Align examples and remove reading from stdin #359

oteffahi · 2024-02-28T15:22:10Z

These changes remove reading from stdin for all examples, and align their behaviors and outputs across projects.

This PR is part of an effort across currently active Zenoh projects. To maintain examples' implementations as close to each other as possible, any changes identified in other projects will be replicated in this PR. As such, please do not merge these changes until all PRs are ready for merging.

Related PRs:

eclipse-zenoh-bot · 2024-02-28T15:22:23Z

@oteffahi If this pull request contains a bugfix or a new feature, then please consider using Closes #ISSUE-NUMBER syntax to link it to an issue.

eclipse-zenoh-bot · 2024-02-28T15:39:45Z

@oteffahi If this pull request contains a bugfix or a new feature, then please consider using Closes #ISSUE-NUMBER syntax to link it to an issue.

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Cppcheck (reported by Codacy) found more than 20 potential problems in the proposed changes. Check the Files changed tab for more details.

oteffahi · 2024-03-06T17:35:30Z

The CI failed because the c11/z_get example currently does not block to wait for responses; I worked under the assumption that the z_get function is a blocking call that awaits a final queryable response before returning to the main function. I will fix this as soon as possible.

jean-roland · 2024-03-15T13:40:52Z

examples/unix/c11/z_get.c

 void reply_dropper(void *ctx) {
    (void)(ctx);
    printf(">> Received query final notification\n");
+    pthread_cond_signal(&cond);
+    pthread_cond_destroy(&cond);


This should use the public sync mechanisms found in include/zenoh-pico/system/platform.h, this impacts all the following pthread_cond and pthread_mutex calls, see z_ping for an example of usage.

jean-roland · 2024-03-15T13:41:15Z

examples/unix/c11/z_get.c

@@ -112,6 +130,14 @@ int main(int argc, char **argv) {
        printf("Unable to send query.\n");
        return -1;
    }
+    struct timespec query_timeout;
+    clock_gettime(CLOCK_REALTIME, &query_timeout);


This should use the public timer mechanisms found in include/zenoh-pico/system/platform.h, this impacts all the following clock calls, see z_ping for an example of usage.

jean-roland · 2024-03-15T13:42:31Z

examples/unix/c11/z_get.c

 #include <stddef.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
 #include <zenoh-pico.h>

 #if Z_FEATURE_QUERY == 1
+#define QUERY_TIMEOUT 10  // query timeout in seconds


Note: we'll have to revise this example when timeout is exposed by zenoh pico

Mallets · 2024-03-15T16:09:50Z

This job is failing: https://github.com/eclipse-zenoh/zenoh-pico/actions/runs/8297508365/job/22713592044?pr=359

Mallets · 2024-03-19T15:20:57Z

examples/freertos_plus_tcp/z_pub_st.c

@@ -54,7 +55,7 @@ void app_main(void) {

    char *buf = (char *)pvPortMalloc(256);
    z_clock_t now = z_clock_now();
-    for (int idx = 0; 1;) {
+    for (int idx = 0; idx < N;) {


In this case after 10 publications the example will exit, however all other examples kepp publishing indefinitely.

Mallets · 2024-03-19T15:49:03Z

examples/freertos_plus_tcp/z_sub_st.c

@@ -27,13 +27,17 @@
 #endif

 #define KEYEXPR "demo/example/**"
+#define N 10


We should align the behaviour with all other bindings, I believe we don't wait for just 10 samples by default.

Other bindings do not implement single-threaded pub/sub examples, therefore we only need to align the configuration of these examples across their different plateform-specific implementations. In this PR, the configuration is as follows:

On unix (c11, c99): ~~N must be provided as a CLI argument to run the example. This is also used in our CI to run the test with a known number of messages.~~ N is initialized to int32:max and can be overwritten through CLI arguments.

On windows: since getopt is unavailable, N is initialized to int32::max.

On freertos: I understand that CLI argument-passing may not be possible on certain embedded targets that run on freertos, therefore N is initialized to 10 to avoid running the example indefinitely. Should we change it to int32::max ?

As per the other comment on this file, I'll update all implementations to start with a default number of samples of int32:max, and allow unix implementations to overwrite it through CLI argument.

The behaviour of a z_pub in all languages is to publish indefinitely, so uint32::MAX is close enough :)

* add support for qos settings in sample * - silence cpp compiler regading compound literals and type conversions, - add missing dots in docs * fix _z_qos_t definition and doc * fix z_qos_t definition and doc * - replace binary literals (non-core C) with hexadecimal ones - replace _z_n_qos_unmake with _z_n_qos_unmake_public in subscription.c * make _z_n_qos_unmake static inline to prevent linking errors * fix format * reduce qos size to 1 byte; use getters to extract individual qos settings * fix _z_n_qos_make to no longer use compund literals to avoid warnings from zenoh-cpp * fix z_qos_default() signature * Add Flipper platform (#351) * Add Flipper platform * Fix warnings and other platform builds * move z_n_qos_t related functions into .c (to hide designated initializers from c++) * z_sample_t docs update to include qos * move qos functions back to header and remove usage of designated initializers * format * fix: Bump sphinx doc build dep to `7.2.6` (#361) * replac zp_ prefix for platform functions that are also available in zenoh-c * fix format * replace zp_ prefix with z_ for zp_random_u64 * put back previously removed zp_ functions as deprecated * added missing new line at the end of the file * typo fix * move deprecated platform header to a separate folder * Add config endpoint in raweth locator (#364) * feat: add ethtype to reth endpoint config * feat: type renaming * fix: remove unused macro call * feat: remove static raweth config * feat: use defines for separators * feat: add mapping function * fix: add default raweth mapping * feat: add debug traces on raweth config parsing * fix: ethtype validity test * fix: strtok parsing calls * chore: clang-format * fix: include first mapping entry in lookup * fix: appease the tyran codacy * Fix bug reading from ws (#370) * Expose timeout option in z_get_options_t (#375) * Expose timeout option in z_get_options_t * Add default get timeout * Align examples and remove reading from stdin (#359) * Remove reading from stdin, align example implementations * Update examples tests * Adjust z_sub_thr output * Fix z_get single query examples * Replace pthread uses with z_mutex and z_condvar * Add multi-thread feature condition to z_get examples * Update error message for features absence * Update z_get expected output in modularity test * Update sample count for freertos single-thread examples * fix: remove unused variable warning (#379) * Changing references to zenoh:master to zenoh:main. (#381) * correct unsigned atomic in refcount.h (#382) * Fix refcount cast (#384) * Fix esp32 CI (#386) * fix: const discard warning * build: fix platformio dependency check * Serial timeout (#383) * correct unsigned atomic in refcount.h * made espidf freertos compatible with timeout on read --------- Co-authored-by: Luca Cominardi <[email protected]> * Run clang-format (#388) * Fix misra violations (#390) * chore: run clang format * fix: misra issues * ci: Allow building zenoh from arbitrary branch in build-check workflow (#389) * ci: Allow building Zenoh from arbitrary branch in build-check workflow * Update other jobs --------- Co-authored-by: OlivierHecart <[email protected]> * build: point ci to zenoh protocol_changes branch * fix: check declare <I> flag at declare level * fix: missing function prototype warning * build: switch zenoh branch to interests * fix: ignore unknown final interest * fix: missing argument in tigger_local_subs * fix: add wait join step in z_pub for raweth testing * fix: raweth memory leaks * feat: add message number option to z_sub * fix: null malloc when cloning rc list * doc: remove obsolete types * fix: encoding option made fragment test fail * fix: replace all deprecated system calls * fix: improve raweth test stability --------- Co-authored-by: Denis Biryukov <[email protected]> Co-authored-by: Alexander <[email protected]> Co-authored-by: Michael Ilyin <[email protected]> Co-authored-by: Mahmoud Mazouz <[email protected]> Co-authored-by: OlivierHecart <[email protected]> Co-authored-by: Alexander <[email protected]> Co-authored-by: oteffahi <[email protected]> Co-authored-by: Geoff Martin <[email protected]> Co-authored-by: Lieven <[email protected]> Co-authored-by: Luca Cominardi <[email protected]> Co-authored-by: OlivierHecart <[email protected]>

* add support for qos settings in sample * - silence cpp compiler regading compound literals and type conversions, - add missing dots in docs * fix _z_qos_t definition and doc * fix z_qos_t definition and doc * - replace binary literals (non-core C) with hexadecimal ones - replace _z_n_qos_unmake with _z_n_qos_unmake_public in subscription.c * make _z_n_qos_unmake static inline to prevent linking errors * fix format * reduce qos size to 1 byte; use getters to extract individual qos settings * fix _z_n_qos_make to no longer use compund literals to avoid warnings from zenoh-cpp * fix z_qos_default() signature * Add Flipper platform (#351) * Add Flipper platform * Fix warnings and other platform builds * move z_n_qos_t related functions into .c (to hide designated initializers from c++) * z_sample_t docs update to include qos * move qos functions back to header and remove usage of designated initializers * format * fix: Bump sphinx doc build dep to `7.2.6` (#361) * replac zp_ prefix for platform functions that are also available in zenoh-c * fix format * replace zp_ prefix with z_ for zp_random_u64 * put back previously removed zp_ functions as deprecated * added missing new line at the end of the file * typo fix * move deprecated platform header to a separate folder * Add config endpoint in raweth locator (#364) * feat: add ethtype to reth endpoint config * feat: type renaming * fix: remove unused macro call * feat: remove static raweth config * feat: use defines for separators * feat: add mapping function * fix: add default raweth mapping * feat: add debug traces on raweth config parsing * fix: ethtype validity test * fix: strtok parsing calls * chore: clang-format * fix: include first mapping entry in lookup * fix: appease the tyran codacy * Fix bug reading from ws (#370) * Expose timeout option in z_get_options_t (#375) * Expose timeout option in z_get_options_t * Add default get timeout * Align examples and remove reading from stdin (#359) * Remove reading from stdin, align example implementations * Update examples tests * Adjust z_sub_thr output * Fix z_get single query examples * Replace pthread uses with z_mutex and z_condvar * Add multi-thread feature condition to z_get examples * Update error message for features absence * Update z_get expected output in modularity test * Update sample count for freertos single-thread examples * fix: remove unused variable warning (#379) * Changing references to zenoh:master to zenoh:main. (#381) * correct unsigned atomic in refcount.h (#382) * Fix refcount cast (#384) * Fix esp32 CI (#386) * fix: const discard warning * build: fix platformio dependency check * Serial timeout (#383) * correct unsigned atomic in refcount.h * made espidf freertos compatible with timeout on read --------- Co-authored-by: Luca Cominardi <[email protected]> * Run clang-format (#388) * Fix misra violations (#390) * chore: run clang format * fix: misra issues * ci: Allow building zenoh from arbitrary branch in build-check workflow (#389) * ci: Allow building Zenoh from arbitrary branch in build-check workflow * Update other jobs --------- Co-authored-by: OlivierHecart <[email protected]> * support for integration as a west module in zephyr (#395) Integrate zenoh as a west module and enable adding zenoh as a library using kconfig. This will allows easier integration with zephyr by including in the west manifest (west.yml), i.e.: @@ -2,7 +2,13 @@ manifest: remotes: - name: upstream url-base: https://github.com/zephyrproject-rtos + - name: zenoh + url-base: https://github.com/eclipse-zenoh projects: + - name: zenoh-pico + revision: main + path: external/zenoh-pico + remote: zenoh - name: canopennode revision: dec12fa3f0d790cafa8414a4c2930ea71ab72ffd path: modules/lib/canopennode and then enabling the publication example with: CONFIG_ZENOH_PICO=y CONFIG_ZENOH_PICO_LINK_SERIAL=y CONFIG_ZENOH_PICO_PUBLICATION=y application can then be built with west: west build -b reel_board zephyr/samples/publication Signed-off-by: Anas Nashif <[email protected]> * fix: concurrency issue on task_running init value (#401) * feat: Automate Release (#402) * feat: Store project version in `version.txt` * fix: Add `CMakeFiles` to `.gitignore` * feat: Automate Release * fix: Remove enforce-linking-issues workflow * fix: Remove unecessary SSH passphrase/privatekey inputs * fix: Force push release branch * fix: Make build-macos need pre-build * fix: Typo in pre-build.bash path * fix: Typo in examples build path * Fix windows socket timeout value (#411) * fix: replace windows sockopt timeout value type * fix: void functions returning value * fix: use z_reliability enum type to set flag (#413) * ci: change raweth workflow (#416) * Enable releasing from any branch (#421) * Align version with zenoh-c (#438) As per eclipse-zenoh/zenoh-c#466, align how we configure zenoh CMake based projects version. * feat: add malloc value guards for freertos (#527) * fix: add mutex free value guard (#551) * Add missed merge changes --------- Signed-off-by: Anas Nashif <[email protected]> Co-authored-by: Denis Biryukov <[email protected]> Co-authored-by: Michael Ilyin <[email protected]> Co-authored-by: Mahmoud Mazouz <[email protected]> Co-authored-by: Jean-Roland Gosse <[email protected]> Co-authored-by: OlivierHecart <[email protected]> Co-authored-by: oteffahi <[email protected]> Co-authored-by: Geoff Martin <[email protected]> Co-authored-by: Lieven <[email protected]> Co-authored-by: Luca Cominardi <[email protected]> Co-authored-by: OlivierHecart <[email protected]> Co-authored-by: Anas Nashif <[email protected]> Co-authored-by: Diogo Matsubara <[email protected]>

oteffahi marked this pull request as ready for review February 28, 2024 15:41

jean-roland approved these changes Mar 4, 2024

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oteffahi added 3 commits March 6, 2024 16:29

Remove reading from stdin, align example implementations

07c7040

Update examples tests

cb09cff

Adjust z_sub_thr output

f0a1576

Fix z_get single query examples

7f94ce9

oteffahi force-pushed the align-examples branch from d283f7e to 7f94ce9 Compare March 15, 2024 10:10

jean-roland suggested changes Mar 15, 2024

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Replace pthread uses with z_mutex and z_condvar

cc5475e

jean-roland approved these changes Mar 15, 2024

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oteffahi added 2 commits March 15, 2024 17:10

Add multi-thread feature condition to z_get examples

54e8596

Update error message for features absence

28e4b04

jean-roland approved these changes Mar 15, 2024

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Update z_get expected output in modularity test

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jean-roland approved these changes Mar 18, 2024

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Mallets reviewed Mar 19, 2024

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Update sample count for freertos single-thread examples

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Mallets approved these changes Mar 21, 2024

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Mallets merged commit 7c724c3 into eclipse-zenoh:main Mar 21, 2024
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jean-roland mentioned this pull request Apr 5, 2024

Fix CI failures #394

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Align examples and remove reading from stdin #359

Align examples and remove reading from stdin #359

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Align examples and remove reading from stdin #359

Align examples and remove reading from stdin #359

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