Merge branch 'attachment' into attachment-api

DEFAULT_CONFIG.json5

@@ -133,9 +133,28 @@
       /// NOTE: Due to the note above, 'lowlatency' is incompatible with 'qos' option, so in order to
       ///       enable 'lowlatency' you need to explicitly disable 'qos'.
       lowlatency: false,
-    },
-    qos: {
-      enabled: true,
+      /// Enables QoS on unicast communications.
+      qos: {
+        enabled: true,
+      },
+      /// Enables compression on unicast communications.
+      /// Compression capabilities are negotiated during session establishment. 
+      /// If both Zenoh nodes support compression, then compression is activated.
+      compression: {
+        enabled: false,
+      },
+    },    
+    multicast: {
+      /// Enables QoS on multicast communication. 
+      /// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility.
+      qos: {
+        enabled: false,
+      },
+      /// Enables compression on multicast communication. 
+      /// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility.
+      compression: {
+        enabled: false,
+      },
     },
     link: {
       /// An optional whitelist of protocols to be used for accepting and opening sessions.
@@ -183,6 +202,9 @@
           /// The initial exponential backoff time in nanoseconds to allow the batching to eventually progress.
           /// Higher values lead to a more aggressive batching but it will introduce additional latency.
           backoff: 100,
+          // Number of threads dedicated to transmission
+          // By default, the number of threads is calculated as follows: 1 + ((#cores - 1) / 4)
+          // threads: 4,
         },
       },
       /// Configure the zenoh RX parameters of a link
@@ -220,15 +242,6 @@
         // ca to verify that the server at baz.com is actually baz.com, let this be true (default).
         server_name_verification: null,
       },
-
-      /// **Experimental** compression feature.
-      /// Will compress the batches hop to hop (as opposed to end to end).
-      /// The features "transport_compression" and "unstable" need to be enabled to handle
-      /// compression on the integrality of the network.
-      compression: {
-        /// When 'enabled' is true, batches will be sent compressed.
-        enabled: false,
-      },
     },
     /// Shared memory configuration
     shared_memory: {

commons/zenoh-buffers/src/bbuf.rs

@@ -12,14 +12,16 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use crate::{
+    buffer::{Buffer, SplitBuffer},
     reader::HasReader,
     vec,
     writer::{BacktrackableWriter, DidntWrite, HasWriter, Writer},
+    ZSlice,
 };
-use alloc::boxed::Box;
-use core::num::NonZeroUsize;
+use alloc::{boxed::Box, sync::Arc};
+use core::{fmt, num::NonZeroUsize, option};
 
-#[derive(Clone, Debug, PartialEq, Eq)]
+#[derive(Clone, PartialEq, Eq)]
 pub struct BBuf {
     buffer: Box<[u8]>,
     len: usize,
@@ -39,16 +41,6 @@ impl BBuf {
         self.buffer.len()
     }
 
-    #[must_use]
-    pub const fn len(&self) -> usize {
-        self.len
-    }
-
-    #[must_use]
-    pub const fn is_empty(&self) -> bool {
-        self.len == 0
-    }
-
     #[must_use]
     pub fn as_slice(&self) -> &[u8] {
         // SAFETY: self.len is ensured by the writer to be smaller than buffer length.
@@ -70,6 +62,40 @@ impl BBuf {
     }
 }
 
+impl fmt::Debug for BBuf {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        write!(f, "{:02x?}", self.as_slice())
+    }
+}
+
+// Buffer
+impl Buffer for BBuf {
+    fn len(&self) -> usize {
+        self.len
+    }
+}
+
+impl Buffer for &BBuf {
+    fn len(&self) -> usize {
+        self.len
+    }
+}
+
+impl Buffer for &mut BBuf {
+    fn len(&self) -> usize {
+        self.len
+    }
+}
+
+// SplitBuffer
+impl SplitBuffer for BBuf {
+    type Slices<'a> = option::IntoIter<&'a [u8]>;
+
+    fn slices(&self) -> Self::Slices<'_> {
+        Some(self.as_slice()).into_iter()
+    }
+}
+
 // Writer
 impl HasWriter for &mut BBuf {
     type Writer = Self;
@@ -152,6 +178,19 @@ impl<'a> HasReader for &'a BBuf {
     }
 }
 
+// From impls
+impl From<BBuf> for ZSlice {
+    fn from(value: BBuf) -> Self {
+        ZSlice {
+            buf: Arc::new(value.buffer),
+            start: 0,
+            end: value.len,
+            #[cfg(feature = "shared-memory")]
+            kind: crate::ZSliceKind::Raw,
+        }
+    }
+}
+
 #[cfg(feature = "test")]
 impl BBuf {
     pub fn rand(len: usize) -> Self {

commons/zenoh-buffers/src/lib.rs

@@ -28,7 +28,6 @@ pub mod vec;
 mod zbuf;
 mod zslice;
 
-use alloc::{borrow::Cow, vec::Vec};
 pub use bbuf::*;
 pub use zbuf::*;
 pub use zslice::*;
@@ -73,6 +72,45 @@ macro_rules! unsafe_slice_mut {
     };
 }
 
+pub mod buffer {
+    use alloc::{borrow::Cow, vec::Vec};
+
+    pub trait Buffer {
+        /// Returns the number of bytes in the buffer.
+        fn len(&self) -> usize;
+
+        /// Returns `true` if the buffer has a length of 0.
+        fn is_empty(&self) -> bool {
+            self.len() == 0
+        }
+    }
+
+    /// A trait for buffers that can be composed of multiple non contiguous slices.
+    pub trait SplitBuffer: Buffer {
+        type Slices<'a>: Iterator<Item = &'a [u8]> + ExactSizeIterator
+        where
+            Self: 'a;
+
+        /// Gets all the slices of this buffer.
+        fn slices(&self) -> Self::Slices<'_>;
+
+        /// Returns all the bytes of this buffer in a conitguous slice.
+        /// This may require allocation and copy if the original buffer
+        /// is not contiguous.
+        fn contiguous(&self) -> Cow<'_, [u8]> {
+            let mut slices = self.slices();
+            match slices.len() {
+                0 => Cow::Borrowed(b""),
+                1 => Cow::Borrowed(slices.next().unwrap()),
+                _ => Cow::Owned(slices.fold(Vec::new(), |mut acc, it| {
+                    acc.extend(it);
+                    acc
+                })),
+            }
+        }
+    }
+}
+
 pub mod writer {
     use crate::ZSlice;
     use core::num::NonZeroUsize;
@@ -100,6 +138,7 @@ pub mod writer {
         where
             F: FnOnce(&mut [u8]) -> usize;
     }
+
     pub trait BacktrackableWriter: Writer {
         type Mark;
 
@@ -175,36 +214,3 @@ pub mod reader {
         fn reader(self) -> Self::Reader;
     }
 }
-
-/// A trait for buffers that can be composed of multiple non contiguous slices.
-pub trait SplitBuffer<'a> {
-    type Slices: Iterator<Item = &'a [u8]> + ExactSizeIterator;
-
-    /// Gets all the slices of this buffer.
-    fn slices(&'a self) -> Self::Slices;
-
-    /// Returns `true` if the buffer has a length of 0.
-    fn is_empty(&'a self) -> bool {
-        self.slices().all(<[u8]>::is_empty)
-    }
-
-    /// Returns the number of bytes in the buffer.
-    fn len(&'a self) -> usize {
-        self.slices().fold(0, |acc, it| acc + it.len())
-    }
-
-    /// Returns all the bytes of this buffer in a conitguous slice.
-    /// This may require allocation and copy if the original buffer
-    /// is not contiguous.
-    fn contiguous(&'a self) -> Cow<'a, [u8]> {
-        let mut slices = self.slices();
-        match slices.len() {
-            0 => Cow::Borrowed(b""),
-            1 => Cow::Borrowed(slices.next().unwrap()),
-            _ => Cow::Owned(slices.fold(Vec::new(), |mut acc, it| {
-                acc.extend(it);
-                acc
-            })),
-        }
-    }
-}

commons/zenoh-buffers/src/slice.rs

@@ -12,11 +12,42 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use crate::{
+    buffer::{Buffer, SplitBuffer},
     reader::{BacktrackableReader, DidntRead, DidntSiphon, HasReader, Reader, SiphonableReader},
     writer::{BacktrackableWriter, DidntWrite, HasWriter, Writer},
     ZSlice,
 };
-use core::{marker::PhantomData, mem, num::NonZeroUsize, slice};
+use core::{
+    marker::PhantomData,
+    mem,
+    num::NonZeroUsize,
+    option,
+    slice::{self},
+};
+
+// Buffer
+impl Buffer for &[u8] {
+    #[inline(always)]
+    fn len(&self) -> usize {
+        <[u8]>::len(self)
+    }
+}
+
+impl Buffer for &mut [u8] {
+    #[inline(always)]
+    fn len(&self) -> usize {
+        <[u8]>::len(self)
+    }
+}
+
+// SplitBuffer
+impl<'b> SplitBuffer for &'b [u8] {
+    type Slices<'a> = option::IntoIter<&'a [u8]> where 'b: 'a;
+
+    fn slices(&self) -> Self::Slices<'_> {
+        Some(*self).into_iter()
+    }
+}
 
 // Writer
 impl HasWriter for &mut [u8] {

commons/zenoh-buffers/src/vec.rs

@@ -12,11 +12,12 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use crate::{
+    buffer::{Buffer, SplitBuffer},
     reader::HasReader,
     writer::{BacktrackableWriter, DidntWrite, HasWriter, Writer},
 };
 use alloc::vec::Vec;
-use core::{mem, num::NonZeroUsize};
+use core::{mem, num::NonZeroUsize, option};
 
 /// Allocate a vector with a given capacity and sets the length to that capacity.
 #[must_use]
@@ -30,6 +31,34 @@ pub fn uninit(capacity: usize) -> Vec<u8> {
     vbuf
 }
 
+// Buffer
+impl Buffer for Vec<u8> {
+    fn len(&self) -> usize {
+        Vec::len(self)
+    }
+}
+
+impl Buffer for &Vec<u8> {
+    fn len(&self) -> usize {
+        Vec::len(self)
+    }
+}
+
+impl Buffer for &mut Vec<u8> {
+    fn len(&self) -> usize {
+        Vec::len(self)
+    }
+}
+
+// SplitBuffer
+impl SplitBuffer for Vec<u8> {
+    type Slices<'a> = option::IntoIter<&'a [u8]>;
+
+    fn slices(&self) -> Self::Slices<'_> {
+        Some(self.as_slice()).into_iter()
+    }
+}
+
 // Writer
 impl<'a> HasWriter for &'a mut Vec<u8> {
     type Writer = Self;