Merge branch 'main' into feature/condvar_timedwait

eclipse-zenoh · Dec 10, 2024 · d35e6f6 · d35e6f6
2 parents 08448a1 + d40b2c2
commit d35e6f6
Show file tree

Hide file tree

Showing 164 changed files with 6,955 additions and 2,545 deletions.
diff --git a/.github/workflows/rpi_pico.yaml b/.github/workflows/rpi_pico.yaml
@@ -0,0 +1,63 @@
+#
+# Copyright (c) 2024 ZettaScale Technology
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+# which is available at https://www.apache.org/licenses/LICENSE-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+#
+# Contributors:
+#   ZettaScale Zenoh Team, <[email protected]>
+#
+name: rpi_pico 
+
+on:
+  push:
+    branches: [ '**' ]
+  pull_request:
+    branches: [ '**' ]
+
+jobs:
+  build:
+    name: Build on ${{ matrix.os }} for ${{ matrix.pico_board }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest]
+        pico_board: ["pico", "pico_w", "pico2", "pico2_w"]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: jwlawson/[email protected]
+      - name: Install requirements
+        run: |
+          sudo apt update
+          sudo apt install -y cmake gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential g++ libstdc++-arm-none-eabi-newlib
+          
+      - name: Install Raspberry Pico SDK 
+        run: |
+          export PICO_SDK_PATH=$HOME/work/pico-sdk
+          mkdir -p $PICO_SDK_PATH
+          cd $PICO_SDK_PATH
+          git clone https://github.com/raspberrypi/pico-sdk.git --branch 2.1.0 .
+          git submodule update --init
+          
+      - name: Install FreeRTOS SDK 
+        run: |
+          export FREERTOS_KERNEL_PATH=$HOME/work/FreeRTOS-Kernel/
+          mkdir -p $FREERTOS_KERNEL_PATH
+          cd $FREERTOS_KERNEL_PATH
+          git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git .
+          git submodule update --init
+          
+      - name: Build examples
+        run: |
+          export PICO_SDK_PATH=$HOME/work/pico-sdk
+          export FREERTOS_KERNEL_PATH=$HOME/work/FreeRTOS-Kernel/
+          cd $HOME/work/zenoh-pico/zenoh-pico/examples/rpi_pico
+          cmake -Bbuild -DWIFI_SSID=wifi_network_ssid -DWIFI_PASSWORD=wifi_network_password -DPICO_BOARD="$PICO_BOARD"
+          cmake --build ./build
+        env:
+          PICO_BOARD: ${{ matrix.pico_board}}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -45,6 +45,7 @@ include(GNUInstallDirs)
 option(BUILD_SHARED_LIBS "Build shared libraries if ON, otherwise build static libraries" ON)
 option(WITH_ZEPHYR "Build for Zephyr RTOS" OFF)
 option(WITH_FREERTOS_PLUS_TCP "Build for FreeRTOS RTOS and FreeRTOS-Plus-TCP network stack" OFF)
+option(WITH_RPI_PICO "Build for Raspberry Pi Pico" OFF)
 set(ZENOH_DEBUG 0 CACHE STRING "Use this to set the ZENOH_DEBUG variable")
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE INTERNAL "")
 if(CMAKE_EXPORT_COMPILE_COMMANDS)
@@ -90,7 +91,9 @@ if(CMAKE_BUILD_TYPE MATCHES "RELEASE" OR "Release")
     add_compile_options(-pipe -O3)
   endif()
 else()
-  if(UNIX)
+  if(CMAKE_SYSTEM_NAME MATCHES "PICO")
+    add_compile_options(-c -Wall -Wextra -Wno-unused -Wno-strict-prototypes -pipe -g -O0)
+  elseif(UNIX)
     add_compile_options(-c -Wall -Wextra -Werror -Wshadow -Wunused -Wstrict-prototypes -pipe -g -O0)
     # C99 pedantic doesn't like struct anonymous in unix header
     if (NOT CMAKE_C_STANDARD STREQUAL "99")
@@ -182,6 +185,9 @@ elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
   elseif(WITH_FREERTOS_PLUS_TCP)
     pico_add_compile_definition(ZENOH_FREERTOS_PLUS_TCP)
   endif()
+elseif(CMAKE_SYSTEM_NAME MATCHES "PICO") # Raspberry Pi Pico Series
+  pico_add_compile_definition(ZENOH_RPI_PICO)
+  set(CHECK_THREADS "OFF")
 else()
   message(FATAL_ERROR "zenoh-pico is not yet available on ${CMAKE_SYSTEM_NAME} platform")
   return()
@@ -226,20 +232,31 @@ set(Z_FEATURE_LINK_TCP 1 CACHE STRING "Toggle TCP links")
 set(Z_FEATURE_LINK_BLUETOOTH 0 CACHE STRING "Toggle Bluetooth links")
 set(Z_FEATURE_LINK_WS 0 CACHE STRING "Toggle WebSocket links")
 set(Z_FEATURE_LINK_SERIAL 0 CACHE STRING "Toggle Serial links")
+set(Z_FEATURE_LINK_SERIAL_USB 0 CACHE STRING "Toggle Serial USB links")
 set(Z_FEATURE_SCOUTING_UDP 1 CACHE STRING "Toggle UDP scouting")
 set(Z_FEATURE_LINK_UDP_MULTICAST 1 CACHE STRING "Toggle UDP multicast links")
 set(Z_FEATURE_LINK_UDP_UNICAST 1 CACHE STRING "Toggle UDP unicast links")
 set(Z_FEATURE_MULTICAST_TRANSPORT 1 CACHE STRING "Toggle multicast transport")
 set(Z_FEATURE_UNICAST_TRANSPORT 1 CACHE STRING "Toggle unicast transport")
 set(Z_FEATURE_RAWETH_TRANSPORT 0 CACHE STRING "Toggle raw ethernet transport")
 set(Z_FEATURE_TCP_NODELAY 1 CACHE STRING "Toggle TCP_NODELAY")
+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")
 
 # Add a warning message if someone tries to enable Z_FEATURE_LIVELINESS directly
 if(Z_FEATURE_LIVELINESS AND NOT Z_FEATURE_UNSTABLE_API)
   message(WARNING "Z_FEATURE_LIVELINESS can only be enabled when Z_FEATURE_UNSTABLE_API is also enabled. Disabling Z_FEATURE_LIVELINESS.")
   set(Z_FEATURE_LIVELINESS 0 CACHE STRING "Toggle liveliness feature" FORCE)
 endif()
 
+# 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)
+  message(WARNING "Z_FEATURE_LINK_SERIAL_USB can only be enabled when Z_FEATURE_UNSTABLE_API is also enabled. Disabling Z_FEATURE_LINK_SERIAL_USB.")
+  set(Z_FEATURE_LINK_SERIAL_USB 0 CACHE STRING "Toggle Serial USB links" FORCE)
+endif()
+
 add_compile_definitions("Z_BUILD_DEBUG=$<CONFIG:Debug>")
 message(STATUS "Building with feature confing:\n\
 * UNSTABLE_API: ${Z_FEATURE_UNSTABLE_API}\n\
@@ -273,6 +290,7 @@ message(STATUS "Unicast batch max size: ${BATCH_UNICAST_SIZE}")
 message(STATUS "Multicast batch max size: ${BATCH_MULTICAST_SIZE}")
 message(STATUS "Build for Zephyr RTOS: ${WITH_ZEPHYR}")
 message(STATUS "Build for FreeRTOS-Plus-TCP: ${WITH_FREERTOS_PLUS_TCP}")
+message(STATUS "Build for Raspberry Pi Pico: ${WITH_RPI_PICO}")
 message(STATUS "Configuring for ${CMAKE_SYSTEM_NAME}")
 
 if(SKBUILD)
@@ -334,6 +352,9 @@ if(WITH_ZEPHYR)
 elseif(WITH_FREERTOS_PLUS_TCP)
   file (GLOB Sources_Freertos_Plus_TCP "src/system/freertos_plus_tcp/*.c")
   list(APPEND Sources ${Sources_Freertos_Plus_TCP})
+elseif(WITH_RPI_PICO)
+  file (GLOB Sources_RPI_Pico "src/system/rpi_pico/*.c")
+  list(APPEND Sources ${Sources_RPI_Pico})
 elseif(CMAKE_SYSTEM_NAME MATCHES "Linux" OR CMAKE_SYSTEM_NAME MATCHES "Darwin" OR CMAKE_SYSTEM_NAME MATCHES "BSD" OR POSIX_COMPATIBLE)
   file (GLOB Sources_Unix "src/system/unix/*.c" "src/system/unix/link/*.c")
   list(APPEND Sources ${Sources_Unix})
@@ -454,7 +475,7 @@ if(BUILD_EXAMPLES)
   add_subdirectory(examples)
 endif()
 
-if(ASAN)
+if(ASAN AND !MSVC)
   add_compile_options(-fsanitize=address)
   add_link_options(-fsanitize=address)
 endif()

diff --git a/GNUmakefile b/GNUmakefile
@@ -67,7 +67,7 @@ Z_FEATURE_RAWETH_TRANSPORT?=0
 # Buffer sizes
 FRAG_MAX_SIZE?=300000
 BATCH_UNICAST_SIZE?=65535
-BATCH_MULTICAST_SIZE?=8096
+BATCH_MULTICAST_SIZE?=8192
 
 # zenoh-pico/ directory
 ROOT_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))

diff --git a/README.md b/README.md
@@ -34,6 +34,7 @@ Currently, zenoh-pico provides support for the following (RT)OSs and protocols:
 |      **OpenCR**       | UDP (unicast and multicast), TCP |         IPv4        |                        WiFi                        |
 |    **Emscripten**     |             Websocket            |      IPv4, IPv6     |                   WiFi, Ethernet                   |
 | **FreeRTOS-Plus-TCP** |         UDP (unicast), TCP       |         IPv4        |                      Ethernet                      |
+| **Raspberry Pi Pico** | UDP (unicast and multicast), TCP |         IPv4        |      WiFi (for "W" version), Serial, USB (CDC)     |
 
 Check the website [zenoh.io](http://zenoh.io) and the [roadmap](https://github.com/eclipse-zenoh/roadmap) for more detailed information.
 
@@ -329,6 +330,92 @@ To build and upload the code into the board, run the following command:
   platformio run -t upload
   ```
 
+#### 2.2.6. Raspberry Pi Pico 
+Note: tested with `Raspberry Pi Pico W` and `Raspberry Pi Pico 2 W` boards
+
+Ensure your system has the necessary tools and libraries installed. Run the following commands:
+
+```bash
+sudo apt update
+sudo apt install -y cmake gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential g++ libstdc++-arm-none-eabi-newlib
+```
+
+Set up the Raspberry Pi Pico SDK by cloning the repository:
+
+```bash
+export PICO_SDK_PATH=$HOME/src/pico-sdk
+mkdir -p $PICO_SDK_PATH
+cd $PICO_SDK_PATH
+git clone https://github.com/raspberrypi/pico-sdk.git .
+git submodule update --init
+```
+
+Clone the FreeRTOS Kernel repository for the project:
+
+```bash
+export FREERTOS_KERNEL_PATH=$HOME/src/FreeRTOS-Kernel/
+mkdir -p $FREERTOS_KERNEL_PATH
+cd $FREERTOS_KERNEL_PATH
+git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git .
+git submodule update --init
+```
+
+Setup and build the examples:
+- `PICO_BOARD` - Pico board type: pico, pico_w, pico2, pico2_w (default: pico_w) 
+- `WIFI_SSID` - Wi-Fi network SSID
+- `WIFI_PASSWORD` - Wi-Fi password
+- `ZENOH_CONFIG_MODE` - client or peer mode (default: client)
+- `ZENOH_CONFIG_CONNECT` - connect endpoint (only for client mode, optional)
+- `ZENOH_CONFIG_LISTEN` - listen endpoint (only for peer mode, optional)
+
+```bash
+cd examples/rpi_pico
+cmake -Bbuild -DPICO_BOARD="pico" -DWIFI_SSID=wifi_network_ssid -DWIFI_PASSWORD=wifi_network_password -DZENOH_CONFIG_MODE=[client|peer] -DZENOH_CONFIG_CONNECT=connect -DZENOH_CONFIG_LISTEN=listen
+cmake --build ./build
+```
+
+To flash the Raspberry Pi Pico board, connect it in bootloader mode (it will appear as a removable drive) and copy the generated .uf2 file onto it.
+
+**Serial connection**:
+
+To connect via UART specify pins or predefined device name and baud rate:
+
+e.g.
+```
+-DZENOH_CONFIG_CONNECT="serial/0.1#baudrate=38400"
+-DZENOH_CONFIG_CONNECT="serial/uart1_0#baudrate=38400"
+```
+
+Valid PIN combinations and associated device names:
+
+| **PINS** | **Device name** |
+|---------:|:---------------:|
+|  0.1     |     uart0_0     |
+|  4.5     |     uart1_0     |
+|  8.9     |     uart1_1     |
+|  12.13   |     uart0_1     |
+|  16.17   |     uart0_2     |
+
+
+**USB Serial connection (experemental)**:
+
+
+To enable this feature, zenoh-pico should be compiled with `Z_FEATURE_LINK_SERIAL_USB` and `Z_FEATURE_UNSTABLE_API` enabled.
+
+To connect via USB CDC, specify `usb` device:
+
+e.g.
+```
+-DZENOH_CONFIG_CONNECT="serial/usb#baudrate=112500"
+```
+
+On the host Zenoh, specify the USB CDC device:
+
+e.g.
+```
+zenohd -l serial//dev/ttyACM1#baudrate=112500
+```
+
 ## 3. Running the Examples
 The simplest way to run some of the example is to get a Docker image of the **zenoh** router (see [http://zenoh.io/docs/getting-started/quick-test/](http://zenoh.io/docs/getting-started/quick-test/)) and then to run the examples on your machine.