feat: bind raweth transport to the codebase

include/zenoh-pico/link/link.h

@@ -28,6 +28,10 @@
 #include "zenoh-pico/system/link/udp.h"
 #endif
 
+#if Z_FEATURE_RAWETH_TRANSPORT == 1
+#include "zenoh-pico/system/link/raweth.h"
+#endif
+
 #if Z_FEATURE_LINK_BLUETOOTH == 1
 #include "zenoh-pico/system/link/bt.h"
 #endif
@@ -52,6 +56,7 @@
 typedef enum {
     Z_LINK_CAP_TRANSPORT_UNICAST = 0,
     Z_LINK_CAP_TRANSPORT_MULTICAST = 1,
+    Z_LINK_CAP_TRANSPORT_RAWETH = 2,
 } _z_link_cap_transport_t;
 
 /**
@@ -73,7 +78,7 @@ typedef enum {
  *     transport: 2 bits, see _z_link_cap_transport_t enum.
  *     flow: 1 bit, see _z_link_cap_flow_t enum.
  *     reliable: 1 bit, 1 if the link is reliable (network definition)
- *     reserved: 4 bits, reserved for futur use
+ *     reserved: 4 bits, reserved for future use
  */
 typedef struct _z_link_capabilities_t {
     uint8_t _transport : 2;
@@ -111,6 +116,9 @@ typedef struct _z_link_t {
 #endif
 #if Z_FEATURE_LINK_WS == 1
         _z_ws_socket_t _ws;
+#endif
+#if Z_FEATURE_RAWETH_TRANSPORT == 1
+        _z_raweth_socket_t _raweth;
 #endif
     } _socket;
 

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

@@ -35,7 +35,8 @@ typedef struct timeval z_time_t;
 
 typedef struct {
     union {
-#if Z_FEATURE_LINK_TCP == 1 || Z_FEATURE_LINK_UDP_MULTICAST == 1 || Z_FEATURE_LINK_UDP_UNICAST == 1
+#if Z_FEATURE_LINK_TCP == 1 || Z_FEATURE_LINK_UDP_MULTICAST == 1 || Z_FEATURE_LINK_UDP_UNICAST == 1 || \
+    Z_FEATURE_RAWETH_TRANSPORT == 1
         int _fd;
 #endif
     };

include/zenoh-pico/transport/transport.h

@@ -135,11 +135,13 @@ typedef struct {
     union {
         _z_transport_unicast_t _unicast;
         _z_transport_multicast_t _multicast;
+        _z_transport_multicast_t _raweth;
     } _transport;
 
     enum {
         _Z_TRANSPORT_UNICAST_TYPE,
         _Z_TRANSPORT_MULTICAST_TYPE,
+        _Z_TRANSPORT_RAWETH_TYPE,
     } _type;
 } _z_transport_t;
 

src/api/api.c

@@ -547,6 +547,7 @@ int8_t z_info_peers_zid(const z_session_t zs, z_owned_closure_zid_t *callback) {
     // Call transport function
     switch (zs._val->_tp._type) {
         case _Z_TRANSPORT_MULTICAST_TYPE:
+        case _Z_TRANSPORT_RAWETH_TYPE:
             _zp_multicast_fetch_zid(&zs._val->_tp, callback);
             break;
         default:
@@ -638,7 +639,7 @@ z_owned_publisher_t z_declare_publisher(z_session_t zs, z_keyexpr_t keyexpr, con
     // TODO: Currently, if resource declarations are done over multicast transports, the current protocol definition
     //       lacks a way to convey them to later-joining nodes. Thus, in the current version automatic
     //       resource declarations are only performed on unicast transports.
-    if (zs._val->_tp._type != _Z_TRANSPORT_MULTICAST_TYPE) {
+    if (zs._val->_tp._type == _Z_TRANSPORT_UNICAST_TYPE) {
         _z_resource_t *r = _z_get_resource_by_key(zs._val, &keyexpr);
         if (r == NULL) {
             uint16_t id = _z_declare_resource(zs._val, keyexpr);
@@ -794,7 +795,7 @@ z_owned_queryable_t z_declare_queryable(z_session_t zs, z_keyexpr_t keyexpr, z_o
     // TODO: Currently, if resource declarations are done over multicast transports, the current protocol definition
     //       lacks a way to convey them to later-joining nodes. Thus, in the current version automatic
     //       resource declarations are only performed on unicast transports.
-    if (zs._val->_tp._type != _Z_TRANSPORT_MULTICAST_TYPE) {
+    if (zs._val->_tp._type == _Z_TRANSPORT_UNICAST_TYPE) {
         _z_resource_t *r = _z_get_resource_by_key(zs._val, &keyexpr);
         if (r == NULL) {
             uint16_t id = _z_declare_resource(zs._val, keyexpr);
@@ -897,7 +898,7 @@ z_owned_subscriber_t z_declare_subscriber(z_session_t zs, z_keyexpr_t keyexpr, z
     // TODO: Currently, if resource declarations are done over multicast transports, the current protocol definition
     //       lacks a way to convey them to later-joining nodes. Thus, in the current version automatic
     //       resource declarations are only performed on unicast transports.
-    if (zs._val->_tp._type != _Z_TRANSPORT_MULTICAST_TYPE) {
+    if (zs._val->_tp._type == _Z_TRANSPORT_UNICAST_TYPE) {
         _z_resource_t *r = _z_get_resource_by_key(zs._val, &keyexpr);
         if (r == NULL) {
             char *wild = strpbrk(keyexpr._suffix, "*$");

src/link/link.c

@@ -17,6 +17,7 @@
 #include <stddef.h>
 
 #include "zenoh-pico/config.h"
+#include "zenoh-pico/link/config/raweth.h"
 #include "zenoh-pico/link/manager.h"
 #include "zenoh-pico/utils/logging.h"
 
@@ -56,7 +57,6 @@ int8_t _z_open_link(_z_link_t *zl, const char *locator) {
         {
             ret = _Z_ERR_CONFIG_LOCATOR_SCHEMA_UNKNOWN;
         }
-
         if (ret == _Z_RES_OK) {
             // Open transport link for communication
             if (zl->_open_f(zl) != _Z_RES_OK) {
@@ -92,10 +92,11 @@ int8_t _z_listen_link(_z_link_t *zl, const char *locator) {
             ret = _z_new_link_bt(zl, ep);
         } else
 #endif
-        {
+            if (_z_endpoint_raweth_valid(&ep) == _Z_RES_OK) {
+            ret = _z_new_link_raweth(zl, ep);
+        } else {
             ret = _Z_ERR_CONFIG_LOCATOR_SCHEMA_UNKNOWN;
         }
-
         if (ret == _Z_RES_OK) {
             // Open transport link for listening
             if (zl->_listen_f(zl) != _Z_RES_OK) {

src/net/session.c

@@ -30,6 +30,8 @@
 #include "zenoh-pico/transport/multicast.h"
 #include "zenoh-pico/transport/multicast/lease.h"
 #include "zenoh-pico/transport/multicast/read.h"
+#include "zenoh-pico/transport/raweth/lease.h"
+#include "zenoh-pico/transport/raweth/read.h"
 #include "zenoh-pico/transport/unicast.h"
 #include "zenoh-pico/transport/unicast/lease.h"
 #include "zenoh-pico/transport/unicast/read.h"
@@ -160,6 +162,7 @@ _z_config_t *_z_info(const _z_session_t *zn) {
                 _zp_unicast_info_session(&zn->_tp, ps);
                 break;
             case _Z_TRANSPORT_MULTICAST_TYPE:
+            case _Z_TRANSPORT_RAWETH_TYPE:
                 _zp_multicast_info_session(&zn->_tp, ps);
                 break;
             default:
@@ -192,6 +195,9 @@ int8_t _zp_start_read_task(_z_session_t *zn, _z_task_attr_t *attr) {
         case _Z_TRANSPORT_MULTICAST_TYPE:
             ret = _zp_multicast_start_read_task(&zn->_tp, attr, task);
             break;
+        case _Z_TRANSPORT_RAWETH_TYPE:
+            ret = _zp_raweth_start_read_task(&zn->_tp, attr, task);
+            break;
         default:
             ret = _Z_ERR_TRANSPORT_NOT_AVAILABLE;
             break;
@@ -218,6 +224,9 @@ int8_t _zp_start_lease_task(_z_session_t *zn, _z_task_attr_t *attr) {
         case _Z_TRANSPORT_MULTICAST_TYPE:
             ret = _zp_multicast_start_lease_task(&zn->_tp, attr, task);
             break;
+        case _Z_TRANSPORT_RAWETH_TYPE:
+            ret = _zp_raweth_start_lease_task(&zn->_tp, attr, task);
+            break;
         default:
             ret = _Z_ERR_TRANSPORT_NOT_AVAILABLE;
             break;
@@ -239,6 +248,9 @@ int8_t _zp_stop_read_task(_z_session_t *zn) {
         case _Z_TRANSPORT_MULTICAST_TYPE:
             ret = _zp_multicast_stop_read_task(&zn->_tp);
             break;
+        case _Z_TRANSPORT_RAWETH_TYPE:
+            ret = _zp_raweth_stop_read_task(&zn->_tp);
+            break;
         default:
             ret = _Z_ERR_TRANSPORT_NOT_AVAILABLE;
             break;
@@ -256,6 +268,9 @@ int8_t _zp_stop_lease_task(_z_session_t *zn) {
         case _Z_TRANSPORT_MULTICAST_TYPE:
             ret = _zp_multicast_stop_lease_task(&zn->_tp);
             break;
+        case _Z_TRANSPORT_RAWETH_TYPE:
+            ret = _zp_raweth_stop_lease_task(&zn->_tp);
+            break;
         default:
             ret = _Z_ERR_TRANSPORT_NOT_AVAILABLE;
             break;

src/session/tx.c

@@ -14,6 +14,7 @@
 
 #include "zenoh-pico/transport/multicast/tx.h"
 
+#include "zenoh-pico/transport/raweth/tx.h"
 #include "zenoh-pico/transport/unicast/tx.h"
 #include "zenoh-pico/utils/logging.h"
 
@@ -29,6 +30,9 @@ int8_t _z_send_n_msg(_z_session_t *zn, const _z_network_message_t *z_msg, z_reli
         case _Z_TRANSPORT_MULTICAST_TYPE:
             ret = _z_multicast_send_n_msg(zn, z_msg, reliability, cong_ctrl);
             break;
+        case _Z_TRANSPORT_RAWETH_TYPE:
+            ret = _z_raweth_send_n_msg(zn, z_msg, reliability, cong_ctrl);
+            break;
         default:
             ret = _Z_ERR_TRANSPORT_NOT_AVAILABLE;
             break;

src/session/utils.c

@@ -89,6 +89,9 @@ int8_t _z_session_init(_z_session_t *zn, _z_id_t *zid) {
         case _Z_TRANSPORT_MULTICAST_TYPE:
             zn->_tp._transport._multicast._session = zn;
             break;
+        case _Z_TRANSPORT_RAWETH_TYPE:
+            zn->_tp._transport._raweth._session = zn;
+            break;
         default:
             break;
     }

src/transport/common/join.c

@@ -15,6 +15,7 @@
 #include "zenoh-pico/transport/common/join.h"
 
 #include "zenoh-pico/transport/multicast/join.h"
+#include "zenoh-pico/transport/raweth/join.h"
 
 int8_t _z_send_join(_z_transport_t *zt) {
     int8_t ret = _Z_RES_OK;
@@ -23,6 +24,9 @@ int8_t _z_send_join(_z_transport_t *zt) {
         case _Z_TRANSPORT_MULTICAST_TYPE:
             ret = _zp_multicast_send_join(&zt->_transport._multicast);
             break;
+        case _Z_TRANSPORT_RAWETH_TYPE:
+            ret = _zp_raweth_send_join(&zt->_transport._raweth);
+            break;
         default:
             (void)zt;
             ret = _Z_ERR_TRANSPORT_NOT_AVAILABLE;

src/transport/common/lease.c

@@ -17,6 +17,7 @@
 #include <stddef.h>
 
 #include "zenoh-pico/transport/multicast/lease.h"
+#include "zenoh-pico/transport/raweth/lease.h"
 #include "zenoh-pico/transport/unicast/lease.h"
 
 int8_t _z_send_keep_alive(_z_transport_t *zt) {
@@ -28,6 +29,9 @@ int8_t _z_send_keep_alive(_z_transport_t *zt) {
         case _Z_TRANSPORT_MULTICAST_TYPE:
             ret = _zp_multicast_send_keep_alive(&zt->_transport._multicast);
             break;
+        case _Z_TRANSPORT_RAWETH_TYPE:
+            ret = _zp_raweth_send_keep_alive(&zt->_transport._raweth);
+            break;
         default:
             ret = _Z_ERR_TRANSPORT_NOT_AVAILABLE;
             break;
@@ -45,6 +49,9 @@ void *_zp_lease_task(void *zt_arg) {
         case _Z_TRANSPORT_MULTICAST_TYPE:
             ret = _zp_multicast_lease_task(&zt->_transport._multicast);
             break;
+        case _Z_TRANSPORT_RAWETH_TYPE:
+            ret = _zp_raweth_lease_task(&zt->_transport._raweth);
+            break;
         default:
             ret = NULL;
             break;

src/transport/common/read.c

@@ -17,6 +17,7 @@
 #include <stddef.h>
 
 #include "zenoh-pico/transport/multicast/read.h"
+#include "zenoh-pico/transport/raweth/read.h"
 #include "zenoh-pico/transport/unicast/read.h"
 
 int8_t _z_read(_z_transport_t *zt) {
@@ -28,6 +29,9 @@ int8_t _z_read(_z_transport_t *zt) {
         case _Z_TRANSPORT_MULTICAST_TYPE:
             ret = _zp_multicast_read(&zt->_transport._multicast);
             break;
+        case _Z_TRANSPORT_RAWETH_TYPE:
+            ret = _zp_raweth_read(&zt->_transport._raweth);
+            break;
         default:
             ret = _Z_ERR_TRANSPORT_NOT_AVAILABLE;
             break;
@@ -45,6 +49,9 @@ void *_zp_read_task(void *zt_arg) {
         case _Z_TRANSPORT_MULTICAST_TYPE:
             ret = _zp_multicast_read_task(&zt->_transport._multicast);
             break;
+        case _Z_TRANSPORT_RAWETH_TYPE:
+            ret = _zp_raweth_read_task(&zt->_transport._raweth);
+            break;
         default:
             ret = NULL;
             break;

src/transport/common/tx.c

@@ -12,12 +12,14 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 
-#include "zenoh-pico/transport/multicast/tx.h"
+#include "zenoh-pico/transport/common/tx.h"
 
 #include "zenoh-pico/api/constants.h"
 #include "zenoh-pico/protocol/codec/core.h"
 #include "zenoh-pico/protocol/codec/transport.h"
 #include "zenoh-pico/protocol/definitions/transport.h"
+#include "zenoh-pico/transport/multicast/tx.h"
+#include "zenoh-pico/transport/raweth/tx.h"
 #include "zenoh-pico/transport/unicast/tx.h"
 #include "zenoh-pico/utils/logging.h"
 
@@ -76,6 +78,9 @@ int8_t _z_send_t_msg(_z_transport_t *zt, const _z_transport_message_t *t_msg) {
         case _Z_TRANSPORT_MULTICAST_TYPE:
             ret = _z_multicast_send_t_msg(&zt->_transport._multicast, t_msg);
             break;
+        case _Z_TRANSPORT_RAWETH_TYPE:
+            ret = _z_raweth_send_t_msg(&zt->_transport._raweth, t_msg);
+            break;
         default:
             ret = _Z_ERR_TRANSPORT_NOT_AVAILABLE;
             break;

src/transport/manager.c

@@ -18,6 +18,7 @@
 #include <stdlib.h>
 
 #include "zenoh-pico/transport/multicast/transport.h"
+#include "zenoh-pico/transport/raweth/transport.h"
 #include "zenoh-pico/transport/unicast/transport.h"
 
 int8_t _z_new_transport_client(_z_transport_t *zt, char *locator, _z_id_t *local_zid) {
@@ -54,6 +55,16 @@ int8_t _z_new_transport_client(_z_transport_t *zt, char *locator, _z_id_t *local
             ret = _z_multicast_transport_create(zt, &zl, &tp_param);
             break;
         }
+        case Z_LINK_CAP_TRANSPORT_RAWETH: {
+            _z_transport_multicast_establish_param_t tp_param;
+            ret = _z_raweth_open_client(&tp_param, &zl, local_zid);
+            if (ret != _Z_RES_OK) {
+                _z_link_clear(&zl);
+                return ret;
+            }
+            ret = _z_raweth_transport_create(zt, &zl, &tp_param);
+            break;
+        }
         default:
             ret = _Z_ERR_GENERIC;
             break;
@@ -92,6 +103,16 @@ int8_t _z_new_transport_peer(_z_transport_t *zt, char *locator, _z_id_t *local_z
             ret = _z_multicast_transport_create(zt, &zl, &tp_param);
             break;
         }
+        case Z_LINK_CAP_TRANSPORT_RAWETH: {
+            _z_transport_multicast_establish_param_t tp_param;
+            ret = _z_raweth_open_peer(&tp_param, &zl, local_zid);
+            if (ret != _Z_RES_OK) {
+                _z_link_clear(&zl);
+                return ret;
+            }
+            ret = _z_raweth_transport_create(zt, &zl, &tp_param);
+            break;
+        }
         default:
             ret = _Z_ERR_GENERIC;
             break;

src/transport/transport.c

@@ -24,6 +24,9 @@
 #include "zenoh-pico/transport/multicast/rx.h"
 #include "zenoh-pico/transport/multicast/transport.h"
 #include "zenoh-pico/transport/multicast/tx.h"
+#include "zenoh-pico/transport/raweth/rx.h"
+#include "zenoh-pico/transport/raweth/transport.h"
+#include "zenoh-pico/transport/raweth/tx.h"
 #include "zenoh-pico/transport/unicast/rx.h"
 #include "zenoh-pico/transport/unicast/transport.h"
 #include "zenoh-pico/transport/unicast/tx.h"
@@ -40,6 +43,9 @@ int8_t _z_send_close(_z_transport_t *zt, uint8_t reason, _Bool link_only) {
         case _Z_TRANSPORT_MULTICAST_TYPE:
             ret = _z_multicast_send_close(&zt->_transport._multicast, reason, link_only);
             break;
+        case _Z_TRANSPORT_RAWETH_TYPE:
+            ret = _z_raweth_send_close(&zt->_transport._raweth, reason, link_only);
+            break;
         default:
             ret = _Z_ERR_TRANSPORT_NOT_AVAILABLE;
             break;
@@ -57,6 +63,9 @@ void _z_transport_clear(_z_transport_t *zt) {
         case _Z_TRANSPORT_MULTICAST_TYPE:
             _z_multicast_transport_clear(zt);
             break;
+        case _Z_TRANSPORT_RAWETH_TYPE:
+            _z_raweth_transport_clear(zt);
+            break;
         default:
             break;
     }