Add modularity checks in CI

.github/workflows/build-check.yaml

@@ -0,0 +1,54 @@
+#
+# Copyright (c) 2022 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: build-check
+
+on:
+  push:
+    branches: [ '**' ]
+  pull_request:
+    branches: [ '**' ]
+
+jobs:
+  modular_build:
+    name: Modular build on ubuntu-latest
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        feature_publication: [1, 0]
+        feature_subscription: [1, 0]
+        feature_queryable: [1, 0]
+        feature_query: [1, 0]
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+
+    - name: Run docker image
+      run: docker run --name zenoh_router --init --net host -d eclipse/zenoh:master
+
+    - name: Build project
+      run: |
+        make all
+        python3 ./build/tests/modularity.py --pub $Z_FEATURE_PUBLICATION --sub $Z_FEATURE_SUBSCRIPTION --queryable $Z_FEATURE_QUERYABLE --query $Z_FEATURE_QUERY
+      timeout-minutes: 5
+      env:
+        Z_FEATURE_PUBLICATION: ${{ matrix.feature_publication }}
+        Z_FEATURE_SUBSCRIPTION: ${{ matrix.feature_subscription }}
+        Z_FEATURE_QUERYABLE: ${{ matrix.feature_queryable }}
+        Z_FEATURE_QUERY: ${{ matrix.feature_query }}
+
+    - name: Stop docker image
+      if: always()
+      run: |
+        docker stop zenoh_router
+        docker rm zenoh_router

.github/workflows/build-shared.yaml

@@ -50,4 +50,4 @@ jobs:
       env:
         BUILD_TYPE: Debug
         BUILD_SHARED_LIBS: ON
-        ZENOH_DEBUG: 3
+        ZENOH_DEBUG: 3

.github/workflows/freertos_plus_tcp.yaml

@@ -40,3 +40,8 @@ jobs:
         cmake -Bbuild -G"Ninja Multi-Config"
         cmake --build ./build --config Debug
         cmake --build ./build --config Release
+      env:
+        Z_FEATURE_PUBLICATION: 1
+        Z_FEATURE_SUBSCRIPTION: 1
+        Z_FEATURE_QUERYABLE: 1
+        Z_FEATURE_QUERY: 1

CMakeLists.txt

@@ -102,6 +102,21 @@ endif()
 
 add_definition(ZENOH_DEBUG=${ZENOH_DEBUG})
 
+# Zenoh pico feature configuration options
+option(Z_FEATURE_PUBLICATION "Toggle publication feature" 1)
+option(Z_FEATURE_SUBSCRIPTION "Toggle subscription feature" 1)
+option(Z_FEATURE_QUERY "Toggle query feature" 1)
+option(Z_FEATURE_QUERYABLE "Toggle queryable feature" 1)
+add_definition(Z_FEATURE_PUBLICATION=${Z_FEATURE_PUBLICATION})
+add_definition(Z_FEATURE_SUBSCRIPTION=${Z_FEATURE_SUBSCRIPTION})
+add_definition(Z_FEATURE_QUERY=${Z_FEATURE_QUERY})
+add_definition(Z_FEATURE_QUERYABLE=${Z_FEATURE_QUERYABLE})
+message(STATUS "Building with feature confing:\n\
+* PUBLICATION: ${Z_FEATURE_PUBLICATION}\n\
+* SUBSCRIPTION: ${Z_FEATURE_SUBSCRIPTION}\n\
+* QUERY: ${Z_FEATURE_QUERY}\n\
+* QUERYABLE: ${Z_FEATURE_QUERYABLE}")
+
 # Print summary of CMAKE configurations
 message(STATUS "Building in ${CMAKE_BUILD_TYPE} mode")
 message(STATUS "Build shared library: ${BUILD_SHARED_LIBS}")
@@ -284,6 +299,8 @@ if(UNIX OR MSVC)
     target_link_libraries(z_api_null_drop_test ${Libname})
     target_link_libraries(z_api_double_drop_test ${Libname})
 
+    configure_file(${PROJECT_SOURCE_DIR}/tests/modularity.py ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/modularity.py COPYONLY)
+
     enable_testing()
     add_test(z_data_struct_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_data_struct_test)
     add_test(z_endpoint_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_endpoint_test)

GNUmakefile

@@ -45,6 +45,13 @@ BUILD_TOOLS?=OFF
 #  3: DEBUG + INFO + ERROR
 ZENOH_DEBUG?=0
 
+# Feature config toggle
+# Accepted values: 0, 1
+Z_FEATURE_PUBLICATION?=1
+Z_FEATURE_SUBSCRIPTION?=1
+Z_FEATURE_QUERY?=1
+Z_FEATURE_QUERYABLE?=1
+
 # zenoh-pico/ directory
 ROOT_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))
 
@@ -58,7 +65,9 @@ CROSSIMG_PREFIX=zenoh-pico_
 # NOTES:
 # - ARM:   old versions of dockcross/dockcross were creating some issues since they used an old GCC (4.8.3) which lacks <stdatomic.h> (even using -std=gnu11)
 
-CMAKE_OPT=-DZENOH_DEBUG=$(ZENOH_DEBUG) -DBUILD_EXAMPLES=$(BUILD_EXAMPLES) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DBUILD_TESTING=$(BUILD_TESTING) -DBUILD_MULTICAST=$(BUILD_MULTICAST) -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
+CMAKE_OPT=-DZENOH_DEBUG=$(ZENOH_DEBUG) -DBUILD_EXAMPLES=$(BUILD_EXAMPLES) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DBUILD_TESTING=$(BUILD_TESTING) -DBUILD_MULTICAST=$(BUILD_MULTICAST)\
+ -DZ_FEATURE_PUBLICATION=$(Z_FEATURE_PUBLICATION) -DZ_FEATURE_SUBSCRIPTION=$(Z_FEATURE_SUBSCRIPTION) -DZ_FEATURE_QUERY=$(Z_FEATURE_QUERY) -DZ_FEATURE_QUERYABLE=$(Z_FEATURE_QUERYABLE)\
+ -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
 
 all: make
 

examples/freertos_plus_tcp/include/FreeRTOSConfig.h

@@ -20,7 +20,7 @@
 #define configUSE_PREEMPTION 1
 #define configTICK_RATE_HZ ((TickType_t)1000)
 #define configMAX_PRIORITIES (56)
-#define configMINIMAL_STACK_SIZE ((uint16_t) PTHREAD_STACK_MIN)
+#define configMINIMAL_STACK_SIZE ((uint16_t)PTHREAD_STACK_MIN)
 #define configMAX_TASK_NAME_LEN (16)
 #define configUSE_16_BIT_TICKS 0
 #define configQUEUE_REGISTRY_SIZE 0

examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h

@@ -48,7 +48,7 @@
 
 // Set ipconfigBUFFER_PADDING on 64-bit platforms
 #if INTPTR_MAX == INT64_MAX
-    #define ipconfigBUFFER_PADDING 14U
+#define ipconfigBUFFER_PADDING 14U
 #endif
 
 #endif /* FREERTOS_IP_CONFIG_H */

examples/freertos_plus_tcp/z_get.c

@@ -16,6 +16,7 @@
 
 #include "FreeRTOS.h"
 
+#if Z_FEATURE_QUERY == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -47,7 +48,7 @@ void reply_handler(z_owned_reply_t *reply, void *ctx) {
     }
 }
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -92,4 +93,9 @@ void app_main() {
     zp_stop_lease_task(z_loan(s));
 
     z_close(z_move(s));
-}
+}
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.\n");
+}
+#endif

examples/freertos_plus_tcp/z_pub.c

@@ -16,6 +16,7 @@
 
 #include "FreeRTOS.h"
 
+#if Z_FEATURE_PUBLICATION == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -30,7 +31,7 @@
 #define KEYEXPR "demo/example/zenoh-pico-pub"
 #define VALUE "[FreeRTOS-Plus-TCP] Pub from Zenoh-Pico!"
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -104,3 +105,8 @@ void app_main() {
 
     z_close(z_move(s));
 }
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
+}
+#endif

examples/freertos_plus_tcp/z_pub_st.c

@@ -16,6 +16,7 @@
 
 #include "FreeRTOS.h"
 
+#if Z_FEATURE_PUBLICATION == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -30,7 +31,7 @@
 #define KEYEXPR "demo/example/zenoh-pico-pub"
 #define VALUE "[FreeRTOS-Plus-TCP] Pub from Zenoh-Pico!"
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -72,3 +73,8 @@ void app_main() {
 
     z_close(z_move(s));
 }
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
+}
+#endif

examples/freertos_plus_tcp/z_pull.c

@@ -14,6 +14,7 @@
 
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_PUBLICATION == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -35,7 +36,7 @@ void data_handler(const z_sample_t *sample, void *ctx) {
     z_drop(z_move(keystr));
 }
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_config_loan(&config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -77,3 +78,8 @@ void app_main() {
 
     z_close(z_move(s));
 }
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
+}
+#endif

examples/freertos_plus_tcp/z_put.c

@@ -14,6 +14,7 @@
 
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_PUBLICATION == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -28,7 +29,7 @@
 #define KEYEXPR "demo/example/zenoh-pico-put"
 #define VALUE "[FreeRTOS-Plus-TCP] Pub from Zenoh-Pico!"
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -74,3 +75,8 @@ void app_main() {
 
     z_close(z_move(s));
 }
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
+}
+#endif

examples/freertos_plus_tcp/z_queryable.c

@@ -14,6 +14,7 @@
 
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_QUERYABLE == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -43,7 +44,7 @@ void query_handler(const z_query_t *query, void *ctx) {
     z_drop(z_move(keystr));
 }
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -89,3 +90,8 @@ void app_main() {
 
     z_close(z_move(s));
 }
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n");
+}
+#endif

examples/freertos_plus_tcp/z_scout.c

@@ -82,7 +82,7 @@ void drop(void *context) {
     }
 }
 
-void app_main() {
+void app_main(void) {
     int *context = (int *)pvPortMalloc(sizeof(int));
     *context = 0;
     z_owned_scouting_config_t config = z_scouting_config_default();

examples/freertos_plus_tcp/z_sub.c

@@ -14,6 +14,7 @@
 
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -35,7 +36,7 @@ void data_handler(const z_sample_t *sample, void *ctx) {
     z_drop(z_move(keystr));
 }
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -75,3 +76,8 @@ void app_main() {
 
     z_close(z_move(s));
 }
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
+}
+#endif

examples/freertos_plus_tcp/z_sub_st.c

@@ -14,6 +14,7 @@
 
 #include <zenoh-pico.h>
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 #define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
 #if CLIENT_OR_PEER == 0
 #define MODE "client"
@@ -35,7 +36,7 @@ void data_handler(const z_sample_t *sample, void *ctx) {
     z_drop(z_move(keystr));
 }
 
-void app_main() {
+void app_main(void) {
     z_owned_config_t config = z_config_default();
     zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
     if (strcmp(CONNECT, "") != 0) {
@@ -67,3 +68,8 @@ void app_main() {
 
     z_close(z_move(s));
 }
+#else
+void app_main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
+}
+#endif

examples/mbed/z_get.cpp

@@ -98,6 +98,6 @@ 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");
-    return -1;
+    return -2;
 }
 #endif

examples/mbed/z_pub.cpp

@@ -89,6 +89,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif

examples/mbed/z_pull.cpp

@@ -95,6 +95,6 @@ int main(int argc, char **argv) {
 #else
 int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
-    return -1;
+    return -2;
 }
 #endif