Merge remote-tracking branch 'zenoh/master' into freertos

.readthedocs.yaml

@@ -0,0 +1,24 @@
+# .readthedocs.yaml
+# Read the Docs configuration file
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+# Required
+version: 2
+
+# Set the version of Python and other tools you might need
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.11"
+  apt_packages:
+    - libclang-dev
+
+# Build documentation in the docs/ directory with Sphinx
+sphinx:
+  configuration: docs/conf.py
+
+# We recommend specifying your dependencies to enable reproducible builds:
+# https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html
+python:
+  install:
+  - requirements: docs/requirements.txt

BSDmakefile

@@ -89,7 +89,6 @@ crossbuild: check-docker
 		cmake $(CMAKE_OPT) -DPACKAGING=DEB,RPM -DDEBARCH=$(DEBARCH) -DRPMARCH=$(RPMARCH) -B$(CROSSBUILD_DIR)/$(CROSSIMG) && \
 		make VERBOSE=1 -C$(CROSSBUILD_DIR)/$(CROSSIMG) all package"
 	docker rmi $(CROSSIMG_PREFIX)$(CROSSIMG)
-	docker rmi dockcross/$(CROSSIMG)
 
 linux-armv5:
 	CROSSIMG=$@ DEBARCH=arm RPMARCH=arm make crossbuild

CMakeLists.txt

@@ -11,9 +11,11 @@
 # Contributors:
 # ZettaScale Zenoh Team, <[email protected]>
 #
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.13)
 
-project(libzenohpico VERSION 0.10.0.0 LANGUAGES C)
+project(zenohpico VERSION 0.10.0.0 LANGUAGES C)
+
+include(CMakePackageConfigHelpers)
 
 option(BUILD_SHARED_LIBS "Build shared libraries if ON, otherwise build static libraries" ON)
 option(ZENOH_DEBUG "Use this to set the ZENOH_DEBUG variable." 0)
@@ -62,8 +64,14 @@ if(NOT CMAKE_BUILD_TYPE)
 endif()
 string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE)
 
+
+set(CHECK_THREADS "ON")
+
 if(CMAKE_SYSTEM_NAME MATCHES "Linux")
   add_definition(ZENOH_LINUX)
+elseif(POSIX_COMPATIBLE)
+  add_definition(ZENOH_LINUX)
+  set(CHECK_THREADS "OFF")
 elseif(CMAKE_SYSTEM_NAME MATCHES "BSD")
   add_definition(ZENOH_BSD)
 elseif(CMAKE_SYSTEM_NAME MATCHES "Darwin")
@@ -103,7 +111,9 @@ if(SKBUILD)
 endif()
 
 set(THREADS_PREFER_PTHREAD_FLAG ON)
-find_package(Threads REQUIRED)
+if(CHECK_THREADS)
+  find_package(Threads REQUIRED)
+endif()
 
 if(CMAKE_BUILD_TYPE MATCHES "DEBUG")
   if(UNIX)
@@ -167,7 +177,7 @@ if(WITH_ZEPHYR)
 elseif(WITH_FREERTOS_PLUS_TCP)
   file (GLOB Sources_Freertos_Plus_TCP "src/system/freertos_plus_tcp/*.c")
   list(APPEND Sources ${Sources_Freertos_Plus_TCP})
-elseif(CMAKE_SYSTEM_NAME MATCHES "Linux" OR CMAKE_SYSTEM_NAME MATCHES "Darwin" OR CMAKE_SYSTEM_NAME MATCHES "BSD")
+elseif(CMAKE_SYSTEM_NAME MATCHES "Linux" OR CMAKE_SYSTEM_NAME MATCHES "Darwin" OR CMAKE_SYSTEM_NAME MATCHES "BSD" OR POSIX_COMPATIBLE)
   file (GLOB Sources_Unix "src/system/unix/*.c")
   list(APPEND Sources ${Sources_Unix})
 elseif(CMAKE_SYSTEM_NAME MATCHES "Emscripten")
@@ -183,7 +193,9 @@ link_directories(${LIBRARY_OUTPUT_PATH})
 
 target_sources(${Libname} PRIVATE ${Sources})
 
-target_link_libraries(${Libname} Threads::Threads)
+if(CHECK_THREADS)
+  target_link_libraries(${Libname} Threads::Threads)
+endif()
 
 if(CMAKE_SYSTEM_NAME MATCHES "Linux")
   target_link_libraries(${Libname} rt)
@@ -224,6 +236,31 @@ install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/zenoh-pico
   COMPONENT Headers
 )
 
+set(CMAKE_INSTALL_CMAKEDIR "${CMAKE_INSTALL_LIBDIR}/cmake/zenohpico")
+# Generate <Package>Config.cmake
+configure_package_config_file(
+  "PackageConfig.cmake.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/zenohpicoConfig.cmake"
+  INSTALL_DESTINATION "${CMAKE_INSTALL_CMAKEDIR}")
+
+# Generate <Package>Version.cmake
+write_basic_package_version_file(
+  "${CMAKE_CURRENT_BINARY_DIR}/zenohpicoConfigVersion.cmake"
+  VERSION ${PROJECT_VERSION}
+  COMPATIBILITY SameMajorVersion)
+
+install(
+  FILES "${CMAKE_CURRENT_BINARY_DIR}/zenohpicoConfig.cmake"
+        "${CMAKE_CURRENT_BINARY_DIR}/zenohpicoConfigVersion.cmake"
+  DESTINATION "${CMAKE_INSTALL_CMAKEDIR}"
+  CONFIGURATIONS ${configurations}
+  COMPONENT dev)
+
+if(UNIX)
+  configure_file("${CMAKE_SOURCE_DIR}/zenohpico.pc.in" "${CMAKE_SOURCE_DIR}/zenohpico.pc" @ONLY)
+  install(FILES "${CMAKE_SOURCE_DIR}/zenohpico.pc" CONFIGURATIONS Release RelWithDebInfo DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig")
+endif()
+
 if(BUILD_EXAMPLES)
   add_subdirectory(examples)
 endif()
@@ -370,4 +407,4 @@ if(PACKAGING)
   include(CPack)
 endif()
 
-endif()
+endif()

GNUmakefile

@@ -89,7 +89,6 @@ crossbuild: check-docker
 		cmake $(CMAKE_OPT) -DPACKAGING=DEB,RPM -DDEBARCH=$(DEBARCH) -DRPMARCH=$(RPMARCH) -B$(CROSSBUILD_DIR)/$(CROSSIMG) && \
 		make VERBOSE=1 -C$(CROSSBUILD_DIR)/$(CROSSIMG) all package"
 	docker rmi $(CROSSIMG_PREFIX)$(CROSSIMG)
-	docker rmi dockcross/$(CROSSIMG)
 
 linux-armv5:
 	CROSSIMG=$@ DEBARCH=arm RPMARCH=arm make crossbuild

PackageConfig.cmake.in

@@ -0,0 +1,28 @@
+#
+# Copyright (c) 2023 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]>
+#
+
+@PACKAGE_INIT@
+
+add_library(__zenohpico_static STATIC IMPORTED GLOBAL)
+add_library(zenohpico::static ALIAS __zenohpico_static)
+set_property(TARGET __zenohpico_static PROPERTY IMPORTED_LOCATION "@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_LIBDIR@/@STATICLIB@")
+
+add_library(__zenohpico_lib SHARED IMPORTED GLOBAL)
+add_library(zenohpico::lib ALIAS __zenohpico_lib)
+set_target_properties(__zenohpico_lib PROPERTIES IMPORTED_NO_SONAME TRUE)
+set_property(TARGET __zenohpico_lib PROPERTY IMPORTED_LOCATION "@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_LIBDIR@/@DYLIB@")
+if(NOT ("@IMPLIB@" STREQUAL ""))
+    set_property(TARGET __zenohpico_lib PROPERTY IMPORTED_IMPLIB "@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_LIBDIR@/@IMPLIB@")
+endif()
+target_include_directories(__zenohpico_lib INTERFACE "@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_INCLUDEDIR@")

docs/conf.py

@@ -48,4 +48,4 @@
     raise ValueError("Windows not supported yet for building docs.")
 
 else:
-    Config.set_library_file('/usr/lib/llvm-6.0/lib/libclang.so.1') # Required for readthedocs
+    Config.set_library_file('/usr/lib/llvm-14/lib/libclang.so.1') # Required for readthedocs

examples/unix/c11/z_ping.c

@@ -46,11 +46,32 @@ int main(int argc, char** argv) {
     _z_condvar_init(&cond);
     z_owned_config_t config = z_config_default();
     z_owned_session_t session = z_open(z_move(config));
+    if (!z_check(session)) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+
+    if (zp_start_read_task(z_loan(session), NULL) < 0 || zp_start_lease_task(z_loan(session), NULL) < 0) {
+        printf("Unable to start read and lease tasks");
+        return -1;
+    }
+
     z_keyexpr_t ping = z_keyexpr_unchecked("test/ping");
     z_keyexpr_t pong = z_keyexpr_unchecked("test/pong");
+
     z_owned_publisher_t pub = z_declare_publisher(z_loan(session), ping, NULL);
-    z_owned_closure_sample_t respond = z_closure(callback, drop, (void*)(&pub));
+    if (!z_check(pub)) {
+        printf("Unable to declare publisher for key expression!\n");
+        return -1;
+    }
+
+    z_owned_closure_sample_t respond = z_closure(callback, drop, NULL);
     z_owned_subscriber_t sub = z_declare_subscriber(z_loan(session), pong, z_move(respond), NULL);
+    if (!z_check(sub)) {
+        printf("Unable to declare subscriber for key expression.\n");
+        return -1;
+    }
+
     uint8_t* data = z_malloc(args.size);
     for (unsigned int i = 0; i < args.size; i++) {
         data[i] = i % 10;
@@ -79,8 +100,12 @@ int main(int argc, char** argv) {
     _z_mutex_unlock(&mutex);
     z_free(results);
     z_free(data);
-    z_drop(z_move(sub));
     z_drop(z_move(pub));
+    z_drop(z_move(sub));
+
+    zp_stop_read_task(z_loan(session));
+    zp_stop_lease_task(z_loan(session));
+
     z_close(z_move(session));
 }
 

examples/unix/c11/z_pong.c

@@ -19,13 +19,38 @@ int main(int argc, char** argv) {
     (void)argv;
     z_owned_config_t config = z_config_default();
     z_owned_session_t session = z_open(z_move(config));
-    z_keyexpr_t ping = z_keyexpr_unchecked("test/ping");
+    if (!z_check(session)) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+
+    if (zp_start_read_task(z_loan(session), NULL) < 0 || zp_start_lease_task(z_loan(session), NULL) < 0) {
+        printf("Unable to start read and lease tasks");
+        return -1;
+    }
+
     z_keyexpr_t pong = z_keyexpr_unchecked("test/pong");
     z_owned_publisher_t pub = z_declare_publisher(z_loan(session), pong, NULL);
+    if (!z_check(pub)) {
+        printf("Unable to declare publisher for key expression!\n");
+        return -1;
+    }
+
+    z_keyexpr_t ping = z_keyexpr_unchecked("test/ping");
     z_owned_closure_sample_t respond = z_closure(callback, drop, (void*)z_move(pub));
     z_owned_subscriber_t sub = z_declare_subscriber(z_loan(session), ping, z_move(respond), NULL);
+    if (!z_check(sub)) {
+        printf("Unable to declare subscriber for key expression.\n");
+        return -1;
+    }
+
     while (getchar() != 'q') {
     }
+
     z_drop(z_move(sub));
+
+    zp_stop_read_task(z_loan(session));
+    zp_stop_lease_task(z_loan(session));
+
     z_close(z_move(session));
 }

examples/unix/c99/z_ping.c

@@ -44,12 +44,34 @@ int main(int argc, char** argv) {
     _z_mutex_init(&mutex);
     _z_condvar_init(&cond);
     z_owned_config_t config = z_config_default();
-    z_owned_session_t session = z_open(z_move(config));
+    z_owned_session_t session = z_open(z_config_move(&config));
+    if (!z_session_check(&session)) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+
+    if (zp_start_read_task(z_session_loan(&session), NULL) < 0 ||
+        zp_start_lease_task(z_session_loan(&session), NULL) < 0) {
+        printf("Unable to start read and lease tasks");
+        return -1;
+    }
+
     z_keyexpr_t ping = z_keyexpr_unchecked("test/ping");
-    z_keyexpr_t pong = z_keyexpr_unchecked("test/pong");
     z_owned_publisher_t pub = z_declare_publisher(z_session_loan(&session), ping, NULL);
-    z_owned_closure_sample_t respond = z_closure(callback, drop, (void*)(&pub));
-    z_owned_subscriber_t sub = z_declare_subscriber(z_session_loan(&session), pong, z_move(respond), NULL);
+    if (!z_publisher_check(&pub)) {
+        printf("Unable to declare publisher for key expression!\n");
+        return -1;
+    }
+
+    z_keyexpr_t pong = z_keyexpr_unchecked("test/pong");
+    z_owned_closure_sample_t respond = z_closure_sample(callback, drop, NULL);
+    z_owned_subscriber_t sub =
+        z_declare_subscriber(z_session_loan(&session), pong, z_closure_sample_move(&respond), NULL);
+    if (!z_subscriber_check(&sub)) {
+        printf("Unable to declare subscriber for key expression.\n");
+        return -1;
+    }
+
     uint8_t* data = z_malloc(args.size);
     for (unsigned int i = 0; i < args.size; i++) {
         data[i] = i % 10;
@@ -78,9 +100,13 @@ int main(int argc, char** argv) {
     _z_mutex_unlock(&mutex);
     z_free(results);
     z_free(data);
-    z_undeclare_subscriber(z_move(sub));
-    z_undeclare_publisher(z_move(pub));
-    z_close(z_move(session));
+    z_undeclare_subscriber(z_subscriber_move(&sub));
+    z_undeclare_publisher(z_publisher_move(&pub));
+
+    zp_stop_read_task(z_session_loan(&session));
+    zp_stop_lease_task(z_session_loan(&session));
+
+    z_close(z_session_move(&session));
 }
 
 char* getopt(int argc, char** argv, char option) {

examples/unix/c99/z_pong.c

@@ -19,14 +19,41 @@ int main(int argc, char** argv) {
     (void)argc;
     (void)argv;
     z_owned_config_t config = z_config_default();
-    z_owned_session_t session = z_open(z_move(config));
-    z_keyexpr_t ping = z_keyexpr_unchecked("test/ping");
+    z_owned_session_t session = z_open(z_config_move(&config));
+    if (!z_session_check(&session)) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+
+    if (zp_start_read_task(z_session_loan(&session), NULL) < 0 ||
+        zp_start_lease_task(z_session_loan(&session), NULL) < 0) {
+        printf("Unable to start read and lease tasks");
+        return -1;
+    }
+
     z_keyexpr_t pong = z_keyexpr_unchecked("test/pong");
     z_owned_publisher_t pub = z_declare_publisher(z_session_loan(&session), pong, NULL);
-    z_owned_closure_sample_t respond = z_closure(callback, drop, (void*)z_move(pub));
-    z_owned_subscriber_t sub = z_declare_subscriber(z_session_loan(&session), ping, z_move(respond), NULL);
+    if (!z_publisher_check(&pub)) {
+        printf("Unable to declare publisher for key expression!\n");
+        return -1;
+    }
+
+    z_keyexpr_t ping = z_keyexpr_unchecked("test/ping");
+    z_owned_closure_sample_t respond = z_closure_sample(callback, drop, (void*)z_publisher_move(&pub));
+    z_owned_subscriber_t sub =
+        z_declare_subscriber(z_session_loan(&session), ping, z_closure_sample_move(&respond), NULL);
+    if (!z_subscriber_check(&sub)) {
+        printf("Unable to declare subscriber for key expression.\n");
+        return -1;
+    }
+
     while (getchar() != 'q') {
     }
-    z_undeclare_subscriber(z_move(sub));
-    z_close(z_move(session));
+
+    z_undeclare_subscriber(z_subscriber_move(&sub));
+
+    zp_stop_read_task(z_session_loan(&session));
+    zp_stop_lease_task(z_session_loan(&session));
+
+    z_close(z_session_move(&session));
 }