Merge remote-tracking branch 'zenoh/master' into freertos

.github/workflows/arduino_esp32.yaml

@@ -51,7 +51,7 @@ jobs:
 
           mkdir -p $ARDUINO_BASE
           cd $ARDUINO_BASE
-          platformio init -b esp32thing_plus --project-option="build_flags=-DZ_LINK_BLUETOOTH=1 -DZENOH_DEBUG=3"
+          platformio init -b esp32thing_plus --project-option="build_flags=-DZ_FEATURE_LINK_BLUETOOTH=1 -DZENOH_DEBUG=3"
 
           cd $ARDUINO_BASE/lib
           ln -s $ZENOH_PICO_BASE

.github/workflows/emscripten.yaml

@@ -34,7 +34,7 @@ jobs:
     - name: Compile debug
       run: |
        mkdir build
-       emcmake cmake -E env CFLAGS="-DZ_LINK_WS=1 -DZ_LINK_TCP=0 -DZ_LINK_UDP_MULTICAST=0 -DZ_LINK_UDP_UNICAST=0 -DZ_SCOUTING_UDP=0" cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_C_STANDARD=11 -DBUILD_EXAMPLES=OFF -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF -DBUILD_MULTICAST=OFF -DBUILD_INTEGRATION=OFF -DBUILD_TOOLS=OFF -DZENOH_DEBUG=3 -H. -Bbuild
+       emcmake cmake -E env CFLAGS="-DZ_FEATURE_LINK_WS=1 -DZ_FEATURE_LINK_TCP=0 -DZ_FEATURE_LINK_UDP_MULTICAST=0 -DZ_FEATURE_LINK_UDP_UNICAST=0 -DZ_FEATURE_SCOUTING_UDP=0" cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_C_STANDARD=11 -DBUILD_EXAMPLES=OFF -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF -DBUILD_MULTICAST=OFF -DBUILD_INTEGRATION=OFF -DBUILD_TOOLS=OFF -DZENOH_DEBUG=3 -H. -Bbuild
        make -C build
 
 

.github/workflows/mbed.yaml

@@ -51,7 +51,7 @@ jobs:
 
           mkdir -p $MBED_BASE
           cd $MBED_BASE
-          pio init -b nucleo_f767zi --project-option="framework=mbed" --project-option="build_flags=-DZ_LINK_SERIAL=1 -DZENOH_DEBUG=3"
+          pio init -b nucleo_f767zi --project-option="framework=mbed" --project-option="build_flags=-DZ_FEATURE_LINK_SERIAL=1 -DZENOH_DEBUG=3"
 
           cd $MBED_BASE/lib
           ln -s $ZENOH_PICO_BASE

.github/workflows/zephyr.yaml

@@ -51,7 +51,7 @@ jobs:
 
           mkdir -p $ZEPHYR_BASE
           cd $ZEPHYR_BASE
-          pio init -b nucleo_f767zi --project-option="framework=zephyr" --project-option="build_flags=-DZ_LINK_SERIAL=1 -DZENOH_DEBUG=3"
+          pio init -b nucleo_f767zi --project-option="framework=zephyr" --project-option="build_flags=-DZ_FEATURE_LINK_SERIAL=1 -DZENOH_DEBUG=3"
 
           cd $ZEPHYR_BASE/lib
           ln -s $ZENOH_PICO_BASE

CMakeLists.txt

@@ -13,7 +13,7 @@
 #
 cmake_minimum_required(VERSION 3.13)
 
-project(zenohpico VERSION 0.10.0.0 LANGUAGES C)
+project(zenohpico VERSION 0.11.0.0 LANGUAGES C)
 
 include(CMakePackageConfigHelpers)
 include(GNUInstallDirs)
@@ -22,6 +22,11 @@ option(BUILD_SHARED_LIBS "Build shared libraries if ON, otherwise build static l
 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)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE INTERNAL "")
+if(CMAKE_EXPORT_COMPILE_COMMANDS)
+  set(CMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES 
+      ${CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES})
+endif()
 
 if(CMAKE_SYSTEM_NAME MATCHES "Windows")
   set(BUILD_SHARED_LIBS "OFF")

README.md

@@ -331,23 +331,24 @@ To build and upload the code into the board, run the following command:
   ```
 
 ## 3. Running the Examples
-The simplest way to run some of the example is to get a Docker image of the **zenoh** network router (see [http://zenoh.io/docs/getting-started/quick-test/](http://zenoh.io/docs/getting-started/quick-test/)) and then to run the examples on your machine.
-
-### 3.1. Starting the zenoh Network Service
-Assuming you've pulled the Docker image of the **zenoh** network router on a Linux host (to leverage UDP multicast scouting has explained [here](https://zenoh.io/docs/getting-started/quick-test/#run-zenoh-router-in-a-docker-container), then simply do:
+The simplest way to run some of the example is to get a Docker image of the **zenoh** router (see [http://zenoh.io/docs/getting-started/quick-test/](http://zenoh.io/docs/getting-started/quick-test/)) and then to run the examples on your machine.
 
+### 3.1. Starting the Zenoh Router
+Assuming you've pulled the Docker image of the **zenoh** router on a Linux host (to leverage UDP multicast scouting as explained [here](https://zenoh.io/docs/getting-started/quick-test/#run-zenoh-router-in-a-docker-container), then simply do:
 ```bash
 $ docker run --init --net host eclipse/zenoh:master
 ```
 
 To see the zenoh manual page, simply do:
-
 ```bash
 $ docker run --init --net host eclipse/zenoh:master --help
 ```
 
+:warning: **Please notice that the `--net host` option in Docker is restricted to Linux only.**  
+The cause is that Docker doesn't support UDP multicast between a container and its host (see cases [moby/moby#23659](https://github.com/moby/moby/issues/23659), [moby/libnetwork#2397](https://github.com/moby/libnetwork/issues/2397) or [moby/libnetwork#552](https://github.com/moby/libnetwork/issues/552)). The only known way to make it work is to use the `--net host` option that is [only supported on Linux hosts](https://docs.docker.com/network/host/).
+
 ### 3.2. Basic Pub/Sub Example
-Assuming that (1) you are running the **zenoh** network router,  and (2) you are under the build directory, do:
+Assuming that (1) you are running the **zenoh** router,  and (2) you are under the build directory, do:
 ```bash
 $ ./z_sub
 ```
@@ -357,7 +358,7 @@ And on another shell, do:
 $ ./z_pub
 ```
 ### 3.3. Basic Queryable/Get Example
-Assuming you are running the **zenoh** network router, do:
+Assuming you are running the **zenoh** router, do:
 ```bash
 $ ./z_queryable
 ```
@@ -366,3 +367,35 @@ And on another shell, do:
 ```bash
 $ ./z_get
 ```
+
+### 3.4. Basic Pub/Sub Example - P2P over UDP multicast
+Zenoh-Pico can also work in P2P mode over UDP multicast. This allows a Zenoh-Pico application to communicate directly with another Zenoh-Pico application without requiring a Zenoh Router.
+
+Assuming that (1) you are under the build directory, do:
+```bash
+$ ./z_sub -m peer -l udp/224.0.0.123:7447#iface=lo0
+```
+
+And on another shell, do:
+```bash
+$ ./z_pub -m peer -l udp/224.0.0.123:7447#iface=lo0
+```
+where `lo0` is the network interface you want to use for multicast communication.
+
+### 3.4. Basic Pub/Sub Example - Mixing Client and P2P communication
+To allow Zenoh-Pico unicast clients to talk to Zenoh-Pico multicast peers, as well as with any other Zenoh client/peer, you need to start a Zenoh Router that listens on both multicast and unicast: 
+```bash
+$ docker run --init --net host eclipse/zenoh:master -l udp/224.0.0.123:7447#iface=lo0 -l tcp/127.0.0.1:7447
+```
+
+Assuming that (1) you are running the **zenoh** router as indicated above, and (2) you are under the build directory, do:
+```bash
+$ ./z_sub -m client -e tcp/127.0.0.1:7447 
+```
+A subscriber will connect in client mode to the **zenoh** router over TCP unicast.
+
+And on another shell, do:
+```bash
+$ ./z_pub -m peer -l udp/224.0.0.123:7447#iface=lo0
+```
+A publisher will start publishing over UDP multicast and the **zenoh** router will take care of forwarding data from the Zenoh-Pico publisher to the Zenoh-Pico subscriber.

docs/conf.py

@@ -21,7 +21,7 @@
 project = 'zenoh-pico'
 copyright = '2017, 2022 ZettaScale Technology Inc'
 author = 'ZettaScale Zenoh team'
-release = '0.10.0.0'
+release = '0.11.0.0'
 
 # -- General configuration ---------------------------------------------------
 master_doc = 'index'

examples/arduino/z_get.ino

@@ -16,6 +16,7 @@
 #include <WiFi.h>
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_QUERY == 1
 // WiFi-specific parameters
 #define SSID "SSID"
 #define PASS "PASS"
@@ -118,3 +119,9 @@ void loop() {
         Serial.println("Unable to send query.");
     }
 }
+#else
+void setup() {
+    Serial.println("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.");
+}
+void loop() {}
+#endif

examples/arduino/z_pub.ino

@@ -16,6 +16,7 @@
 #include <WiFi.h>
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_PUBLICATION == 1
 // WiFi-specific parameters
 #define SSID "SSID"
 #define PASS "PASS"
@@ -107,3 +108,9 @@ void loop() {
 
     delay(1000);
 }
+#else
+void setup() {
+    Serial.println("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.");
+}
+void loop() {}
+#endif

examples/arduino/z_pull.ino

@@ -16,6 +16,7 @@
 #include <WiFi.h>
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 // WiFi-specific parameters
 #define SSID "SSID"
 #define PASS "PASS"
@@ -108,3 +109,9 @@ void loop() {
     delay(5000);
     z_subscriber_pull(z_pull_subscriber_loan(&sub));
 }
+#else
+void setup() {
+    Serial.println("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.");
+}
+void loop() {}
+#endif

examples/arduino/z_queryable.ino

@@ -16,6 +16,7 @@
 #include <WiFi.h>
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_QUERYABLE == 1
 // WiFi-specific parameters
 #define SSID "SSID"
 #define PASS "PASS"
@@ -106,3 +107,10 @@ void setup() {
 }
 
 void loop() { delay(5000); }
+
+#else
+void setup() {
+    Serial.println("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.");
+}
+void loop() {}
+#endif

examples/arduino/z_sub.ino

@@ -16,6 +16,7 @@
 #include <WiFi.h>
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 // WiFi-specific parameters
 #define SSID "SSID"
 #define PASS "PASS"
@@ -104,3 +105,10 @@ void setup() {
 }
 
 void loop() { delay(5000); }
+
+#else
+void setup() {
+    Serial.println("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.");
+}
+void loop() {}
+#endif

examples/espidf/z_get.c

@@ -25,6 +25,7 @@
 #include <unistd.h>
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_QUERY == 1
 #define ESP_WIFI_SSID "SSID"
 #define ESP_WIFI_PASS "PASS"
 #define ESP_MAXIMUM_RETRY 5
@@ -172,3 +173,6 @@ void app_main() {
     z_close(z_move(s));
     printf("OK!\n");
 }
+#else
+void app_main() { printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.\n"); }
+#endif

examples/espidf/z_pub.c

@@ -25,6 +25,7 @@
 #include <unistd.h>
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_PUBLICATION == 1
 #define ESP_WIFI_SSID "SSID"
 #define ESP_WIFI_PASS "PASS"
 #define ESP_MAXIMUM_RETRY 5
@@ -163,3 +164,8 @@ void app_main() {
     z_close(z_move(s));
     printf("OK!\n");
 }
+#else
+void app_main() {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
+}
+#endif

examples/espidf/z_pull.c

@@ -25,6 +25,7 @@
 #include <unistd.h>
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 #define ESP_WIFI_SSID "SSID"
 #define ESP_WIFI_PASS "PASS"
 #define ESP_MAXIMUM_RETRY 5
@@ -168,3 +169,8 @@ void app_main() {
     z_close(z_move(s));
     printf("OK!\n");
 }
+#else
+void app_main() {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
+}
+#endif

examples/espidf/z_queryable.c

@@ -30,6 +30,7 @@
 #define ESP_MAXIMUM_RETRY 5
 #define WIFI_CONNECTED_BIT BIT0
 
+#if Z_FEATURE_QUERYABLE == 1
 static bool s_is_wifi_connected = false;
 static EventGroupHandle_t s_event_group_handler;
 static int s_retry_count = 0;
@@ -171,3 +172,8 @@ void app_main() {
     z_close(z_move(s));
     printf("OK!\n");
 }
+#else
+void app_main() {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n");
+}
+#endif

examples/espidf/z_sub.c

@@ -25,6 +25,7 @@
 #include <unistd.h>
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 #define ESP_WIFI_SSID "SSID"
 #define ESP_WIFI_PASS "PASS"
 #define ESP_MAXIMUM_RETRY 5
@@ -166,3 +167,8 @@ void app_main() {
     z_close(z_move(s));
     printf("OK!\n");
 }
+#else
+void app_main() {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
+}
+#endif

examples/freertos_plus_tcp/CMakeLists.txt

@@ -63,11 +63,11 @@ target_link_libraries(zenohpico
 )
 target_compile_definitions(zenohpico
   PUBLIC
-    Z_MULTI_THREAD=1
-    Z_LINK_TCP=1
-    Z_SCOUTING_UDP=1
-    Z_LINK_UDP_UNICAST=1
-    Z_LINK_UDP_MULTICAST=0
+    Z_FEATURE_MULTI_THREAD=1
+    Z_FEATURE_LINK_TCP=1
+    Z_FEATURE_SCOUTING_UDP=1
+    Z_FEATURE_LINK_UDP_UNICAST=1
+    Z_FEATURE_LINK_UDP_MULTICAST=0
     Z_CONFIG_SOCKET_TIMEOUT=1000
 )
 

examples/mbed/z_get.cpp

@@ -16,6 +16,7 @@
 #include <randLIB.h>
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_QUERY == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -94,3 +95,9 @@ int main(int argc, char **argv) {
 
     return 0;
 }
+#else
+int main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it\n");
+    return -1;
+}
+#endif

examples/mbed/z_pub.cpp

@@ -16,6 +16,7 @@
 #include <randLIB.h>
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_PUBLICATION == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -85,3 +86,9 @@ int main(int argc, char **argv) {
 
     return 0;
 }
+#else
+int main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
+    return -1;
+}
+#endif

examples/mbed/z_pull.cpp

@@ -16,6 +16,7 @@
 #include <randLIB.h>
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -91,3 +92,9 @@ int main(int argc, char **argv) {
 
     return 0;
 }
+#else
+int main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
+    return -1;
+}
+#endif