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Fix zephyr 4.0 version support #819

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merged 1 commit into from
Dec 3, 2024
Merged

Fix zephyr 4.0 version support #819

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4 changes: 2 additions & 2 deletions include/zenoh-pico/system/platform/zephyr.h
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Original file line number Diff line number Diff line change
Expand Up @@ -19,10 +19,10 @@

#if KERNEL_VERSION_MAJOR == 2
#include <kernel.h>
#elif KERNEL_VERSION_MAJOR == 3
#elif KERNEL_VERSION_MAJOR == 3 || KERNEL_VERSION_MAJOR == 4
#include <zephyr/kernel.h>
#else
#pragma "This Zephyr version might not be supported."
#pragma GCC warning "This Zephyr version might not be supported."
#include <zephyr/kernel.h>
#endif

Expand Down
33 changes: 18 additions & 15 deletions src/system/zephyr/network.c
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Original file line number Diff line number Diff line change
Expand Up @@ -65,8 +65,8 @@ z_result_t _z_open_tcp(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t re
tv.tv_sec = tout / (uint32_t)1000;
tv.tv_usec = (tout % (uint32_t)1000) * (uint32_t)1000;
if ((ret == _Z_RES_OK) && (setsockopt(sock->_fd, SOL_SOCKET, SO_RCVTIMEO, (char *)&tv, sizeof(tv)) < 0)) {
// FIXME: setting the setsockopt is consistently failing. Commenting it until further inspection.
// ret = _Z_ERR_GENERIC;
// FIXME: setting the setsockopt is consistently failing. Commenting it
// until further inspection. ret = _Z_ERR_GENERIC;
}

#if Z_FEATURE_TCP_NODELAY == 1
Expand Down Expand Up @@ -188,8 +188,8 @@ z_result_t _z_open_udp_unicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpo
tv.tv_sec = tout / (uint32_t)1000;
tv.tv_usec = (tout % (uint32_t)1000) * (uint32_t)1000;
if ((ret == _Z_RES_OK) && (setsockopt(sock->_fd, SOL_SOCKET, SO_RCVTIMEO, (char *)&tv, sizeof(tv)) < 0)) {
// FIXME: setting the setsockopt is consistently failing. Commenting it until further inspection.
// ret = _Z_ERR_GENERIC;
// FIXME: setting the setsockopt is consistently failing. Commenting it
// until further inspection. ret = _Z_ERR_GENERIC;
}

if (ret != _Z_RES_OK) {
Expand Down Expand Up @@ -297,8 +297,8 @@ z_result_t _z_open_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_end
tv.tv_sec = tout / (uint32_t)1000;
tv.tv_usec = (tout % (uint32_t)1000) * (uint32_t)1000;
if ((ret == _Z_RES_OK) && (setsockopt(sock->_fd, SOL_SOCKET, SO_RCVTIMEO, (char *)&tv, sizeof(tv)) < 0)) {
// FIXME: setting the setsockopt is consistently failing. Commenting it until further inspection.
// ret = _Z_ERR_GENERIC;
// FIXME: setting the setsockopt is consistently failing. Commenting it
// until further inspection. ret = _Z_ERR_GENERIC;
}

if ((ret == _Z_RES_OK) && (bind(sock->_fd, lsockaddr, addrlen) < 0)) {
Expand Down Expand Up @@ -395,8 +395,8 @@ z_result_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_e
tv.tv_sec = tout / (uint32_t)1000;
tv.tv_usec = (tout % (uint32_t)1000) * (uint32_t)1000;
if ((ret == _Z_RES_OK) && (setsockopt(sock->_fd, SOL_SOCKET, SO_RCVTIMEO, (char *)&tv, sizeof(tv)) < 0)) {
// FIXME: setting the setsockopt is consistently failing. Commenting it until further inspection.
// ret = _Z_ERR_GENERIC;
// FIXME: setting the setsockopt is consistently failing. Commenting it
// until further inspection. ret = _Z_ERR_GENERIC;
}

if ((ret == _Z_RES_OK) && (bind(sock->_fd, lsockaddr, addrlen) < 0)) {
Expand All @@ -416,7 +416,7 @@ z_result_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_e
if (!mcast) {
ret = _Z_ERR_GENERIC;
}
#if KERNEL_VERSION_MAJOR == 3 && KERNEL_VERSION_MINOR > 3
#if KERNEL_VERSION_MAJOR == 3 && KERNEL_VERSION_MINOR > 3 || KERNEL_VERSION_MAJOR >= 4
net_if_ipv4_maddr_join(ifa, mcast);
#else
net_if_ipv4_maddr_join(mcast);
Expand All @@ -427,7 +427,7 @@ z_result_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_e
if (!mcast) {
ret = _Z_ERR_GENERIC;
}
#if KERNEL_VERSION_MAJOR == 3 && KERNEL_VERSION_MINOR > 3
#if KERNEL_VERSION_MAJOR == 3 && KERNEL_VERSION_MINOR > 3 || KERNEL_VERSION_MAJOR >= 4
net_if_ipv6_maddr_join(ifa, mcast);
#else
net_if_ipv6_maddr_join(mcast);
Expand Down Expand Up @@ -460,7 +460,7 @@ void _z_close_udp_multicast(_z_sys_net_socket_t *sockrecv, _z_sys_net_socket_t *
if (rep._iptcp->ai_family == AF_INET) {
mcast = net_if_ipv4_maddr_add(ifa, &((struct sockaddr_in *)rep._iptcp->ai_addr)->sin_addr);
if (mcast != NULL) {
#if KERNEL_VERSION_MAJOR == 3 && KERNEL_VERSION_MINOR > 3
#if KERNEL_VERSION_MAJOR == 3 && KERNEL_VERSION_MINOR > 3 || KERNEL_VERSION_MAJOR >= 4
net_if_ipv4_maddr_leave(ifa, mcast);
#else
net_if_ipv4_maddr_leave(mcast);
Expand All @@ -472,7 +472,7 @@ void _z_close_udp_multicast(_z_sys_net_socket_t *sockrecv, _z_sys_net_socket_t *
} else if (rep._iptcp->ai_family == AF_INET6) {
mcast = net_if_ipv6_maddr_add(ifa, &((struct sockaddr_in6 *)rep._iptcp->ai_addr)->sin6_addr);
if (mcast != NULL) {
#if KERNEL_VERSION_MAJOR == 3 && KERNEL_VERSION_MINOR > 3
#if KERNEL_VERSION_MAJOR == 3 && KERNEL_VERSION_MINOR > 3 || KERNEL_VERSION_MAJOR >= 4
net_if_ipv6_maddr_leave(ifa, mcast);
#else
net_if_ipv6_maddr_leave(mcast);
Expand Down Expand Up @@ -508,7 +508,8 @@ size_t _z_read_udp_multicast(const _z_sys_net_socket_t sock, uint8_t *ptr, size_
struct sockaddr_in *a = ((struct sockaddr_in *)lep._iptcp->ai_addr);
struct sockaddr_in *b = ((struct sockaddr_in *)&raddr);
if (!((a->sin_port == b->sin_port) && (a->sin_addr.s_addr == b->sin_addr.s_addr))) {
// If addr is not NULL, it means that the raddr was requested by the upper-layers
// If addr is not NULL, it means that the raddr was requested by the
// upper-layers
if (addr != NULL) {
*addr = _z_slice_make(sizeof(uint32_t) + sizeof(uint16_t));
(void)memcpy((uint8_t *)addr->start, &b->sin_addr.s_addr, sizeof(uint32_t));
Expand All @@ -521,7 +522,8 @@ size_t _z_read_udp_multicast(const _z_sys_net_socket_t sock, uint8_t *ptr, size_
struct sockaddr_in6 *b = ((struct sockaddr_in6 *)&raddr);
if (!((a->sin6_port == b->sin6_port) &&
(memcmp(a->sin6_addr.s6_addr, b->sin6_addr.s6_addr, sizeof(uint32_t) * 4UL) == 0))) {
// If addr is not NULL, it means that the raddr was requested by the upper-layers
// If addr is not NULL, it means that the raddr was requested by the
// upper-layers
if (addr != NULL) {
*addr = _z_slice_make((sizeof(uint32_t) * 4UL) + sizeof(uint16_t));
(void)memcpy((uint8_t *)addr->start, &b->sin6_addr.s6_addr, sizeof(uint32_t) * 4UL);
Expand All @@ -530,7 +532,8 @@ size_t _z_read_udp_multicast(const _z_sys_net_socket_t sock, uint8_t *ptr, size_
break;
}
} else {
continue; // FIXME: support error report on invalid packet to the upper layer
continue; // FIXME: support error report on invalid packet to the upper
// layer
}
} while (1);

Expand Down
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