Add more examples

Signed-off-by: Błażej Sowa <[email protected]>
eclipse-zenoh · Aug 29, 2023 · 683a4d8 · 683a4d8
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diff --git 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
@@ -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, <[email protected]>
+//   Błażej Sowa, <[email protected]>
+
+#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
@@ -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, <[email protected]>
+//   Błażej Sowa, <[email protected]>
+
+#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
@@ -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, <[email protected]>
+//   Błażej Sowa, <[email protected]>
+
+#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));
+}