Merge pull request #24 from jean-roland/ft_merge_main

feat: merge main

include/zenoh-pico/protocol/definitions/transport.h

@@ -91,6 +91,16 @@ extern "C" {
 //      Z Extensions       if Z==1 then Zenoh extensions are present
 #define _Z_FLAG_T_CLOSE_S 0x20  // 1 << 5
 
+/*=============================*/
+/*            Patch            */
+/*=============================*/
+/// Used to negotiate the patch version of the protocol
+/// if not present (or 0), then protocol as released with 1.0.0
+/// if >= 1, then fragmentation start/stop marker
+#define _Z_NO_PATCH 0x00
+#define _Z_CURRENT_PATCH 0x01
+#define _Z_PATCH_HAS_FRAGMENT_MARKERS(patch) (patch >= 1)
+
 /*=============================*/
 /*     Transport Messages      */
 /*=============================*/
@@ -235,6 +245,9 @@ typedef struct {
     uint8_t _req_id_res;
     uint8_t _seq_num_res;
     uint8_t _version;
+#if Z_FEATURE_FRAGMENTATION == 1
+    uint8_t _patch;
+#endif
 } _z_t_msg_join_t;
 void _z_t_msg_join_clear(_z_t_msg_join_t *msg);
 
@@ -315,6 +328,9 @@ typedef struct {
     uint8_t _req_id_res;
     uint8_t _seq_num_res;
     uint8_t _version;
+#if Z_FEATURE_FRAGMENTATION == 1
+    uint8_t _patch;
+#endif
 } _z_t_msg_init_t;
 void _z_t_msg_init_clear(_z_t_msg_init_t *msg);
 
@@ -478,11 +494,11 @@ void _z_t_msg_frame_clear(_z_t_msg_frame_t *msg);
 typedef struct {
     _z_slice_t _payload;
     _z_zint_t _sn;
+    bool first;
+    bool drop;
 } _z_t_msg_fragment_t;
 void _z_t_msg_fragment_clear(_z_t_msg_fragment_t *msg);
 
-#define _Z_FRAGMENT_HEADER_SIZE 12
-
 /*------------------ Transport Message ------------------*/
 typedef union {
     _z_t_msg_join_t _join;
@@ -514,9 +530,10 @@ _z_transport_message_t _z_t_msg_make_keep_alive(void);
 _z_transport_message_t _z_t_msg_make_frame(_z_zint_t sn, _z_network_message_svec_t messages,
                                            z_reliability_t reliability);
 _z_transport_message_t _z_t_msg_make_frame_header(_z_zint_t sn, z_reliability_t reliability);
-_z_transport_message_t _z_t_msg_make_fragment_header(_z_zint_t sn, z_reliability_t reliability, bool is_last);
+_z_transport_message_t _z_t_msg_make_fragment_header(_z_zint_t sn, z_reliability_t reliability, bool is_last,
+                                                     bool first, bool drop);
 _z_transport_message_t _z_t_msg_make_fragment(_z_zint_t sn, _z_slice_t messages, z_reliability_t reliability,
-                                              bool is_last);
+                                              bool is_last, bool first, bool drop);
 
 /*------------------ Copy ------------------*/
 void _z_t_msg_copy(_z_transport_message_t *clone, _z_transport_message_t *msg);

include/zenoh-pico/protocol/ext.h

@@ -43,7 +43,11 @@ extern "C" {
 /*=============================*/
 /*        Extension IDs        */
 /*=============================*/
-// #define _Z_MSG_EXT_ID_FOO 0x00 // Hex(ENC|M|ID)
+#define _Z_MSG_EXT_ID_JOIN_QOS (0x01 | _Z_MSG_EXT_FLAG_M | _Z_MSG_EXT_ENC_ZBUF)
+#define _Z_MSG_EXT_ID_JOIN_PATCH (0x07 | _Z_MSG_EXT_ENC_ZINT)
+#define _Z_MSG_EXT_ID_INIT_PATCH (0x07 | _Z_MSG_EXT_ENC_ZINT)
+#define _Z_MSG_EXT_ID_FRAGMENT_FIRST (0x02 | _Z_MSG_EXT_ENC_UNIT)
+#define _Z_MSG_EXT_ID_FRAGMENT_DROP (0x03 | _Z_MSG_EXT_ENC_UNIT)
 
 /*=============================*/
 /*     Extension Encodings     */
@@ -58,6 +62,7 @@ extern "C" {
 #define _Z_MSG_EXT_FLAG_M 0x10
 #define _Z_MSG_EXT_IS_MANDATORY(h) ((h & _Z_MSG_EXT_FLAG_M) != 0)
 #define _Z_MSG_EXT_FLAG_Z 0x80
+#define _Z_MSG_EXT_MORE(more) (more ? _Z_MSG_EXT_FLAG_Z : 0)
 
 typedef struct {
     uint8_t __dummy;  // Just to avoid empty structures that might cause undefined behavior

include/zenoh-pico/system/platform/zephyr.h

@@ -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
 

include/zenoh-pico/transport/common/tx.h

@@ -27,7 +27,8 @@ void __unsafe_z_prepare_wbuf(_z_wbuf_t *buf, uint8_t link_flow_capability);
 void __unsafe_z_finalize_wbuf(_z_wbuf_t *buf, uint8_t link_flow_capability);
 /*This function is unsafe because it operates in potentially concurrent
         data.*Make sure that the following mutexes are locked before calling this function : *-ztu->mutex_tx */
-z_result_t __unsafe_z_serialize_zenoh_fragment(_z_wbuf_t *dst, _z_wbuf_t *src, z_reliability_t reliability, size_t sn);
+z_result_t __unsafe_z_serialize_zenoh_fragment(_z_wbuf_t *dst, _z_wbuf_t *src, z_reliability_t reliability, size_t sn,
+                                               bool first);
 
 /*------------------ Transmission and Reception helpers ------------------*/
 z_result_t _z_transport_tx_send_t_msg(_z_transport_common_t *ztc, const _z_transport_message_t *t_msg);

include/zenoh-pico/transport/transport.h

@@ -57,6 +57,8 @@ typedef struct {
     uint8_t _state_best_effort;
     _z_wbuf_t _dbuf_reliable;
     _z_wbuf_t _dbuf_best_effort;
+    // Patch
+    uint8_t _patch;
 #endif
 } _z_transport_peer_entry_t;
 
@@ -122,6 +124,8 @@ typedef struct {
     uint8_t _state_best_effort;
     _z_wbuf_t _dbuf_reliable;
     _z_wbuf_t _dbuf_best_effort;
+    // Patch
+    uint8_t _patch;
 #endif
 } _z_transport_unicast_t;
 
@@ -161,6 +165,9 @@ typedef struct {
     uint8_t _req_id_res;
     uint8_t _seq_num_res;
     bool _is_qos;
+#if Z_FEATURE_FRAGMENTATION == 1
+    uint8_t _patch;
+#endif
 } _z_transport_unicast_establish_param_t;
 
 typedef struct {

include/zenoh-pico/transport/utils.h

@@ -29,6 +29,7 @@ _z_zint_t _z_sn_max(uint8_t bits);
 _z_zint_t _z_sn_half(_z_zint_t sn);
 _z_zint_t _z_sn_modulo_mask(uint8_t bits);
 bool _z_sn_precedes(const _z_zint_t sn_resolution, const _z_zint_t sn_left, const _z_zint_t sn_right);
+bool _z_sn_consecutive(const _z_zint_t sn_resolution, const _z_zint_t sn_left, const _z_zint_t sn_right);
 _z_zint_t _z_sn_increment(const _z_zint_t sn_resolution, const _z_zint_t sn);
 _z_zint_t _z_sn_decrement(const _z_zint_t sn_resolution, const _z_zint_t sn);
 

src/protocol/codec/transport.c

@@ -64,9 +64,14 @@ z_result_t _z_join_encode(_z_wbuf_t *wbf, uint8_t header, const _z_t_msg_join_t
     }
     _Z_RETURN_IF_ERR(_z_zsize_encode(wbf, msg->_next_sn._val._plain._reliable));
     _Z_RETURN_IF_ERR(_z_zsize_encode(wbf, msg->_next_sn._val._plain._best_effort));
+#if Z_FEATURE_FRAGMENTATION == 1
+    bool has_patch = msg->_patch != _Z_NO_PATCH;
+#else
+    bool has_patch = false;
+#endif
     if (msg->_next_sn._is_qos) {
         if (_Z_HAS_FLAG(header, _Z_FLAG_T_Z)) {
-            _Z_RETURN_IF_ERR(_z_uint8_encode(wbf, _Z_MSG_EXT_ENC_ZBUF | _Z_MSG_EXT_FLAG_M | 1));
+            _Z_RETURN_IF_ERR(_z_uint8_encode(wbf, _Z_MSG_EXT_ID_JOIN_QOS | _Z_MSG_EXT_MORE(has_patch)));
             size_t len = 0;
             for (uint8_t i = 0; (i < Z_PRIORITIES_NUM) && (ret == _Z_RES_OK); i++) {
                 len += _z_zint_len(msg->_next_sn._val._qos[i]._reliable) +
@@ -82,21 +87,35 @@ z_result_t _z_join_encode(_z_wbuf_t *wbf, uint8_t header, const _z_t_msg_join_t
             ret |= _Z_ERR_MESSAGE_SERIALIZATION_FAILED;
         }
     }
+#if Z_FEATURE_FRAGMENTATION == 1
+    if (has_patch) {
+        if (_Z_HAS_FLAG(header, _Z_FLAG_T_Z)) {
+            _Z_RETURN_IF_ERR(_z_uint8_encode(wbf, _Z_MSG_EXT_ID_JOIN_PATCH));
+            _Z_RETURN_IF_ERR(_z_zint64_encode(wbf, msg->_patch));
+        } else {
+            _Z_DEBUG("Attempted to serialize Patch extension, but the header extension flag was unset");
+            ret |= _Z_ERR_MESSAGE_SERIALIZATION_FAILED;
+        }
+    }
+#endif
 
     return ret;
 }
 
 z_result_t _z_join_decode_ext(_z_msg_ext_t *extension, void *ctx) {
     z_result_t ret = _Z_RES_OK;
     _z_t_msg_join_t *msg = (_z_t_msg_join_t *)ctx;
-    if (_Z_EXT_FULL_ID(extension->_header) ==
-        (_Z_MSG_EXT_ENC_ZBUF | _Z_MSG_EXT_FLAG_M | 1)) {  // QOS: (enc=zbuf)(mandatory=true)(id=1)
+    if (_Z_EXT_FULL_ID(extension->_header) == _Z_MSG_EXT_ID_JOIN_QOS) {
         msg->_next_sn._is_qos = true;
         _z_zbuf_t zbf = _z_slice_as_zbuf(extension->_body._zbuf._val);
         for (int i = 0; (ret == _Z_RES_OK) && (i < Z_PRIORITIES_NUM); ++i) {
             ret |= _z_zsize_decode(&msg->_next_sn._val._qos[i]._reliable, &zbf);
             ret |= _z_zsize_decode(&msg->_next_sn._val._qos[i]._best_effort, &zbf);
         }
+#if Z_FEATURE_FRAGMENTATION == 1
+    } else if (_Z_EXT_FULL_ID(extension->_header) == _Z_MSG_EXT_ID_JOIN_PATCH) {
+        msg->_patch = (uint8_t)extension->_body._zint._val;
+#endif
     } else if (_Z_MSG_EXT_IS_MANDATORY(extension->_header)) {
         ret = _Z_ERR_MESSAGE_EXTENSION_MANDATORY_AND_UNKNOWN;
     }
@@ -148,6 +167,7 @@ z_result_t _z_join_decode(_z_t_msg_join_t *msg, _z_zbuf_t *zbf, uint8_t header)
         ret |= _z_zsize_decode(&msg->_next_sn._val._plain._reliable, zbf);
         ret |= _z_zsize_decode(&msg->_next_sn._val._plain._best_effort, zbf);
     }
+    msg->_patch = _Z_NO_PATCH;
     if ((ret == _Z_RES_OK) && _Z_HAS_FLAG(header, _Z_FLAG_T_Z)) {
         ret |= _z_msg_ext_decode_iter(zbf, _z_join_decode_ext, msg);
     }
@@ -181,6 +201,32 @@ z_result_t _z_init_encode(_z_wbuf_t *wbf, uint8_t header, const _z_t_msg_init_t
         _Z_RETURN_IF_ERR(_z_slice_encode(wbf, &msg->_cookie))
     }
 
+#if Z_FEATURE_FRAGMENTATION == 1
+    if (msg->_patch != _Z_NO_PATCH) {
+        if (_Z_HAS_FLAG(header, _Z_FLAG_T_Z)) {
+            _Z_RETURN_IF_ERR(_z_uint8_encode(wbf, _Z_MSG_EXT_ID_JOIN_PATCH));
+            _Z_RETURN_IF_ERR(_z_zint64_encode(wbf, msg->_patch));
+        } else {
+            _Z_DEBUG("Attempted to serialize Patch extension, but the header extension flag was unset");
+            ret |= _Z_ERR_MESSAGE_SERIALIZATION_FAILED;
+        }
+    }
+#endif
+
+    return ret;
+}
+
+z_result_t _z_init_decode_ext(_z_msg_ext_t *extension, void *ctx) {
+    z_result_t ret = _Z_RES_OK;
+    _z_t_msg_init_t *msg = (_z_t_msg_init_t *)ctx;
+    if (false) {
+#if Z_FEATURE_FRAGMENTATION == 1
+    } else if (_Z_EXT_FULL_ID(extension->_header) == _Z_MSG_EXT_ID_INIT_PATCH) {
+        msg->_patch = (uint8_t)extension->_body._zint._val;
+#endif
+    } else if (_Z_MSG_EXT_IS_MANDATORY(extension->_header)) {
+        ret = _Z_ERR_MESSAGE_EXTENSION_MANDATORY_AND_UNKNOWN;
+    }
     return ret;
 }
 
@@ -224,8 +270,9 @@ z_result_t _z_init_decode(_z_t_msg_init_t *msg, _z_zbuf_t *zbf, uint8_t header)
         msg->_cookie = _z_slice_null();
     }
 
-    if ((ret == _Z_RES_OK) && (_Z_HAS_FLAG(header, _Z_FLAG_T_Z) == true)) {
-        ret |= _z_msg_ext_skip_non_mandatories(zbf, 0x01);
+    msg->_patch = _Z_NO_PATCH;
+    if ((ret == _Z_RES_OK) && _Z_HAS_FLAG(header, _Z_FLAG_T_Z)) {
+        ret |= _z_msg_ext_decode_iter(zbf, _z_init_decode_ext, msg);
     }
 
     return ret;
@@ -450,25 +497,53 @@ z_result_t _z_fragment_encode(_z_wbuf_t *wbf, uint8_t header, const _z_t_msg_fra
     z_result_t ret = _Z_RES_OK;
     _Z_DEBUG("Encoding _Z_TRANSPORT_FRAGMENT");
     _Z_RETURN_IF_ERR(_z_zsize_encode(wbf, msg->_sn))
-    if (_Z_HAS_FLAG(header, _Z_FLAG_T_Z)) {
-        ret = _Z_ERR_MESSAGE_SERIALIZATION_FAILED;
+    if (msg->first) {
+        if (_Z_HAS_FLAG(header, _Z_FLAG_T_Z) == true) {
+            _Z_RETURN_IF_ERR(_z_uint8_encode(wbf, _Z_MSG_EXT_ID_FRAGMENT_FIRST | _Z_MSG_EXT_MORE(msg->drop)));
+        } else {
+            _Z_DEBUG("Attempted to serialize Start extension, but the header extension flag was unset");
+            ret |= _Z_ERR_MESSAGE_SERIALIZATION_FAILED;
+        }
+    }
+    if (msg->drop) {
+        if (_Z_HAS_FLAG(header, _Z_FLAG_T_Z) == true) {
+            _Z_RETURN_IF_ERR(_z_uint8_encode(wbf, _Z_MSG_EXT_ID_FRAGMENT_DROP));
+        } else {
+            _Z_DEBUG("Attempted to serialize Stop extension, but the header extension flag was unset");
+            ret |= _Z_ERR_MESSAGE_SERIALIZATION_FAILED;
+        }
     }
-    if (ret == _Z_RES_OK && _z_slice_check(&msg->_payload)) {
+    if (_z_slice_check(&msg->_payload)) {
         _Z_RETURN_IF_ERR(_z_wbuf_write_bytes(wbf, msg->_payload.start, 0, msg->_payload.len));
     }
 
     return ret;
 }
 
+z_result_t _z_fragment_decode_ext(_z_msg_ext_t *extension, void *ctx) {
+    z_result_t ret = _Z_RES_OK;
+    _z_t_msg_fragment_t *msg = (_z_t_msg_fragment_t *)ctx;
+    if (_Z_EXT_FULL_ID(extension->_header) == _Z_MSG_EXT_ID_FRAGMENT_FIRST) {
+        msg->first = true;
+    } else if (_Z_EXT_FULL_ID(extension->_header) == _Z_MSG_EXT_ID_FRAGMENT_DROP) {
+        msg->drop = true;
+    } else if (_Z_MSG_EXT_IS_MANDATORY(extension->_header)) {
+        ret = _Z_ERR_MESSAGE_EXTENSION_MANDATORY_AND_UNKNOWN;
+    }
+    return ret;
+}
+
 z_result_t _z_fragment_decode(_z_t_msg_fragment_t *msg, _z_zbuf_t *zbf, uint8_t header) {
     z_result_t ret = _Z_RES_OK;
     *msg = (_z_t_msg_fragment_t){0};
 
     _Z_DEBUG("Decoding _Z_TRANSPORT_FRAGMENT");
     ret |= _z_zsize_decode(&msg->_sn, zbf);
 
+    msg->first = false;
+    msg->drop = false;
     if ((ret == _Z_RES_OK) && (_Z_HAS_FLAG(header, _Z_FLAG_T_Z) == true)) {
-        ret |= _z_msg_ext_skip_non_mandatories(zbf, 0x05);
+        ret |= _z_msg_ext_decode_iter(zbf, _z_fragment_decode_ext, msg);
     }
     msg->_payload = _z_slice_alias_buf((uint8_t *)_z_zbuf_start(zbf), _z_zbuf_len(zbf));
     zbf->_ios._r_pos = zbf->_ios._w_pos;