feat: make all sync mechanisms public

examples/freertos_plus_tcp/z_pub.c

@@ -48,7 +48,7 @@ void app_main(void) {
     static StackType_t read_task_stack[1000];
     static StaticTask_t read_task_buffer;
 
-    _z_task_attr_t read_task_attr = {
+    z_task_attr_t read_task_attr = {
         .name = "ZenohReadTask",
         .priority = 10,
         .stack_depth = 1000,
@@ -62,7 +62,7 @@ void app_main(void) {
     static StackType_t lease_task_stack[1000];
     static StaticTask_t lease_task_buffer;
 
-    _z_task_attr_t lease_task_attr = {
+    z_task_attr_t lease_task_attr = {
         .name = "ZenohLeaseTask",
         .priority = 10,
         .stack_depth = 1000,

examples/unix/c11/z_ping.c

@@ -27,19 +27,17 @@
 #define DEFAULT_PING_NB 100
 #define DEFAULT_WARMUP_MS 1000
 
-// WARNING: for the sake of this example we are using "internal" structs and functions (starting with "_").
-//          Synchronisation primitives are planned to be added to the API in the future.
-_z_condvar_t cond;
-_z_mutex_t mutex;
+static z_condvar_t cond;
+static z_mutex_t mutex;
 
 void callback(const z_sample_t* sample, void* context) {
     (void)sample;
     (void)context;
-    _z_condvar_signal(&cond);
+    z_condvar_signal(&cond);
 }
 void drop(void* context) {
     (void)context;
-    _z_condvar_free(&cond);
+    z_condvar_free(&cond);
 }
 
 struct args_t {
@@ -63,8 +61,8 @@ int main(int argc, char** argv) {
             DEFAULT_PKT_SIZE, DEFAULT_PING_NB, DEFAULT_WARMUP_MS);
         return 1;
     }
-    _z_mutex_init(&mutex);
-    _z_condvar_init(&cond);
+    z_mutex_init(&mutex);
+    z_condvar_init(&cond);
     z_owned_config_t config = z_config_default();
     z_owned_session_t session = z_open(z_move(config));
     if (!z_check(session)) {
@@ -97,28 +95,28 @@ int main(int argc, char** argv) {
     for (unsigned int i = 0; i < args.size; i++) {
         data[i] = i % 10;
     }
-    _z_mutex_lock(&mutex);
+    z_mutex_lock(&mutex);
     if (args.warmup_ms) {
         printf("Warming up for %dms...\n", args.warmup_ms);
         z_clock_t warmup_start = z_clock_now();
         unsigned long elapsed_us = 0;
         while (elapsed_us < args.warmup_ms * 1000) {
             z_publisher_put(z_loan(pub), data, args.size, NULL);
-            _z_condvar_wait(&cond, &mutex);
+            z_condvar_wait(&cond, &mutex);
             elapsed_us = z_clock_elapsed_us(&warmup_start);
         }
     }
     unsigned long* results = z_malloc(sizeof(unsigned long) * args.number_of_pings);
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
         z_clock_t measure_start = z_clock_now();
         z_publisher_put(z_loan(pub), data, args.size, NULL);
-        _z_condvar_wait(&cond, &mutex);
+        z_condvar_wait(&cond, &mutex);
         results[i] = z_clock_elapsed_us(&measure_start);
     }
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
         printf("%d bytes: seq=%d rtt=%luµs, lat=%luµs\n", args.size, i, results[i], results[i] / 2);
     }
-    _z_mutex_unlock(&mutex);
+    z_mutex_unlock(&mutex);
     z_free(results);
     z_free(data);
     z_drop(z_move(pub));

examples/unix/c99/z_ping.c

@@ -28,17 +28,17 @@
 #define DEFAULT_PING_NB 100
 #define DEFAULT_WARMUP_MS 1000
 
-_z_condvar_t cond;
-_z_mutex_t mutex;
+static z_condvar_t cond;
+static z_mutex_t mutex;
 
 void callback(const z_sample_t* sample, void* context) {
     (void)sample;
     (void)context;
-    _z_condvar_signal(&cond);
+    z_condvar_signal(&cond);
 }
 void drop(void* context) {
     (void)context;
-    _z_condvar_free(&cond);
+    z_condvar_free(&cond);
 }
 
 struct args_t {
@@ -62,8 +62,8 @@ int main(int argc, char** argv) {
             DEFAULT_PKT_SIZE, DEFAULT_PING_NB, DEFAULT_WARMUP_MS);
         return 1;
     }
-    _z_mutex_init(&mutex);
-    _z_condvar_init(&cond);
+    z_mutex_init(&mutex);
+    z_condvar_init(&cond);
     z_owned_config_t config = z_config_default();
     z_owned_session_t session = z_open(z_config_move(&config));
     if (!z_session_check(&session)) {
@@ -97,28 +97,28 @@ int main(int argc, char** argv) {
     for (unsigned int i = 0; i < args.size; i++) {
         data[i] = i % 10;
     }
-    _z_mutex_lock(&mutex);
+    z_mutex_lock(&mutex);
     if (args.warmup_ms) {
         printf("Warming up for %dms...\n", args.warmup_ms);
         z_clock_t warmup_start = z_clock_now();
         unsigned long elapsed_us = 0;
         while (elapsed_us < args.warmup_ms * 1000) {
             z_publisher_put(z_publisher_loan(&pub), data, args.size, NULL);
-            _z_condvar_wait(&cond, &mutex);
+            z_condvar_wait(&cond, &mutex);
             elapsed_us = z_clock_elapsed_us(&warmup_start);
         }
     }
     unsigned long* results = z_malloc(sizeof(unsigned long) * args.number_of_pings);
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
         z_clock_t measure_start = z_clock_now();
         z_publisher_put(z_publisher_loan(&pub), data, args.size, NULL);
-        _z_condvar_wait(&cond, &mutex);
+        z_condvar_wait(&cond, &mutex);
         results[i] = z_clock_elapsed_us(&measure_start);
     }
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
         printf("%d bytes: seq=%d rtt=%luµs, lat=%luµs\n", args.size, i, results[i], results[i] / 2);
     }
-    _z_mutex_unlock(&mutex);
+    z_mutex_unlock(&mutex);
     z_free(results);
     z_free(data);
     z_undeclare_subscriber(z_subscriber_move(&sub));

examples/windows/z_ping.c

@@ -27,17 +27,17 @@
 #define DEFAULT_PING_NB 100
 #define DEFAULT_WARMUP_MS 1000
 
-_z_condvar_t cond;
-_z_mutex_t mutex;
+static z_condvar_t cond;
+static z_mutex_t mutex;
 
 void callback(const z_sample_t* sample, void* context) {
     (void)sample;
     (void)context;
-    _z_condvar_signal(&cond);
+    z_condvar_signal(&cond);
 }
 void drop(void* context) {
     (void)context;
-    _z_condvar_free(&cond);
+    z_condvar_free(&cond);
 }
 
 struct args_t {
@@ -61,8 +61,8 @@ int main(int argc, char** argv) {
             DEFAULT_PKT_SIZE, DEFAULT_PING_NB, DEFAULT_WARMUP_MS);
         return 1;
     }
-    _z_mutex_init(&mutex);
-    _z_condvar_init(&cond);
+    z_mutex_init(&mutex);
+    z_condvar_init(&cond);
     z_owned_config_t config = z_config_default();
     z_owned_session_t session = z_open(z_move(config));
     if (!z_check(session)) {
@@ -94,28 +94,28 @@ int main(int argc, char** argv) {
     for (unsigned int i = 0; i < args.size; i++) {
         data[i] = i % 10;
     }
-    _z_mutex_lock(&mutex);
+    z_mutex_lock(&mutex);
     if (args.warmup_ms) {
         printf("Warming up for %dms...\n", args.warmup_ms);
         z_clock_t warmup_start = z_clock_now();
         unsigned long elapsed_us = 0;
         while (elapsed_us < args.warmup_ms * 1000) {
             z_publisher_put(z_loan(pub), data, args.size, NULL);
-            _z_condvar_wait(&cond, &mutex);
+            z_condvar_wait(&cond, &mutex);
             elapsed_us = z_clock_elapsed_us(&warmup_start);
         }
     }
     unsigned long* results = z_malloc(sizeof(unsigned long) * args.number_of_pings);
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
         z_clock_t measure_start = z_clock_now();
         z_publisher_put(z_loan(pub), data, args.size, NULL);
-        _z_condvar_wait(&cond, &mutex);
+        z_condvar_wait(&cond, &mutex);
         results[i] = z_clock_elapsed_us(&measure_start);
     }
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
         printf("%d bytes: seq=%d rtt=%luus, lat=%luus\n", args.size, i, results[i], results[i] / 2);
     }
-    _z_mutex_unlock(&mutex);
+    z_mutex_unlock(&mutex);
     z_free(results);
     z_free(data);
     z_drop(z_move(pub));

include/zenoh-pico/api/types.h

@@ -344,7 +344,7 @@ typedef struct {
  */
 typedef struct {
 #if Z_FEATURE_MULTI_THREAD == 1
-    _z_task_attr_t *task_attributes;
+    z_task_attr_t *task_attributes;
 #else
     uint8_t __dummy;  // Just to avoid empty structures that might cause undefined behavior
 #endif
@@ -356,7 +356,7 @@ typedef struct {
  */
 typedef struct {
 #if Z_FEATURE_MULTI_THREAD == 1
-    _z_task_attr_t *task_attributes;
+    z_task_attr_t *task_attributes;
 #else
     uint8_t __dummy;  // Just to avoid empty structures that might cause undefined behavior
 #endif

include/zenoh-pico/net/session.h

@@ -29,7 +29,7 @@
  */
 typedef struct {
 #if Z_FEATURE_MULTI_THREAD == 1
-    _z_mutex_t _mutex_inner;
+    z_mutex_t _mutex_inner;
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
     // Zenoh-pico is considering a single transport per session.
@@ -139,7 +139,7 @@ int8_t _zp_send_join(_z_session_t *z);
  * Returns:
  *     ``0`` in case of success, ``-1`` in case of failure.
  */
-int8_t _zp_start_read_task(_z_session_t *z, _z_task_attr_t *attr);
+int8_t _zp_start_read_task(_z_session_t *z, z_task_attr_t *attr);
 
 /**
  * Stop the read task. This may result in stopping a thread or a process depending
@@ -166,7 +166,7 @@ int8_t _zp_stop_read_task(_z_session_t *z);
  * Returns:
  *     ``0`` in case of success, ``-1`` in case of failure.
  */
-int8_t _zp_start_lease_task(_z_session_t *z, _z_task_attr_t *attr);
+int8_t _zp_start_lease_task(_z_session_t *z, z_task_attr_t *attr);
 
 /**
  * Stop the lease task. This may result in stopping a thread or a process depending

include/zenoh-pico/session/session.h

@@ -172,8 +172,8 @@ _Z_LIST_DEFINE(_z_pending_query, _z_pending_query_t)
 
 typedef struct {
 #if Z_FEATURE_MULTI_THREAD == 1
-    _z_mutex_t _mutex;
-    _z_condvar_t _cond_var;
+    z_mutex_t _mutex;
+    z_condvar_t _cond_var;
 #endif  // Z_FEATURE_MULTI_THREAD == 1
     _z_reply_data_list_t *_replies;
 } _z_pending_query_collect_t;

include/zenoh-pico/system/platform.h

@@ -60,25 +60,25 @@ void z_free(void *ptr);
 
 #if Z_FEATURE_MULTI_THREAD == 1
 /*------------------ Thread ------------------*/
-int8_t _z_task_init(_z_task_t *task, _z_task_attr_t *attr, void *(*fun)(void *), void *arg);
-int8_t _z_task_join(_z_task_t *task);
-int8_t _z_task_cancel(_z_task_t *task);
-void _z_task_free(_z_task_t **task);
+int8_t z_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg);
+int8_t z_task_join(z_task_t *task);
+int8_t z_task_cancel(z_task_t *task);
+void z_task_free(z_task_t **task);
 
 /*------------------ Mutex ------------------*/
-int8_t _z_mutex_init(_z_mutex_t *m);
-int8_t _z_mutex_free(_z_mutex_t *m);
+int8_t z_mutex_init(z_mutex_t *m);
+int8_t z_mutex_free(z_mutex_t *m);
 
-int8_t _z_mutex_lock(_z_mutex_t *m);
-int8_t _z_mutex_trylock(_z_mutex_t *m);
-int8_t _z_mutex_unlock(_z_mutex_t *m);
+int8_t z_mutex_lock(z_mutex_t *m);
+int8_t z_mutex_trylock(z_mutex_t *m);
+int8_t z_mutex_unlock(z_mutex_t *m);
 
 /*------------------ CondVar ------------------*/
-int8_t _z_condvar_init(_z_condvar_t *cv);
-int8_t _z_condvar_free(_z_condvar_t *cv);
+int8_t z_condvar_init(z_condvar_t *cv);
+int8_t z_condvar_free(z_condvar_t *cv);
 
-int8_t _z_condvar_signal(_z_condvar_t *cv);
-int8_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m);
+int8_t z_condvar_signal(z_condvar_t *cv);
+int8_t z_condvar_wait(z_condvar_t *cv, z_mutex_t *m);
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 /*------------------ Sleep ------------------*/

include/zenoh-pico/system/platform/arduino/esp32.h

@@ -24,10 +24,10 @@
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 #if Z_FEATURE_MULTI_THREAD == 1
-typedef TaskHandle_t _z_task_t;
-typedef void *_z_task_attr_t;  // Not used in ESP32
-typedef pthread_mutex_t _z_mutex_t;
-typedef pthread_cond_t _z_condvar_t;
+typedef TaskHandle_t z_task_t;
+typedef void *z_task_attr_t;  // Not used in ESP32
+typedef pthread_mutex_t z_mutex_t;
+typedef pthread_cond_t z_condvar_t;
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 typedef struct timespec z_clock_t;

include/zenoh-pico/system/platform/arduino/opencr.h

@@ -21,10 +21,10 @@
 #include "zenoh-pico/config.h"
 
 #if Z_FEATURE_MULTI_THREAD == 1
-typedef void *_z_task_t;
-typedef void *_z_task_attr_t;
-typedef void *_z_mutex_t;
-typedef void *_z_condvar_t;
+typedef void *z_task_t;
+typedef void *z_task_attr_t;
+typedef void *z_mutex_t;
+typedef void *z_condvar_t;
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 typedef struct timespec z_clock_t;

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

@@ -22,10 +22,10 @@
 #if Z_FEATURE_MULTI_THREAD == 1
 #include <pthread.h>
 
-typedef pthread_t _z_task_t;
-typedef pthread_attr_t _z_task_attr_t;
-typedef pthread_mutex_t _z_mutex_t;
-typedef pthread_cond_t _z_condvar_t;
+typedef pthread_t z_task_t;
+typedef pthread_attr_t z_task_attr_t;
+typedef pthread_mutex_t z_mutex_t;
+typedef pthread_cond_t z_condvar_t;
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 typedef double z_clock_t;

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

@@ -24,10 +24,10 @@
 #if Z_FEATURE_MULTI_THREAD == 1
 #include <pthread.h>
 
-typedef TaskHandle_t _z_task_t;
-typedef void *_z_task_attr_t;  // Not used in ESP32
-typedef pthread_mutex_t _z_mutex_t;
-typedef pthread_cond_t _z_condvar_t;
+typedef TaskHandle_t z_task_t;
+typedef void *z_task_attr_t;  // Not used in ESP32
+typedef pthread_mutex_t z_mutex_t;
+typedef pthread_cond_t z_condvar_t;
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 typedef struct timespec z_clock_t;

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

@@ -28,15 +28,15 @@ typedef struct {
     StackType_t *stack_buffer;
     StaticTask_t *task_buffer;
 #endif /* SUPPORT_STATIC_ALLOCATION */
-} _z_task_attr_t;
+} z_task_attr_t;
 
 typedef struct {
     TaskHandle_t handle;
     EventGroupHandle_t join_event;
-} _z_task_t;
+} z_task_t;
 
-typedef SemaphoreHandle_t _z_mutex_t;
-typedef void *_z_condvar_t;
+typedef SemaphoreHandle_t z_mutex_t;
+typedef void *z_condvar_t;
 #endif  // Z_MULTI_THREAD == 1
 
 typedef TickType_t z_clock_t;