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

examples/arduino/z_pub.ino

@@ -94,6 +94,7 @@ void setup() {
 }
 
 void loop() {
+    delay(1000);
     char buf[256];
     sprintf(buf, "[%4d] %s", idx++, VALUE);
     Serial.print("Writing Data ('");
@@ -105,8 +106,6 @@ void loop() {
     if (z_publisher_put(z_publisher_loan(&pub), (const uint8_t *)buf, strlen(buf), NULL) < 0) {
         Serial.println("Error while publishing data");
     }
-
-    delay(1000);
 }
 #else
 void setup() {

examples/arduino/z_pull.ino

@@ -35,6 +35,7 @@
 #define KEYEXPR "demo/example/**"
 
 z_owned_pull_subscriber_t sub;
+int idx = 0;
 
 void data_handler(const z_sample_t *sample, void *arg) {
     z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
@@ -106,7 +107,10 @@ void setup() {
 }
 
 void loop() {
-    delay(5000);
+    delay(1000);
+    char buf[256];
+    sprintf(buf, "[%4d] Pulling...", idx++);
+    Serial.println(buf);
     z_subscriber_pull(z_pull_subscriber_loan(&sub));
 }
 #else

examples/arduino/z_queryable.ino

@@ -106,7 +106,7 @@ void setup() {
     delay(300);
 }
 
-void loop() { delay(5000); }
+void loop() { delay(1000); }
 
 #else
 void setup() {

examples/arduino/z_sub.ino

@@ -104,7 +104,7 @@ void setup() {
     delay(300);
 }
 
-void loop() { delay(5000); }
+void loop() { delay(1000); }
 
 #else
 void setup() {

examples/espidf/z_pull.c

@@ -153,9 +153,10 @@ void app_main() {
     }
     printf("OK!\n");
 
+    int idx = 0;
     while (1) {
-        sleep(5);
-        printf("Pulling data from '%s'...\n", KEYEXPR);
+        sleep(1);
+        printf("[%4d] Pulling...\n", idx++);
         z_subscriber_pull(z_loan(sub));
     }
 

examples/espidf/z_queryable.c

@@ -159,7 +159,7 @@ void app_main() {
     printf("Zenoh setup finished!\n");
 
     while (1) {
-        sleep(5);
+        sleep(1);
     }
 
     printf("Closing Zenoh Session...");

examples/espidf/z_sub.c

@@ -154,7 +154,7 @@ void app_main() {
     printf("OK!\n");
 
     while (1) {
-        sleep(5);
+        sleep(1);
     }
 
     printf("Closing Zenoh Session...");

examples/freertos_plus_tcp/z_pub_st.c

@@ -30,6 +30,7 @@
 
 #define KEYEXPR "demo/example/zenoh-pico-pub"
 #define VALUE "[FreeRTOS-Plus-TCP] Pub from Zenoh-Pico!"
+#define N 2147483647  // max int value by default
 
 void app_main(void) {
     z_owned_config_t config = z_config_default();
@@ -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;) {
         if (z_clock_elapsed_ms(&now) > 1000) {
             snprintf(buf, 256, "[%4d] %s", idx, VALUE);
             printf("Putting Data ('%s': '%s')...\n", KEYEXPR, buf);

examples/freertos_plus_tcp/z_pull.c

@@ -65,9 +65,10 @@ void app_main(void) {
         return;
     }
 
+    int idx = 0;
     while (1) {
-        z_sleep_s(5);
-        printf("Pulling data from '%s'...\n", KEYEXPR);
+        z_sleep_s(1);
+        printf("[%4d] Pulling...\n", idx++);
         z_subscriber_pull(z_loan(sub));
     }
 

examples/freertos_plus_tcp/z_queryable.c

@@ -80,7 +80,7 @@ void app_main(void) {
     }
 
     while (1) {
-        z_sleep_s(5);
+        z_sleep_s(1);
     }
 
     z_undeclare_queryable(z_move(qable));

examples/freertos_plus_tcp/z_sub.c

@@ -66,7 +66,7 @@ void app_main(void) {
     }
 
     while (1) {
-        z_sleep_s(5);
+        z_sleep_s(1);
     }
 
     z_undeclare_subscriber(z_move(sub));

examples/freertos_plus_tcp/z_sub_st.c

@@ -27,13 +27,17 @@
 #endif
 
 #define KEYEXPR "demo/example/**"
+#define N 2147483647  // max int value by default
+
+int msg_nb = 0;
 
 void data_handler(const z_sample_t *sample, void *ctx) {
     (void)(ctx);
     z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
     printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
            sample->payload.start);
     z_drop(z_move(keystr));
+    msg_nb++;
 }
 
 void app_main(void) {
@@ -58,7 +62,8 @@ void app_main(void) {
         return;
     }
 
-    while (1) {
+    printf("Running until %d messages are received...\n", N);
+    while (msg_nb < N) {
         zp_read(z_loan(s), NULL);
         zp_send_keep_alive(z_loan(s), NULL);
         zp_send_join(z_loan(s), NULL);

examples/mbed/z_pull.cpp

@@ -74,9 +74,10 @@ int main(int argc, char **argv) {
     }
     printf("OK!\n");
 
+    int idx = 0;
     while (1) {
-        z_sleep_s(5);
-        printf("Pulling data from '%s'...\n", KEYEXPR);
+        z_sleep_s(1);
+        printf("[%4d] Pulling...\n", idx++);
         z_subscriber_pull(z_pull_subscriber_loan(&sub));
     }
 

examples/mbed/z_queryable.cpp

@@ -80,7 +80,7 @@ int main(int argc, char **argv) {
     printf("Zenoh setup finished!\n");
 
     while (1) {
-        z_sleep_s(5);
+        z_sleep_s(1);
     }
 
     printf("Closing Zenoh Session...");

examples/mbed/z_sub.cpp

@@ -75,7 +75,7 @@ int main(int argc, char **argv) {
     printf("OK!\n");
 
     while (1) {
-        z_sleep_s(5);
+        z_sleep_s(1);
     }
 
     printf("Closing Zenoh Session...");

examples/unix/c11/z_get.c

@@ -18,10 +18,15 @@
 #include <unistd.h>
 #include <zenoh-pico.h>
 
-#if Z_FEATURE_QUERY == 1
+#if Z_FEATURE_QUERY == 1 && Z_FEATURE_MULTI_THREAD == 1
+static z_condvar_t cond;
+static z_mutex_t mutex;
+
 void reply_dropper(void *ctx) {
     (void)(ctx);
     printf(">> Received query final notification\n");
+    z_condvar_signal(&cond);
+    z_condvar_free(&cond);
 }
 
 void reply_handler(z_owned_reply_t *reply, void *ctx) {
@@ -73,6 +78,9 @@ int main(int argc, char **argv) {
         }
     }
 
+    z_mutex_init(&mutex);
+    z_condvar_init(&cond);
+
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(mode));
     if (clocator != NULL) {
@@ -102,27 +110,19 @@ int main(int argc, char **argv) {
         return -1;
     }
 
-    printf("Enter any key to pull data or 'q' to quit...\n");
-    char c = '\0';
-    while (1) {
-        fflush(stdin);
-        int ret = scanf("%c", &c);
-        (void)ret;  // Remove unused result warning
-        if (c == 'q') {
-            break;
-        }
-
-        printf("Sending Query '%s'...\n", keyexpr);
-        z_get_options_t opts = z_get_options_default();
-        if (value != NULL) {
-            opts.value.payload = _z_bytes_wrap((const uint8_t *)value, strlen(value));
-        }
-        z_owned_closure_reply_t callback = z_closure(reply_handler, reply_dropper);
-        if (z_get(z_loan(s), ke, "", z_move(callback), &opts) < 0) {
-            printf("Unable to send query.\n");
-            return -1;
-        }
+    z_mutex_lock(&mutex);
+    printf("Sending Query '%s'...\n", keyexpr);
+    z_get_options_t opts = z_get_options_default();
+    if (value != NULL) {
+        opts.value.payload = _z_bytes_wrap((const uint8_t *)value, strlen(value));
+    }
+    z_owned_closure_reply_t callback = z_closure(reply_handler, reply_dropper);
+    if (z_get(z_loan(s), ke, "", z_move(callback), &opts) < 0) {
+        printf("Unable to send query.\n");
+        return -1;
     }
+    z_condvar_wait(&cond, &mutex);
+    z_mutex_unlock(&mutex);
 
     // Stop read and lease tasks for zenoh-pico
     zp_stop_read_task(z_loan(s));
@@ -134,7 +134,9 @@ int main(int argc, char **argv) {
 }
 #else
 int main(void) {
-    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.\n");
+    printf(
+        "ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY or Z_FEATURE_MULTI_THREAD but this example requires "
+        "them.\n");
     return -2;
 }
 #endif

examples/unix/c11/z_pub.c

@@ -30,7 +30,7 @@ int main(int argc, char **argv) {
     const char *mode = "client";
     char *clocator = NULL;
     char *llocator = NULL;
-    int n = 10;
+    int n = 2147483647;  // max int value by default
 
     int opt;
     while ((opt = getopt(argc, argv, "k:v:e:m:l:n:")) != -1) {
@@ -96,14 +96,16 @@ int main(int argc, char **argv) {
         return -1;
     }
 
+    printf("Press CTRL-C to quit...\n");
+    char buf[256];
     for (int idx = 0; idx < n; ++idx) {
         sleep(1);
-        (void)idx;
-        printf("Putting Data ('%s': '%s')...\n", keyexpr, value);
+        sprintf(buf, "[%4d] %s", idx, value);
+        printf("Putting Data ('%s': '%s')...\n", keyexpr, buf);
 
         z_publisher_put_options_t options = z_publisher_put_options_default();
         options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL);
-        z_publisher_put(z_loan(pub), (const uint8_t *)value, strlen(value), &options);
+        z_publisher_put(z_loan(pub), (const uint8_t *)buf, strlen(buf), &options);
     }
 
     z_undeclare_publisher(z_move(pub));

examples/unix/c11/z_pub_st.c

@@ -27,7 +27,7 @@ int main(int argc, char **argv) {
     const char *mode = "client";
     char *clocator = NULL;
     char *llocator = NULL;
-    int n = 10;
+    int n = 2147483647;  // max int value by default
 
     int opt;
     while ((opt = getopt(argc, argv, "k:v:e:m:l:n:")) != -1) {
@@ -86,11 +86,13 @@ int main(int argc, char **argv) {
         return -1;
     }
     // Main loop
+    printf("Press CTRL-C to quit...\n");
+    char buf[256];
     for (int idx = 0; idx < n; idx++) {
         sleep(1);
-        (void)idx;
-        printf("Putting Data ('%s': '%s')...\n", keyexpr, value);
-        z_publisher_put(z_loan(pub), (const uint8_t *)value, strlen(value), NULL);
+        sprintf(buf, "[%4d] %s", idx, value);
+        printf("Putting Data ('%s': '%s')...\n", keyexpr, buf);
+        z_publisher_put(z_loan(pub), (const uint8_t *)buf, strlen(buf), NULL);
 
         zp_read(z_loan(s), NULL);
         zp_send_keep_alive(z_loan(s), NULL);

examples/unix/c11/z_pull.c

@@ -79,15 +79,11 @@ int main(int argc, char **argv) {
         return -1;
     }
 
-    printf("Enter any key to pull data or 'q' to quit...\n");
-    char c = '\0';
+    printf("Press CTRL-C to quit...\n");
+    int idx = 0;
     while (1) {
-        fflush(stdin);
-        int ret = scanf("%c", &c);
-        (void)ret;  // Remove unused result warning
-        if (c == 'q') {
-            break;
-        }
+        sleep(1);
+        printf("[%4d] Pulling...\n", idx++);
         z_subscriber_pull(z_loan(sub));
     }
 

examples/unix/c11/z_queryable.c

@@ -109,12 +109,9 @@ int main(int argc, char **argv) {
         return -1;
     }
 
-    printf("Enter 'q' to quit...\n");
-    char c = '\0';
-    while (c != 'q') {
-        fflush(stdin);
-        int ret = scanf("%c", &c);
-        (void)ret;  // Remove unused result warning
+    printf("Press CTRL-C to quit...\n");
+    while (1) {
+        sleep(1);
     }
 
     z_undeclare_queryable(z_move(qable));

examples/unix/c11/z_sub.c

@@ -108,12 +108,9 @@ int main(int argc, char **argv) {
         return -1;
     }
 
-    printf("Enter 'q' to quit...\n");
-    char c = '\0';
-    while (c != 'q') {
-        fflush(stdin);
-        int ret = scanf("%c", &c);
-        (void)ret;  // Remove unused result warning
+    printf("Press CTRL-C to quit...\n");
+    while (1) {
+        sleep(1);
     }
 
     z_undeclare_subscriber(z_move(sub));

examples/unix/c11/z_sub_st.c

@@ -37,7 +37,7 @@ int main(int argc, char **argv) {
     const char *mode = "client";
     char *clocator = NULL;
     char *llocator = NULL;
-    int n = -1;
+    int n = 2147483647;  // max int value by default
 
     int opt;
     while ((opt = getopt(argc, argv, "k:e:m:l:n:")) != -1) {
@@ -93,7 +93,8 @@ int main(int argc, char **argv) {
         return -1;
     }
 
-    while (msg_nb != n) {
+    printf("Press CTRL-C to quit...\n");
+    while (msg_nb < n) {
         zp_read(z_loan(s), NULL);
         zp_send_keep_alive(z_loan(s), NULL);
         zp_send_join(z_loan(s), NULL);