Merge remote-tracking branch 'eclipse/main' into feature/condvar_time…

…dwait

.github/workflows/arduino_esp32.yaml

@@ -51,7 +51,7 @@ jobs:
 
           mkdir -p $ARDUINO_BASE
           cd $ARDUINO_BASE
-          platformio init -b esp32thing_plus -O "board_build.cmake_extra_args=-DZ_FEATURE_LINK_BLUETOOTH=1" -O "build_flags=-DZENOH_DEBUG=3 -DZENOH_COMPILER_GCC" -O "lib_ldf_mode=deep+"
+          platformio init -b esp32thing_plus -O "board_build.cmake_extra_args=-DZ_FEATURE_LINK_BLUETOOTH=1 -DZ_FEATURE_LINK_SERIAL=1" -O "build_flags=-DZENOH_DEBUG=3 -DZENOH_COMPILER_GCC" -O "lib_ldf_mode=deep+"
 
           cd $ARDUINO_BASE/lib
           ln -s $ZENOH_PICO_BASE

.github/workflows/espidf.yaml

@@ -51,7 +51,7 @@ jobs:
 
           mkdir -p $ESPIDF_BASE
           cd $ESPIDF_BASE
-          platformio init -b az-delivery-devkit-v4 --project-option="framework=espidf" --project-option="build_flags=-DZENOH_ESPIDF -DZENOH_DEBUG=3"
+          platformio init -b az-delivery-devkit-v4 -O "board_build.cmake_extra_args=-DZ_FEATURE_LINK_SERIAL=1" --project-option="framework=espidf" --project-option="build_flags=-DZENOH_ESPIDF -DZENOH_DEBUG=3"
 
           cd $ESPIDF_BASE/lib
           ln -s $ZENOH_PICO_BASE

CMakeLists.txt

@@ -221,7 +221,7 @@ 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 0 CACHE STRING "Toggle liveliness feature")
+set(Z_FEATURE_LIVELINESS 1 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")
@@ -245,12 +245,6 @@ set(Z_FEATURE_PUBLISHER_SESSION_CHECK 1 CACHE STRING "Toggle publisher session c
 set(Z_FEATURE_BATCHING 1 CACHE STRING "Toggle batching")
 set(Z_FEATURE_RX_CACHE 0 CACHE STRING "Toggle RX_CACHE")
 
-# 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 a warning message if someone tries to enable Z_FEATURE_LINK_SERIAL_USB directly
 if(Z_FEATURE_LINK_SERIAL_USB AND NOT Z_FEATURE_UNSTABLE_API)
   message(WARNING "Z_FEATURE_LINK_SERIAL_USB can only be enabled when Z_FEATURE_UNSTABLE_API is also enabled. Disabling Z_FEATURE_LINK_SERIAL_USB.")
@@ -343,7 +337,7 @@ file(GLOB_RECURSE Sources
   "src/session/*.c"
   "src/transport/*.c"
   "src/utils/*.c"
-  "src/system/platform_common.c"
+  "src/system/common/*.c"
 )
 
 if(WITH_ZEPHYR)

examples/rpi_pico/main.c

@@ -44,7 +44,10 @@ void print_ip_address() {
 
 void main_task(void *params) {
     (void)params;
+#ifndef NDEBUG
     vTaskDelay(pdMS_TO_TICKS(3000));
+#endif
+
 #if WIFI_SUPPORT_ENABLED
     if (cyw43_arch_init()) {
         printf("Failed to initialise\n");

include/zenoh-pico/collections/arc_slice.h

@@ -22,7 +22,7 @@
 
 #include "refcount.h"
 #include "slice.h"
-#include "zenoh-pico/system/platform_common.h"
+#include "zenoh-pico/system/common/platform.h"
 
 #ifdef __cplusplus
 extern "C" {

include/zenoh-pico/protocol/codec/serial.h

@@ -0,0 +1,33 @@
+//
+// 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]>
+//
+
+#ifndef INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_SERIAL_H
+#define INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_SERIAL_H
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+size_t _z_serial_msg_serialize(uint8_t *dest, size_t dest_len, const uint8_t *src, size_t src_len, uint8_t header,
+                               uint8_t *tmp_buf, size_t tmp_buf_len);
+size_t _z_serial_msg_deserialize(const uint8_t *src, size_t src_len, uint8_t *dst, size_t dst_len, uint8_t *header,
+                                 uint8_t *tmp_buf, size_t tmp_buf_len);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_SERIAL_H */

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

@@ -0,0 +1,61 @@
+//
+// Copyright (c) 2022 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]>
+//
+
+#ifndef INCLUDE_ZENOH_PICO_PROTOCOL_DEFINITIONS_SERIAL_H
+#define INCLUDE_ZENOH_PICO_PROTOCOL_DEFINITIONS_SERIAL_H
+
+#include <stdint.h>
+
+#include "zenoh-pico/link/endpoint.h"
+#include "zenoh-pico/protocol/definitions/network.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/// ZSerial Frame Format
+///
+/// Using COBS
+///
+/// +-+-+----+------------+--------+-+
+/// |O|H|XXXX|ZZZZ....ZZZZ|CCCCCCCC|0|
+/// +-+----+------------+--------+-+
+/// |O| |Len |   Data     |  CRC32 |C|
+/// +-+-+-2--+----N-------+---4----+-+
+///
+/// Header: 1byte
+/// +---------------+
+/// |7|6|5|4|3|2|1|0|
+/// +---------------+
+/// |x|x|x|x|x|R|A|I|
+/// +---------------+
+///
+/// Flags:
+/// I - Init
+/// A - Ack
+/// R - Reset
+///
+/// Max Frame Size: 1510
+/// Max MTU: 1500
+/// Max On-the-wire length: 1516 (MFS + Overhead Byte (OHB) + Kind Byte + End of packet (EOP))
+
+#define _Z_FLAG_SERIAL_INIT 0x01
+#define _Z_FLAG_SERIAL_ACK 0x02
+#define _Z_FLAG_SERIAL_RESET 0x04
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* INCLUDE_ZENOH_PICO_PROTOCOL_DEFINITIONS_SERIAL_H*/

include/zenoh-pico/system/common/serial.h

@@ -0,0 +1,36 @@
+//
+// 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]>
+//
+
+#ifndef ZENOH_PICO_SYSTEM_COMMON_SERIAL_H
+#define ZENOH_PICO_SYSTEM_COMMON_SERIAL_H
+
+#include <stdint.h>
+
+#include "zenoh-pico/system/common/platform.h"
+#include "zenoh-pico/utils/result.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+z_result_t _z_connect_serial(const _z_sys_net_socket_t sock);
+size_t _z_read_serial(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len);
+size_t _z_send_serial(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t len);
+size_t _z_read_exact_serial(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ZENOH_PICO_SYSTEM_COMMON_SERIAL_H */

include/zenoh-pico/system/link/serial.h

@@ -28,7 +28,7 @@ extern "C" {
 #if Z_FEATURE_LINK_SERIAL == 1
 
 #define _Z_SERIAL_MTU_SIZE 1500
-#define _Z_SERIAL_MFS_SIZE _Z_SERIAL_MTU_SIZE + 2 + 4  // MTU + Serial Len + Serial CRC32
+#define _Z_SERIAL_MFS_SIZE _Z_SERIAL_MTU_SIZE + 1 + 2 + 4  // MTU + Header + Serial Len + Serial CRC32
 #define _Z_SERIAL_MAX_COBS_BUF_SIZE \
     1516  // Max On-the-wire length for an MFS/MTU of 1510/1500 (MFS + Overhead Byte (OHB) + End of packet (EOP))
 
@@ -42,8 +42,8 @@ z_result_t _z_listen_serial_from_pins(_z_sys_net_socket_t *sock, uint32_t txpin,
 z_result_t _z_listen_serial_from_dev(_z_sys_net_socket_t *sock, char *dev, uint32_t baudrate);
 void _z_close_serial(_z_sys_net_socket_t *sock);
 size_t _z_read_exact_serial(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len);
-size_t _z_read_serial(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len);
-size_t _z_send_serial(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t len);
+size_t _z_read_serial_internal(const _z_sys_net_socket_t sock, uint8_t *header, uint8_t *ptr, size_t len);
+size_t _z_send_serial_internal(const _z_sys_net_socket_t sock, uint8_t header, const uint8_t *ptr, size_t len);
 
 #endif
 

include/zenoh-pico/system/platform.h

@@ -18,6 +18,6 @@
 #include <stdint.h>
 
 #include "zenoh-pico/config.h"
-#include "zenoh-pico/system/platform_common.h"
+#include "zenoh-pico/system/common/platform.h"
 
 #endif /* ZENOH_PICO_SYSTEM_PLATFORM_H */

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

@@ -56,11 +56,7 @@ typedef struct {
         int _fd;
 #endif
 #if Z_FEATURE_LINK_SERIAL == 1
-        struct {
-            uart_port_t _serial;
-            uint8_t *before_cobs;
-            uint8_t *after_cobs;
-        };
+        uart_port_t _serial;
 #endif
     };
 } _z_sys_net_socket_t;

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

@@ -14,6 +14,8 @@
 #ifndef ZENOH_PICO_SYSTEM_FREERTOS_PLUS_TCP_TYPES_H
 #define ZENOH_PICO_SYSTEM_FREERTOS_PLUS_TCP_TYPES_H
 
+#include <time.h>
+
 #include "FreeRTOS.h"
 #include "FreeRTOS_IP.h"
 #include "semphr.h"
@@ -37,9 +39,19 @@ typedef struct {
 typedef struct {
     TaskHandle_t handle;
     EventGroupHandle_t join_event;
+    void *(*fun)(void *);
+    void *arg;
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+    StaticEventGroup_t join_event_buffer;
+#endif /* SUPPORT_STATIC_ALLOCATION */
 } _z_task_t;
 
-typedef SemaphoreHandle_t _z_mutex_t;
+typedef struct {
+    SemaphoreHandle_t handle;
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+    StaticSemaphore_t buffer;
+#endif /* SUPPORT_STATIC_ALLOCATION */
+} _z_mutex_t;
 typedef struct {
     SemaphoreHandle_t mutex;
     SemaphoreHandle_t sem;
@@ -52,7 +64,7 @@ typedef struct {
 #endif  // Z_MULTI_THREAD == 1
 
 typedef TickType_t z_clock_t;
-typedef TickType_t z_time_t;
+typedef struct timeval z_time_t;
 
 typedef struct {
     union {

include/zenoh-pico/utils/logging.h

@@ -17,7 +17,7 @@
 
 #include <stdio.h>
 
-#include "zenoh-pico/system/platform_common.h"
+#include "zenoh-pico/system/common/platform.h"
 
 #ifdef __cplusplus
 extern "C" {

src/api/api.c

@@ -37,8 +37,8 @@
 #include "zenoh-pico/session/resource.h"
 #include "zenoh-pico/session/subscription.h"
 #include "zenoh-pico/session/utils.h"
+#include "zenoh-pico/system/common/platform.h"
 #include "zenoh-pico/system/platform.h"
-#include "zenoh-pico/system/platform_common.h"
 #include "zenoh-pico/transport/common/tx.h"
 #include "zenoh-pico/transport/multicast.h"
 #include "zenoh-pico/transport/unicast.h"

src/collections/vec.c

@@ -171,8 +171,7 @@ void _z_svec_move(_z_svec_t *dst, _z_svec_t *src) {
 
 z_result_t _z_svec_copy(_z_svec_t *dst, const _z_svec_t *src, z_element_copy_f copy, size_t element_size,
                         bool use_elem_f) {
-    dst->_capacity = 0;
-    dst->_len = 0;
+    *dst = _z_svec_null();
     dst->_val = z_malloc(element_size * src->_capacity);
     if (dst->_val == NULL) {
         return _Z_ERR_SYSTEM_OUT_OF_MEMORY;

src/link/unicast/serial.c

@@ -20,6 +20,7 @@
 
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/link/manager.h"
+#include "zenoh-pico/system/common/serial.h"
 #include "zenoh-pico/system/link/serial.h"
 #include "zenoh-pico/utils/pointers.h"