Add feature flag

eclipse-zenoh · Dec 18, 2024 · b6c7473 · b6c7473
1 parent b632bca
commit b6c7473
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Showing 10 changed files with 48 additions and 12 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -244,6 +244,7 @@ set(Z_FEATURE_LOCAL_SUBSCRIBER 0 CACHE STRING "Toggle local subscriptions")
 set(Z_FEATURE_PUBLISHER_SESSION_CHECK 1 CACHE STRING "Toggle publisher session check")
 set(Z_FEATURE_BATCHING 1 CACHE STRING "Toggle batching")
 set(Z_FEATURE_RX_CACHE 0 CACHE STRING "Toggle RX_CACHE")
+set(Z_FEATURE_AUTO_RECONNECT 1 CACHE STRING "Toggle automatic reconnection")
 
 # Add a warning message if someone tries to enable Z_FEATURE_LINK_SERIAL_USB directly
 if(Z_FEATURE_LINK_SERIAL_USB AND NOT Z_FEATURE_UNSTABLE_API)
@@ -261,6 +262,7 @@ message(STATUS "Building with feature confing:\n\
 * QUERYABLE: ${Z_FEATURE_QUERYABLE}\n\
 * LIVELINESS: ${Z_FEATURE_LIVELINESS}\n\
 * INTEREST: ${Z_FEATURE_INTEREST}\n\
+* AUTO_RECONNECT: ${Z_FEATURE_AUTO_RECONNECT}\n\
 * RAWETH: ${Z_FEATURE_RAWETH_TRANSPORT}")
 
 configure_file(

diff --git a/include/zenoh-pico/config.h b/include/zenoh-pico/config.h
@@ -27,7 +27,7 @@
 #define Z_FEATURE_SUBSCRIPTION 1
 #define Z_FEATURE_QUERY 1
 #define Z_FEATURE_QUERYABLE 1
-#define Z_FEATURE_LIVELINESS 0
+#define Z_FEATURE_LIVELINESS 1
 #define Z_FEATURE_RAWETH_TRANSPORT 0
 #define Z_FEATURE_INTEREST 1
 #define Z_FEATURE_DYNAMIC_MEMORY_ALLOCATION 0
@@ -48,6 +48,7 @@
 #define Z_FEATURE_PUBLISHER_SESSION_CHECK 1
 #define Z_FEATURE_BATCHING 1
 #define Z_FEATURE_RX_CACHE 0
+#define Z_FEATURE_AUTO_RECONNECT 1
 // End of CMake generation
 
 /*------------------ Runtime configuration properties ------------------*/

diff --git a/include/zenoh-pico/config.h.in b/include/zenoh-pico/config.h.in
@@ -48,6 +48,7 @@
 #define Z_FEATURE_PUBLISHER_SESSION_CHECK @Z_FEATURE_PUBLISHER_SESSION_CHECK@
 #define Z_FEATURE_BATCHING @Z_FEATURE_BATCHING@
 #define Z_FEATURE_RX_CACHE @Z_FEATURE_RX_CACHE@
+#define Z_FEATURE_AUTO_RECONNECT @Z_FEATURE_AUTO_RECONNECT@
 // End of CMake generation
 
 /*------------------ Runtime configuration properties ------------------*/

diff --git a/include/zenoh-pico/net/session.h b/include/zenoh-pico/net/session.h
@@ -38,8 +38,6 @@ extern "C" {
 typedef struct _z_session_t {
 #if Z_FEATURE_MULTI_THREAD == 1
     _z_mutex_t _mutex_inner;
-    z_task_attr_t *_lease_task_attr;
-    z_task_attr_t *_read_task_attr;
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
     // Zenoh-pico is considering a single transport per session.
@@ -58,10 +56,13 @@ typedef struct _z_session_t {
     _z_resource_list_t *_local_resources;
     _z_resource_list_t *_remote_resources;
 
+#if Z_FEATURE_AUTO_RECONNECT == 1
     // Information for session restoring
-    // Empty _config means session is not restorable
     _z_config_t _config;
     _z_network_message_list_t *_decalaration_cache;
+    z_task_attr_t *_lease_task_attr;
+    z_task_attr_t *_read_task_attr;
+#endif
 
     // Session subscriptions
 #if Z_FEATURE_SUBSCRIPTION == 1

diff --git a/src/api/api.c b/src/api/api.c
@@ -702,13 +702,15 @@ z_result_t z_open(z_owned_session_t *zs, z_moved_config_t *config, const z_open_
         z_config_drop(config);
         return ret;
     }
+
     // Clean up
-    if (/* session is restorable*/ true) {
-        _Z_OWNED_RC_IN_VAL(zs)->_config = config->_this._val;
-        z_internal_config_null(&config->_this);
-    } else {
-        z_config_drop(config);
-    }
+#if Z_FEATURE_AUTO_RECONNECT == 1
+    _Z_OWNED_RC_IN_VAL(zs)->_config = config->_this._val;
+    z_internal_config_null(&config->_this);
+#else
+    z_config_drop(config);
+#endif
+
     return _Z_RES_OK;
 }
 

diff --git a/src/net/primitives.c b/src/net/primitives.c
@@ -45,18 +45,26 @@
 static z_result_t _z_send_decalre(_z_session_t *zn, const _z_network_message_t *n_msg) {
     z_result_t ret = _Z_RES_OK;
     ret = _z_send_n_msg(zn, n_msg, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK);
+
+#if Z_FEATURE_AUTO_RECONNECT == 1
     if (ret == _Z_RES_OK) {
         _z_cache_declaration(zn, n_msg);
     }
+#endif
+
     return ret;
 }
 
 static z_result_t _z_send_undecalre(_z_session_t *zn, const _z_network_message_t *n_msg) {
     z_result_t ret = _Z_RES_OK;
     ret = _z_send_n_msg(zn, n_msg, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK);
+
+#if Z_FEATURE_AUTO_RECONNECT == 1
     if (ret == _Z_RES_OK) {
         _z_prune_declaration(zn, n_msg);
     }
+#endif
+
     return ret;
 }
 /*------------------ Scouting ------------------*/

diff --git a/src/net/session.c b/src/net/session.c
@@ -165,6 +165,8 @@ z_result_t _z_open(_z_session_rc_t *zn, _z_config_t *config, const _z_id_t *zid)
     return ret;
 }
 
+#if Z_FEATURE_AUTO_RECONNECT == 1
+
 z_result_t _z_reopen(_z_session_rc_t *zn) {
     z_result_t ret = _Z_RES_OK;
     _z_session_t *zs = _Z_RC_IN_VAL(zn);
@@ -260,6 +262,7 @@ void _z_prune_declaration(_z_session_t *zs, const _z_network_message_t *n_msg) {
     assert(cnt_before == cnt_after + 1);
 #endif
 }
+#endif  // Z_FEATURE_AUTO_RECONNECT == 1
 
 void _z_close(_z_session_t *zn) { _z_session_close(zn, _Z_CLOSE_GENERIC); }
 
@@ -329,8 +332,10 @@ z_result_t _zp_start_read_task(_z_session_t *zn, z_task_attr_t *attr) {
     // Free task if operation failed
     if (ret != _Z_RES_OK) {
         z_free(task);
+#if Z_FEATURE_AUTO_RECONNECT == 1
     } else {
         zn->_read_task_attr = attr;
+#endif
     }
     return ret;
 }
@@ -360,8 +365,10 @@ z_result_t _zp_start_lease_task(_z_session_t *zn, z_task_attr_t *attr) {
     // Free task if operation failed
     if (ret != _Z_RES_OK) {
         z_free(task);
+#if Z_FEATURE_AUTO_RECONNECT == 1
     } else {
         zn->_lease_task_attr = attr;
+#endif
     }
     return ret;
 }

diff --git a/src/session/utils.c b/src/session/utils.c
@@ -66,7 +66,10 @@ z_result_t _z_session_init(_z_session_t *zn, const _z_id_t *zid) {
     zn->_resource_id = 1;
     zn->_query_id = 1;
 
+#if Z_FEATURE_AUTO_RECONNECT == 1
+    _z_config_init(&zn->_config);
     zn->_decalaration_cache = NULL;
+#endif
 
     // Initialize the data structs
     zn->_local_resources = NULL;
@@ -108,8 +111,10 @@ void _z_session_clear(_z_session_t *zn) {
     _zp_stop_lease_task(zn);
 #endif
 
+#if Z_FEATURE_AUTO_RECONNECT == 1
     _z_config_clear(&zn->_config);
     _z_network_message_list_free(&zn->_decalaration_cache);
+#endif
 
     _z_close(zn);
     // Clear Zenoh PID

diff --git a/src/transport/multicast/lease.c b/src/transport/multicast/lease.c
@@ -21,6 +21,7 @@
 #include "zenoh-pico/session/utils.h"
 #include "zenoh-pico/transport/multicast/lease.h"
 #include "zenoh-pico/utils/logging.h"
+#include "zenoh-pico/utils/result.h"
 
 #if Z_FEATURE_MULTICAST_TRANSPORT == 1 || Z_FEATURE_RAWETH_TRANSPORT == 1
 
@@ -55,7 +56,12 @@ z_result_t _zp_multicast_send_keep_alive(_z_transport_multicast_t *ztm) {
 
 #if Z_FEATURE_MULTI_THREAD == 1 && (Z_FEATURE_MULTICAST_TRANSPORT == 1 || Z_FEATURE_RAWETH_TRANSPORT == 1)
 
-static void _zp_multicast_failed(_z_transport_multicast_t *ztm) { _z_reopen(ztm->_common._session); }
+static void _zp_multicast_failed(_z_transport_multicast_t *ztm) {
+    _ZP_UNUSED(ztm);
+#if Z_FEATURE_AUTO_RECONNECT == 1
+    _z_reopen(ztm->_common._session);
+#endif
+}
 
 static _z_zint_t _z_get_minimum_lease(_z_transport_peer_entry_list_t *peers, _z_zint_t local_lease) {
     _z_zint_t ret = local_lease;

diff --git a/src/transport/unicast/lease.c b/src/transport/unicast/lease.c
@@ -42,10 +42,13 @@ z_result_t _zp_unicast_send_keep_alive(_z_transport_unicast_t *ztu) {
 #if Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_UNICAST_TRANSPORT == 1
 
 static void _zp_unicast_failed(_z_transport_unicast_t *ztu) {
-    _z_session_rc_ref_t *zs = ztu->_common._session;
     _z_unicast_transport_close(ztu, _Z_CLOSE_EXPIRED);
     _z_unicast_transport_clear(ztu, true);
+
+#if Z_FEATURE_AUTO_RECONNECT == 1
+    _z_session_rc_ref_t *zs = ztu->_common._session;
     _z_reopen(zs);
+#endif
 }
 
 void *_zp_unicast_lease_task(void *ztu_arg) {