From 3d954cdb94a05d4ac1040fd19dd44385898a4e08 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Sat, 12 Aug 2023 15:56:35 +0200
Subject: [PATCH 01/39] FreeRTOS-Plus-TCP port: system and UDP unicast
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 CMakeLists.txt                                |   7 ++
 include/zenoh-pico/system/platform.h          |   2 +
 .../system/platform/freertos_plus_tcp.h       |  26 +++++
 src/system/freertos_plus_tcp/network.c        | 106 ++++++++++++++++++
 src/system/freertos_plus_tcp/system.c         |  86 ++++++++++++++
 5 files changed, 227 insertions(+)
 create mode 100644 include/zenoh-pico/system/platform/freertos_plus_tcp.h
 create mode 100644 src/system/freertos_plus_tcp/network.c
 create mode 100644 src/system/freertos_plus_tcp/system.c

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 332bf0411..08e7a7ead 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,6 +20,7 @@ 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)
 option(WITH_ZEPHYR "Build for Zephyr RTOS" OFF)
+option(WITH_FREERTOS_PLUS_TCP "Build for FreeRTOS RTOS and FreeRTOS-Plus-TCP network stack" OFF)
 
 if(CMAKE_SYSTEM_NAME MATCHES "Windows")
   set(BUILD_SHARED_LIBS "OFF")
@@ -85,6 +86,8 @@ elseif(CMAKE_SYSTEM_NAME MATCHES "Windows")
 elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
   if(WITH_ZEPHYR)
     add_definition(ZENOH_ZEPHYR)
+  elseif(WITH_FREERTOS_PLUS_TCP)
+    add_definition(ZENOH_FREERTOS_PLUS_TCP)
   endif()
 else()
   message(FATAL_ERROR "zenoh-pico is not yet available on ${CMAKE_SYSTEM_NAME} platform")
@@ -98,6 +101,7 @@ message(STATUS "Building in ${CMAKE_BUILD_TYPE} mode")
 message(STATUS "Build shared library: ${BUILD_SHARED_LIBS}")
 message(STATUS "Zenoh Level Log: ${ZENOH_DEBUG}")
 message(STATUS "Build for Zephyr RTOS: ${WITH_ZEPHYR}")
+message(STATUS "Build for FreeRTOS-Plus-TCP: ${WITH_FREERTOS_PLUS_TCP}")
 message(STATUS "Configuring for ${CMAKE_SYSTEM_NAME}")
 
 if(SKBUILD)
@@ -170,6 +174,9 @@ file(GLOB Sources "src/*.c"
 if(WITH_ZEPHYR)
   file (GLOB Sources_Zephyr "src/system/zephyr/*.c")
   list(APPEND Sources ${Sources_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" OR POSIX_COMPATIBLE)
   file (GLOB Sources_Unix "src/system/unix/*.c")
   list(APPEND Sources ${Sources_Unix})
diff --git a/include/zenoh-pico/system/platform.h b/include/zenoh-pico/system/platform.h
index 07e1f009e..6a76e39a0 100644
--- a/include/zenoh-pico/system/platform.h
+++ b/include/zenoh-pico/system/platform.h
@@ -35,6 +35,8 @@
 #include "zenoh-pico/system/platform/arduino/opencr.h"
 #elif defined(ZENOH_EMSCRIPTEN)
 #include "zenoh-pico/system/platform/emscripten.h"
+#elif defined(ZENOH_FREERTOS_PLUS_TCP)
+#include "zenoh-pico/system/platform/freertos_plus_tcp.h"
 #else
 #include "zenoh-pico/system/platform/void.h"
 #error "Unknown platform"
diff --git a/include/zenoh-pico/system/platform/freertos_plus_tcp.h b/include/zenoh-pico/system/platform/freertos_plus_tcp.h
new file mode 100644
index 000000000..f321ef10d
--- /dev/null
+++ b/include/zenoh-pico/system/platform/freertos_plus_tcp.h
@@ -0,0 +1,26 @@
+#ifndef ZENOH_PICO_SYSTEM_FREERTOS_PLUS_TCP_TYPES_H
+#define ZENOH_PICO_SYSTEM_FREERTOS_PLUS_TCP_TYPES_H
+
+#include "FreeRTOS.h"
+#include "FreeRTOS_IP.h"
+
+typedef TickType_t z_clock_t;
+typedef TickType_t z_time_t;
+
+typedef struct {
+    union {
+#if Z_LINK_UDP_MULTICAST == 1 || Z_LINK_UDP_UNICAST == 1
+        Socket_t _socket;
+#endif
+    };
+} _z_sys_net_socket_t;
+
+typedef struct {
+    union {
+#if Z_LINK_TCP == 1 || Z_LINK_UDP_MULTICAST == 1 || Z_LINK_UDP_UNICAST == 1
+        struct freertos_addrinfo *_iptcp;
+#endif
+    };
+} _z_sys_net_endpoint_t;
+
+#endif
\ No newline at end of file
diff --git a/src/system/freertos_plus_tcp/network.c b/src/system/freertos_plus_tcp/network.c
new file mode 100644
index 000000000..523f4844a
--- /dev/null
+++ b/src/system/freertos_plus_tcp/network.c
@@ -0,0 +1,106 @@
+#include <stdlib.h>
+
+#include "zenoh-pico/system/platform.h"
+#include "zenoh-pico/utils/pointers.h"
+#include "zenoh-pico/utils/result.h"
+
+// FreeRTOS includes
+#include "FreeRTOS.h"
+#include "FreeRTOS_IP.h"
+
+#if Z_LINK_UDP_UNICAST == 1 || Z_LINK_UDP_MULTICAST == 1
+/*------------------ UDP sockets ------------------*/
+int8_t _z_create_endpoint_udp(_z_sys_net_endpoint_t *ep, const char *s_address, const char *s_port) {
+    int8_t ret = _Z_RES_OK;
+
+    if (FreeRTOS_getaddrinfo(s_address, NULL, NULL, &ep->_iptcp) < 0) {
+        ret = _Z_ERR_GENERIC;
+    }
+
+    ep->_iptcp->ai_addr->sin_family = FREERTOS_AF_INET4;
+
+    // Parse and check the validity of the port
+    uint32_t port = strtoul(s_port, NULL, 10);
+    if ((port > (uint32_t)0) && (port <= (uint32_t)65355)) {  // Port numbers should range from 1 to 65355
+        ep->_iptcp->ai_addr->sin_port = FreeRTOS_htons((uint16_t)port);
+    } else {
+        ret = _Z_ERR_GENERIC;
+    }
+
+    return ret;
+}
+
+void _z_free_endpoint_udp(_z_sys_net_endpoint_t *ep) { FreeRTOS_freeaddrinfo(ep->_iptcp); }
+#endif
+
+#if Z_LINK_UDP_UNICAST == 1
+int8_t _z_open_udp_unicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t rep, uint32_t tout) {
+    int8_t ret = _Z_RES_OK;
+
+    sock->_socket = FreeRTOS_socket(rep._iptcp->ai_family, FREERTOS_SOCK_DGRAM, FREERTOS_IPPROTO_UDP);
+    if (sock->_socket != FREERTOS_INVALID_SOCKET) {
+        TickType_t receive_timeout = pdMS_TO_TICKS(tout);
+
+        if (FreeRTOS_setsockopt(sock->_socket, 0, FREERTOS_SO_RCVTIMEO, &receive_timeout, 0) != 0) {
+            ret = _Z_ERR_GENERIC;
+        }
+
+        if (ret != _Z_RES_OK) {
+            FreeRTOS_closesocket(sock->_socket);
+        }
+    } else {
+        ret = _Z_ERR_GENERIC;
+    }
+
+    return ret;
+}
+
+int8_t _z_listen_udp_unicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t rep, uint32_t tout) {
+    int8_t ret = _Z_RES_OK;
+    (void)sock;
+    (void)rep;
+    (void)tout;
+
+    // @TODO: To be implemented
+    ret = _Z_ERR_GENERIC;
+
+    return ret;
+}
+
+void _z_close_udp_unicast(_z_sys_net_socket_t *sock) { FreeRTOS_closesocket(sock->_socket); }
+
+size_t _z_read_udp_unicast(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len) {
+    struct freertos_sockaddr raddr;
+    uint32_t addrlen = sizeof(struct freertos_sockaddr);
+
+    int32_t rb = FreeRTOS_recvfrom(sock._socket, ptr, len, 0, &raddr, &addrlen);
+    if (rb < 0) {
+        rb = SIZE_MAX;
+    }
+
+    return rb;
+}
+
+size_t _z_read_exact_udp_unicast(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len) {
+    size_t n = 0;
+    uint8_t *pos = &ptr[0];
+
+    do {
+        size_t rb = _z_read_udp_unicast(sock, pos, len - n);
+        if (rb == SIZE_MAX) {
+            n = rb;
+            break;
+        }
+
+        n = n + rb;
+        pos = _z_ptr_u8_offset(pos, n);
+    } while (n != len);
+
+    return n;
+}
+
+size_t _z_send_udp_unicast(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t len,
+                           const _z_sys_net_endpoint_t rep) {
+    return FreeRTOS_sendto(sock._socket, ptr, len, 0, rep._iptcp->ai_addr, sizeof(struct freertos_sockaddr));
+}
+#endif
\ No newline at end of file
diff --git a/src/system/freertos_plus_tcp/system.c b/src/system/freertos_plus_tcp/system.c
new file mode 100644
index 000000000..8cb6b7ee4
--- /dev/null
+++ b/src/system/freertos_plus_tcp/system.c
@@ -0,0 +1,86 @@
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FreeRTOS_IP.h"
+#include "zenoh-pico/config.h"
+#include "zenoh-pico/system/platform.h"
+
+/*------------------ Random ------------------*/
+uint8_t z_random_u8(void) { return z_random_u32(); }
+
+uint16_t z_random_u16(void) { return z_random_u32(); }
+
+uint32_t z_random_u32(void) {
+    uint32_t ret = 0;
+    xApplicationGetRandomNumber(&ret);
+    return ret;
+}
+
+uint64_t z_random_u64(void) {
+    uint64_t ret = 0;
+    ret |= z_random_u32();
+    ret = ret << 32;
+    ret |= z_random_u32();
+    return ret;
+}
+
+void z_random_fill(void *buf, size_t len) {
+    for (size_t i = 0; i < len; i++) {
+        *((uint8_t *)buf) = z_random_u8();
+    }
+}
+
+/*------------------ Memory ------------------*/
+void *z_malloc(size_t size) { return pvPortMalloc(size); }
+
+void *z_realloc(void *ptr, size_t size) {
+    // realloc not implemented in FreeRTOS
+    return NULL;
+}
+
+void z_free(void *ptr) { vPortFree(ptr); }
+
+/*------------------ Sleep ------------------*/
+int z_sleep_us(size_t time) {
+    vTaskDelay(pdMS_TO_TICKS(time / 1000));
+    return 0;
+}
+
+int z_sleep_ms(size_t time) {
+    vTaskDelay(pdMS_TO_TICKS(time));
+    return 0;
+}
+
+int z_sleep_s(size_t time) {
+    vTaskDelay(pdMS_TO_TICKS(time * 1000));
+    return 0;
+}
+
+/*------------------ Clock ------------------*/
+z_clock_t z_clock_now(void) { return z_time_now(); }
+
+unsigned long z_clock_elapsed_us(z_clock_t *instant) { return z_clock_elapsed_ms(instant) * 1000; }
+
+unsigned long z_clock_elapsed_ms(z_clock_t *instant) { return z_time_elapsed_ms(instant); }
+
+unsigned long z_clock_elapsed_s(z_clock_t *instant) { return z_time_elapsed_ms(instant) * 1000; }
+
+/*------------------ Time ------------------*/
+z_time_t z_time_now(void) { return xTaskGetTickCount(); }
+
+const char *z_time_now_as_str(char *const buf, unsigned long buflen) {
+    snprintf(buf, buflen, "%u", z_time_now());
+    return buf;
+}
+
+unsigned long z_time_elapsed_us(z_time_t *time) { return z_time_elapsed_ms(time) * 1000; }
+
+unsigned long z_time_elapsed_ms(z_time_t *time) {
+    z_time_t now = z_time_now();
+
+    unsigned long elapsed = (now - *time) * portTICK_PERIOD_MS;
+    return elapsed;
+}
+
+unsigned long z_time_elapsed_s(z_time_t *time) { return z_time_elapsed_ms(time) / 1000; }

From 2d9ed4024509e97999f6cb3da10633f2c32011a3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 14 Aug 2023 00:50:23 +0200
Subject: [PATCH 02/39] Fix clock_elapsed_s method

---
 src/system/freertos_plus_tcp/system.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/system/freertos_plus_tcp/system.c b/src/system/freertos_plus_tcp/system.c
index 8cb6b7ee4..3b46d3e55 100644
--- a/src/system/freertos_plus_tcp/system.c
+++ b/src/system/freertos_plus_tcp/system.c
@@ -64,7 +64,7 @@ unsigned long z_clock_elapsed_us(z_clock_t *instant) { return z_clock_elapsed_ms
 
 unsigned long z_clock_elapsed_ms(z_clock_t *instant) { return z_time_elapsed_ms(instant); }
 
-unsigned long z_clock_elapsed_s(z_clock_t *instant) { return z_time_elapsed_ms(instant) * 1000; }
+unsigned long z_clock_elapsed_s(z_clock_t *instant) { return z_clock_elapsed_ms(instant) / 1000; }
 
 /*------------------ Time ------------------*/
 z_time_t z_time_now(void) { return xTaskGetTickCount(); }

From d3e8cc10d3354436415fce11419b2e30f3c0f3e6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 14 Aug 2023 18:51:15 +0200
Subject: [PATCH 03/39] Avoid double free

---
 src/system/freertos_plus_tcp/network.c | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/src/system/freertos_plus_tcp/network.c b/src/system/freertos_plus_tcp/network.c
index 523f4844a..3740eb0f9 100644
--- a/src/system/freertos_plus_tcp/network.c
+++ b/src/system/freertos_plus_tcp/network.c
@@ -44,10 +44,6 @@ int8_t _z_open_udp_unicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_
         if (FreeRTOS_setsockopt(sock->_socket, 0, FREERTOS_SO_RCVTIMEO, &receive_timeout, 0) != 0) {
             ret = _Z_ERR_GENERIC;
         }
-
-        if (ret != _Z_RES_OK) {
-            FreeRTOS_closesocket(sock->_socket);
-        }
     } else {
         ret = _Z_ERR_GENERIC;
     }

From f949eb374b34713e7e01dda172392b7e54c4c043 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 14 Aug 2023 18:51:35 +0200
Subject: [PATCH 04/39] Add TCP transport

---
 src/system/freertos_plus_tcp/network.c | 88 ++++++++++++++++++++++++++
 1 file changed, 88 insertions(+)

diff --git a/src/system/freertos_plus_tcp/network.c b/src/system/freertos_plus_tcp/network.c
index 3740eb0f9..a50f061ed 100644
--- a/src/system/freertos_plus_tcp/network.c
+++ b/src/system/freertos_plus_tcp/network.c
@@ -8,6 +8,94 @@
 #include "FreeRTOS.h"
 #include "FreeRTOS_IP.h"
 
+#if Z_LINK_TCP == 1
+/*------------------ TCP sockets ------------------*/
+int8_t _z_create_endpoint_tcp(_z_sys_net_endpoint_t *ep, const char *s_address, const char *s_port) {
+    int8_t ret = _Z_RES_OK;
+
+    if (FreeRTOS_getaddrinfo(s_address, NULL, NULL, &ep->_iptcp) < 0) {
+        ret = _Z_ERR_GENERIC;
+    }
+
+    ep->_iptcp->ai_addr->sin_family = FREERTOS_AF_INET4;
+
+    // Parse and check the validity of the port
+    uint32_t port = strtoul(s_port, NULL, 10);
+    if ((port > (uint32_t)0) && (port <= (uint32_t)65355)) {  // Port numbers should range from 1 to 65355
+        ep->_iptcp->ai_addr->sin_port = FreeRTOS_htons((uint16_t)port);
+    } else {
+        ret = _Z_ERR_GENERIC;
+    }
+
+    return ret;
+}
+
+void _z_free_endpoint_tcp(_z_sys_net_endpoint_t *ep) { FreeRTOS_freeaddrinfo(ep->_iptcp); }
+
+int8_t _z_open_tcp(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t rep, uint32_t tout) {
+    int8_t ret = _Z_RES_OK;
+
+    sock->_socket = FreeRTOS_socket(rep._iptcp->ai_family, FREERTOS_SOCK_STREAM, FREERTOS_IPPROTO_TCP);
+    if (sock->_socket != FREERTOS_INVALID_SOCKET) {
+        TickType_t receive_timeout = pdMS_TO_TICKS(tout);
+
+        if (FreeRTOS_setsockopt(sock->_socket, 0, FREERTOS_SO_RCVTIMEO, &receive_timeout, 0) != 0) {
+            ret = _Z_ERR_GENERIC;
+        } else if (FreeRTOS_connect(sock->_socket, rep._iptcp->ai_addr, rep._iptcp->ai_addrlen) < 0) {
+            ret = _Z_ERR_GENERIC;
+        }
+    } else {
+        ret = _Z_ERR_GENERIC;
+    }
+
+    return ret;
+}
+
+int8_t _z_listen_tcp(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t lep) {
+    int8_t ret = _Z_RES_OK;
+    (void)sock;
+    (void)lep;
+
+    // @TODO: To be implemented
+    ret = _Z_ERR_GENERIC;
+
+    return ret;
+}
+
+void _z_close_tcp(_z_sys_net_socket_t *sock) { FreeRTOS_closesocket(sock->_socket); }
+
+size_t _z_read_tcp(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len) {
+    ssize_t rb = FreeRTOS_recv(sock._socket, ptr, len, 0);
+    if (rb < (ssize_t)0) {
+        rb = SIZE_MAX;
+    }
+
+    return rb;
+}
+
+size_t _z_read_exact_tcp(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len) {
+    size_t n = 0;
+    uint8_t *pos = &ptr[0];
+
+    do {
+        size_t rb = _z_read_tcp(sock, pos, len - n);
+        if (rb == SIZE_MAX) {
+            n = rb;
+            break;
+        }
+
+        n = n + rb;
+        pos = _z_ptr_u8_offset(pos, n);
+    } while (n != len);
+
+    return n;
+}
+
+size_t _z_send_tcp(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t len) {
+    return FreeRTOS_send(sock._socket, ptr, len, 0);
+}
+#endif
+
 #if Z_LINK_UDP_UNICAST == 1 || Z_LINK_UDP_MULTICAST == 1
 /*------------------ UDP sockets ------------------*/
 int8_t _z_create_endpoint_udp(_z_sys_net_endpoint_t *ep, const char *s_address, const char *s_port) {

From 8e2d99d10b21e5755924a2fd476642fc7ee2ff6f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 14 Aug 2023 18:58:42 +0200
Subject: [PATCH 05/39] Fix build when only TCP is enabled

---
 include/zenoh-pico/system/platform/freertos_plus_tcp.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/zenoh-pico/system/platform/freertos_plus_tcp.h b/include/zenoh-pico/system/platform/freertos_plus_tcp.h
index f321ef10d..aad78d8af 100644
--- a/include/zenoh-pico/system/platform/freertos_plus_tcp.h
+++ b/include/zenoh-pico/system/platform/freertos_plus_tcp.h
@@ -9,7 +9,7 @@ typedef TickType_t z_time_t;
 
 typedef struct {
     union {
-#if Z_LINK_UDP_MULTICAST == 1 || Z_LINK_UDP_UNICAST == 1
+#if Z_LINK_TCP == 1 || Z_LINK_UDP_MULTICAST == 1 || Z_LINK_UDP_UNICAST == 1
         Socket_t _socket;
 #endif
     };

From ba1c4c060f3cebf9f6e759338b6dc74fc36213e9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Fri, 25 Aug 2023 18:28:27 +0200
Subject: [PATCH 06/39] Initial FreeRTOS-Plus-TCP example
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/CMakeLists.txt     |  69 ++++++++++
 .../include/FreeRTOSConfig.h                  |  51 ++++++++
 .../include/FreeRTOSIPConfig.h                |  41 ++++++
 examples/freertos_plus_tcp/main.c             | 121 ++++++++++++++++++
 examples/freertos_plus_tcp/z_pub.c            |  76 +++++++++++
 5 files changed, 358 insertions(+)
 create mode 100644 examples/freertos_plus_tcp/CMakeLists.txt
 create mode 100644 examples/freertos_plus_tcp/include/FreeRTOSConfig.h
 create mode 100644 examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
 create mode 100644 examples/freertos_plus_tcp/main.c
 create mode 100644 examples/freertos_plus_tcp/z_pub.c

diff --git a/examples/freertos_plus_tcp/CMakeLists.txt b/examples/freertos_plus_tcp/CMakeLists.txt
new file mode 100644
index 000000000..75f76ced0
--- /dev/null
+++ b/examples/freertos_plus_tcp/CMakeLists.txt
@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.20)
+project(zenohpico_freertos_plus_tcp_examples)
+
+set(CMAKE_SYSTEM_NAME "Generic")
+
+include(../../cmake/helpers.cmake)
+set_default_build_type(Release)
+
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(SLIRP REQUIRED slirp)
+
+add_library(slirp INTERFACE)
+target_link_libraries(slirp INTERFACE ${SLIRP_LINK_LIBRARIES})
+target_include_directories(slirp INTERFACE ${SLIRP_INCLUDE_DIRS})
+target_compile_options(slirp INTERFACE -Wno-error)
+
+include(FetchContent)
+
+FetchContent_Declare(freertos_kernel
+  GIT_REPOSITORY "https://github.com/FreeRTOS/FreeRTOS-Kernel.git"
+  GIT_TAG "V10.6.1"
+)
+
+FetchContent_Declare(freertos_plus_tcp
+  GIT_REPOSITORY "https://github.com/bjsowa/FreeRTOS-Plus-TCP.git"
+  GIT_TAG "44289aa"
+  GIT_SUBMODULES ""
+)
+
+add_library(freertos_config INTERFACE)
+target_include_directories(freertos_config SYSTEM
+  INTERFACE
+    include
+)
+
+set(FREERTOS_HEAP "3" CACHE STRING "" FORCE)
+set(FREERTOS_PORT "GCC_POSIX" CACHE STRING "" FORCE)
+set(FREERTOS_PLUS_TCP_NETWORK_IF "LIBSLIRP" CACHE STRING "" FORCE)
+set(FREERTOS_PLUS_TCP_BUFFER_ALLOCATION "2" CACHE STRING "" FORCE)
+
+FetchContent_MakeAvailable(freertos_kernel freertos_plus_tcp)
+
+set(BUILD_SHARED_LIBS OFF)
+set(WITH_FREERTOS_PLUS_TCP ON)
+configure_include_project(ZENOHPICO zenohpico zenohpico "../.." zenohpico "https://github.com/eclipse-zenoh/zenoh-pico" "")
+
+target_link_libraries(zenohpico
+  freertos_kernel
+  freertos_plus_tcp
+)
+target_compile_definitions(zenohpico
+  PUBLIC
+    Z_MULTI_THREAD=0
+    Z_LINK_TCP=1
+    Z_SCOUTING_UDP=1
+    Z_LINK_UDP_UNICAST=1
+    Z_LINK_UDP_MULTICAST=0
+)    
+
+add_executable(z_pub
+  main.c
+  z_pub.c
+)
+
+target_link_libraries(z_pub
+  freertos_kernel
+  freertos_plus_tcp
+  zenohpico
+)
diff --git a/examples/freertos_plus_tcp/include/FreeRTOSConfig.h b/examples/freertos_plus_tcp/include/FreeRTOSConfig.h
new file mode 100644
index 000000000..98d65e1af
--- /dev/null
+++ b/examples/freertos_plus_tcp/include/FreeRTOSConfig.h
@@ -0,0 +1,51 @@
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+#include "bits/pthread_stack_min.h"
+
+/* Core options */
+#define configUSE_PREEMPTION 1
+#define configTICK_RATE_HZ ((TickType_t)1000)
+#define configMAX_PRIORITIES (56)
+#define configMINIMAL_STACK_SIZE ((uint16_t) PTHREAD_STACK_MIN)
+#define configMAX_TASK_NAME_LEN (16)
+#define configUSE_16_BIT_TICKS 0
+#define configQUEUE_REGISTRY_SIZE 0
+#define configTASK_NOTIFICATION_ARRAY_ENTRIES 1
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK 0
+#define configUSE_TICK_HOOK 0
+#define configUSE_MALLOC_FAILED_HOOK 0
+#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
+#define configUSE_SB_COMPLETED_CALLBACK 0
+
+/* Enable/Disable features */
+#define configSUPPORT_STATIC_ALLOCATION 1
+#define configSUPPORT_DYNAMIC_ALLOCATION 1
+#define configUSE_MUTEXES 1
+#define configUSE_RECURSIVE_MUTEXES 1
+#define configUSE_COUNTING_SEMAPHORES 1
+#define configUSE_CO_ROUTINES 0
+#define configUSE_TIMERS 0
+#define configUSE_TRACE_FACILITY 0
+#define configUSE_QUEUE_SETS 0
+#define configUSE_NEWLIB_REENTRANT 0
+
+/* Set the API functions which should be included */
+#define INCLUDE_vTaskPrioritySet 1
+#define INCLUDE_uxTaskPriorityGet 1
+#define INCLUDE_vTaskDelete 1
+#define INCLUDE_vTaskCleanUpResources 0
+#define INCLUDE_vTaskSuspend 1
+#define INCLUDE_vTaskDelayUntil 1
+#define INCLUDE_vTaskDelay 1
+#define INCLUDE_xTaskGetSchedulerState 1
+#define INCLUDE_xTimerPendFunctionCall 1
+#define INCLUDE_xQueueGetMutexHolder 1
+#define INCLUDE_uxTaskGetStackHighWaterMark 1
+#define INCLUDE_eTaskGetState 1
+#define INCLUDE_xTimerPendFunctionCall 0
+
+#endif /* FREERTOS_CONFIG_H */
diff --git a/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h b/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
new file mode 100644
index 000000000..b620ea05c
--- /dev/null
+++ b/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
@@ -0,0 +1,41 @@
+#ifndef FREERTOS_IP_CONFIG_H
+#define FREERTOS_IP_CONFIG_H
+
+// Driver specific
+#define ipconfigBYTE_ORDER pdFREERTOS_LITTLE_ENDIAN
+#define ipconfigETHERNET_DRIVER_FILTERS_FRAME_TYPES 1
+#define ipconfigDRIVER_INCLUDED_TX_IP_CHECKSUM 1
+#define ipconfigDRIVER_INCLUDED_RX_IP_CHECKSUM 1
+#define ipconfigZERO_COPY_RX_DRIVER 1
+#define ipconfigZERO_COPY_TX_DRIVER 1
+#define ipconfigUSE_LINKED_RX_MESSAGES 1
+#define ipconfigNUM_NETWORK_BUFFER_DESCRIPTORS 60
+
+// Enable/Disable features
+#define ipconfigUSE_IPv4 1
+#define ipconfigUSE_IPv6 1
+#define ipconfigUSE_DHCP 1
+#define ipconfigUSE_DHCPv6 0
+#define ipconfigUSE_RA 0
+#define ipconfigUSE_DNS 1
+#define ipconfigUSE_TCP 1
+#define ipconfigUSE_ARP_REMOVE_ENTRY 0
+#define ipconfigUSE_ARP_REVERSED_LOOKUP 0
+#define ipconfigSUPPORT_SELECT_FUNCTION 0
+#define ipconfigSUPPORT_OUTGOING_PINGS 0
+#define ipconfigUSE_NETWORK_EVENT_HOOK 1
+#define ipconfigUSE_DHCP_HOOK 0
+
+// DHCP
+#define ipconfigMAXIMUM_DISCOVER_TX_PERIOD (pdMS_TO_TICKS(1000U))
+#define ipconfigDHCP_REGISTER_HOSTNAME 1
+
+#define ipconfigIP_TASK_PRIORITY (configMAX_PRIORITIES - 2)
+#define ipconfigIP_TASK_STACK_SIZE_WORDS (configMINIMAL_STACK_SIZE * 5)
+
+// Set ipconfigBUFFER_PADDING on 64-bit platforms
+#if INTPTR_MAX == INT64_MAX
+    #define ipconfigBUFFER_PADDING 14U
+#endif
+
+#endif /* FREERTOS_IP_CONFIG_H */
\ No newline at end of file
diff --git a/examples/freertos_plus_tcp/main.c b/examples/freertos_plus_tcp/main.c
new file mode 100644
index 000000000..9865c07a5
--- /dev/null
+++ b/examples/freertos_plus_tcp/main.c
@@ -0,0 +1,121 @@
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "FreeRTOS.h"
+#include "FreeRTOS_IP.h"
+#include "task.h"
+
+#define APP_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
+#define APP_TASK_PRIORITY 10
+
+static const uint8_t ucIPAddress[] = {192, 168, 1, 80};
+static const uint8_t ucNetMask[] = {255, 255, 255, 0};
+static const uint8_t ucGatewayAddress[] = {192, 168, 1, 1};
+static const uint8_t ucDNSServerAddress[] = {192, 168, 1, 1};
+static const uint8_t ucMACAddress[] = {0x00, 0x11, 0x22, 0x33, 0x44, 0x55};
+
+NetworkInterface_t *pxLibslirp_FillInterfaceDescriptor(BaseType_t xEMACIndex, NetworkInterface_t *pxInterface);
+
+static NetworkInterface_t xInterface;
+static NetworkEndPoint_t xEndPoint;
+
+static TaskHandle_t xAppTaskHandle;
+static StaticTask_t xAppTaskTCB;
+static StackType_t uxAppTaskStack[APP_TASK_STACK_DEPTH];
+
+void app_main();
+
+void vAppTask(void * /*argument*/) {
+    printf("Waiting for network...\n");
+
+    uint32_t ulNotificationValue = ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(5000));
+
+    if (ulNotificationValue == 0) {
+        printf("Timed out waiting for network.\n");
+    } else {
+        printf("Starting Zenoh App...\n");
+        app_main();
+    }
+
+    vTaskDelete(NULL);
+}
+
+int main(int argc, char **argv) {
+    memcpy(ipLOCAL_MAC_ADDRESS, ucMACAddress, sizeof(ucMACAddress));
+
+    pxLibslirp_FillInterfaceDescriptor(0, &xInterface);
+
+    FreeRTOS_FillEndPoint(&xInterface, &xEndPoint, ucIPAddress, ucNetMask, ucGatewayAddress, ucDNSServerAddress,
+                          ucMACAddress);
+    xEndPoint.bits.bWantDHCP = 1;
+
+    FreeRTOS_IPInit_Multi();
+
+    xAppTaskHandle =
+        xTaskCreateStatic(vAppTask, "", APP_TASK_STACK_DEPTH, NULL, APP_TASK_PRIORITY, uxAppTaskStack, &xAppTaskTCB);
+    vTaskStartScheduler();
+
+    return 0;
+}
+
+void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer,
+                                   uint32_t *pulIdleTaskStackSize) {
+    static StaticTask_t xIdleTaskTCB;
+    static StackType_t uxIdleTaskStack[configMINIMAL_STACK_SIZE];
+
+    *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
+    *ppxIdleTaskStackBuffer = uxIdleTaskStack;
+    *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
+}
+
+BaseType_t xApplicationGetRandomNumber(uint32_t *pulNumber) {
+    *pulNumber = (uint32_t)rand();
+
+    return pdTRUE;
+}
+
+uint32_t ulApplicationGetNextSequenceNumber(uint32_t /*ulSourceAddress*/, uint16_t /*usSourcePort*/,
+                                            uint32_t /*ulDestinationAddress*/, uint16_t /*usDestinationPort*/) {
+    uint32_t ulNext = 0;
+    xApplicationGetRandomNumber(&ulNext);
+
+    return ulNext;
+}
+
+const char *pcApplicationHostnameHook(void) { return "FreeRTOS-simulator"; }
+
+void vApplicationIPNetworkEventHook_Multi(eIPCallbackEvent_t eNetworkEvent, struct xNetworkEndPoint * /*xEndPoint*/) {
+    if (eNetworkEvent == eNetworkUp) {
+        printf("Network is up!\n");
+
+        uint32_t ulIPAddress = 0;
+        uint32_t ulNetMask = 0;
+        uint32_t ulGatewayAddress = 0;
+        uint32_t ulDNSServerAddress = 0;
+        char cBuf[50];
+
+        // The network is up and configured. Print out the configuration obtained
+        // from the DHCP server.
+        FreeRTOS_GetEndPointConfiguration(&ulIPAddress, &ulNetMask, &ulGatewayAddress, &ulDNSServerAddress, &xEndPoint);
+
+        // Convert the IP address to a string then print it out.
+        FreeRTOS_inet_ntoa(ulIPAddress, cBuf);
+        printf("IP Address: %s\n", cBuf);
+
+        // Convert the net mask to a string then print it out.
+        FreeRTOS_inet_ntoa(ulNetMask, cBuf);
+        printf("Subnet Mask: %s\n", cBuf);
+
+        // Convert the IP address of the gateway to a string then print it out.
+        FreeRTOS_inet_ntoa(ulGatewayAddress, cBuf);
+        printf("Gateway IP Address: %s\n", cBuf);
+
+        // Convert the IP address of the DNS server to a string then print it out.
+        FreeRTOS_inet_ntoa(ulDNSServerAddress, cBuf);
+        printf("DNS server IP Address: %s\r", cBuf);
+
+        xTaskNotifyGive(xAppTaskHandle);
+    } else if (eNetworkEvent == eNetworkDown) {
+        printf("IPv4 End Point is down!\n");
+    }
+}
diff --git a/examples/freertos_plus_tcp/z_pub.c b/examples/freertos_plus_tcp/z_pub.c
new file mode 100644
index 000000000..e0758f846
--- /dev/null
+++ b/examples/freertos_plus_tcp/z_pub.c
@@ -0,0 +1,76 @@
+//
+// 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:
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
+#include <zenoh-pico.h>
+
+#define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
+#if CLIENT_OR_PEER == 0
+#define MODE "client"
+#define PEER ""  // If empty, it will scout
+#elif CLIENT_OR_PEER == 1
+#define MODE "peer"
+#define PEER "udp/224.0.0.225:7447"
+#else
+#error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
+#endif
+
+#define KEYEXPR "demo/example/zenoh-pico-pub"
+#define VALUE "[FreeRTOS-Plus-TCP] Pub from Zenoh-Pico!"
+
+void app_main() {
+    // Initialize Zenoh Session and other parameters
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_config_loan(&config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
+    if (strcmp(PEER, "") != 0) {
+        zp_config_insert(z_config_loan(&config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    }
+
+    // Open Zenoh session
+    printf("Opening Zenoh Session...\n");
+    z_owned_session_t s = z_open(z_config_move(&config));
+    if (!z_session_check(&s)) {
+        printf("Unable to open session!\n");
+        return;
+    }
+    printf("OK\n");
+
+    // Start the receive and the session lease loop for zenoh-pico
+    zp_start_read_task(z_session_loan(&s), NULL);
+    zp_start_lease_task(z_session_loan(&s), NULL);
+
+    printf("Declaring publisher for '%s'...", KEYEXPR);
+    z_owned_publisher_t pub = z_declare_publisher(z_session_loan(&s), z_keyexpr(KEYEXPR), NULL);
+    if (!z_publisher_check(&pub)) {
+        printf("Unable to declare publisher for key expression!\n");
+        return;
+    }
+    printf("OK\n");
+
+    char buf[256];
+    for (int idx = 0; 1; ++idx) {
+        z_sleep_s(1);
+        sprintf(buf, "[%4d] %s", idx, VALUE);
+        printf("Putting Data ('%s': '%s')...\n", KEYEXPR, buf);
+        z_publisher_put(z_publisher_loan(&pub), (const uint8_t *)buf, strlen(buf), NULL);
+    }
+
+    printf("Closing Zenoh Session...\n");
+    z_undeclare_publisher(z_publisher_move(&pub));
+
+    // Stop the receive and the session lease loop for zenoh-pico
+    zp_stop_read_task(z_session_loan(&s));
+    zp_stop_lease_task(z_session_loan(&s));
+
+    z_close(z_session_move(&s));
+    printf("OK!\n");
+}

From d5024924398ffeea09f5fef54ccdff61ad0a593d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Fri, 25 Aug 2023 18:28:40 +0200
Subject: [PATCH 07/39] Initial CI workflow
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 .github/workflows/freertos_plus_tcp.yaml | 41 ++++++++++++++++++++++++
 1 file changed, 41 insertions(+)
 create mode 100644 .github/workflows/freertos_plus_tcp.yaml

diff --git a/.github/workflows/freertos_plus_tcp.yaml b/.github/workflows/freertos_plus_tcp.yaml
new file mode 100644
index 000000000..7f919b52a
--- /dev/null
+++ b/.github/workflows/freertos_plus_tcp.yaml
@@ -0,0 +1,41 @@
+#
+# 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:
+#   Błażej Sowa, <blazej@fictionlab.pl>
+#
+name: freertos_plus_tcp
+
+on:
+  push:
+    branches: [ '**' ]
+  pull_request:
+    branches: [ '**' ]
+
+jobs:
+  build:
+    name: Build on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest]
+    steps:
+    - uses: actions/checkout@v2
+    - uses: jwlawson/actions-setup-cmake@v1.13
+    - name: Install requirements
+      run: |
+        sudo apt update
+        sudo apt install -y ninja-build libslirp-dev
+    - name: Build examples
+      run: |
+        cd examples/freertos_plus_tcp
+        cmake -Bbuild -G"Ninja Multi-Config"
+        cmake --build ./build --config Debug

From c8c8b3de15c28779a7d82e8d01b2fef44310a5fa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 08:34:41 +0200
Subject: [PATCH 08/39] Fix newline character in printf
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/freertos_plus_tcp/main.c b/examples/freertos_plus_tcp/main.c
index 9865c07a5..ec24aef94 100644
--- a/examples/freertos_plus_tcp/main.c
+++ b/examples/freertos_plus_tcp/main.c
@@ -112,7 +112,7 @@ void vApplicationIPNetworkEventHook_Multi(eIPCallbackEvent_t eNetworkEvent, stru
 
         // Convert the IP address of the DNS server to a string then print it out.
         FreeRTOS_inet_ntoa(ulDNSServerAddress, cBuf);
-        printf("DNS server IP Address: %s\r", cBuf);
+        printf("DNS server IP Address: %s\n", cBuf);
 
         xTaskNotifyGive(xAppTaskHandle);
     } else if (eNetworkEvent == eNetworkDown) {

From b86ce9800eaf683d54b253958a76eb5fad9e32ac Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 08:35:47 +0200
Subject: [PATCH 09/39] Fix network driver checksum options
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h b/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
index b620ea05c..4619fbaa5 100644
--- a/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
+++ b/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
@@ -4,7 +4,7 @@
 // Driver specific
 #define ipconfigBYTE_ORDER pdFREERTOS_LITTLE_ENDIAN
 #define ipconfigETHERNET_DRIVER_FILTERS_FRAME_TYPES 1
-#define ipconfigDRIVER_INCLUDED_TX_IP_CHECKSUM 1
+#define ipconfigDRIVER_INCLUDED_TX_IP_CHECKSUM 0
 #define ipconfigDRIVER_INCLUDED_RX_IP_CHECKSUM 1
 #define ipconfigZERO_COPY_RX_DRIVER 1
 #define ipconfigZERO_COPY_TX_DRIVER 1

From 46bde552a285ecfa222d0fb21bb1d49ada677e32 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 13:17:41 +0200
Subject: [PATCH 10/39] Fix printf newline
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/z_pub.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/freertos_plus_tcp/z_pub.c b/examples/freertos_plus_tcp/z_pub.c
index e0758f846..caf5d0105 100644
--- a/examples/freertos_plus_tcp/z_pub.c
+++ b/examples/freertos_plus_tcp/z_pub.c
@@ -48,7 +48,7 @@ void app_main() {
     zp_start_read_task(z_session_loan(&s), NULL);
     zp_start_lease_task(z_session_loan(&s), NULL);
 
-    printf("Declaring publisher for '%s'...", KEYEXPR);
+    printf("Declaring publisher for '%s'...\n", KEYEXPR);
     z_owned_publisher_t pub = z_declare_publisher(z_session_loan(&s), z_keyexpr(KEYEXPR), NULL);
     if (!z_publisher_check(&pub)) {
         printf("Unable to declare publisher for key expression!\n");

From 6314ac91488ac0ac3affef6cf6bc7c6cbbf8be32 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 13:18:39 +0200
Subject: [PATCH 11/39] Make vAppTask static
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/freertos_plus_tcp/main.c b/examples/freertos_plus_tcp/main.c
index ec24aef94..75101cb30 100644
--- a/examples/freertos_plus_tcp/main.c
+++ b/examples/freertos_plus_tcp/main.c
@@ -25,7 +25,7 @@ static StackType_t uxAppTaskStack[APP_TASK_STACK_DEPTH];
 
 void app_main();
 
-void vAppTask(void * /*argument*/) {
+static void vAppTask(void * /*argument*/) {
     printf("Waiting for network...\n");
 
     uint32_t ulNotificationValue = ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(5000));

From 649fed584e9c674f96b86b0ee25645469d290aa7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 13:19:20 +0200
Subject: [PATCH 12/39] Resolve MAC address of gateway before running Zenoh app
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/main.c | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/examples/freertos_plus_tcp/main.c b/examples/freertos_plus_tcp/main.c
index 75101cb30..6985f338f 100644
--- a/examples/freertos_plus_tcp/main.c
+++ b/examples/freertos_plus_tcp/main.c
@@ -114,7 +114,13 @@ void vApplicationIPNetworkEventHook_Multi(eIPCallbackEvent_t eNetworkEvent, stru
         FreeRTOS_inet_ntoa(ulDNSServerAddress, cBuf);
         printf("DNS server IP Address: %s\n", cBuf);
 
-        xTaskNotifyGive(xAppTaskHandle);
+        // Make sure MAC address of the gateway is known
+        if (xARPWaitResolution(ulGatewayAddress, pdMS_TO_TICKS(3000)) < 0) {
+            xTaskNotifyGive(xAppTaskHandle);
+        } else {
+            printf("Failed to obtain the MAC address of the gateway!\n");
+        }
+
     } else if (eNetworkEvent == eNetworkDown) {
         printf("IPv4 End Point is down!\n");
     }

From c7cb1efea825bce12f4f616c52084134008230b8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 13:23:10 +0200
Subject: [PATCH 13/39] Set zenoh debug level
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/examples/freertos_plus_tcp/CMakeLists.txt b/examples/freertos_plus_tcp/CMakeLists.txt
index 75f76ced0..e16ee2359 100644
--- a/examples/freertos_plus_tcp/CMakeLists.txt
+++ b/examples/freertos_plus_tcp/CMakeLists.txt
@@ -42,6 +42,7 @@ FetchContent_MakeAvailable(freertos_kernel freertos_plus_tcp)
 
 set(BUILD_SHARED_LIBS OFF)
 set(WITH_FREERTOS_PLUS_TCP ON)
+set(ZENOH_DEBUG 3)
 configure_include_project(ZENOHPICO zenohpico zenohpico "../.." zenohpico "https://github.com/eclipse-zenoh/zenoh-pico" "")
 
 target_link_libraries(zenohpico

From 996550073c979a59884e828f432048a263b45984 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 13:23:25 +0200
Subject: [PATCH 14/39] Increase socket timeout
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/examples/freertos_plus_tcp/CMakeLists.txt b/examples/freertos_plus_tcp/CMakeLists.txt
index e16ee2359..36f9843fc 100644
--- a/examples/freertos_plus_tcp/CMakeLists.txt
+++ b/examples/freertos_plus_tcp/CMakeLists.txt
@@ -56,6 +56,7 @@ target_compile_definitions(zenohpico
     Z_SCOUTING_UDP=1
     Z_LINK_UDP_UNICAST=1
     Z_LINK_UDP_MULTICAST=0
+    Z_CONFIG_SOCKET_TIMEOUT=1000
 )    
 
 add_executable(z_pub

From 98be97f8c851b177f8aa5309a1dad37e26c6aaef Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 13:44:51 +0200
Subject: [PATCH 15/39] Fix segfault when failed to create endpoint
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 src/system/freertos_plus_tcp/network.c | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/system/freertos_plus_tcp/network.c b/src/system/freertos_plus_tcp/network.c
index a50f061ed..fdf700521 100644
--- a/src/system/freertos_plus_tcp/network.c
+++ b/src/system/freertos_plus_tcp/network.c
@@ -15,6 +15,7 @@ int8_t _z_create_endpoint_tcp(_z_sys_net_endpoint_t *ep, const char *s_address,
 
     if (FreeRTOS_getaddrinfo(s_address, NULL, NULL, &ep->_iptcp) < 0) {
         ret = _Z_ERR_GENERIC;
+        return ret;
     }
 
     ep->_iptcp->ai_addr->sin_family = FREERTOS_AF_INET4;
@@ -103,6 +104,7 @@ int8_t _z_create_endpoint_udp(_z_sys_net_endpoint_t *ep, const char *s_address,
 
     if (FreeRTOS_getaddrinfo(s_address, NULL, NULL, &ep->_iptcp) < 0) {
         ret = _Z_ERR_GENERIC;
+        return ret;
     }
 
     ep->_iptcp->ai_addr->sin_family = FREERTOS_AF_INET4;

From 28fe14f43fcb03c81df2276b1f5f059708c663a7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 13:48:35 +0200
Subject: [PATCH 16/39] Fix warning about overflow in int conversion when using
 64-bit system
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 src/system/freertos_plus_tcp/network.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/system/freertos_plus_tcp/network.c b/src/system/freertos_plus_tcp/network.c
index fdf700521..4117f5454 100644
--- a/src/system/freertos_plus_tcp/network.c
+++ b/src/system/freertos_plus_tcp/network.c
@@ -159,7 +159,7 @@ size_t _z_read_udp_unicast(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t
     struct freertos_sockaddr raddr;
     uint32_t addrlen = sizeof(struct freertos_sockaddr);
 
-    int32_t rb = FreeRTOS_recvfrom(sock._socket, ptr, len, 0, &raddr, &addrlen);
+    size_t rb = FreeRTOS_recvfrom(sock._socket, ptr, len, 0, &raddr, &addrlen);
     if (rb < 0) {
         rb = SIZE_MAX;
     }

From 1390425a9399fb792359aef92d84b7d9f69329a9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 13:49:35 +0200
Subject: [PATCH 17/39] Use ai_family returned by getaddrinfo
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 src/system/freertos_plus_tcp/network.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/system/freertos_plus_tcp/network.c b/src/system/freertos_plus_tcp/network.c
index 4117f5454..2ccd22ca5 100644
--- a/src/system/freertos_plus_tcp/network.c
+++ b/src/system/freertos_plus_tcp/network.c
@@ -18,7 +18,7 @@ int8_t _z_create_endpoint_tcp(_z_sys_net_endpoint_t *ep, const char *s_address,
         return ret;
     }
 
-    ep->_iptcp->ai_addr->sin_family = FREERTOS_AF_INET4;
+    ep->_iptcp->ai_addr->sin_family = ep->_iptcp->ai_family;
 
     // Parse and check the validity of the port
     uint32_t port = strtoul(s_port, NULL, 10);
@@ -107,7 +107,7 @@ int8_t _z_create_endpoint_udp(_z_sys_net_endpoint_t *ep, const char *s_address,
         return ret;
     }
 
-    ep->_iptcp->ai_addr->sin_family = FREERTOS_AF_INET4;
+    ep->_iptcp->ai_addr->sin_family = ep->_iptcp->ai_family;
 
     // Parse and check the validity of the port
     uint32_t port = strtoul(s_port, NULL, 10);

From 933324f80789973d755c3ef25e2cef00642b3766 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 14:33:47 +0200
Subject: [PATCH 18/39] Fix tcp and udp read methods
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 src/system/freertos_plus_tcp/network.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/system/freertos_plus_tcp/network.c b/src/system/freertos_plus_tcp/network.c
index 2ccd22ca5..4000c0052 100644
--- a/src/system/freertos_plus_tcp/network.c
+++ b/src/system/freertos_plus_tcp/network.c
@@ -66,9 +66,9 @@ int8_t _z_listen_tcp(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t lep)
 void _z_close_tcp(_z_sys_net_socket_t *sock) { FreeRTOS_closesocket(sock->_socket); }
 
 size_t _z_read_tcp(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len) {
-    ssize_t rb = FreeRTOS_recv(sock._socket, ptr, len, 0);
-    if (rb < (ssize_t)0) {
-        rb = SIZE_MAX;
+    BaseType_t rb = FreeRTOS_recv(sock._socket, ptr, len, 0);
+    if (rb < 0) {
+        return SIZE_MAX;
     }
 
     return rb;
@@ -159,9 +159,9 @@ size_t _z_read_udp_unicast(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t
     struct freertos_sockaddr raddr;
     uint32_t addrlen = sizeof(struct freertos_sockaddr);
 
-    size_t rb = FreeRTOS_recvfrom(sock._socket, ptr, len, 0, &raddr, &addrlen);
+    int32_t rb = FreeRTOS_recvfrom(sock._socket, ptr, len, 0, &raddr, &addrlen);
     if (rb < 0) {
-        rb = SIZE_MAX;
+        return SIZE_MAX;
     }
 
     return rb;

From 863333368ec0b3acecf1b8e47036a2f30e70f3ae Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 14:44:49 +0200
Subject: [PATCH 19/39] Retain original contributor in z_pub example
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/z_pub.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/examples/freertos_plus_tcp/z_pub.c b/examples/freertos_plus_tcp/z_pub.c
index caf5d0105..9daf07021 100644
--- a/examples/freertos_plus_tcp/z_pub.c
+++ b/examples/freertos_plus_tcp/z_pub.c
@@ -9,6 +9,7 @@
 // SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
 //
 // Contributors:
+//   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //   Błażej Sowa, <blazej@fictionlab.pl>
 
 #include <zenoh-pico.h>

From 1c0d0b36818e6510d8388861a9ab2a21881f78ec Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 14:45:29 +0200
Subject: [PATCH 20/39] Add z_scout example
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/CMakeLists.txt | 23 ++++--
 examples/freertos_plus_tcp/z_scout.c      | 91 +++++++++++++++++++++++
 2 files changed, 107 insertions(+), 7 deletions(-)
 create mode 100644 examples/freertos_plus_tcp/z_scout.c

diff --git a/examples/freertos_plus_tcp/CMakeLists.txt b/examples/freertos_plus_tcp/CMakeLists.txt
index 36f9843fc..96de37eb3 100644
--- a/examples/freertos_plus_tcp/CMakeLists.txt
+++ b/examples/freertos_plus_tcp/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.20)
 project(zenohpico_freertos_plus_tcp_examples)
 
 set(CMAKE_SYSTEM_NAME "Generic")
+set(CMAKE_C_STANDARD 11)
 
 include(../../cmake/helpers.cmake)
 set_default_build_type(Release)
@@ -57,15 +58,23 @@ target_compile_definitions(zenohpico
     Z_LINK_UDP_UNICAST=1
     Z_LINK_UDP_MULTICAST=0
     Z_CONFIG_SOCKET_TIMEOUT=1000
-)    
-
-add_executable(z_pub
-  main.c
-  z_pub.c
 )
 
-target_link_libraries(z_pub
+add_library(main OBJECT main.c)
+target_link_libraries(main
   freertos_kernel
   freertos_plus_tcp
-  zenohpico
 )
+
+function(add_example name)
+  add_executable(${name} ${name}.c)
+  target_link_libraries(${name}
+    main
+    freertos_kernel
+    freertos_plus_tcp
+    zenohpico
+  )
+endfunction()
+
+add_example(z_pub)
+add_example(z_scout)
diff --git a/examples/freertos_plus_tcp/z_scout.c b/examples/freertos_plus_tcp/z_scout.c
new file mode 100644
index 000000000..349a4c6e9
--- /dev/null
+++ b/examples/freertos_plus_tcp/z_scout.c
@@ -0,0 +1,91 @@
+//
+// 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, <zenoh@zettascale.tech>
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <zenoh-pico.h>
+
+#include "FreeRTOS.h"
+
+void fprintzid(FILE *stream, z_bytes_t zid) {
+    if (zid.start == NULL) {
+        fprintf(stream, "None");
+    } else {
+        fprintf(stream, "Some(");
+        for (unsigned int i = 0; i < zid.len; i++) {
+            fprintf(stream, "%02X", (int)zid.start[i]);
+        }
+        fprintf(stream, ")");
+    }
+}
+
+void fprintwhatami(FILE *stream, unsigned int whatami) {
+    if (whatami == Z_WHATAMI_ROUTER) {
+        fprintf(stream, "\"Router\"");
+    } else if (whatami == Z_WHATAMI_PEER) {
+        fprintf(stream, "\"Peer\"");
+    } else {
+        fprintf(stream, "\"Other\"");
+    }
+}
+
+void fprintlocators(FILE *stream, const z_str_array_t *locs) {
+    fprintf(stream, "[");
+    for (unsigned int i = 0; i < z_str_array_len(locs); i++) {
+        fprintf(stream, "\"");
+        fprintf(stream, "%s", *z_str_array_get(locs, i));
+        fprintf(stream, "\"");
+        if (i < z_str_array_len(locs) - 1) {
+            fprintf(stream, ", ");
+        }
+    }
+    fprintf(stream, "]");
+}
+
+void fprinthello(FILE *stream, const z_hello_t hello) {
+    fprintf(stream, "Hello { zid: ");
+    fprintzid(stream, hello.zid);
+    fprintf(stream, ", whatami: ");
+    fprintwhatami(stream, hello.whatami);
+    fprintf(stream, ", locators: ");
+    fprintlocators(stream, &hello.locators);
+    fprintf(stream, " }");
+}
+
+void callback(z_owned_hello_t *hello, void *context) {
+    fprinthello(stdout, z_loan(*hello));
+    fprintf(stdout, "\n");
+    (*(int *)context)++;
+}
+
+void drop(void *context) {
+    int count = *(int *)context;
+    free(context);
+    if (!count) {
+        printf("Did not find any zenoh process.\n");
+    } else {
+        printf("Dropping scout results.\n");
+    }
+}
+
+void app_main() {
+    int *context = (int *)pvPortMalloc(sizeof(int));
+    *context = 0;
+    z_owned_scouting_config_t config = z_scouting_config_default();
+    z_owned_closure_hello_t closure = z_closure(callback, drop, context);
+    printf("Scouting...\n");
+    z_scout(z_move(config), z_move(closure));
+}

From 663724b4392559da6a784af8418f96bf0f5bdaa6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 15:29:10 +0200
Subject: [PATCH 21/39] Base the z_pub example on unix example
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/z_pub.c | 49 +++++++++++++++---------------
 1 file changed, 25 insertions(+), 24 deletions(-)

diff --git a/examples/freertos_plus_tcp/z_pub.c b/examples/freertos_plus_tcp/z_pub.c
index 9daf07021..0dad3a9ac 100644
--- a/examples/freertos_plus_tcp/z_pub.c
+++ b/examples/freertos_plus_tcp/z_pub.c
@@ -14,6 +14,8 @@
 
 #include <zenoh-pico.h>
 
+#include "FreeRTOS.h"
+
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -29,49 +31,48 @@
 #define VALUE "[FreeRTOS-Plus-TCP] Pub from Zenoh-Pico!"
 
 void app_main() {
-    // Initialize Zenoh Session and other parameters
     z_owned_config_t config = z_config_default();
-    zp_config_insert(z_config_loan(&config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(PEER, "") != 0) {
-        zp_config_insert(z_config_loan(&config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
     }
 
-    // Open Zenoh session
-    printf("Opening Zenoh Session...\n");
-    z_owned_session_t s = z_open(z_config_move(&config));
-    if (!z_session_check(&s)) {
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
         printf("Unable to open session!\n");
         return;
     }
-    printf("OK\n");
 
-    // Start the receive and the session lease loop for zenoh-pico
-    zp_start_read_task(z_session_loan(&s), NULL);
-    zp_start_lease_task(z_session_loan(&s), NULL);
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        return;
+    }
 
     printf("Declaring publisher for '%s'...\n", KEYEXPR);
-    z_owned_publisher_t pub = z_declare_publisher(z_session_loan(&s), z_keyexpr(KEYEXPR), NULL);
-    if (!z_publisher_check(&pub)) {
+    z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(KEYEXPR), NULL);
+    if (!z_check(pub)) {
         printf("Unable to declare publisher for key expression!\n");
         return;
     }
-    printf("OK\n");
 
-    char buf[256];
+    char *buf = (char *)pvPortMalloc(256);
     for (int idx = 0; 1; ++idx) {
         z_sleep_s(1);
-        sprintf(buf, "[%4d] %s", idx, VALUE);
+        snprintf(buf, 256, "[%4d] %s", idx, VALUE);
         printf("Putting Data ('%s': '%s')...\n", KEYEXPR, buf);
-        z_publisher_put(z_publisher_loan(&pub), (const uint8_t *)buf, strlen(buf), NULL);
+
+        z_publisher_put_options_t options = z_publisher_put_options_default();
+        options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL);
+        z_publisher_put(z_loan(pub), (const uint8_t *)buf, strlen(buf), &options);
     }
 
-    printf("Closing Zenoh Session...\n");
-    z_undeclare_publisher(z_publisher_move(&pub));
+    z_undeclare_publisher(z_move(pub));
 
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_session_loan(&s));
-    zp_stop_lease_task(z_session_loan(&s));
+    // Stop read and lease tasks for zenoh-pico
+    zp_stop_read_task(z_loan(s));
+    zp_stop_lease_task(z_loan(s));
 
-    z_close(z_session_move(&s));
-    printf("OK!\n");
+    z_close(z_move(s));
 }

From fe5d30e26bdfb904d4f6103a740906cb2d0fa43e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Mon, 28 Aug 2023 15:59:46 +0200
Subject: [PATCH 22/39] Add more examples
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/CMakeLists.txt |  4 +
 examples/freertos_plus_tcp/z_get.c        | 97 +++++++++++++++++++++++
 examples/freertos_plus_tcp/z_pub_st.c     | 74 +++++++++++++++++
 examples/freertos_plus_tcp/z_sub.c        | 73 +++++++++++++++++
 examples/freertos_plus_tcp/z_sub_st.c     | 69 ++++++++++++++++
 5 files changed, 317 insertions(+)
 create mode 100644 examples/freertos_plus_tcp/z_get.c
 create mode 100644 examples/freertos_plus_tcp/z_pub_st.c
 create mode 100644 examples/freertos_plus_tcp/z_sub.c
 create mode 100644 examples/freertos_plus_tcp/z_sub_st.c

diff --git a/examples/freertos_plus_tcp/CMakeLists.txt b/examples/freertos_plus_tcp/CMakeLists.txt
index 96de37eb3..6f3ce2a36 100644
--- a/examples/freertos_plus_tcp/CMakeLists.txt
+++ b/examples/freertos_plus_tcp/CMakeLists.txt
@@ -76,5 +76,9 @@ function(add_example name)
   )
 endfunction()
 
+add_example(z_get)
+add_example(z_pub_st)
 add_example(z_pub)
 add_example(z_scout)
+add_example(z_sub_st)
+add_example(z_sub)
diff --git a/examples/freertos_plus_tcp/z_get.c b/examples/freertos_plus_tcp/z_get.c
new file mode 100644
index 000000000..0c33ad279
--- /dev/null
+++ b/examples/freertos_plus_tcp/z_get.c
@@ -0,0 +1,97 @@
+//
+// 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, <zenoh@zettascale.tech>
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
+#include <zenoh-pico.h>
+
+#include "FreeRTOS.h"
+
+#define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
+#if CLIENT_OR_PEER == 0
+#define MODE "client"
+#define PEER ""  // If empty, it will scout
+#elif CLIENT_OR_PEER == 1
+#define MODE "peer"
+#define PEER "udp/224.0.0.225:7447#iface=en0"
+#else
+#error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
+#endif
+
+#define KEYEXPR "demo/example/**"
+#define VALUE ""
+
+void reply_dropper(void *ctx) {
+    (void)(ctx);
+    printf(">> Received query final notification\n");
+}
+
+void reply_handler(z_owned_reply_t *reply, void *ctx) {
+    (void)(ctx);
+    if (z_reply_is_ok(reply)) {
+        z_sample_t sample = z_reply_ok(reply);
+        z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
+        printf(">> Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample.payload.len, sample.payload.start);
+        z_drop(z_move(keystr));
+    } else {
+        printf(">> Received an error\n");
+    }
+}
+
+void app_main() {
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
+    if (strcmp(PEER, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    }
+
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
+        printf("Unable to open session!\n");
+        return;
+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        return;
+    }
+
+    z_keyexpr_t ke = z_keyexpr(KEYEXPR);
+    if (!z_check(ke)) {
+        printf("%s is not a valid key expression\n", KEYEXPR);
+        return;
+    }
+
+    printf("Enter any key to pull data or 'q' to quit...\n");
+    char c = '\0';
+    while (1) {
+        z_sleep_s(5);
+        printf("Sending Query '%s'...\n", KEYEXPR);
+        z_get_options_t opts = z_get_options_default();
+        if (strcmp(VALUE, "") != 0) {
+            opts.value.payload = _z_bytes_wrap((const uint8_t *)VALUE, strlen(VALUE));
+        }
+        z_owned_closure_reply_t callback = z_closure(reply_handler, reply_dropper);
+        if (z_get(z_loan(s), ke, "", z_move(callback), &opts) < 0) {
+            printf("Unable to send query.\n");
+            return;
+        }
+    }
+
+    // Stop read and lease tasks for zenoh-pico
+    zp_stop_read_task(z_loan(s));
+    zp_stop_lease_task(z_loan(s));
+
+    z_close(z_move(s));
+}
\ No newline at end of file
diff --git a/examples/freertos_plus_tcp/z_pub_st.c b/examples/freertos_plus_tcp/z_pub_st.c
new file mode 100644
index 000000000..78020f1b0
--- /dev/null
+++ b/examples/freertos_plus_tcp/z_pub_st.c
@@ -0,0 +1,74 @@
+//
+// 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, <zenoh@zettascale.tech>
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
+#include <zenoh-pico.h>
+
+#include "FreeRTOS.h"
+
+#define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
+#if CLIENT_OR_PEER == 0
+#define MODE "client"
+#define PEER ""  // If empty, it will scout
+#elif CLIENT_OR_PEER == 1
+#define MODE "peer"
+#define PEER "udp/224.0.0.225:7447"
+#else
+#error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
+#endif
+
+#define KEYEXPR "demo/example/zenoh-pico-pub"
+#define VALUE "[FreeRTOS-Plus-TCP] Pub from Zenoh-Pico!"
+
+void app_main() {
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
+    if (strcmp(PEER, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    }
+
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
+        printf("Unable to open session!\n");
+        return;
+    }
+
+    printf("Declaring publisher for '%s'...\n", KEYEXPR);
+    z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(KEYEXPR), NULL);
+    if (!z_check(pub)) {
+        printf("Unable to declare publisher for key expression!\n");
+        return;
+    }
+
+    char *buf = (char *)pvPortMalloc(256);
+    z_clock_t now = z_clock_now();
+    for (int idx = 0; 1;) {
+        if (z_clock_elapsed_ms(&now) > 1000) {
+            snprintf(buf, 256, "[%4d] %s", idx, VALUE);
+            printf("Putting Data ('%s': '%s')...\n", KEYEXPR, buf);
+            z_publisher_put(z_loan(pub), (const uint8_t *)buf, strlen(buf), NULL);
+            ++idx;
+
+            now = z_clock_now();
+        }
+
+        zp_read(z_loan(s), NULL);
+        zp_send_keep_alive(z_loan(s), NULL);
+        zp_send_join(z_loan(s), NULL);
+    }
+
+    z_undeclare_publisher(z_move(pub));
+
+    z_close(z_move(s));
+}
diff --git a/examples/freertos_plus_tcp/z_sub.c b/examples/freertos_plus_tcp/z_sub.c
new file mode 100644
index 000000000..1f75f25e5
--- /dev/null
+++ b/examples/freertos_plus_tcp/z_sub.c
@@ -0,0 +1,73 @@
+//
+// 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, <zenoh@zettascale.tech>
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
+#include <zenoh-pico.h>
+
+#define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
+#if CLIENT_OR_PEER == 0
+#define MODE "client"
+#define PEER ""  // If empty, it will scout
+#elif CLIENT_OR_PEER == 1
+#define MODE "peer"
+#define PEER "udp/224.0.0.225:7447#iface=en0"
+#else
+#error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
+#endif
+
+#define KEYEXPR "demo/example/**"
+
+void data_handler(const z_sample_t *sample, void *ctx) {
+    (void)(ctx);
+    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
+    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
+           sample->payload.start);
+    z_drop(z_move(keystr));
+}
+
+void app_main() {
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
+    if (strcmp(PEER, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    }
+
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
+        printf("Unable to open session!\n");
+        return;
+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        return;
+    }
+
+    z_owned_closure_sample_t callback = z_closure(data_handler);
+    printf("Declaring Subscriber on '%s'...\n", KEYEXPR);
+    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(s), z_keyexpr(KEYEXPR), z_move(callback), NULL);
+    if (!z_check(sub)) {
+        printf("Unable to declare subscriber.\n");
+        return;
+    }
+
+    z_undeclare_subscriber(z_move(sub));
+
+    // Stop read and lease tasks for zenoh-pico
+    zp_stop_read_task(z_loan(s));
+    zp_stop_lease_task(z_loan(s));
+
+    z_close(z_move(s));
+}
diff --git a/examples/freertos_plus_tcp/z_sub_st.c b/examples/freertos_plus_tcp/z_sub_st.c
new file mode 100644
index 000000000..d212b9011
--- /dev/null
+++ b/examples/freertos_plus_tcp/z_sub_st.c
@@ -0,0 +1,69 @@
+//
+// 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, <zenoh@zettascale.tech>
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
+#include <zenoh-pico.h>
+
+#define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
+#if CLIENT_OR_PEER == 0
+#define MODE "client"
+#define PEER ""  // If empty, it will scout
+#elif CLIENT_OR_PEER == 1
+#define MODE "peer"
+#define PEER "udp/224.0.0.225:7447#iface=en0"
+#else
+#error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
+#endif
+
+#define KEYEXPR "demo/example/**"
+
+void data_handler(const z_sample_t *sample, void *ctx) {
+    (void)(ctx);
+    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
+    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
+           sample->payload.start);
+    z_drop(z_move(keystr));
+}
+
+void app_main() {
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
+    if (strcmp(PEER, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    }
+
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
+        printf("Unable to open session!\n");
+        return;
+    }
+
+    z_owned_closure_sample_t callback = z_closure(data_handler);
+    printf("Declaring Subscriber on '%s'...\n", KEYEXPR);
+    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(s), z_keyexpr(KEYEXPR), z_move(callback), NULL);
+    if (!z_check(sub)) {
+        printf("Unable to declare subscriber.\n");
+        return;
+    }
+
+    while (1) {
+        zp_read(z_loan(s), NULL);
+        zp_send_keep_alive(z_loan(s), NULL);
+        zp_send_join(z_loan(s), NULL);
+    }
+
+    z_undeclare_subscriber(z_move(sub));
+
+    z_close(z_move(s));
+}

From 1581f377bd27c50f0082c032d154e0a06569ee49 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Tue, 29 Aug 2023 09:37:24 +0200
Subject: [PATCH 23/39] Change FreeRTOS-Plus-TCP repository
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/CMakeLists.txt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/freertos_plus_tcp/CMakeLists.txt b/examples/freertos_plus_tcp/CMakeLists.txt
index 6f3ce2a36..82ab7041b 100644
--- a/examples/freertos_plus_tcp/CMakeLists.txt
+++ b/examples/freertos_plus_tcp/CMakeLists.txt
@@ -23,8 +23,8 @@ FetchContent_Declare(freertos_kernel
 )
 
 FetchContent_Declare(freertos_plus_tcp
-  GIT_REPOSITORY "https://github.com/bjsowa/FreeRTOS-Plus-TCP.git"
-  GIT_TAG "44289aa"
+  GIT_REPOSITORY "https://github.com/FreeRTOS/FreeRTOS-Plus-TCP.git"
+  GIT_TAG "34148c3"
   GIT_SUBMODULES ""
 )
 

From 66e5d1c5dae59a8c875de6b047c57bbcfe5231c0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Tue, 29 Aug 2023 09:46:00 +0200
Subject: [PATCH 24/39] Fix building in Release mode
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 .github/workflows/freertos_plus_tcp.yaml  | 1 +
 examples/freertos_plus_tcp/CMakeLists.txt | 6 ++----
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/freertos_plus_tcp.yaml b/.github/workflows/freertos_plus_tcp.yaml
index 7f919b52a..1e8ee0fe7 100644
--- a/.github/workflows/freertos_plus_tcp.yaml
+++ b/.github/workflows/freertos_plus_tcp.yaml
@@ -39,3 +39,4 @@ jobs:
         cd examples/freertos_plus_tcp
         cmake -Bbuild -G"Ninja Multi-Config"
         cmake --build ./build --config Debug
+        cmake --build ./build --config Release
diff --git a/examples/freertos_plus_tcp/CMakeLists.txt b/examples/freertos_plus_tcp/CMakeLists.txt
index 82ab7041b..aed4b6912 100644
--- a/examples/freertos_plus_tcp/CMakeLists.txt
+++ b/examples/freertos_plus_tcp/CMakeLists.txt
@@ -29,10 +29,8 @@ FetchContent_Declare(freertos_plus_tcp
 )
 
 add_library(freertos_config INTERFACE)
-target_include_directories(freertos_config SYSTEM
-  INTERFACE
-    include
-)
+target_include_directories(freertos_config SYSTEM INTERFACE include)
+target_compile_options(freertos_config INTERFACE -Wno-error)
 
 set(FREERTOS_HEAP "3" CACHE STRING "" FORCE)
 set(FREERTOS_PORT "GCC_POSIX" CACHE STRING "" FORCE)

From 7fc8da0aac0f8fbda3c036f1e5649021bd5c6cdc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Tue, 29 Aug 2023 12:24:03 +0200
Subject: [PATCH 25/39] Multi-threading initial
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 .../system/platform/freertos_plus_tcp.h       |  22 ++++
 src/system/freertos_plus_tcp/system.c         | 104 ++++++++++++++++++
 2 files changed, 126 insertions(+)

diff --git a/include/zenoh-pico/system/platform/freertos_plus_tcp.h b/include/zenoh-pico/system/platform/freertos_plus_tcp.h
index aad78d8af..f5582dee4 100644
--- a/include/zenoh-pico/system/platform/freertos_plus_tcp.h
+++ b/include/zenoh-pico/system/platform/freertos_plus_tcp.h
@@ -3,6 +3,28 @@
 
 #include "FreeRTOS.h"
 #include "FreeRTOS_IP.h"
+#include "semphr.h"
+
+#if Z_MULTI_THREAD == 1
+typedef struct {
+    char *name;
+    UBaseType_t priority;
+    size_t stack_depth;
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+    _Bool static_allocation;
+    StackType_t *stack_buffer;
+    StaticTask_t *task_buffer;
+#endif /* SUPPORT_STATIC_ALLOCATION */
+} _z_task_attr_t;
+
+typedef struct {
+    TaskHandle_t handle;
+    EventGroupHandle_t join_event;
+} _z_task_t;
+
+typedef SemaphoreHandle_t _z_mutex_t;
+typedef void *_z_condvar_t;
+#endif  // Z_MULTI_THREAD == 1
 
 typedef TickType_t z_clock_t;
 typedef TickType_t z_time_t;
diff --git a/src/system/freertos_plus_tcp/system.c b/src/system/freertos_plus_tcp/system.c
index 3b46d3e55..812e458ac 100644
--- a/src/system/freertos_plus_tcp/system.c
+++ b/src/system/freertos_plus_tcp/system.c
@@ -1,3 +1,4 @@
+#include <stdbool.h>
 #include <stddef.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -41,6 +42,109 @@ void *z_realloc(void *ptr, size_t size) {
 
 void z_free(void *ptr) { vPortFree(ptr); }
 
+#if Z_MULTI_THREAD == 1
+// In FreeRTOS, tasks created using xTaskCreate must end with vTaskDelete.
+// A task function should __not__ simply return.
+typedef struct {
+    void *(*fun)(void *);
+    void *arg;
+    EventGroupHandle_t join_event;
+} __z_task_arg;
+
+static void z_task_wrapper(void *arg) {
+    __z_task_arg *targ = (__z_task_arg *)arg;
+    targ->fun(targ->arg);
+    xEventGroupSetBits(targ->join_event, 1);
+    vTaskDelete(NULL);
+}
+
+static _z_task_attr_t z_default_task_attr = {
+    .name = "",
+    .priority = configMAX_PRIORITIES / 2,
+    .stack_depth = 5120,
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+    .static_allocation = false,
+    .stack_buffer = NULL,
+    .task_buffer = NULL,
+#endif /* SUPPORT_STATIC_ALLOCATION */
+};
+
+/*------------------ Thread ------------------*/
+int8_t _z_task_init(_z_task_t *task, _z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
+    __z_task_arg *z_arg = (__z_task_arg *)z_malloc(sizeof(__z_task_arg));
+    if (z_arg == NULL) {
+        return -1;
+    }
+
+    z_arg->fun = fun;
+    z_arg->arg = arg;
+    z_arg->join_event = task->join_event = xEventGroupCreate();
+
+    if (attr == NULL) {
+        attr = &z_default_task_attr;
+    }
+
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+    if (attr->static_allocation) {
+        task->handle = xTaskCreateStatic(z_task_wrapper, attr->name, attr->stack_depth, z_arg, attr->priority,
+                                         attr->stack_buffer, attr->task_buffer);
+        if (task->handle == NULL) {
+            return -1;
+        }
+    } else {
+#endif /* SUPPORT_STATIC_ALLOCATION */
+        if (xTaskCreate(z_task_wrapper, attr->name, attr->stack_depth, z_arg, attr->priority, &task->handle) !=
+            pdPASS) {
+            return -1;
+        }
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+    }
+#endif /* SUPPORT_STATIC_ALLOCATION */
+
+    return 0;
+}
+
+int8_t _z_task_join(_z_task_t *task) {
+    xEventGroupWaitBits(task->join_event, 1, pdFALSE, pdFALSE, portMAX_DELAY);
+    return 0;
+}
+
+int8_t _z_task_cancel(_z_task_t *task) {
+    vTaskDelete(task->handle);
+    return 0;
+}
+
+void _z_task_free(_z_task_t **task) {
+    z_free((*task)->handle);
+    z_free((*task)->join_event);
+    z_free(task);
+}
+
+/*------------------ Mutex ------------------*/
+int8_t _z_mutex_init(_z_mutex_t *m) {
+    *m = xSemaphoreCreateRecursiveMutex();
+    return *m == NULL ? -1 : 0;
+}
+
+int8_t _z_mutex_free(_z_mutex_t *m) {
+    z_free(*m);
+    return 0;
+}
+
+int8_t _z_mutex_lock(_z_mutex_t *m) { return xSemaphoreTakeRecursive(*m, portMAX_DELAY) == pdTRUE ? 0 : -1; }
+
+int8_t _z_mutex_trylock(_z_mutex_t *m) { return xSemaphoreTakeRecursive(*m, 0) == pdTRUE ? 0 : -1; }
+
+int8_t _z_mutex_unlock(_z_mutex_t *m) { return xSemaphoreGiveRecursive(*m) == pdTRUE ? 0 : -1; }
+
+/*------------------ CondVar ------------------*/
+// Condition variables not supported in FreeRTOS
+int8_t _z_condvar_init(_z_condvar_t *cv) { return -1; }
+int8_t _z_condvar_free(_z_condvar_t *cv) { return -1; }
+int8_t _z_condvar_signal(_z_condvar_t *cv) { return -1; }
+int8_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { return -1; }
+#endif  // Z_MULTI_THREAD == 1
+
 /*------------------ Sleep ------------------*/
 int z_sleep_us(size_t time) {
     vTaskDelay(pdMS_TO_TICKS(time / 1000));

From 841924c424ccb601baecd29fef7f186a633b223c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Tue, 29 Aug 2023 12:29:35 +0200
Subject: [PATCH 26/39] Mark UDP Multicast as unsupported
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 src/system/freertos_plus_tcp/network.c | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/system/freertos_plus_tcp/network.c b/src/system/freertos_plus_tcp/network.c
index 4000c0052..ec93c2baf 100644
--- a/src/system/freertos_plus_tcp/network.c
+++ b/src/system/freertos_plus_tcp/network.c
@@ -189,4 +189,8 @@ size_t _z_send_udp_unicast(const _z_sys_net_socket_t sock, const uint8_t *ptr, s
                            const _z_sys_net_endpoint_t rep) {
     return FreeRTOS_sendto(sock._socket, ptr, len, 0, rep._iptcp->ai_addr, sizeof(struct freertos_sockaddr));
 }
-#endif
\ No newline at end of file
+#endif
+
+#if Z_LINK_UDP_MULTICAST == 1
+#error "UDP Multicast not supported yet on FreeRTOS-Plus-TCP port of Zenoh-Pico"
+#endif

From 8148874a8b44c36934bb7eade8dba028bd3de63c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Tue, 29 Aug 2023 12:48:51 +0200
Subject: [PATCH 27/39] Fix _z_task_free
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 src/system/freertos_plus_tcp/system.c | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/system/freertos_plus_tcp/system.c b/src/system/freertos_plus_tcp/system.c
index 812e458ac..a15c8f442 100644
--- a/src/system/freertos_plus_tcp/system.c
+++ b/src/system/freertos_plus_tcp/system.c
@@ -115,9 +115,8 @@ int8_t _z_task_cancel(_z_task_t *task) {
 }
 
 void _z_task_free(_z_task_t **task) {
-    z_free((*task)->handle);
     z_free((*task)->join_event);
-    z_free(task);
+    z_free(*task);
 }
 
 /*------------------ Mutex ------------------*/

From 070b5a6cb2262c7c455df9619ab95092bc009efc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Tue, 29 Aug 2023 12:50:36 +0200
Subject: [PATCH 28/39] Use multi-threading in examples
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/freertos_plus_tcp/CMakeLists.txt b/examples/freertos_plus_tcp/CMakeLists.txt
index aed4b6912..1e2357e03 100644
--- a/examples/freertos_plus_tcp/CMakeLists.txt
+++ b/examples/freertos_plus_tcp/CMakeLists.txt
@@ -50,7 +50,7 @@ target_link_libraries(zenohpico
 )
 target_compile_definitions(zenohpico
   PUBLIC
-    Z_MULTI_THREAD=0
+    Z_MULTI_THREAD=1
     Z_LINK_TCP=1
     Z_SCOUTING_UDP=1
     Z_LINK_UDP_UNICAST=1

From daa800d2ae617d520f258742b4fffda24cac04bf Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Tue, 29 Aug 2023 14:17:58 +0200
Subject: [PATCH 29/39] Add sleep to z_sub example
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/z_sub.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/examples/freertos_plus_tcp/z_sub.c b/examples/freertos_plus_tcp/z_sub.c
index 1f75f25e5..acdb7c46f 100644
--- a/examples/freertos_plus_tcp/z_sub.c
+++ b/examples/freertos_plus_tcp/z_sub.c
@@ -63,6 +63,10 @@ void app_main() {
         return;
     }
 
+    while (1) {
+        z_sleep_s(5);
+    }
+
     z_undeclare_subscriber(z_move(sub));
 
     // Stop read and lease tasks for zenoh-pico

From 424421de34a834601a86690938972d85e8a70853 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Tue, 29 Aug 2023 14:56:09 +0200
Subject: [PATCH 30/39] Allow passing task attributes to read and lease tasks
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 include/zenoh-pico/api/types.h   |  8 ++++++++
 include/zenoh-pico/net/session.h |  4 ++--
 src/api/api.c                    | 32 ++++++++++++++++++++++++++++----
 src/net/session.c                | 12 ++++++------
 4 files changed, 44 insertions(+), 12 deletions(-)

diff --git a/include/zenoh-pico/api/types.h b/include/zenoh-pico/api/types.h
index f62d495cd..fe0294c92 100644
--- a/include/zenoh-pico/api/types.h
+++ b/include/zenoh-pico/api/types.h
@@ -342,7 +342,11 @@ typedef struct {
  * whenever issued via :c:func:`zp_start_read_task`.
  */
 typedef struct {
+#if Z_MULTI_THREAD == 1
+    _z_task_attr_t *task_attributes;
+#else
     uint8_t __dummy;  // Just to avoid empty structures that might cause undefined behavior
+#endif
 } zp_task_read_options_t;
 
 /**
@@ -350,7 +354,11 @@ typedef struct {
  * whenever issued via :c:func:`zp_start_lease_task`.
  */
 typedef struct {
+#if Z_MULTI_THREAD == 1
+    _z_task_attr_t *task_attributes;
+#else
     uint8_t __dummy;  // Just to avoid empty structures that might cause undefined behavior
+#endif
 } zp_task_lease_options_t;
 
 /**
diff --git a/include/zenoh-pico/net/session.h b/include/zenoh-pico/net/session.h
index 76e628692..6f708a527 100644
--- a/include/zenoh-pico/net/session.h
+++ b/include/zenoh-pico/net/session.h
@@ -127,7 +127,7 @@ int8_t _zp_send_join(_z_session_t *z);
  * Returns:
  *     ``0`` in case of success, ``-1`` in case of failure.
  */
-int8_t _zp_start_read_task(_z_session_t *z);
+int8_t _zp_start_read_task(_z_session_t *z, _z_task_attr_t *attr);
 
 /**
  * Stop the read task. This may result in stopping a thread or a process depending
@@ -154,7 +154,7 @@ int8_t _zp_stop_read_task(_z_session_t *z);
  * Returns:
  *     ``0`` in case of success, ``-1`` in case of failure.
  */
-int8_t _zp_start_lease_task(_z_session_t *z);
+int8_t _zp_start_lease_task(_z_session_t *z, _z_task_attr_t *attr);
 
 /**
  * Stop the lease task. This may result in stopping a thread or a process depending
diff --git a/src/api/api.c b/src/api/api.c
index f156f60eb..da0608253 100644
--- a/src/api/api.c
+++ b/src/api/api.c
@@ -953,12 +953,24 @@ z_value_t z_reply_err(const z_owned_reply_t *reply) {
 z_sample_t z_reply_ok(const z_owned_reply_t *reply) { return reply->_value->data.sample; }
 
 /**************** Tasks ****************/
-zp_task_read_options_t zp_task_read_options_default(void) { return (zp_task_read_options_t){.__dummy = 0}; }
+zp_task_read_options_t zp_task_read_options_default(void) {
+    return (zp_task_read_options_t) {
+#if Z_MULTI_THREAD == 1
+        .task_attributes = NULL
+#else
+        .__dummy = 0
+#endif
+    };
+}
 
 int8_t zp_start_read_task(z_session_t zs, const zp_task_read_options_t *options) {
     (void)(options);
 #if Z_MULTI_THREAD == 1
-    return _zp_start_read_task(zs._val);
+    zp_task_read_options_t opt = zp_task_read_options_default();
+    if (options != NULL) {
+        opt.task_attributes = options->task_attributes;
+    }
+    return _zp_start_read_task(zs._val, opt.task_attributes);
 #else
     (void)(zs);
     return -1;
@@ -974,12 +986,24 @@ int8_t zp_stop_read_task(z_session_t zs) {
 #endif
 }
 
-zp_task_lease_options_t zp_task_lease_options_default(void) { return (zp_task_lease_options_t){.__dummy = 0}; }
+zp_task_lease_options_t zp_task_lease_options_default(void) {
+    return (zp_task_lease_options_t) {
+#if Z_MULTI_THREAD == 1
+        .task_attributes = NULL
+#else
+        .__dummy = 0
+#endif
+    };
+}
 
 int8_t zp_start_lease_task(z_session_t zs, const zp_task_lease_options_t *options) {
     (void)(options);
 #if Z_MULTI_THREAD == 1
-    return _zp_start_lease_task(zs._val);
+    zp_task_lease_options_t opt = zp_task_lease_options_default();
+    if (options != NULL) {
+        opt.task_attributes = options->task_attributes;
+    }
+    return _zp_start_lease_task(zs._val, opt.task_attributes);
 #else
     (void)(zs);
     return -1;
diff --git a/src/net/session.c b/src/net/session.c
index 76f0e9656..970c54636 100644
--- a/src/net/session.c
+++ b/src/net/session.c
@@ -163,7 +163,7 @@ int8_t _zp_send_keep_alive(_z_session_t *zn) { return _z_send_keep_alive(&zn->_t
 int8_t _zp_send_join(_z_session_t *zn) { return _z_send_join(&zn->_tp); }
 
 #if Z_MULTI_THREAD == 1
-int8_t _zp_start_read_task(_z_session_t *zn) {
+int8_t _zp_start_read_task(_z_session_t *zn, _z_task_attr_t *attr) {
     int8_t ret = _Z_RES_OK;
 
     _z_task_t *task = (_z_task_t *)z_malloc(sizeof(_z_task_t));
@@ -174,7 +174,7 @@ int8_t _zp_start_read_task(_z_session_t *zn) {
         if (zn->_tp._type == _Z_TRANSPORT_UNICAST_TYPE) {
             zn->_tp._transport._unicast._read_task = task;
             zn->_tp._transport._unicast._read_task_running = true;
-            if (_z_task_init(task, NULL, _zp_unicast_read_task, &zn->_tp._transport._unicast) != _Z_RES_OK) {
+            if (_z_task_init(task, attr, _zp_unicast_read_task, &zn->_tp._transport._unicast) != _Z_RES_OK) {
                 zn->_tp._transport._unicast._read_task_running = false;
                 ret = _Z_ERR_SYSTEM_TASK_FAILED;
                 z_free(task);
@@ -185,7 +185,7 @@ int8_t _zp_start_read_task(_z_session_t *zn) {
             if (zn->_tp._type == _Z_TRANSPORT_MULTICAST_TYPE) {
             zn->_tp._transport._multicast._read_task = task;
             zn->_tp._transport._multicast._read_task_running = true;
-            if (_z_task_init(task, NULL, _zp_multicast_read_task, &zn->_tp._transport._multicast) != _Z_RES_OK) {
+            if (_z_task_init(task, attr, _zp_multicast_read_task, &zn->_tp._transport._multicast) != _Z_RES_OK) {
                 zn->_tp._transport._multicast._read_task_running = false;
                 ret = _Z_ERR_SYSTEM_TASK_FAILED;
                 z_free(task);
@@ -221,7 +221,7 @@ int8_t _zp_stop_read_task(_z_session_t *zn) {
     return ret;
 }
 
-int8_t _zp_start_lease_task(_z_session_t *zn) {
+int8_t _zp_start_lease_task(_z_session_t *zn, _z_task_attr_t *attr) {
     int8_t ret = _Z_RES_OK;
 
     _z_task_t *task = (_z_task_t *)z_malloc(sizeof(_z_task_t));
@@ -232,7 +232,7 @@ int8_t _zp_start_lease_task(_z_session_t *zn) {
         if (zn->_tp._type == _Z_TRANSPORT_UNICAST_TYPE) {
             zn->_tp._transport._unicast._lease_task = task;
             zn->_tp._transport._unicast._lease_task_running = true;
-            if (_z_task_init(task, NULL, _zp_unicast_lease_task, &zn->_tp._transport._unicast) != _Z_RES_OK) {
+            if (_z_task_init(task, attr, _zp_unicast_lease_task, &zn->_tp._transport._unicast) != _Z_RES_OK) {
                 zn->_tp._transport._unicast._lease_task_running = false;
                 ret = _Z_ERR_SYSTEM_TASK_FAILED;
                 z_free(task);
@@ -243,7 +243,7 @@ int8_t _zp_start_lease_task(_z_session_t *zn) {
             if (zn->_tp._type == _Z_TRANSPORT_MULTICAST_TYPE) {
             zn->_tp._transport._multicast._lease_task = task;
             zn->_tp._transport._multicast._lease_task_running = true;
-            if (_z_task_init(task, NULL, _zp_multicast_lease_task, &zn->_tp._transport._multicast) != _Z_RES_OK) {
+            if (_z_task_init(task, attr, _zp_multicast_lease_task, &zn->_tp._transport._multicast) != _Z_RES_OK) {
                 zn->_tp._transport._multicast._lease_task_running = false;
                 ret = _Z_ERR_SYSTEM_TASK_FAILED;
                 z_free(task);

From 62556f92a8912404d9446571f33a5eb15b7804d9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Tue, 29 Aug 2023 15:07:47 +0200
Subject: [PATCH 31/39] Use static tasks in z_pub example
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/z_pub.c | 30 +++++++++++++++++++++++++++++-
 1 file changed, 29 insertions(+), 1 deletion(-)

diff --git a/examples/freertos_plus_tcp/z_pub.c b/examples/freertos_plus_tcp/z_pub.c
index 0dad3a9ac..061c30de0 100644
--- a/examples/freertos_plus_tcp/z_pub.c
+++ b/examples/freertos_plus_tcp/z_pub.c
@@ -44,8 +44,36 @@ void app_main() {
         return;
     }
 
+    static StackType_t read_task_stack[1000];
+    static StaticTask_t read_task_buffer;
+
+    _z_task_attr_t read_task_attr = {
+        .name = "ZenohReadTask",
+        .priority = 10,
+        .stack_depth = 1000,
+        .static_allocation = true,
+        .stack_buffer = read_task_stack,
+        .task_buffer = &read_task_buffer,
+    };
+
+    zp_task_read_options_t read_task_opt = {.task_attributes = &read_task_attr};
+
+    static StackType_t lease_task_stack[1000];
+    static StaticTask_t lease_task_buffer;
+
+    _z_task_attr_t lease_task_attr = {
+        .name = "ZenohLeaseTask",
+        .priority = 10,
+        .stack_depth = 1000,
+        .static_allocation = true,
+        .stack_buffer = lease_task_stack,
+        .task_buffer = &lease_task_buffer,
+    };
+
+    zp_task_lease_options_t lease_task_opt = {.task_attributes = &lease_task_attr};
+
     // Start read and lease tasks for zenoh-pico
-    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
+    if (zp_start_read_task(z_loan(s), &read_task_opt) < 0 || zp_start_lease_task(z_loan(s), &lease_task_opt) < 0) {
         printf("Unable to start read and lease tasks\n");
         return;
     }

From a364a6e3991631c7d92df44ed71c07aff7d19a5e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Tue, 29 Aug 2023 16:24:35 +0200
Subject: [PATCH 32/39] Remove redundant print
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/z_get.c | 2 --
 1 file changed, 2 deletions(-)

diff --git a/examples/freertos_plus_tcp/z_get.c b/examples/freertos_plus_tcp/z_get.c
index 0c33ad279..d44b0fb5c 100644
--- a/examples/freertos_plus_tcp/z_get.c
+++ b/examples/freertos_plus_tcp/z_get.c
@@ -73,8 +73,6 @@ void app_main() {
         return;
     }
 
-    printf("Enter any key to pull data or 'q' to quit...\n");
-    char c = '\0';
     while (1) {
         z_sleep_s(5);
         printf("Sending Query '%s'...\n", KEYEXPR);

From 683a4d8533b6f43048f2faee1f6fa43cfa6abcdb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Tue, 29 Aug 2023 16:24:48 +0200
Subject: [PATCH 33/39] Add more examples
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/CMakeLists.txt |  3 +
 examples/freertos_plus_tcp/z_pull.c       | 79 ++++++++++++++++++++
 examples/freertos_plus_tcp/z_put.c        | 76 +++++++++++++++++++
 examples/freertos_plus_tcp/z_queryable.c  | 91 +++++++++++++++++++++++
 4 files changed, 249 insertions(+)
 create mode 100644 examples/freertos_plus_tcp/z_pull.c
 create mode 100644 examples/freertos_plus_tcp/z_put.c
 create mode 100644 examples/freertos_plus_tcp/z_queryable.c

diff --git a/examples/freertos_plus_tcp/CMakeLists.txt b/examples/freertos_plus_tcp/CMakeLists.txt
index 1e2357e03..65db6b5d2 100644
--- a/examples/freertos_plus_tcp/CMakeLists.txt
+++ b/examples/freertos_plus_tcp/CMakeLists.txt
@@ -77,6 +77,9 @@ endfunction()
 add_example(z_get)
 add_example(z_pub_st)
 add_example(z_pub)
+add_example(z_pull)
+add_example(z_put)
+add_example(z_queryable)
 add_example(z_scout)
 add_example(z_sub_st)
 add_example(z_sub)
diff --git a/examples/freertos_plus_tcp/z_pull.c b/examples/freertos_plus_tcp/z_pull.c
new file mode 100644
index 000000000..3226b459e
--- /dev/null
+++ b/examples/freertos_plus_tcp/z_pull.c
@@ -0,0 +1,79 @@
+//
+// 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, <zenoh@zettascale.tech>
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
+#include <zenoh-pico.h>
+
+#define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
+#if CLIENT_OR_PEER == 0
+#define MODE "client"
+#define PEER ""  // If empty, it will scout
+#elif CLIENT_OR_PEER == 1
+#define MODE "peer"
+#define PEER "udp/224.0.0.225:7447#iface=en0"
+#else
+#error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
+#endif
+
+#define KEYEXPR "demo/example/**"
+
+void data_handler(const z_sample_t *sample, void *ctx) {
+    (void)(ctx);
+    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
+    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
+           sample->payload.start);
+    z_drop(z_move(keystr));
+}
+
+void app_main() {
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_config_loan(&config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
+    if (strcmp(PEER, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    }
+
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
+        printf("Unable to open session!\n");
+        return;
+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        return;
+    }
+
+    z_owned_closure_sample_t callback = z_closure(data_handler);
+    printf("Declaring Subscriber on '%s'...\n", KEYEXPR);
+    z_owned_pull_subscriber_t sub = z_declare_pull_subscriber(z_loan(s), z_keyexpr(KEYEXPR), z_move(callback), NULL);
+    if (!z_check(sub)) {
+        printf("Unable to declare subscriber.\n");
+        return;
+    }
+
+    while (1) {
+        z_sleep_s(5);
+        printf("Pulling data from '%s'...\n", KEYEXPR);
+        z_subscriber_pull(z_loan(sub));
+    }
+
+    z_undeclare_pull_subscriber(z_move(sub));
+
+    // Stop read and lease tasks for zenoh-pico
+    zp_stop_read_task(z_loan(s));
+    zp_stop_lease_task(z_loan(s));
+
+    z_close(z_move(s));
+}
diff --git a/examples/freertos_plus_tcp/z_put.c b/examples/freertos_plus_tcp/z_put.c
new file mode 100644
index 000000000..75f482e2c
--- /dev/null
+++ b/examples/freertos_plus_tcp/z_put.c
@@ -0,0 +1,76 @@
+//
+// 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, <zenoh@zettascale.tech>
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
+#include <zenoh-pico.h>
+
+#define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
+#if CLIENT_OR_PEER == 0
+#define MODE "client"
+#define PEER ""  // If empty, it will scout
+#elif CLIENT_OR_PEER == 1
+#define MODE "peer"
+#define PEER "udp/224.0.0.225:7447"
+#else
+#error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
+#endif
+
+#define KEYEXPR "demo/example/zenoh-pico-put"
+#define VALUE "[FreeRTOS-Plus-TCP] Pub from Zenoh-Pico!"
+
+void app_main() {
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
+    if (strcmp(PEER, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    }
+
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
+        printf("Unable to open session!\n");
+        return;
+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        return;
+    }
+
+    printf("Declaring key expression '%s'...\n", KEYEXPR);
+    z_owned_keyexpr_t ke = z_declare_keyexpr(z_loan(s), z_keyexpr(KEYEXPR));
+    if (!z_check(ke)) {
+        printf("Unable to declare key expression!\n");
+        return;
+    }
+
+    printf("Putting Data ('%s': '%s')...\n", KEYEXPR, VALUE);
+    z_put_options_t options = z_put_options_default();
+    options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL);
+    if (z_put(z_loan(s), z_loan(ke), (const uint8_t *)VALUE, strlen(VALUE), &options) < 0) {
+        printf("Oh no! Put has failed...\n");
+    }
+
+    while (1) {
+        z_sleep_s(1);
+    }
+
+    z_undeclare_keyexpr(z_loan(s), z_move(ke));
+
+    // Stop read and lease tasks for zenoh-pico
+    zp_stop_read_task(z_loan(s));
+    zp_stop_lease_task(z_loan(s));
+
+    z_close(z_move(s));
+}
diff --git a/examples/freertos_plus_tcp/z_queryable.c b/examples/freertos_plus_tcp/z_queryable.c
new file mode 100644
index 000000000..44bed3331
--- /dev/null
+++ b/examples/freertos_plus_tcp/z_queryable.c
@@ -0,0 +1,91 @@
+//
+// 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, <zenoh@zettascale.tech>
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
+#include <zenoh-pico.h>
+
+#define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
+#if CLIENT_OR_PEER == 0
+#define MODE "client"
+#define PEER ""  // If empty, it will scout
+#elif CLIENT_OR_PEER == 1
+#define MODE "peer"
+#define PEER "udp/224.0.0.225:7447"
+#else
+#error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
+#endif
+
+#define KEYEXPR "demo/example/zenoh-pico-queryable"
+#define VALUE "[FreeRTOS-Plus-TCP] Queryable from Zenoh-Pico!"
+
+void query_handler(const z_query_t *query, void *ctx) {
+    (void)(ctx);
+    z_owned_str_t keystr = z_keyexpr_to_string(z_query_keyexpr(query));
+    z_bytes_t pred = z_query_parameters(query);
+    z_value_t payload_value = z_query_value(query);
+    printf(" >> [Queryable handler] Received Query '%s?%.*s'\n", z_loan(keystr), (int)pred.len, pred.start);
+    if (payload_value.payload.len > 0) {
+        printf("     with value '%.*s'\n", (int)payload_value.payload.len, payload_value.payload.start);
+    }
+    z_query_reply_options_t options = z_query_reply_options_default();
+    options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL);
+    z_query_reply(query, z_keyexpr(KEYEXPR), (const unsigned char *)VALUE, strlen(VALUE), &options);
+    z_drop(z_move(keystr));
+}
+
+void app_main() {
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
+    if (strcmp(PEER, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    }
+
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
+        printf("Unable to open session!\n");
+        return;
+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        return;
+    }
+
+    z_keyexpr_t ke = z_keyexpr(KEYEXPR);
+    if (!z_check(ke)) {
+        printf("%s is not a valid key expression\n", KEYEXPR);
+        return;
+    }
+
+    printf("Creating Queryable on '%s'...\n", KEYEXPR);
+    z_owned_closure_query_t callback = z_closure(query_handler);
+    z_owned_queryable_t qable = z_declare_queryable(z_loan(s), ke, z_move(callback), NULL);
+    if (!z_check(qable)) {
+        printf("Unable to create queryable.\n");
+        return;
+    }
+
+    while (1) {
+        z_sleep_s(5);
+    }
+
+    z_undeclare_queryable(z_move(qable));
+
+    // Stop read and lease tasks for zenoh-pico
+    zp_stop_read_task(z_loan(s));
+    zp_stop_lease_task(z_loan(s));
+
+    z_close(z_move(s));
+}

From 5d92775a03a2e7da6b0244c2e98387e1e7986dec Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Wed, 30 Aug 2023 14:24:05 +0200
Subject: [PATCH 34/39] Change char* to const char*
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 include/zenoh-pico/system/platform/freertos_plus_tcp.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/zenoh-pico/system/platform/freertos_plus_tcp.h b/include/zenoh-pico/system/platform/freertos_plus_tcp.h
index f5582dee4..6853e9bdc 100644
--- a/include/zenoh-pico/system/platform/freertos_plus_tcp.h
+++ b/include/zenoh-pico/system/platform/freertos_plus_tcp.h
@@ -7,7 +7,7 @@
 
 #if Z_MULTI_THREAD == 1
 typedef struct {
-    char *name;
+    const char *name;
     UBaseType_t priority;
     size_t stack_depth;
 #if (configSUPPORT_STATIC_ALLOCATION == 1)

From 63c089b5f1f7229b17bd41cfa521b4e598acf282 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Wed, 30 Aug 2023 15:50:25 +0200
Subject: [PATCH 35/39] Update license headers
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 examples/freertos_plus_tcp/CMakeLists.txt         | 13 +++++++++++++
 .../freertos_plus_tcp/include/FreeRTOSConfig.h    | 13 +++++++++++++
 .../freertos_plus_tcp/include/FreeRTOSIPConfig.h  | 13 +++++++++++++
 examples/freertos_plus_tcp/main.c                 | 13 +++++++++++++
 include/zenoh-pico/api/types.h                    |  1 +
 include/zenoh-pico/net/session.h                  |  2 +-
 include/zenoh-pico/system/platform.h              |  2 +-
 .../system/platform/freertos_plus_tcp.h           | 13 +++++++++++++
 src/api/api.c                                     |  1 +
 src/net/session.c                                 |  1 +
 src/system/freertos_plus_tcp/network.c            | 15 +++++++++++++++
 src/system/freertos_plus_tcp/system.c             | 15 +++++++++++++++
 12 files changed, 100 insertions(+), 2 deletions(-)

diff --git a/examples/freertos_plus_tcp/CMakeLists.txt b/examples/freertos_plus_tcp/CMakeLists.txt
index 65db6b5d2..eb0799c7b 100644
--- a/examples/freertos_plus_tcp/CMakeLists.txt
+++ b/examples/freertos_plus_tcp/CMakeLists.txt
@@ -1,3 +1,16 @@
+#
+# Copyright (c) 2023 Fictionlab sp. z o.o.
+#
+# 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:
+#   Błażej Sowa, <blazej@fictionlab.pl>
+
 cmake_minimum_required(VERSION 3.20)
 project(zenohpico_freertos_plus_tcp_examples)
 
diff --git a/examples/freertos_plus_tcp/include/FreeRTOSConfig.h b/examples/freertos_plus_tcp/include/FreeRTOSConfig.h
index 98d65e1af..cbd027ce3 100644
--- a/examples/freertos_plus_tcp/include/FreeRTOSConfig.h
+++ b/examples/freertos_plus_tcp/include/FreeRTOSConfig.h
@@ -1,3 +1,16 @@
+//
+// Copyright (c) 2023 Fictionlab sp. z o.o.
+//
+// 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:
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
 #ifndef FREERTOS_CONFIG_H
 #define FREERTOS_CONFIG_H
 
diff --git a/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h b/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
index 4619fbaa5..2070ad000 100644
--- a/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
+++ b/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
@@ -1,3 +1,16 @@
+//
+// Copyright (c) 2023 Fictionlab sp. z o.o.
+//
+// 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:
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
 #ifndef FREERTOS_IP_CONFIG_H
 #define FREERTOS_IP_CONFIG_H
 
diff --git a/examples/freertos_plus_tcp/main.c b/examples/freertos_plus_tcp/main.c
index 6985f338f..5d53e7c39 100644
--- a/examples/freertos_plus_tcp/main.c
+++ b/examples/freertos_plus_tcp/main.c
@@ -1,3 +1,16 @@
+//
+// Copyright (c) 2023 Fictionlab sp. z o.o.
+//
+// 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:
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
 #include <stdio.h>
 #include <stdlib.h>
 
diff --git a/include/zenoh-pico/api/types.h b/include/zenoh-pico/api/types.h
index fe0294c92..4fb0121a0 100644
--- a/include/zenoh-pico/api/types.h
+++ b/include/zenoh-pico/api/types.h
@@ -10,6 +10,7 @@
 //
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+//   Błażej Sowa, <blazej@fictionlab.pl>
 
 #ifndef ZENOH_PICO_API_TYPES_H
 #define ZENOH_PICO_API_TYPES_H
diff --git a/include/zenoh-pico/net/session.h b/include/zenoh-pico/net/session.h
index 6f708a527..693c99a10 100644
--- a/include/zenoh-pico/net/session.h
+++ b/include/zenoh-pico/net/session.h
@@ -10,7 +10,7 @@
 //
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
-//
+//   Błażej Sowa, <blazej@fictionlab.pl>
 
 #ifndef ZENOH_PICO_SESSION_NETAPI_H
 #define ZENOH_PICO_SESSION_NETAPI_H
diff --git a/include/zenoh-pico/system/platform.h b/include/zenoh-pico/system/platform.h
index 6a76e39a0..e0e56e80b 100644
--- a/include/zenoh-pico/system/platform.h
+++ b/include/zenoh-pico/system/platform.h
@@ -10,7 +10,7 @@
 //
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
-//
+//   Błażej Sowa, <blazej@fictionlab.pl>
 
 #ifndef ZENOH_PICO_SYSTEM_COMMON_H
 #define ZENOH_PICO_SYSTEM_COMMON_H
diff --git a/include/zenoh-pico/system/platform/freertos_plus_tcp.h b/include/zenoh-pico/system/platform/freertos_plus_tcp.h
index 6853e9bdc..c7cf3d3b1 100644
--- a/include/zenoh-pico/system/platform/freertos_plus_tcp.h
+++ b/include/zenoh-pico/system/platform/freertos_plus_tcp.h
@@ -1,3 +1,16 @@
+//
+// Copyright (c) 2023 Fictionlab sp. z o.o.
+//
+// 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:
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
 #ifndef ZENOH_PICO_SYSTEM_FREERTOS_PLUS_TCP_TYPES_H
 #define ZENOH_PICO_SYSTEM_FREERTOS_PLUS_TCP_TYPES_H
 
diff --git a/src/api/api.c b/src/api/api.c
index da0608253..975001099 100644
--- a/src/api/api.c
+++ b/src/api/api.c
@@ -10,6 +10,7 @@
 //
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+//   Błażej Sowa, <blazej@fictionlab.pl>
 
 #include <stdbool.h>
 #include <stddef.h>
diff --git a/src/net/session.c b/src/net/session.c
index 970c54636..898a37499 100644
--- a/src/net/session.c
+++ b/src/net/session.c
@@ -10,6 +10,7 @@
 //
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+//   Błażej Sowa, <blazej@fictionlab.pl>
 
 #include "zenoh-pico/net/session.h"
 
diff --git a/src/system/freertos_plus_tcp/network.c b/src/system/freertos_plus_tcp/network.c
index ec93c2baf..6d7c44cd6 100644
--- a/src/system/freertos_plus_tcp/network.c
+++ b/src/system/freertos_plus_tcp/network.c
@@ -1,3 +1,18 @@
+//
+// Copyright (c) 2022 ZettaScale Technology
+// Copyright (c) 2023 Fictionlab sp. z o.o.
+//
+// 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, <zenoh@zettascale.tech>
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
 #include <stdlib.h>
 
 #include "zenoh-pico/system/platform.h"
diff --git a/src/system/freertos_plus_tcp/system.c b/src/system/freertos_plus_tcp/system.c
index a15c8f442..a68e3cdf3 100644
--- a/src/system/freertos_plus_tcp/system.c
+++ b/src/system/freertos_plus_tcp/system.c
@@ -1,3 +1,18 @@
+//
+// Copyright (c) 2022 ZettaScale Technology
+// Copyright (c) 2023 Fictionlab sp. z o.o.
+//
+// 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, <zenoh@zettascale.tech>
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
 #include <stdbool.h>
 #include <stddef.h>
 #include <stdio.h>

From 2291ddd9c1d17293dbb3d7384a9040618ae3ac75 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Wed, 30 Aug 2023 16:22:00 +0200
Subject: [PATCH 36/39] Update README
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 README.md | 21 +++++++++++----------
 1 file changed, 11 insertions(+), 10 deletions(-)

diff --git a/README.md b/README.md
index f5b725997..61019985d 100644
--- a/README.md
+++ b/README.md
@@ -24,16 +24,17 @@ It is fully compatible with its main [Rust Zenoh implementation](https://github.
 
 Currently, zenoh-pico provides support for the following (RT)OSs and protocols:
 
-|    **(RT)OS**   |        **Transport Layer**       |  **Network Layer**  |                 **Data Link Layer**                |
-|:---------------:|:--------------------------------:|:-------------------:|:--------------------------------------------------:|
-|     **Unix**    | UDP (unicast and multicast), TCP | IPv4, IPv6, 6LoWPAN |               WiFi, Ethernet, Thread               |
-|   **Windows**   | UDP (unicast and multicast), TCP |      IPv4, IPv6     |                   WiFi, Ethernet                   |
-|    **Zephyr**   | UDP (unicast and multicast), TCP | IPv4, IPv6, 6LoWPAN |           WiFi, Ethernet, Thread, Serial           |
-|   **Arduino**   | UDP (unicast and multicast), TCP |      IPv4, IPv6     | WiFi, Ethernet, Bluetooth (Serial profile), Serial |
-|   **ESP-IDF**   | UDP (unicast and multicast), TCP |      IPv4, IPv6     |               WiFi, Ethernet, Serial               |
-|    **MbedOS**   | UDP (unicast and multicast), TCP |      IPv4, IPv6     |               WiFi, Ethernet, Serial               |
-|    **OpenCR**   | UDP (unicast and multicast), TCP |         IPv4        |                        WiFi                        |
-|  **Emscripten** |             Websocket            |      IPv4, IPv6     |                   WiFi, Ethernet                   |
+|    **(RT)OS**         |        **Transport Layer**       |  **Network Layer**  |                 **Data Link Layer**                |
+|:---------------------:|:--------------------------------:|:-------------------:|:--------------------------------------------------:|
+|       **Unix**        | UDP (unicast and multicast), TCP | IPv4, IPv6, 6LoWPAN |               WiFi, Ethernet, Thread               |
+|     **Windows**       | UDP (unicast and multicast), TCP |      IPv4, IPv6     |                   WiFi, Ethernet                   |
+|      **Zephyr**       | UDP (unicast and multicast), TCP | IPv4, IPv6, 6LoWPAN |           WiFi, Ethernet, Thread, Serial           |
+|     **Arduino**       | UDP (unicast and multicast), TCP |      IPv4, IPv6     | WiFi, Ethernet, Bluetooth (Serial profile), Serial |
+|     **ESP-IDF**       | UDP (unicast and multicast), TCP |      IPv4, IPv6     |               WiFi, Ethernet, Serial               |
+|      **MbedOS**       | UDP (unicast and multicast), TCP |      IPv4, IPv6     |               WiFi, Ethernet, Serial               |
+|      **OpenCR**       | UDP (unicast and multicast), TCP |         IPv4        |                        WiFi                        |
+|    **Emscripten**     |             Websocket            |      IPv4, IPv6     |                   WiFi, Ethernet                   |
+| **FreeRTOS-Plus-TCP** |         UDP (unicast), TCP       |         IPv4        |                      Ethernet                      |
 
 Check the website [zenoh.io](http://zenoh.io) and the [roadmap](https://github.com/eclipse-zenoh/roadmap) for more detailed information.
 

From 4e81de922d948a1348e442b9ce39583299e5bb00 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Thu, 21 Sep 2023 21:59:06 +0200
Subject: [PATCH 37/39] Fix config keys

---
 examples/freertos_plus_tcp/z_get.c       | 8 ++++----
 examples/freertos_plus_tcp/z_pub.c       | 8 ++++----
 examples/freertos_plus_tcp/z_pub_st.c    | 8 ++++----
 examples/freertos_plus_tcp/z_pull.c      | 8 ++++----
 examples/freertos_plus_tcp/z_put.c       | 8 ++++----
 examples/freertos_plus_tcp/z_queryable.c | 8 ++++----
 examples/freertos_plus_tcp/z_sub.c       | 8 ++++----
 examples/freertos_plus_tcp/z_sub_st.c    | 8 ++++----
 8 files changed, 32 insertions(+), 32 deletions(-)

diff --git a/examples/freertos_plus_tcp/z_get.c b/examples/freertos_plus_tcp/z_get.c
index d44b0fb5c..8a0f74b4f 100644
--- a/examples/freertos_plus_tcp/z_get.c
+++ b/examples/freertos_plus_tcp/z_get.c
@@ -19,10 +19,10 @@
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
-#define PEER ""  // If empty, it will scout
+#define CONNECT ""  // If empty, it will scout
 #elif CLIENT_OR_PEER == 1
 #define MODE "peer"
-#define PEER "udp/224.0.0.225:7447#iface=en0"
+#define CONNECT "udp/224.0.0.225:7447#iface=en0"
 #else
 #error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
 #endif
@@ -50,8 +50,8 @@ void reply_handler(z_owned_reply_t *reply, void *ctx) {
 void app_main() {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
-    if (strcmp(PEER, "") != 0) {
-        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    if (strcmp(CONNECT, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, z_string_make(CONNECT));
     }
 
     printf("Opening session...\n");
diff --git a/examples/freertos_plus_tcp/z_pub.c b/examples/freertos_plus_tcp/z_pub.c
index 061c30de0..969202074 100644
--- a/examples/freertos_plus_tcp/z_pub.c
+++ b/examples/freertos_plus_tcp/z_pub.c
@@ -19,10 +19,10 @@
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
-#define PEER ""  // If empty, it will scout
+#define CONNECT ""  // If empty, it will scout
 #elif CLIENT_OR_PEER == 1
 #define MODE "peer"
-#define PEER "udp/224.0.0.225:7447"
+#define CONNECT "udp/224.0.0.225:7447"
 #else
 #error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
 #endif
@@ -33,8 +33,8 @@
 void app_main() {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
-    if (strcmp(PEER, "") != 0) {
-        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    if (strcmp(CONNECT, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, z_string_make(CONNECT));
     }
 
     printf("Opening session...\n");
diff --git a/examples/freertos_plus_tcp/z_pub_st.c b/examples/freertos_plus_tcp/z_pub_st.c
index 78020f1b0..f31516b72 100644
--- a/examples/freertos_plus_tcp/z_pub_st.c
+++ b/examples/freertos_plus_tcp/z_pub_st.c
@@ -19,10 +19,10 @@
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
-#define PEER ""  // If empty, it will scout
+#define CONNECT ""  // If empty, it will scout
 #elif CLIENT_OR_PEER == 1
 #define MODE "peer"
-#define PEER "udp/224.0.0.225:7447"
+#define CONNECT "udp/224.0.0.225:7447"
 #else
 #error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
 #endif
@@ -33,8 +33,8 @@
 void app_main() {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
-    if (strcmp(PEER, "") != 0) {
-        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    if (strcmp(CONNECT, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, z_string_make(CONNECT));
     }
 
     printf("Opening session...\n");
diff --git a/examples/freertos_plus_tcp/z_pull.c b/examples/freertos_plus_tcp/z_pull.c
index 3226b459e..b6d5d84f8 100644
--- a/examples/freertos_plus_tcp/z_pull.c
+++ b/examples/freertos_plus_tcp/z_pull.c
@@ -17,10 +17,10 @@
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
-#define PEER ""  // If empty, it will scout
+#define CONNECT ""  // If empty, it will scout
 #elif CLIENT_OR_PEER == 1
 #define MODE "peer"
-#define PEER "udp/224.0.0.225:7447#iface=en0"
+#define CONNECT "udp/224.0.0.225:7447#iface=en0"
 #else
 #error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
 #endif
@@ -38,8 +38,8 @@ void data_handler(const z_sample_t *sample, void *ctx) {
 void app_main() {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_config_loan(&config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
-    if (strcmp(PEER, "") != 0) {
-        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    if (strcmp(CONNECT, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, z_string_make(CONNECT));
     }
 
     printf("Opening session...\n");
diff --git a/examples/freertos_plus_tcp/z_put.c b/examples/freertos_plus_tcp/z_put.c
index 75f482e2c..f8913146d 100644
--- a/examples/freertos_plus_tcp/z_put.c
+++ b/examples/freertos_plus_tcp/z_put.c
@@ -17,10 +17,10 @@
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
-#define PEER ""  // If empty, it will scout
+#define CONNECT ""  // If empty, it will scout
 #elif CLIENT_OR_PEER == 1
 #define MODE "peer"
-#define PEER "udp/224.0.0.225:7447"
+#define CONNECT "udp/224.0.0.225:7447"
 #else
 #error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
 #endif
@@ -31,8 +31,8 @@
 void app_main() {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
-    if (strcmp(PEER, "") != 0) {
-        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    if (strcmp(CONNECT, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, z_string_make(CONNECT));
     }
 
     printf("Opening session...\n");
diff --git a/examples/freertos_plus_tcp/z_queryable.c b/examples/freertos_plus_tcp/z_queryable.c
index 44bed3331..1a9f19514 100644
--- a/examples/freertos_plus_tcp/z_queryable.c
+++ b/examples/freertos_plus_tcp/z_queryable.c
@@ -17,10 +17,10 @@
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
-#define PEER ""  // If empty, it will scout
+#define CONNECT ""  // If empty, it will scout
 #elif CLIENT_OR_PEER == 1
 #define MODE "peer"
-#define PEER "udp/224.0.0.225:7447"
+#define CONNECT "udp/224.0.0.225:7447"
 #else
 #error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
 #endif
@@ -46,8 +46,8 @@ void query_handler(const z_query_t *query, void *ctx) {
 void app_main() {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
-    if (strcmp(PEER, "") != 0) {
-        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    if (strcmp(CONNECT, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, z_string_make(CONNECT));
     }
 
     printf("Opening session...\n");
diff --git a/examples/freertos_plus_tcp/z_sub.c b/examples/freertos_plus_tcp/z_sub.c
index acdb7c46f..62e39ba59 100644
--- a/examples/freertos_plus_tcp/z_sub.c
+++ b/examples/freertos_plus_tcp/z_sub.c
@@ -17,10 +17,10 @@
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
-#define PEER ""  // If empty, it will scout
+#define CONNECT ""  // If empty, it will scout
 #elif CLIENT_OR_PEER == 1
 #define MODE "peer"
-#define PEER "udp/224.0.0.225:7447#iface=en0"
+#define CONNECT "udp/224.0.0.225:7447#iface=en0"
 #else
 #error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
 #endif
@@ -38,8 +38,8 @@ void data_handler(const z_sample_t *sample, void *ctx) {
 void app_main() {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
-    if (strcmp(PEER, "") != 0) {
-        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    if (strcmp(CONNECT, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, z_string_make(CONNECT));
     }
 
     printf("Opening session...\n");
diff --git a/examples/freertos_plus_tcp/z_sub_st.c b/examples/freertos_plus_tcp/z_sub_st.c
index d212b9011..b051ed467 100644
--- a/examples/freertos_plus_tcp/z_sub_st.c
+++ b/examples/freertos_plus_tcp/z_sub_st.c
@@ -17,10 +17,10 @@
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
-#define PEER ""  // If empty, it will scout
+#define CONNECT ""  // If empty, it will scout
 #elif CLIENT_OR_PEER == 1
 #define MODE "peer"
-#define PEER "udp/224.0.0.225:7447#iface=en0"
+#define CONNECT "udp/224.0.0.225:7447#iface=en0"
 #else
 #error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
 #endif
@@ -38,8 +38,8 @@ void data_handler(const z_sample_t *sample, void *ctx) {
 void app_main() {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
-    if (strcmp(PEER, "") != 0) {
-        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+    if (strcmp(CONNECT, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, z_string_make(CONNECT));
     }
 
     printf("Opening session...\n");

From d6d757fd029027d459a57f1830395df7428ecc9d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Thu, 21 Sep 2023 22:02:14 +0200
Subject: [PATCH 38/39] Fix fprintzid

---
 examples/freertos_plus_tcp/z_scout.c | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/examples/freertos_plus_tcp/z_scout.c b/examples/freertos_plus_tcp/z_scout.c
index 349a4c6e9..c73785779 100644
--- a/examples/freertos_plus_tcp/z_scout.c
+++ b/examples/freertos_plus_tcp/z_scout.c
@@ -20,13 +20,14 @@
 
 #include "FreeRTOS.h"
 
-void fprintzid(FILE *stream, z_bytes_t zid) {
-    if (zid.start == NULL) {
+void fprintzid(FILE *stream, z_id_t zid) {
+    unsigned int zidlen = _z_id_len(zid);
+    if (zidlen == 0) {
         fprintf(stream, "None");
     } else {
         fprintf(stream, "Some(");
-        for (unsigned int i = 0; i < zid.len; i++) {
-            fprintf(stream, "%02X", (int)zid.start[i]);
+        for (unsigned int i = 0; i < zidlen; i++) {
+            fprintf(stream, "%02X", (int)zid.id[i]);
         }
         fprintf(stream, ")");
     }

From 376ed9933efbb277e845bfd9cc9af4f9f912ad92 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <blazej@fictionlab.pl>
Date: Thu, 21 Sep 2023 23:04:45 +0200
Subject: [PATCH 39/39] Ignore freertos_plus_tcp port sources when using
 PlatformIO
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Błażej Sowa <blazej@fictionlab.pl>
---
 extra_script.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/extra_script.py b/extra_script.py
index 391eb8047..0a8217f6b 100644
--- a/extra_script.py
+++ b/extra_script.py
@@ -25,6 +25,7 @@
                   "-<system/arduino/>",
                   "-<system/emscripten/>",
                   "-<system/espidf/>",
+                  "-<system/freertos_plus_tcp/>",
                   "-<system/mbed/>",
                   "-<system/unix/>",
                   "-<system/windows/>"]
@@ -39,6 +40,7 @@
                       "-<system/arduino/opencr>",
                       "-<system/emscripten/>",
                       "-<system/espidf>",
+                      "-<system/freertos_plus_tcp/>",
                       "-<system/mbed/>",
                       "-<system/unix/>",
                       "-<system/windows/>",
@@ -53,6 +55,7 @@
                           "-<system/arduino/esp32>",
                           "-<system/emscripten/>",
                           "-<system/espidf>",
+                          "-<system/freertos_plus_tcp/>",
                           "-<system/mbed/>",
                           "-<system/unix/>",
                           "-<system/windows/>",
@@ -65,6 +68,7 @@
                   "-<example/>",
                   "-<system/arduino/>",
                   "-<system/emscripten/>",
+                  "-<system/freertos_plus_tcp/>",
                   "-<system/mbed/>",
                   "-<system/unix/>",
                   "-<system/windows/>",
@@ -78,6 +82,7 @@
                   "-<system/arduino/>",
                   "-<system/emscripten/>",
                   "-<system/espidf/>",
+                  "-<system/freertos_plus_tcp/>",
                   "-<system/unix/>",
                   "-<system/windows/>",
                   "-<system/zephyr/>"]