Merge branch 'main' into feature/condvar_timedwait

.github/workflows/build-check.yaml

@@ -30,7 +30,7 @@ jobs:
       - name: Build & run tests
         run: |
           sudo apt install -y ninja-build
-          CMAKE_GENERATOR=Ninja make test
+          CMAKE_GENERATOR=Ninja ASAN=ON make test
 
   check_format:
     name: Check codebase format with clang-format
@@ -272,7 +272,7 @@ jobs:
       - name: Build project and run test
         run: |
           sudo apt install -y ninja-build
-          CMAKE_GENERATOR=Ninja make
+          Z_FEATURE_UNSTABLE_API=1 Z_FEATURE_LIVELINESS=1 CMAKE_GENERATOR=Ninja make
           python3 ./build/tests/memory_leak.py
         timeout-minutes: 5
 
@@ -290,6 +290,6 @@ jobs:
       - name: Build & test pico
         run: |
           sudo apt install -y ninja-build
-          CMAKE_GENERATOR=Ninja make
+          CMAKE_GENERATOR=Ninja ASAN=ON make
           python3 ./build/tests/no_router.py
         timeout-minutes: 5

.github/workflows/cpp-check.yaml

@@ -0,0 +1,78 @@
+#
+# Copyright (c) 2024 ZettaScale Technology
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+# which is available at https://www.apache.org/licenses/LICENSE-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+#
+# Contributors:
+#   ZettaScale zenoh Team, <[email protected]>
+#
+name: cpp-check
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+  workflow_dispatch:
+    inputs:
+      zenoh_cpp_branch:
+        description: 'Branch of zenoh-cpp to use'
+        required: false
+        default: 'main'
+
+jobs:
+  build-and-test:
+    name: Build and test zenoh-cpp on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macOS-latest, windows-latest]
+        unstable: [0, 1]
+
+    steps:
+    - name: checkout zenoh-pico
+      uses: actions/checkout@v3
+
+    - name: build zenoh-pico
+      run: |
+        mkdir build && cd build
+        cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=~/local -DZ_FEATURE_UNSTABLE_API=${{ matrix.unstable }} -DZ_FEATURE_LIVELINESS=1 -DASAN=ON
+        cmake --build . --target install --config Release
+
+    - name: clone zenoh-cpp
+      run: |
+        git clone https://github.com/eclipse-zenoh/zenoh-cpp.git
+        cd zenoh-cpp
+        git fetch --all
+        git checkout ${{ github.event.inputs.zenoh_cpp_branch || 'main' }}
+        git submodule update --init --recursive
+
+    - name: build zenoh-cpp
+      run: |
+        cd zenoh-cpp
+        mkdir build && cd build
+        cmake .. -DCMAKE_INSTALL_PREFIX=~/local -DCMAKE_BUILD_TYPE=Release -DZENOHCXX_ZENOHPICO=ON -DZENOHCXX_ZENOHC=OFF
+        cmake --build . --config Release
+
+    - name: build examples
+      run: |
+        cd zenoh-cpp/build
+        cmake --build . --target examples --config Release
+
+    - name: build tests
+      run: |
+        cd zenoh-cpp/build
+        cmake --build . --target tests --config Release
+
+    - name: run tests
+      run: |
+        cd zenoh-cpp/build
+        ctest -C Release --output-on-failure

.github/workflows/release.yml

@@ -174,8 +174,8 @@ jobs:
           version: ${{ needs.tag.outputs.version }}
           ssh-host: [email protected]
           ssh-host-path: /home/data/httpd/download.eclipse.org/zenoh/zenoh-pico
-          ssh-private-key: ${{ secrets.ORG_GPG_PRIVATE_KEY }}
-          ssh-passphrase: ${{ secrets.ORG_GPG_PASSPHRASE }}
+          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
+          ssh-passphrase: ${{ secrets.SSH_PASSPHRASE }}
           archive-patterns: '.*\.zip'
 
   github:

CMakeLists.txt

@@ -97,7 +97,6 @@ else()
       add_compile_options(-Wpedantic)
     endif()
     # add_compile_options(-Wconversion)
-    # add_link_options(-fsanitize=address)
   elseif(MSVC)
     add_compile_options(/W4 /WX /Od /wd4127)
   elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
@@ -216,7 +215,7 @@ set(Z_FEATURE_PUBLICATION 1 CACHE STRING "Toggle publication feature")
 set(Z_FEATURE_SUBSCRIPTION 1 CACHE STRING "Toggle subscription feature")
 set(Z_FEATURE_QUERY 1 CACHE STRING "Toggle query feature")
 set(Z_FEATURE_QUERYABLE 1 CACHE STRING "Toggle queryable feature")
-set(Z_FEATURE_LIVELINESS 1 CACHE STRING "Toggle liveliness feature")
+set(Z_FEATURE_LIVELINESS 0 CACHE STRING "Toggle liveliness feature")
 set(Z_FEATURE_INTEREST 1 CACHE STRING "Toggle interests")
 set(Z_FEATURE_FRAGMENTATION 1 CACHE STRING "Toggle fragmentation")
 set(Z_FEATURE_ENCODING_VALUES 1 CACHE STRING "Toggle encoding values")
@@ -235,6 +234,12 @@ set(Z_FEATURE_UNICAST_TRANSPORT 1 CACHE STRING "Toggle unicast transport")
 set(Z_FEATURE_RAWETH_TRANSPORT 0 CACHE STRING "Toggle raw ethernet transport")
 set(Z_FEATURE_TCP_NODELAY 1 CACHE STRING "Toggle TCP_NODELAY")
 
+# Add a warning message if someone tries to enable Z_FEATURE_LIVELINESS directly
+if(Z_FEATURE_LIVELINESS AND NOT Z_FEATURE_UNSTABLE_API)
+  message(WARNING "Z_FEATURE_LIVELINESS can only be enabled when Z_FEATURE_UNSTABLE_API is also enabled. Disabling Z_FEATURE_LIVELINESS.")
+  set(Z_FEATURE_LIVELINESS 0 CACHE STRING "Toggle liveliness feature" FORCE)
+endif()
+
 add_compile_definitions("Z_BUILD_DEBUG=$<CONFIG:Debug>")
 message(STATUS "Building with feature confing:\n\
 * UNSTABLE_API: ${Z_FEATURE_UNSTABLE_API}\n\
@@ -373,12 +378,14 @@ option(BUILD_EXAMPLES "Use this to also build the examples." ON)
 option(BUILD_TOOLS "Use this to also build the tools." OFF)
 option(BUILD_TESTING "Use this to also build tests." ON)
 option(BUILD_INTEGRATION "Use this to also build integration tests." OFF)
+option(ASAN "Enable AddressSanitizer." OFF)
 
 message(STATUS "Produce Debian and RPM packages: ${PACKAGING}")
 message(STATUS "Build examples: ${BUILD_EXAMPLES}")
 message(STATUS "Build tools: ${BUILD_TOOLS}")
 message(STATUS "Build tests: ${BUILD_TESTING}")
 message(STATUS "Build integration: ${BUILD_INTEGRATION}")
+message(STATUS "AddressSanitizer: ${ASAN}")
 
 set(PICO_LIBS "")
 if(PICO_STATIC)
@@ -447,6 +454,11 @@ if(BUILD_EXAMPLES)
   add_subdirectory(examples)
 endif()
 
+if(ASAN)
+  add_compile_options(-fsanitize=address)
+  add_link_options(-fsanitize=address)
+endif()
+
 if(UNIX OR MSVC)
   if(BUILD_TOOLS)
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/tools)

GNUmakefile

@@ -41,6 +41,10 @@ BUILD_TOOLS?=OFF
 # Accepted values: ON, OFF
 FORCE_C99?=OFF
 
+# Enable AddressSanitizer.
+# Accepted values: ON, OFF
+ASAN?=OFF
+
 # Debug level. This sets the ZENOH_DEBUG variable.
 # Accepted values:
 #  0: NONE
@@ -82,7 +86,7 @@ CMAKE_OPT=-DZENOH_DEBUG=$(ZENOH_DEBUG) -DBUILD_EXAMPLES=$(BUILD_EXAMPLES) -DCMAK
  -DZ_FEATURE_MULTI_THREAD=$(Z_FEATURE_MULTI_THREAD) -DZ_FEATURE_INTEREST=$(Z_FEATURE_INTEREST) -DZ_FEATURE_UNSTABLE_API=$(Z_FEATURE_UNSTABLE_API)\
  -DZ_FEATURE_PUBLICATION=$(Z_FEATURE_PUBLICATION) -DZ_FEATURE_SUBSCRIPTION=$(Z_FEATURE_SUBSCRIPTION) -DZ_FEATURE_QUERY=$(Z_FEATURE_QUERY) -DZ_FEATURE_QUERYABLE=$(Z_FEATURE_QUERYABLE)\
  -DZ_FEATURE_RAWETH_TRANSPORT=$(Z_FEATURE_RAWETH_TRANSPORT) -DFRAG_MAX_SIZE=$(FRAG_MAX_SIZE) -DBATCH_UNICAST_SIZE=$(BATCH_UNICAST_SIZE) -DBATCH_MULTICAST_SIZE=$(BATCH_MULTICAST_SIZE)\
- -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
+ -DASAN=$(ASAN) -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
 
 ifeq ($(FORCE_C99), ON)
 	CMAKE_OPT += -DCMAKE_C_STANDARD=99

PackageConfig.cmake.in

@@ -8,6 +8,7 @@ set(ZENOHPICO_FEATURE_QUERY @Z_FEATURE_QUERY@)
 set(ZENOHPICO_FEATURE_QUERYABLE @Z_FEATURE_QUERYABLE@)
 set(ZENOHPICO_FEATURE_RAWETH_TRANSPORT @Z_FEATURE_RAWETH_TRANSPORT@)
 set(ZENOHPICO_FEATURE_INTEREST @Z_FEATURE_INTEREST@)
+set(ZENOHPICO_FEATURE_LIVELINESS @Z_FEATURE_LIVELINESS@)
 
 if(@CHECK_THREADS@)
   find_dependency(Threads REQUIRED)

docs/api.rst

@@ -1289,7 +1289,7 @@ See details at :ref:`owned_types_concept`
 
 Functions
 ---------
-.. autocfunction:: liveliness.h::z_liveliness_token_options_t_default
+.. autocfunction:: liveliness.h::z_liveliness_token_options_default
 .. autocfunction:: liveliness.h::z_liveliness_declare_token
 .. autocfunction:: liveliness.h::z_liveliness_undeclare_token
 .. autocfunction:: liveliness.h::z_liveliness_subscriber_options_default

examples/unix/c11/z_get_liveliness.c

@@ -99,9 +99,10 @@ int main(int argc, char **argv) {
         } else {
             printf("Received an error\n");
         }
+        z_drop(z_move(reply));
     }
 
-    z_drop(z_move(reply));
+    z_drop(z_move(closure));
     z_drop(z_move(handler));
     z_drop(z_move(s));
     return 0;

examples/unix/c11/z_sub_liveliness.c

@@ -21,6 +21,8 @@
 
 #if Z_FEATURE_SUBSCRIPTION == 1 && Z_FEATURE_LIVELINESS == 1
 
+static volatile int msg_nb = 0;
+
 void data_handler(z_loaned_sample_t *sample, void *ctx) {
     (void)(ctx);
     z_view_string_t key_string;
@@ -35,6 +37,7 @@ void data_handler(z_loaned_sample_t *sample, void *ctx) {
                    z_string_data(z_loan(key_string)));
             break;
     }
+    msg_nb++;
 }
 
 int main(int argc, char **argv) {
@@ -43,6 +46,7 @@ int main(int argc, char **argv) {
     char *clocator = NULL;
     char *llocator = NULL;
     bool history = false;
+    int n = 0;
 
     int opt;
     while ((opt = getopt(argc, argv, "k:e:m:l:n:h")) != -1) {
@@ -62,8 +66,11 @@ int main(int argc, char **argv) {
             case 'h':
                 history = true;
                 break;
+            case 'n':
+                n = atoi(optarg);
+                break;
             case '?':
-                if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'l') {
+                if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'l' || optopt == 'n') {
                     fprintf(stderr, "Option -%c requires an argument.\n", optopt);
                 } else {
                     fprintf(stderr, "Unknown option `-%c'.\n", optopt);
@@ -116,6 +123,9 @@ int main(int argc, char **argv) {
 
     printf("Press CTRL-C to quit...\n");
     while (1) {
+        if (n != 0 && msg_nb >= n) {
+            break;
+        }
         z_sleep_s(1);
     }
 

include/zenoh-pico/api/liveliness.h

@@ -31,6 +31,7 @@ typedef struct {
     _z_session_weak_t _zn;
 } _z_liveliness_token_t;
 
+_z_liveliness_token_t _z_liveliness_token_null(void);
 _Z_OWNED_TYPE_VALUE(_z_liveliness_token_t, liveliness_token)
 _Z_OWNED_FUNCTIONS_DEF(liveliness_token)
 
@@ -48,7 +49,7 @@ typedef struct z_liveliness_token_options_t {
 /**
  * Constructs default value for :c:type:`z_liveliness_token_options_t`.
  */
-z_result_t z_liveliness_token_options_t_default(z_liveliness_token_options_t *options);
+z_result_t z_liveliness_token_options_default(z_liveliness_token_options_t *options);
 
 /**
  * Constructs and declares a liveliness token on the network.

include/zenoh-pico/config.h

@@ -27,7 +27,7 @@
 #define Z_FEATURE_SUBSCRIPTION 1
 #define Z_FEATURE_QUERY 1
 #define Z_FEATURE_QUERYABLE 1
-#define Z_FEATURE_LIVELINESS 1
+#define Z_FEATURE_LIVELINESS 0
 #define Z_FEATURE_RAWETH_TRANSPORT 0
 #define Z_FEATURE_INTEREST 1
 #define Z_FEATURE_DYNAMIC_MEMORY_ALLOCATION 0

include/zenoh-pico/protocol/definitions/transport.h

@@ -91,6 +91,16 @@ extern "C" {
 //      Z Extensions       if Z==1 then Zenoh extensions are present
 #define _Z_FLAG_T_CLOSE_S 0x20  // 1 << 5
 
+/*=============================*/
+/*            Patch            */
+/*=============================*/
+/// Used to negotiate the patch version of the protocol
+/// if not present (or 0), then protocol as released with 1.0.0
+/// if >= 1, then fragmentation start/stop marker
+#define _Z_NO_PATCH 0x00
+#define _Z_CURRENT_PATCH 0x01
+#define _Z_PATCH_HAS_FRAGMENT_MARKERS(patch) (patch >= 1)
+
 /*=============================*/
 /*     Transport Messages      */
 /*=============================*/
@@ -235,6 +245,9 @@ typedef struct {
     uint8_t _req_id_res;
     uint8_t _seq_num_res;
     uint8_t _version;
+#if Z_FEATURE_FRAGMENTATION == 1
+    uint8_t _patch;
+#endif
 } _z_t_msg_join_t;
 void _z_t_msg_join_clear(_z_t_msg_join_t *msg);
 
@@ -315,6 +328,9 @@ typedef struct {
     uint8_t _req_id_res;
     uint8_t _seq_num_res;
     uint8_t _version;
+#if Z_FEATURE_FRAGMENTATION == 1
+    uint8_t _patch;
+#endif
 } _z_t_msg_init_t;
 void _z_t_msg_init_clear(_z_t_msg_init_t *msg);
 
@@ -478,11 +494,11 @@ void _z_t_msg_frame_clear(_z_t_msg_frame_t *msg);
 typedef struct {
     _z_slice_t _payload;
     _z_zint_t _sn;
+    bool first;
+    bool drop;
 } _z_t_msg_fragment_t;
 void _z_t_msg_fragment_clear(_z_t_msg_fragment_t *msg);
 
-#define _Z_FRAGMENT_HEADER_SIZE 12
-
 /*------------------ Transport Message ------------------*/
 typedef union {
     _z_t_msg_join_t _join;
@@ -514,9 +530,10 @@ _z_transport_message_t _z_t_msg_make_keep_alive(void);
 _z_transport_message_t _z_t_msg_make_frame(_z_zint_t sn, _z_network_message_vec_t messages,
                                            z_reliability_t reliability);
 _z_transport_message_t _z_t_msg_make_frame_header(_z_zint_t sn, z_reliability_t reliability);
-_z_transport_message_t _z_t_msg_make_fragment_header(_z_zint_t sn, z_reliability_t reliability, bool is_last);
+_z_transport_message_t _z_t_msg_make_fragment_header(_z_zint_t sn, z_reliability_t reliability, bool is_last,
+                                                     bool first, bool drop);
 _z_transport_message_t _z_t_msg_make_fragment(_z_zint_t sn, _z_slice_t messages, z_reliability_t reliability,
-                                              bool is_last);
+                                              bool is_last, bool first, bool drop);
 
 /*------------------ Copy ------------------*/
 void _z_t_msg_copy(_z_transport_message_t *clone, _z_transport_message_t *msg);

include/zenoh-pico/protocol/ext.h

@@ -43,7 +43,11 @@ extern "C" {
 /*=============================*/
 /*        Extension IDs        */
 /*=============================*/
-// #define _Z_MSG_EXT_ID_FOO 0x00 // Hex(ENC|M|ID)
+#define _Z_MSG_EXT_ID_JOIN_QOS (0x01 | _Z_MSG_EXT_FLAG_M | _Z_MSG_EXT_ENC_ZBUF)
+#define _Z_MSG_EXT_ID_JOIN_PATCH (0x07 | _Z_MSG_EXT_ENC_ZINT)
+#define _Z_MSG_EXT_ID_INIT_PATCH (0x07 | _Z_MSG_EXT_ENC_ZINT)
+#define _Z_MSG_EXT_ID_FRAGMENT_FIRST (0x02 | _Z_MSG_EXT_ENC_UNIT)
+#define _Z_MSG_EXT_ID_FRAGMENT_DROP (0x03 | _Z_MSG_EXT_ENC_UNIT)
 
 /*=============================*/
 /*     Extension Encodings     */
@@ -58,6 +62,7 @@ extern "C" {
 #define _Z_MSG_EXT_FLAG_M 0x10
 #define _Z_MSG_EXT_IS_MANDATORY(h) ((h & _Z_MSG_EXT_FLAG_M) != 0)
 #define _Z_MSG_EXT_FLAG_Z 0x80
+#define _Z_MSG_EXT_MORE(more) (more ? _Z_MSG_EXT_FLAG_Z : 0)
 
 typedef struct {
     uint8_t __dummy;  // Just to avoid empty structures that might cause undefined behavior

include/zenoh-pico/system/platform/mbed.h

@@ -33,7 +33,7 @@ typedef void *_z_mutex_t;     // Workaround as MBED is a C++ library
 typedef void *_z_condvar_t;   // Workaround as MBED is a C++ library
 #endif                        // Z_FEATURE_MULTI_THREAD == 1
 
-typedef void *z_clock_t;  // Not defined
+typedef struct timespec z_clock_t;
 typedef struct timeval z_time_t;
 
 typedef struct BufferedSerial BufferedSerial;  // Forward declaration to be used in _z_sys_net_socket_t