output directory of the generated header
+    output_src   # Output directory of the generated sources
+    stack_size   # The amount of RAM used to run the BT
+    thread_prio  # The Thread Priority
+    thread_yield # The Thread yield option [ True or False ]
     )
   get_filename_component(zephyrbt_name ${input_file} NAME_WE [CACHE])
   get_filename_component(input_file ${input_file} ABSOLUTE)
@@ -31,6 +32,16 @@ function(zephyrbt_define_from_behaviourtreecpp_xml
     set(zephyrbt_user_include_file "")
   endif()
 
+  if(${CONFIG_ZEPHYR_BEHAVIOUR_TREE_ALLOW_YIELD})
+    if(${thread_yield})
+      set(zephyrbt_thread_yield "-y 1")
+    else()
+      set(zephyrbt_thread_yield "-y 0")
+    endif()
+  else()
+    set(zephyrbt_thread_yield "-y 2")
+  endif()
+
   add_custom_command(
     OUTPUT  ${zephyrbt_inc_file}
             ${zephyrbt_data_file}
@@ -44,6 +55,7 @@ function(zephyrbt_define_from_behaviourtreecpp_xml
       -ot ${zephyrbt_stub_file}
       -s  ${stack_size}
       -p  ${thread_prio}
+      ${zephyrbt_thread_yield}
       ${zephyrbt_user_include_file}
   )
 

include/zephyr/zephyrbt/zephyrbt.h

@@ -1,6 +1,6 @@
 /*
- * Copyright (c) 2024 O.S. Systems Software LTDA.
- * Copyright (c) 2024 Freedom Veiculos Eletricos
+ * Copyright (c) 2024-2025 O.S. Systems Software LTDA.
+ * Copyright (c) 2024-2025 Freedom Veiculos Eletricos
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -75,10 +75,10 @@ struct zephyrbt_blackboard_item {
 struct zephyrbt_context {
 #ifdef CONFIG_ZEPHYR_BEHAVIOUR_TREE_NODE_INFO
 	const char *name;
-	size_t deep;
+	uint32_t deep;
 #endif
 	struct zephyrbt_node *node;
-	const size_t nodes;
+	const uint32_t nodes;
 	struct zephyrbt_blackboard_item *blackboard;
 #ifdef CONFIG_ZEPHYR_BEHAVIOUR_TREE_USER_DATA
 	void *user_data;
@@ -89,6 +89,9 @@ struct zephyrbt_context {
 	const int stack_size;
 	const int thread_prio;
 	k_tid_t tid;
+#ifdef CONFIG_ZEPHYR_BEHAVIOUR_TREE_ALLOW_YIELD
+	bool thread_yield;
+#endif
 #endif
 };
 
@@ -102,10 +105,12 @@ struct zephyrbt_context {
  * @param _nodes	The Behaviour Tree nodes structure.
  * @param _stack_size	Thread stack size.
  * @param _thread_prio  Thread priority.
+ * @param _thread_yield Thread should yield. Default is True.
  * @param _user_data	User defined data. Default is NULL.
  * @param _blackboard	The Behaviour Tree blackboard structure.
  */
-#define ZEPHYRBT_DEFINE(_name, _nodes, _stack_size, _thread_prio, _user_data, _blackboard)	   \
+#define ZEPHYRBT_DEFINE(_name, _nodes, _stack_size, _thread_prio,				   \
+			_thread_yield, _user_data, _blackboard)					   \
 	STRUCT_SECTION_ITERABLE(zephyrbt_context, _name) = {					   \
 		IF_ENABLED(CONFIG_ZEPHYR_BEHAVIOUR_TREE_NODE_INFO, (				   \
 			.name = #_name,								   \
@@ -116,7 +121,10 @@ struct zephyrbt_context {
 		)										   \
 		IF_ENABLED(CONFIG_ZEPHYR_BEHAVIOUR_TREE_DYNAMIC, (				   \
 			.stack_size  = _stack_size,						   \
-			.thread_prio = _thread_prio, )						   \
+			.thread_prio = _thread_prio,						   \
+			IF_ENABLED(CONFIG_ZEPHYR_BEHAVIOUR_TREE_ALLOW_YIELD, (			   \
+				.thread_yield = _thread_yield, )				   \
+			))									   \
 		)										   \
 		.node       = _nodes,								   \
 		.nodes      = ARRAY_SIZE(_nodes),						   \

samples/subsys/zephyrbt/dynamic/CMakeLists.txt

@@ -1,5 +1,5 @@
-# Copyright (c) 2024 O.S. Systems Software LTDA.
-# Copyright (c) 2024 Freedom Veiculos Eletricos
+# Copyright (c) 2024-2025 O.S. Systems Software LTDA.
+# Copyright (c) 2024-2025 Freedom Veiculos Eletricos
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.20.0)
@@ -23,6 +23,7 @@ zephyrbt_define_from_behaviourtreecpp_xml(app
 	${CMAKE_BINARY_DIR}/src
 	1024
 	0
+	yes
 )
 
 zephyrbt_define_from_behaviourtreecpp_xml(app
@@ -31,4 +32,5 @@ zephyrbt_define_from_behaviourtreecpp_xml(app
 	${CMAKE_BINARY_DIR}/src
 	1024
 	0
+	yes
 )

samples/subsys/zephyrbt/dynamic/sample.yaml

@@ -1,5 +1,5 @@
-# Copyright (c) 2024 O.S. Systems Software LTDA.
-# Copyright (c) 2024 Freedom Veiculos Eletricos
+# Copyright (c) 2024-2025 O.S. Systems Software LTDA.
+# Copyright (c) 2024-2025 Freedom Veiculos Eletricos
 # SPDX-License-Identifier: Apache-2.0
 
 sample:
@@ -9,7 +9,7 @@ common:
 tests:
   samples.zephyrbt.dynamic:
     platform_allow:
-      - native_posix/native/64
+      - qemu_cortex_m3
       - nucleo_f767zi
     harness: console
     harness_config:

samples/subsys/zephyrbt/minimal/sample.yaml

@@ -1,5 +1,5 @@
-# Copyright (c) 2024 O.S. Systems Software LTDA.
-# Copyright (c) 2024 Freedom Veiculos Eletricos
+# Copyright (c) 2024-2025 O.S. Systems Software LTDA.
+# Copyright (c) 2024-2025 Freedom Veiculos Eletricos
 # SPDX-License-Identifier: Apache-2.0
 
 sample:
@@ -9,7 +9,7 @@ common:
 tests:
   samples.zephyrbt.minimal:
     platform_allow:
-      - native_posix/native/64
+      - qemu_cortex_m3
       - nucleo_f767zi
     harness: console
     harness_config:

samples/subsys/zephyrbt/tutorial/CMakeLists.txt

@@ -1,5 +1,5 @@
-# Copyright (c) 2024 O.S. Systems Software LTDA.
-# Copyright (c) 2024 Freedom Veiculos Eletricos
+# Copyright (c) 2024-2025 O.S. Systems Software LTDA.
+# Copyright (c) 2024-2025 Freedom Veiculos Eletricos
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.20.0)
@@ -23,4 +23,5 @@ zephyrbt_define_from_behaviourtreecpp_xml(app
 	${CMAKE_BINARY_DIR}/src
 	1024
 	0
+	yes
 )

samples/subsys/zephyrbt/tutorial/lessons/lesson-1/resources/CMakeLists.txt

@@ -1,5 +1,5 @@
-# Copyright (c) 2024 O.S. Systems Software LTDA.
-# Copyright (c) 2024 Freedom Veiculos Eletricos
+# Copyright (c) 2024-2025 O.S. Systems Software LTDA.
+# Copyright (c) 2024-2025 Freedom Veiculos Eletricos
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.20.0)
@@ -24,4 +24,5 @@ zephyrbt_define_from_behaviourtreecpp_xml(app
 	${CMAKE_BINARY_DIR}/src
 	1024
 	0
+	yes
 )

samples/subsys/zephyrbt/tutorial/lessons/lesson-2/resources/CMakeLists.txt

@@ -1,5 +1,5 @@
-# Copyright (c) 2024 O.S. Systems Software LTDA.
-# Copyright (c) 2024 Freedom Veiculos Eletricos
+# Copyright (c) 2024-2025 O.S. Systems Software LTDA.
+# Copyright (c) 2024-2025 Freedom Veiculos Eletricos
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.20.0)
@@ -24,4 +24,5 @@ zephyrbt_define_from_behaviourtreecpp_xml(app
 	${CMAKE_BINARY_DIR}/src
 	1024
 	0
+	yes
 )

samples/subsys/zephyrbt/tutorial/lessons/lesson-3/resources/CMakeLists.txt

@@ -1,5 +1,5 @@
-# Copyright (c) 2024 O.S. Systems Software LTDA.
-# Copyright (c) 2024 Freedom Veiculos Eletricos
+# Copyright (c) 2024-2025 O.S. Systems Software LTDA.
+# Copyright (c) 2024-2025 Freedom Veiculos Eletricos
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.20.0)
@@ -25,4 +25,5 @@ zephyrbt_define_from_behaviourtreecpp_xml(app
 	${CMAKE_BINARY_DIR}/src
 	1024
 	0
+	yes
 )

samples/subsys/zephyrbt/tutorial/lessons/lesson-4/resources/CMakeLists.txt

@@ -1,5 +1,5 @@
-# Copyright (c) 2024 O.S. Systems Software LTDA.
-# Copyright (c) 2024 Freedom Veiculos Eletricos
+# Copyright (c) 2024-2025 O.S. Systems Software LTDA.
+# Copyright (c) 2024-2025 Freedom Veiculos Eletricos
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.20.0)
@@ -26,4 +26,5 @@ zephyrbt_define_from_behaviourtreecpp_xml(app
 	${CMAKE_BINARY_DIR}/src
 	1024
 	0
+	yes
 )

samples/subsys/zephyrbt/tutorial/lessons/lesson-5/resources/CMakeLists.txt

@@ -1,5 +1,5 @@
-# Copyright (c) 2024 O.S. Systems Software LTDA.
-# Copyright (c) 2024 Freedom Veiculos Eletricos
+# Copyright (c) 2024-2025 O.S. Systems Software LTDA.
+# Copyright (c) 2024-2025 Freedom Veiculos Eletricos
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.20.0)
@@ -27,4 +27,5 @@ zephyrbt_define_from_behaviourtreecpp_xml(app
 	${CMAKE_BINARY_DIR}/src
 	1024
 	0
+	yes
 )

scripts/generate-zephyrbt-from-behaviourtreecpp-xml

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
-# Copyright (c) 2024 O.S. Systems Software LTDA.
-# Copyright (c) 2024 Freedom Veiculos Eletricos
+# Copyright (c) 2024-2025 O.S. Systems Software LTDA.
+# Copyright (c) 2024-2025 Freedom Veiculos Eletricos
 # SPDX-License-Identifier: Apache-2.0
 
 """
@@ -214,7 +214,7 @@ def write_zephyrbt_blackboard_table(f, nodes, builtin, bt, blackboard, name):
 
 
 def generate_files(filename, output_inc, output_data, output_stub, builtin,
-                   nodes, bt, blackboard, stack, prio, user_file):
+                   nodes, bt, blackboard, stack, prio, thread_yield, user_file):
     with open(output_inc, "w") as f:
         f.write(HEADER)
         f.write(f"\n#ifndef {filename.upper()}_H")
@@ -235,7 +235,7 @@ def generate_files(filename, output_inc, output_data, output_stub, builtin,
         write_zephyrbt_nodes_table(f, nodes, builtin, bt, node_data_name)
         write_zephyrbt_blackboard_table(f, nodes, builtin, bt, blackboard, node_blackboard_name)
         f.write(f"\nZEPHYRBT_DEFINE({filename}, {filename}_nodes, ")
-        f.write(f"{stack}, {prio}, NULL, {filename}_blackboard);\n")
+        f.write(f"{stack}, {prio}, {'true' if thread_yield == 1 else 'false'}, NULL, {filename}_blackboard);\n")
 
     with open(output_stub, "w") as f:
         node_data_name = f"{filename}_nodes"
@@ -313,7 +313,7 @@ def getSearchBuiltinNode(builtin, name):
 
 def getChildIdx(idx_table, num, elem, root, mainroot):
     child = None
-    if elem:
+    if len(elem):
         for subelem in elem:
             if subelem.tag == "SubTree":
                 subelem = resolveSubTree(subelem, mainroot)
@@ -479,7 +479,7 @@ def clean_files(filename, dir):
 
 
 def main(zephyrbt_filename, output_inc, output_data, output_stub,
-         stack, prio, user_file) -> None:
+         stack, prio, thread_yield, user_file) -> None:
     zephyrbt = Path(zephyrbt_filename).stem
 
     sleep =    [['msec', 'input_port', None, 'Wait the amount of milliseconds']]
@@ -526,13 +526,22 @@ def main(zephyrbt_filename, output_inc, output_data, output_stub,
         print('Incompatible version')
         exit -1
 
+    match thread_yield:
+        case 0:
+            thread_yield_text = "False"
+        case 1:
+            thread_yield_text = "True"
+        case 2:
+            thread_yield_text = "Not available"
+
     print("-- Behaviour Tree: ", zephyrbt)
     print("-- Stack Size:     ", stack)
     print("-- Thread Priority:", prio)
+    print("-- Thread Yield:   ", thread_yield_text)
 
     nodes, bt, blackboard = build_bt_set(builtin, root)
     generate_files(zephyrbt, output_inc, output_data, output_stub, builtin,
-                   nodes, bt, blackboard, stack, prio, user_file)
+                   nodes, bt, blackboard, stack, prio, thread_yield, user_file)
 
 
 if __name__ == "__main__":
@@ -579,14 +588,22 @@ if __name__ == "__main__":
         default=0,
         help="The Thread Priority",
     )
+    parser.add_argument(
+        "-y",
+        "--thread_yield",
+        type=int,
+        default=0,
+        help="The Thread yield",
+    )
     parser.add_argument(
         "-u",
         "--user_file",
         type=bool,
         default=False,
         help="Add user include file into code generation",
     )
+
     args = parser.parse_args()
 
     main(args.input, args.outinc, args.outdata, args.outstub,
-         args.stack, args.prio, args.user_file)
+         args.stack, args.prio, args.thread_yield, args.user_file)