Make all sync mechanisms public (#309)

* feat: make all sync mechanisms public * feat: switch tasks to zp namespace * feat: switch types to zp namespace * feat: switch the rest to zp namespace * feat: add missing end of file new line
eclipse-zenoh · Jan 11, 2024 · d3a631f · d3a631f
1 parent c760cca
commit d3a631f
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Showing 125 changed files with 1,111 additions and 1,113 deletions.
diff --git a/examples/freertos_plus_tcp/z_get.c b/examples/freertos_plus_tcp/z_get.c
@@ -75,7 +75,7 @@ void app_main(void) {
     }
 
     while (1) {
-        z_sleep_s(5);
+        zp_sleep_s(5);
         printf("Sending Query '%s'...\n", KEYEXPR);
         z_get_options_t opts = z_get_options_default();
         if (strcmp(VALUE, "") != 0) {

diff --git a/examples/freertos_plus_tcp/z_pub.c b/examples/freertos_plus_tcp/z_pub.c
@@ -48,7 +48,7 @@ void app_main(void) {
     static StackType_t read_task_stack[1000];
     static StaticTask_t read_task_buffer;
 
-    _z_task_attr_t read_task_attr = {
+    zp_task_attr_t read_task_attr = {
         .name = "ZenohReadTask",
         .priority = 10,
         .stack_depth = 1000,
@@ -62,7 +62,7 @@ void app_main(void) {
     static StackType_t lease_task_stack[1000];
     static StaticTask_t lease_task_buffer;
 
-    _z_task_attr_t lease_task_attr = {
+    zp_task_attr_t lease_task_attr = {
         .name = "ZenohLeaseTask",
         .priority = 10,
         .stack_depth = 1000,
@@ -88,7 +88,7 @@ void app_main(void) {
 
     char *buf = (char *)pvPortMalloc(256);
     for (int idx = 0; 1; ++idx) {
-        z_sleep_s(1);
+        zp_sleep_s(1);
         snprintf(buf, 256, "[%4d] %s", idx, VALUE);
         printf("Putting Data ('%s': '%s')...\n", KEYEXPR, buf);
 

diff --git a/examples/freertos_plus_tcp/z_pub_st.c b/examples/freertos_plus_tcp/z_pub_st.c
@@ -53,15 +53,15 @@ void app_main(void) {
     }
 
     char *buf = (char *)pvPortMalloc(256);
-    z_clock_t now = z_clock_now();
+    zp_clock_t now = zp_clock_now();
     for (int idx = 0; 1;) {
-        if (z_clock_elapsed_ms(&now) > 1000) {
+        if (zp_clock_elapsed_ms(&now) > 1000) {
             snprintf(buf, 256, "[%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);
             ++idx;
 
-            now = z_clock_now();
+            now = zp_clock_now();
         }
 
         zp_read(z_loan(s), NULL);

diff --git a/examples/freertos_plus_tcp/z_pull.c b/examples/freertos_plus_tcp/z_pull.c
@@ -65,7 +65,7 @@ void app_main(void) {
     }
 
     while (1) {
-        z_sleep_s(5);
+        zp_sleep_s(5);
         printf("Pulling data from '%s'...\n", KEYEXPR);
         z_subscriber_pull(z_loan(sub));
     }

diff --git a/examples/freertos_plus_tcp/z_put.c b/examples/freertos_plus_tcp/z_put.c
@@ -64,7 +64,7 @@ void app_main(void) {
     }
 
     while (1) {
-        z_sleep_s(1);
+        zp_sleep_s(1);
     }
 
     z_undeclare_keyexpr(z_loan(s), z_move(ke));

diff --git a/examples/freertos_plus_tcp/z_queryable.c b/examples/freertos_plus_tcp/z_queryable.c
@@ -79,7 +79,7 @@ void app_main(void) {
     }
 
     while (1) {
-        z_sleep_s(5);
+        zp_sleep_s(5);
     }
 
     z_undeclare_queryable(z_move(qable));

diff --git a/examples/freertos_plus_tcp/z_sub.c b/examples/freertos_plus_tcp/z_sub.c
@@ -65,7 +65,7 @@ void app_main(void) {
     }
 
     while (1) {
-        z_sleep_s(5);
+        zp_sleep_s(5);
     }
 
     z_undeclare_subscriber(z_move(sub));

diff --git a/examples/mbed/z_get.cpp b/examples/mbed/z_get.cpp
@@ -72,7 +72,7 @@ int main(int argc, char **argv) {
     zp_start_lease_task(z_session_loan(&s), NULL);
 
     while (1) {
-        z_sleep_s(5);
+        zp_sleep_s(5);
         printf("Sending Query '%s'...\n", KEYEXPR);
         z_get_options_t opts = z_get_options_default();
         if (strcmp(VALUE, "") != 0) {

diff --git a/examples/mbed/z_pub.cpp b/examples/mbed/z_pub.cpp
@@ -68,7 +68,7 @@ int main(int argc, char **argv) {
 
     char buf[256];
     for (int idx = 0; 1; ++idx) {
-        z_sleep_s(1);
+        zp_sleep_s(1);
         sprintf(buf, "[%4d] %s", idx, VALUE);
         printf("Putting Data ('%s': '%s')...\n", KEYEXPR, buf);
         z_publisher_put(z_publisher_loan(&pub), (const uint8_t *)buf, strlen(buf), NULL);

diff --git a/examples/mbed/z_pull.cpp b/examples/mbed/z_pull.cpp
@@ -75,7 +75,7 @@ int main(int argc, char **argv) {
     printf("OK!\n");
 
     while (1) {
-        z_sleep_s(5);
+        zp_sleep_s(5);
         printf("Pulling data from '%s'...\n", KEYEXPR);
         z_subscriber_pull(z_pull_subscriber_loan(&sub));
     }

diff --git a/examples/mbed/z_queryable.cpp b/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);
+        zp_sleep_s(5);
     }
 
     printf("Closing Zenoh Session...");

diff --git a/examples/mbed/z_sub.cpp b/examples/mbed/z_sub.cpp
@@ -75,7 +75,7 @@ int main(int argc, char **argv) {
     printf("OK!\n");
 
     while (1) {
-        z_sleep_s(5);
+        zp_sleep_s(5);
     }
 
     printf("Closing Zenoh Session...");

diff --git a/examples/unix/c11/z_ping.c b/examples/unix/c11/z_ping.c
@@ -27,19 +27,17 @@
 #define DEFAULT_PING_NB 100
 #define DEFAULT_WARMUP_MS 1000
 
-// WARNING: for the sake of this example we are using "internal" structs and functions (starting with "_").
-//          Synchronisation primitives are planned to be added to the API in the future.
-_z_condvar_t cond;
-_z_mutex_t mutex;
+static zp_condvar_t cond;
+static zp_mutex_t mutex;
 
 void callback(const z_sample_t* sample, void* context) {
     (void)sample;
     (void)context;
-    _z_condvar_signal(&cond);
+    zp_condvar_signal(&cond);
 }
 void drop(void* context) {
     (void)context;
-    _z_condvar_free(&cond);
+    zp_condvar_free(&cond);
 }
 
 struct args_t {
@@ -63,8 +61,8 @@ int main(int argc, char** argv) {
             DEFAULT_PKT_SIZE, DEFAULT_PING_NB, DEFAULT_WARMUP_MS);
         return 1;
     }
-    _z_mutex_init(&mutex);
-    _z_condvar_init(&cond);
+    zp_mutex_init(&mutex);
+    zp_condvar_init(&cond);
     z_owned_config_t config = z_config_default();
     z_owned_session_t session = z_open(z_move(config));
     if (!z_check(session)) {
@@ -93,34 +91,34 @@ int main(int argc, char** argv) {
         return -1;
     }
 
-    uint8_t* data = z_malloc(args.size);
+    uint8_t* data = zp_malloc(args.size);
     for (unsigned int i = 0; i < args.size; i++) {
         data[i] = i % 10;
     }
-    _z_mutex_lock(&mutex);
+    zp_mutex_lock(&mutex);
     if (args.warmup_ms) {
         printf("Warming up for %dms...\n", args.warmup_ms);
-        z_clock_t warmup_start = z_clock_now();
+        zp_clock_t warmup_start = zp_clock_now();
         unsigned long elapsed_us = 0;
         while (elapsed_us < args.warmup_ms * 1000) {
             z_publisher_put(z_loan(pub), data, args.size, NULL);
-            _z_condvar_wait(&cond, &mutex);
-            elapsed_us = z_clock_elapsed_us(&warmup_start);
+            zp_condvar_wait(&cond, &mutex);
+            elapsed_us = zp_clock_elapsed_us(&warmup_start);
         }
     }
-    unsigned long* results = z_malloc(sizeof(unsigned long) * args.number_of_pings);
+    unsigned long* results = zp_malloc(sizeof(unsigned long) * args.number_of_pings);
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
-        z_clock_t measure_start = z_clock_now();
+        zp_clock_t measure_start = zp_clock_now();
         z_publisher_put(z_loan(pub), data, args.size, NULL);
-        _z_condvar_wait(&cond, &mutex);
-        results[i] = z_clock_elapsed_us(&measure_start);
+        zp_condvar_wait(&cond, &mutex);
+        results[i] = zp_clock_elapsed_us(&measure_start);
     }
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
         printf("%d bytes: seq=%d rtt=%luµs, lat=%luµs\n", args.size, i, results[i], results[i] / 2);
     }
-    _z_mutex_unlock(&mutex);
-    z_free(results);
-    z_free(data);
+    zp_mutex_unlock(&mutex);
+    zp_free(results);
+    zp_free(data);
     z_drop(z_move(pub));
     z_drop(z_move(sub));
 

diff --git a/examples/unix/c11/z_sub_thr.c b/examples/unix/c11/z_sub_thr.c
@@ -24,8 +24,8 @@
 typedef struct {
     volatile unsigned long count;
     volatile unsigned long finished_rounds;
-    z_clock_t start;
-    z_clock_t first_start;
+    zp_clock_t start;
+    zp_clock_t first_start;
 } z_stats_t;
 
 #if Z_FEATURE_SUBSCRIPTION == 1
@@ -44,14 +44,14 @@ void on_sample(const z_sample_t *sample, void *context) {
     stats->count++;
     // Start set measurement
     if (stats->count == 1) {
-        stats->start = z_clock_now();
+        stats->start = zp_clock_now();
         if (stats->first_start.tv_nsec == 0) {
             stats->first_start = stats->start;
         }
     } else if (stats->count >= PACKET_NB) {
         // Stop set measurement
         stats->finished_rounds++;
-        unsigned long elapsed_ms = z_clock_elapsed_ms(&stats->start);
+        unsigned long elapsed_ms = zp_clock_elapsed_ms(&stats->start);
         printf("Received %d msg in %lu ms (%.1f msg/s)\n", PACKET_NB, elapsed_ms,
                (double)(PACKET_NB * 1000) / (double)elapsed_ms);
         stats->count = 0;
@@ -60,7 +60,7 @@ void on_sample(const z_sample_t *sample, void *context) {
 
 void drop_stats(void *context) {
     z_stats_t *stats = (z_stats_t *)context;
-    unsigned long elapsed_ms = z_clock_elapsed_ms(&stats->first_start);
+    unsigned long elapsed_ms = zp_clock_elapsed_ms(&stats->first_start);
     const unsigned long sent_messages = PACKET_NB * stats->finished_rounds + stats->count;
     printf("Stats after unsubscribing: received %ld messages over %lu miliseconds (%.1f msg/s)\n", sent_messages,
            elapsed_ms, (double)(sent_messages * 1000) / (double)elapsed_ms);
@@ -105,7 +105,7 @@ int main(int argc, char **argv) {
     }
     // Wait for everything to settle
     printf("End of test\n");
-    z_sleep_s(1);
+    zp_sleep_s(1);
     // Clean up
     z_undeclare_subscriber(z_move(sub));
     zp_stop_read_task(z_loan(s));

diff --git a/examples/unix/c99/z_ping.c b/examples/unix/c99/z_ping.c
@@ -28,17 +28,17 @@
 #define DEFAULT_PING_NB 100
 #define DEFAULT_WARMUP_MS 1000
 
-_z_condvar_t cond;
-_z_mutex_t mutex;
+static zp_condvar_t cond;
+static zp_mutex_t mutex;
 
 void callback(const z_sample_t* sample, void* context) {
     (void)sample;
     (void)context;
-    _z_condvar_signal(&cond);
+    zp_condvar_signal(&cond);
 }
 void drop(void* context) {
     (void)context;
-    _z_condvar_free(&cond);
+    zp_condvar_free(&cond);
 }
 
 struct args_t {
@@ -62,8 +62,8 @@ int main(int argc, char** argv) {
             DEFAULT_PKT_SIZE, DEFAULT_PING_NB, DEFAULT_WARMUP_MS);
         return 1;
     }
-    _z_mutex_init(&mutex);
-    _z_condvar_init(&cond);
+    zp_mutex_init(&mutex);
+    zp_condvar_init(&cond);
     z_owned_config_t config = z_config_default();
     z_owned_session_t session = z_open(z_config_move(&config));
     if (!z_session_check(&session)) {
@@ -93,34 +93,34 @@ int main(int argc, char** argv) {
         return -1;
     }
 
-    uint8_t* data = z_malloc(args.size);
+    uint8_t* data = zp_malloc(args.size);
     for (unsigned int i = 0; i < args.size; i++) {
         data[i] = i % 10;
     }
-    _z_mutex_lock(&mutex);
+    zp_mutex_lock(&mutex);
     if (args.warmup_ms) {
         printf("Warming up for %dms...\n", args.warmup_ms);
-        z_clock_t warmup_start = z_clock_now();
+        zp_clock_t warmup_start = zp_clock_now();
         unsigned long elapsed_us = 0;
         while (elapsed_us < args.warmup_ms * 1000) {
             z_publisher_put(z_publisher_loan(&pub), data, args.size, NULL);
-            _z_condvar_wait(&cond, &mutex);
-            elapsed_us = z_clock_elapsed_us(&warmup_start);
+            zp_condvar_wait(&cond, &mutex);
+            elapsed_us = zp_clock_elapsed_us(&warmup_start);
         }
     }
-    unsigned long* results = z_malloc(sizeof(unsigned long) * args.number_of_pings);
+    unsigned long* results = zp_malloc(sizeof(unsigned long) * args.number_of_pings);
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
-        z_clock_t measure_start = z_clock_now();
+        zp_clock_t measure_start = zp_clock_now();
         z_publisher_put(z_publisher_loan(&pub), data, args.size, NULL);
-        _z_condvar_wait(&cond, &mutex);
-        results[i] = z_clock_elapsed_us(&measure_start);
+        zp_condvar_wait(&cond, &mutex);
+        results[i] = zp_clock_elapsed_us(&measure_start);
     }
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
         printf("%d bytes: seq=%d rtt=%luµs, lat=%luµs\n", args.size, i, results[i], results[i] / 2);
     }
-    _z_mutex_unlock(&mutex);
-    z_free(results);
-    z_free(data);
+    zp_mutex_unlock(&mutex);
+    zp_free(results);
+    zp_free(data);
     z_undeclare_subscriber(z_subscriber_move(&sub));
     z_undeclare_publisher(z_publisher_move(&pub));
 

diff --git a/examples/unix/c99/z_pub_st.c b/examples/unix/c99/z_pub_st.c
@@ -81,15 +81,15 @@ int main(int argc, char **argv) {
     }
 
     char *buf = (char *)malloc(256);
-    z_clock_t now = z_clock_now();
+    zp_clock_t now = zp_clock_now();
     for (int idx = 0; 1;) {
-        if (z_clock_elapsed_ms(&now) > 1000) {
+        if (zp_clock_elapsed_ms(&now) > 1000) {
             snprintf(buf, 256, "[%4d] %s", idx, value);
             printf("Putting Data ('%s': '%s')...\n", keyexpr, buf);
             z_publisher_put(z_publisher_loan(&pub), (const uint8_t *)buf, strlen(buf), NULL);
             ++idx;
 
-            now = z_clock_now();
+            now = zp_clock_now();
         }
 
         zp_read(z_session_loan(&s), NULL);