From 6df2e19c22361cfa4a50074753576e154dbd4700 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Mon, 8 Jan 2024 16:14:00 +0100
Subject: [PATCH] feat: switch tasks to zp namespace

---
 include/zenoh-pico/system/platform.h  |  8 ++++----
 src/system/arduino/esp32/system.c     | 10 +++++-----
 src/system/arduino/opencr/system.c    |  8 ++++----
 src/system/emscripten/system.c        |  8 ++++----
 src/system/espidf/system.c            | 10 +++++-----
 src/system/freertos_plus_tcp/system.c |  8 ++++----
 src/system/mbed/system.cpp            |  8 ++++----
 src/system/unix/system.c              |  8 ++++----
 src/system/windows/system.c           |  8 ++++----
 src/system/zephyr/system.c            |  8 ++++----
 src/transport/multicast/lease.c       |  2 +-
 src/transport/multicast/read.c        |  2 +-
 src/transport/multicast/transport.c   |  8 ++++----
 src/transport/raweth/read.c           |  2 +-
 src/transport/unicast/lease.c         |  2 +-
 src/transport/unicast/read.c          |  2 +-
 src/transport/unicast/transport.c     |  8 ++++----
 17 files changed, 55 insertions(+), 55 deletions(-)

diff --git a/include/zenoh-pico/system/platform.h b/include/zenoh-pico/system/platform.h
index 0d6d367b2..e4d4c32a8 100644
--- a/include/zenoh-pico/system/platform.h
+++ b/include/zenoh-pico/system/platform.h
@@ -60,10 +60,10 @@ 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 zp_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg);
+int8_t zp_task_join(z_task_t *task);
+int8_t zp_task_cancel(z_task_t *task);
+void zp_task_free(z_task_t **task);
 
 /*------------------ Mutex ------------------*/
 int8_t z_mutex_init(z_mutex_t *m);
diff --git a/src/system/arduino/esp32/system.c b/src/system/arduino/esp32/system.c
index 238b06de1..009395f1f 100644
--- a/src/system/arduino/esp32/system.c
+++ b/src/system/arduino/esp32/system.c
@@ -60,7 +60,7 @@ void z_task_wrapper(z_task_arg *targ) {
 }
 
 /*------------------ Task ------------------*/
-int8_t z_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
+int8_t zp_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
     int ret = 0;
 
     z_task_arg *z_arg = (z_task_arg *)z_malloc(sizeof(z_task_arg));
@@ -77,17 +77,17 @@ int8_t z_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), vo
     return ret;
 }
 
-int8_t z_task_join(z_task_t *task) {
+int8_t zp_task_join(z_task_t *task) {
     // Note: task/thread join not supported on FreeRTOS API, so we force its deletion instead.
-    return z_task_cancel(task);
+    return zp_task_cancel(task);
 }
 
-int8_t z_task_cancel(z_task_t *task) {
+int8_t zp_task_cancel(z_task_t *task) {
     vTaskDelete(*task);
     return 0;
 }
 
-void z_task_free(z_task_t **task) {
+void zp_task_free(z_task_t **task) {
     z_task_t *ptr = *task;
     z_free(ptr);
     *task = NULL;
diff --git a/src/system/arduino/opencr/system.c b/src/system/arduino/opencr/system.c
index 0d6dfc059..18134c494 100644
--- a/src/system/arduino/opencr/system.c
+++ b/src/system/arduino/opencr/system.c
@@ -63,13 +63,13 @@ void z_free(void *ptr) {
 #error "Multi-threading not supported yet on OpenCR port. Disable it by defining Z_FEATURE_MULTI_THREAD=0"
 
 /*------------------ Task ------------------*/
-int8_t z_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) { return -1; }
+int8_t zp_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) { return -1; }
 
-int8_t z_task_join(z_task_t *task) { return -1; }
+int8_t zp_task_join(z_task_t *task) { return -1; }
 
-int8_t z_task_cancel(z_task_t *task) { return -1; }
+int8_t zp_task_cancel(z_task_t *task) { return -1; }
 
-void z_task_free(z_task_t **task) {
+void zp_task_free(z_task_t **task) {
     z_task_t *ptr = *task;
     z_free(ptr);
     *task = NULL;
diff --git a/src/system/emscripten/system.c b/src/system/emscripten/system.c
index 99dbbf065..319475134 100644
--- a/src/system/emscripten/system.c
+++ b/src/system/emscripten/system.c
@@ -44,15 +44,15 @@ void z_free(void *ptr) { free(ptr); }
 
 #if Z_FEATURE_MULTI_THREAD == 1
 /*------------------ Task ------------------*/
-int8_t z_task_init(z_task_t *task, pthread_attr_t *attr, void *(*fun)(void *), void *arg) {
+int8_t zp_task_init(z_task_t *task, pthread_attr_t *attr, void *(*fun)(void *), void *arg) {
     return pthread_create(task, attr, fun, arg);
 }
 
-int8_t z_task_join(z_task_t *task) { return pthread_join(*task, NULL); }
+int8_t zp_task_join(z_task_t *task) { return pthread_join(*task, NULL); }
 
-int8_t z_task_cancel(z_task_t *task) { return pthread_cancel(*task); }
+int8_t zp_task_cancel(z_task_t *task) { return pthread_cancel(*task); }
 
-void z_task_free(z_task_t **task) {
+void zp_task_free(z_task_t **task) {
     z_task_t *ptr = *task;
     z_free(ptr);
     *task = NULL;
diff --git a/src/system/espidf/system.c b/src/system/espidf/system.c
index a1cdd3a2a..75b02ae5f 100644
--- a/src/system/espidf/system.c
+++ b/src/system/espidf/system.c
@@ -61,7 +61,7 @@ void z_task_wrapper(z_task_arg *targ) {
 }
 
 /*------------------ Task ------------------*/
-int8_t z_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
+int8_t zp_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
     int ret = 0;
 
     z_task_arg *z_arg = (z_task_arg *)z_malloc(sizeof(z_task_arg));
@@ -78,17 +78,17 @@ int8_t z_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), vo
     return ret;
 }
 
-int8_t z_task_join(z_task_t *task) {
+int8_t zp_task_join(z_task_t *task) {
     // Note: task/thread join not supported on FreeRTOS API, so we force its deletion instead.
-    return z_task_cancel(task);
+    return zp_task_cancel(task);
 }
 
-int8_t z_task_cancel(z_task_t *task) {
+int8_t zp_task_cancel(z_task_t *task) {
     vTaskDelete(*task);
     return 0;
 }
 
-void z_task_free(z_task_t **task) {
+void zp_task_free(z_task_t **task) {
     z_task_t *ptr = *task;
     z_free(ptr);
     *task = NULL;
diff --git a/src/system/freertos_plus_tcp/system.c b/src/system/freertos_plus_tcp/system.c
index 9a64b987f..8991090b9 100644
--- a/src/system/freertos_plus_tcp/system.c
+++ b/src/system/freertos_plus_tcp/system.c
@@ -85,7 +85,7 @@ static z_task_attr_t z_default_task_attr = {
 };
 
 /*------------------ Thread ------------------*/
-int8_t z_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
+int8_t zp_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
     z_task_arg *z_arg = (z_task_arg *)z_malloc(sizeof(z_task_arg));
     if (z_arg == NULL) {
         return -1;
@@ -119,17 +119,17 @@ int8_t z_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), vo
     return 0;
 }
 
-int8_t z_task_join(z_task_t *task) {
+int8_t zp_task_join(z_task_t *task) {
     xEventGroupWaitBits(task->join_event, 1, pdFALSE, pdFALSE, portMAX_DELAY);
     return 0;
 }
 
-int8_t z_task_cancel(z_task_t *task) {
+int8_t zp_task_cancel(z_task_t *task) {
     vTaskDelete(task->handle);
     return 0;
 }
 
-void z_task_free(z_task_t **task) {
+void zp_task_free(z_task_t **task) {
     z_free((*task)->join_event);
     z_free(*task);
 }
diff --git a/src/system/mbed/system.cpp b/src/system/mbed/system.cpp
index f1df2ffbd..4562b0048 100644
--- a/src/system/mbed/system.cpp
+++ b/src/system/mbed/system.cpp
@@ -41,25 +41,25 @@ void z_free(void *ptr) { free(ptr); }
 
 #if Z_FEATURE_MULTI_THREAD == 1
 /*------------------ Task ------------------*/
-int8_t z_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
+int8_t zp_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
     *task = new Thread();
     mbed::Callback<void()> c = mbed::Callback<void()>(fun, arg);
     return ((Thread *)*task)->start(c);
 }
 
-int8_t z_task_join(z_task_t *task) {
+int8_t zp_task_join(z_task_t *task) {
     int res = ((Thread *)*task)->join();
     delete ((Thread *)*task);
     return res;
 }
 
-int8_t z_task_cancel(z_task_t *task) {
+int8_t zp_task_cancel(z_task_t *task) {
     int res = ((Thread *)*task)->terminate();
     delete ((Thread *)*task);
     return res;
 }
 
-void z_task_free(z_task_t **task) {
+void zp_task_free(z_task_t **task) {
     z_task_t *ptr = *task;
     z_free(ptr);
     *task = NULL;
diff --git a/src/system/unix/system.c b/src/system/unix/system.c
index c1635bae4..b8d8f2ac2 100644
--- a/src/system/unix/system.c
+++ b/src/system/unix/system.c
@@ -101,15 +101,15 @@ void z_free(void *ptr) { free(ptr); }
 
 #if Z_FEATURE_MULTI_THREAD == 1
 /*------------------ Task ------------------*/
-int8_t z_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
+int8_t zp_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
     return pthread_create(task, attr, fun, arg);
 }
 
-int8_t z_task_join(z_task_t *task) { return pthread_join(*task, NULL); }
+int8_t zp_task_join(z_task_t *task) { return pthread_join(*task, NULL); }
 
-int8_t z_task_cancel(z_task_t *task) { return pthread_cancel(*task); }
+int8_t zp_task_cancel(z_task_t *task) { return pthread_cancel(*task); }
 
-void z_task_free(z_task_t **task) {
+void zp_task_free(z_task_t **task) {
     z_task_t *ptr = *task;
     z_free(ptr);
     *task = NULL;
diff --git a/src/system/windows/system.c b/src/system/windows/system.c
index 13c1af220..6d96645da 100644
--- a/src/system/windows/system.c
+++ b/src/system/windows/system.c
@@ -60,7 +60,7 @@ void z_free(void *ptr) { free(ptr); }
 
 #if Z_FEATURE_MULTI_THREAD == 1
 /*------------------ Task ------------------*/
-int8_t z_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
+int8_t zp_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
     (void)(attr);
     int8_t ret = _Z_RES_OK;
     *task = CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)fun, arg, 0, NULL);
@@ -70,19 +70,19 @@ int8_t z_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), vo
     return ret;
 }
 
-int8_t z_task_join(z_task_t *task) {
+int8_t zp_task_join(z_task_t *task) {
     int8_t ret = _Z_RES_OK;
     WaitForSingleObject(*task, INFINITE);
     return ret;
 }
 
-int8_t z_task_cancel(z_task_t *task) {
+int8_t zp_task_cancel(z_task_t *task) {
     int8_t ret = _Z_RES_OK;
     TerminateThread(*task, 0);
     return ret;
 }
 
-void z_task_free(z_task_t **task) {
+void zp_task_free(z_task_t **task) {
     z_task_t *ptr = *task;
     CloseHandle(*ptr);
     z_free(ptr);
diff --git a/src/system/zephyr/system.c b/src/system/zephyr/system.c
index 539bcb8cb..063a0e911 100644
--- a/src/system/zephyr/system.c
+++ b/src/system/zephyr/system.c
@@ -71,7 +71,7 @@ K_THREAD_STACK_ARRAY_DEFINE(thread_stack_area, Z_THREADS_NUM, Z_PTHREAD_STACK_SI
 static int thread_index = 0;
 
 /*------------------ Task ------------------*/
-int8_t z_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
+int8_t zp_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), void *arg) {
     z_task_attr_t *lattr = NULL;
     z_task_attr_t tmp;
     if (attr == NULL) {
@@ -83,11 +83,11 @@ int8_t z_task_init(z_task_t *task, z_task_attr_t *attr, void *(*fun)(void *), vo
     return pthread_create(task, lattr, fun, arg);
 }
 
-int8_t z_task_join(z_task_t *task) { return pthread_join(*task, NULL); }
+int8_t zp_task_join(z_task_t *task) { return pthread_join(*task, NULL); }
 
-int8_t z_task_cancel(z_task_t *task) { return pthread_cancel(*task); }
+int8_t zp_task_cancel(z_task_t *task) { return pthread_cancel(*task); }
 
-void z_task_free(z_task_t **task) {
+void zp_task_free(z_task_t **task) {
     z_task_t *ptr = *task;
     z_free(ptr);
     *task = NULL;
diff --git a/src/transport/multicast/lease.c b/src/transport/multicast/lease.c
index c844084d8..b9f4017a0 100644
--- a/src/transport/multicast/lease.c
+++ b/src/transport/multicast/lease.c
@@ -185,7 +185,7 @@ int8_t _zp_multicast_start_lease_task(_z_transport_multicast_t *ztm, z_task_attr
     // Init memory
     (void)memset(task, 0, sizeof(z_task_t));
     // Init task
-    if (z_task_init(task, attr, _zp_multicast_lease_task, ztm) != _Z_RES_OK) {
+    if (zp_task_init(task, attr, _zp_multicast_lease_task, ztm) != _Z_RES_OK) {
         return _Z_ERR_SYSTEM_TASK_FAILED;
     }
     // Attach task
diff --git a/src/transport/multicast/read.c b/src/transport/multicast/read.c
index 62b870a9e..74b6b0be3 100644
--- a/src/transport/multicast/read.c
+++ b/src/transport/multicast/read.c
@@ -132,7 +132,7 @@ int8_t _zp_multicast_start_read_task(_z_transport_t *zt, z_task_attr_t *attr, z_
     // Init memory
     (void)memset(task, 0, sizeof(z_task_t));
     // Init task
-    if (z_task_init(task, attr, _zp_multicast_read_task, &zt->_transport._multicast) != _Z_RES_OK) {
+    if (zp_task_init(task, attr, _zp_multicast_read_task, &zt->_transport._multicast) != _Z_RES_OK) {
         return _Z_ERR_SYSTEM_TASK_FAILED;
     }
     // Attach task
diff --git a/src/transport/multicast/transport.c b/src/transport/multicast/transport.c
index 72a83069f..c7bcfe3cb 100644
--- a/src/transport/multicast/transport.c
+++ b/src/transport/multicast/transport.c
@@ -183,12 +183,12 @@ void _z_multicast_transport_clear(_z_transport_t *zt) {
 #if Z_FEATURE_MULTI_THREAD == 1
     // Clean up tasks
     if (ztm->_read_task != NULL) {
-        z_task_join(ztm->_read_task);
-        z_task_free(&ztm->_read_task);
+        zp_task_join(ztm->_read_task);
+        zp_task_free(&ztm->_read_task);
     }
     if (ztm->_lease_task != NULL) {
-        z_task_join(ztm->_lease_task);
-        z_task_free(&ztm->_lease_task);
+        zp_task_join(ztm->_lease_task);
+        zp_task_free(&ztm->_lease_task);
     }
     // Clean up the mutexes
     z_mutex_free(&ztm->_mutex_tx);
diff --git a/src/transport/raweth/read.c b/src/transport/raweth/read.c
index f7b8098e7..384782097 100644
--- a/src/transport/raweth/read.c
+++ b/src/transport/raweth/read.c
@@ -87,7 +87,7 @@ int8_t _zp_raweth_start_read_task(_z_transport_t *zt, z_task_attr_t *attr, z_tas
     // Init memory
     (void)memset(task, 0, sizeof(z_task_t));
     // Init task
-    if (z_task_init(task, attr, _zp_raweth_read_task, &zt->_transport._raweth) != _Z_RES_OK) {
+    if (zp_task_init(task, attr, _zp_raweth_read_task, &zt->_transport._raweth) != _Z_RES_OK) {
         return _Z_ERR_SYSTEM_TASK_FAILED;
     }
     // Attach task
diff --git a/src/transport/unicast/lease.c b/src/transport/unicast/lease.c
index aa0ae66e5..bc13e9f83 100644
--- a/src/transport/unicast/lease.c
+++ b/src/transport/unicast/lease.c
@@ -99,7 +99,7 @@ int8_t _zp_unicast_start_lease_task(_z_transport_t *zt, z_task_attr_t *attr, z_t
     // Init memory
     (void)memset(task, 0, sizeof(z_task_t));
     // Init task
-    if (z_task_init(task, attr, _zp_unicast_lease_task, &zt->_transport._unicast) != _Z_RES_OK) {
+    if (zp_task_init(task, attr, _zp_unicast_lease_task, &zt->_transport._unicast) != _Z_RES_OK) {
         return _Z_ERR_SYSTEM_TASK_FAILED;
     }
     // Attach task
diff --git a/src/transport/unicast/read.c b/src/transport/unicast/read.c
index 98d124319..9d1bdb55b 100644
--- a/src/transport/unicast/read.c
+++ b/src/transport/unicast/read.c
@@ -125,7 +125,7 @@ int8_t _zp_unicast_start_read_task(_z_transport_t *zt, z_task_attr_t *attr, z_ta
     // Init memory
     (void)memset(task, 0, sizeof(z_task_t));
     // Init task
-    if (z_task_init(task, attr, _zp_unicast_read_task, &zt->_transport._unicast) != _Z_RES_OK) {
+    if (zp_task_init(task, attr, _zp_unicast_read_task, &zt->_transport._unicast) != _Z_RES_OK) {
         return _Z_ERR_SYSTEM_TASK_FAILED;
     }
     // Attach task
diff --git a/src/transport/unicast/transport.c b/src/transport/unicast/transport.c
index a3ca110a1..d9ed4dc4c 100644
--- a/src/transport/unicast/transport.c
+++ b/src/transport/unicast/transport.c
@@ -268,12 +268,12 @@ void _z_unicast_transport_clear(_z_transport_t *zt) {
 #if Z_FEATURE_MULTI_THREAD == 1
     // Clean up tasks
     if (ztu->_read_task != NULL) {
-        z_task_join(ztu->_read_task);
-        z_task_free(&ztu->_read_task);
+        zp_task_join(ztu->_read_task);
+        zp_task_free(&ztu->_read_task);
     }
     if (ztu->_lease_task != NULL) {
-        z_task_join(ztu->_lease_task);
-        z_task_free(&ztu->_lease_task);
+        zp_task_join(ztu->_lease_task);
+        zp_task_free(&ztu->_lease_task);
     }
 
     // Clean up the mutexes