Fix CI failures

.github/workflows/arduino_esp32.yaml

@@ -51,7 +51,7 @@ jobs:
 
           mkdir -p $ARDUINO_BASE
           cd $ARDUINO_BASE
-          platformio init -b esp32thing_plus --project-option="build_flags=-DZ_FEATURE_LINK_BLUETOOTH=1 -DZENOH_DEBUG=3 -DZENOH_COMPILER_GCC"
+          platformio init -b esp32thing_plus -O "build_flags=-DZ_FEATURE_LINK_BLUETOOTH=1 -DZENOH_DEBUG=3 -DZENOH_COMPILER_GCC" -O "lib_ldf_mode=deep+"
 
           cd $ARDUINO_BASE/lib
           ln -s $ZENOH_PICO_BASE

.github/workflows/build-check.yaml

@@ -54,7 +54,25 @@ jobs:
           sudo apt install -y ninja-build
           FORCE_C99=ON CMAKE_GENERATOR=Ninja make
 
+  zenoh_build:
+    name: Build Zenoh from source
+    runs-on: ubuntu-latest
+    outputs:
+      artifact-name: ${{ steps.main.outputs.artifact-name }}
+    steps:
+      - id: main
+        name: Build Zenoh
+        uses: eclipse-zenoh/ci/build-crates-standalone@main
+        with:
+          repo: eclipse-zenoh/zenoh
+          branch: interests
+          artifact-patterns: |
+            ^zenohd$
+            ^libzenoh_plugin_rest.so$
+            ^libzenoh_plugin_storage_manager.so$
+
   modular_build:
+    needs: zenoh_build
     name: Modular build on ubuntu-latest
     runs-on: ubuntu-latest
     strategy:
@@ -67,8 +85,19 @@ jobs:
       - name: Checkout code
         uses: actions/checkout@v4
 
-      - name: Run docker image
-        run: docker run --name zenoh_router --init --net host -d eclipse/zenoh:latest
+      - name: Download Zenoh artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ needs.zenoh_build.outputs.artifact-name }}
+
+      - name: Unzip Zenoh artifacts
+        run: unzip ${{ needs.zenoh_build.outputs.artifact-name }} -d zenoh-standalone
+
+      - id: run-zenoh
+        name: Run Zenoh router
+        run: |
+          RUST_LOG=debug ./zenoh-standalone/zenohd &
+          echo "zenohd-pid=$!" >> $GITHUB_OUTPUT
 
       - name: Build project
         run: |
@@ -82,11 +111,9 @@ jobs:
           Z_FEATURE_QUERYABLE: ${{ matrix.feature_queryable }}
           Z_FEATURE_QUERY: ${{ matrix.feature_query }}
 
-      - name: Stop docker image
+      - name: Kill Zenoh router
         if: always()
-        run: |
-          docker stop zenoh_router
-          docker rm zenoh_router
+        run: kill ${{ steps.run-zenoh.outputs.zenohd-pid }}
 
   raweth_build:
     name: Build and test raweth transport on ubuntu-latest
@@ -108,14 +135,26 @@ jobs:
           Z_FEATURE_RAWETH_TRANSPORT: ${{ matrix.feature_reth }}
 
   st_build:
+    needs: zenoh_build
     name: Build and test in single thread on ubuntu-latest
     runs-on: ubuntu-latest
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
 
-      - name: Run docker image
-        run: docker run --name zenoh_router --init --net host -d eclipse/zenoh:latest
+      - name: Download Zenoh artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ needs.zenoh_build.outputs.artifact-name }}
+
+      - name: Unzip Zenoh artifacts
+        run: unzip ${{ needs.zenoh_build.outputs.artifact-name }} -d zenoh-standalone
+
+      - id: run-zenoh
+        name: Run Zenoh router
+        run: |
+          RUST_LOG=debug ./zenoh-standalone/zenohd &
+          echo "zenohd-pid=$!" >> $GITHUB_OUTPUT
 
       - name: Build project and run test
         run: |
@@ -126,21 +165,31 @@ jobs:
         env:
           Z_FEATURE_MULTI_THREAD: 0
 
-      - name: Stop docker image
+      - name: Kill Zenoh router
         if: always()
-        run: |
-          docker stop zenoh_router
-          docker rm zenoh_router
+        run: kill ${{ steps.run-zenoh.outputs.zenohd-pid }}
 
   fragment_test:
+    needs: zenoh_build
     name: Test multicast and unicast fragmentation
     runs-on: ubuntu-latest
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
 
-      - name: Run docker image
-        run: docker run --name zenoh_router --init --net host -d eclipse/zenoh:latest
+      - name: Download Zenoh artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ needs.zenoh_build.outputs.artifact-name }}
+
+      - name: Unzip Zenoh artifacts
+        run: unzip ${{ needs.zenoh_build.outputs.artifact-name }} -d zenoh-standalone
+
+      - id: run-zenoh
+        name: Run Zenoh router
+        run: |
+          RUST_LOG=debug ./zenoh-standalone/zenohd &
+          echo "zenohd-pid=$!" >> $GITHUB_OUTPUT
 
       - name: Build project and run test
         run: |
@@ -150,8 +199,6 @@ jobs:
           python3 ./build/tests/fragment.py
         timeout-minutes: 5
 
-      - name: Stop docker image
+      - name: Kill Zenoh router
         if: always()
-        run: |
-          docker stop zenoh_router
-          docker rm zenoh_router
+        run: kill ${{ steps.run-zenoh.outputs.zenohd-pid }}

CMakeLists.txt

@@ -218,6 +218,7 @@ target_include_directories(${Libname} PUBLIC ${PROJECT_SOURCE_DIR}/include)
 file(GLOB_RECURSE Sources
   "src/api/*.c"
   "src/collections/*.c"
+  "src/deprecated/*.c"
   "src/link/*.c"
   "src/net/*.c"
   "src/protocol/*.c"

GNUmakefile

@@ -57,7 +57,7 @@ Z_FEATURE_SUBSCRIPTION?=1
 Z_FEATURE_QUERY?=1
 Z_FEATURE_QUERYABLE?=1
 Z_FEATURE_ATTACHMENT?=1
-Z_FEATURE_INTEREST?=0
+Z_FEATURE_INTEREST?=1
 Z_FEATURE_RAWETH_TRANSPORT?=0
 
 # zenoh-pico/ directory

README.md

@@ -336,15 +336,15 @@ The simplest way to run some of the example is to get a Docker image of the **ze
 ### 3.1. Starting the Zenoh Router
 Assuming you've pulled the Docker image of the **zenoh** router on a Linux host (to leverage UDP multicast scouting as explained [here](https://zenoh.io/docs/getting-started/quick-test/#run-zenoh-router-in-a-docker-container), then simply do:
 ```bash
-$ docker run --init --net host eclipse/zenoh:master
+$ docker run --init --net host eclipse/zenoh:main
 ```
 
 To see the zenoh manual page, simply do:
 ```bash
-$ docker run --init --net host eclipse/zenoh:master --help
+$ docker run --init --net host eclipse/zenoh:main --help
 ```
 
-:warning: **Please notice that the `--net host` option in Docker is restricted to Linux only.**  
+:warning: **Please notice that the `--net host` option in Docker is restricted to Linux only.**
 The cause is that Docker doesn't support UDP multicast between a container and its host (see cases [moby/moby#23659](https://github.com/moby/moby/issues/23659), [moby/libnetwork#2397](https://github.com/moby/libnetwork/issues/2397) or [moby/libnetwork#552](https://github.com/moby/libnetwork/issues/552)). The only known way to make it work is to use the `--net host` option that is [only supported on Linux hosts](https://docs.docker.com/network/host/).
 
 ### 3.2. Basic Pub/Sub Example
@@ -385,7 +385,7 @@ where `lo0` is the network interface you want to use for multicast communication
 ### 3.4. Basic Pub/Sub Example - Mixing Client and P2P communication
 To allow Zenoh-Pico unicast clients to talk to Zenoh-Pico multicast peers, as well as with any other Zenoh client/peer, you need to start a Zenoh Router that listens on both multicast and unicast: 
 ```bash
-$ docker run --init --net host eclipse/zenoh:master -l udp/224.0.0.123:7447#iface=lo0 -l tcp/127.0.0.1:7447
+$ docker run --init --net host eclipse/zenoh:main -l udp/224.0.0.123:7447#iface=lo0 -l tcp/127.0.0.1:7447
 ```
 
 Assuming that (1) you are running the **zenoh** router as indicated above, and (2) you are under the build directory, do:

docs/api.rst

@@ -31,7 +31,6 @@ Enums
 .. autocenum:: constants.h::z_reply_tag_t
 .. autocenum:: constants.h::z_congestion_control_t
 .. autocenum:: constants.h::z_priority_t
-.. autocenum:: constants.h::z_submode_t
 .. autocenum:: constants.h::z_query_target_t
 
 Data Structures
@@ -45,13 +44,11 @@ Data Structures
 .. autoctype:: types.h::z_config_t
 .. autoctype:: types.h::z_session_t
 .. autoctype:: types.h::z_subscriber_t
-.. autoctype:: types.h::z_pull_subscriber_t
 .. autoctype:: types.h::z_publisher_t
 .. autoctype:: types.h::z_queryable_t
 .. autoctype:: types.h::z_encoding_t
 .. autoctype:: types.h::z_value_t
 .. autoctype:: types.h::z_subscriber_options_t
-.. autoctype:: types.h::z_pull_subscriber_options_t
 .. autoctype:: types.h::z_query_consolidation_t
 .. autoctype:: types.h::z_publisher_options_t
 .. autoctype:: types.h::z_queryable_options_t
@@ -118,10 +115,6 @@ To check if ``val`` is still valid, you may use ``z_X_check(&val)`` or ``z_check
 
   A zenoh-allocated :c:type:`z_subscriber_t`.
 
-.. c:type:: z_owned_pull_subscriber_t
-
-  A zenoh-allocated :c:type:`z_pull_subscriber_t`.
-
 .. c:type:: z_owned_publisher_t
 
   A zenoh-allocated :c:type:`z_publisher_t`.
@@ -239,10 +232,6 @@ Primitives
 .. autocfunction:: primitives.h::z_subscriber_options_default
 .. autocfunction:: primitives.h::z_declare_subscriber
 .. autocfunction:: primitives.h::z_undeclare_subscriber
-.. autocfunction:: primitives.h::z_pull_subscriber_options_default
-.. autocfunction:: primitives.h::z_declare_pull_subscriber
-.. autocfunction:: primitives.h::z_undeclare_pull_subscriber
-.. autocfunction:: primitives.h::z_subscriber_pull
 .. autocfunction:: primitives.h::z_queryable_options_default
 .. autocfunction:: primitives.h::z_declare_queryable
 .. autocfunction:: primitives.h::z_undeclare_queryable

docs/requirements.txt

@@ -1,4 +1,4 @@
-sphinx==4.5.0
-sphinx_c_autodoc
-sphinx_rtd_theme
-clang==14
+sphinx==7.2.6
+sphinx_c_autodoc==1.3.0
+sphinx_rtd_theme==2.0.0
+clang==14.0

examples/arduino/z_pub.ino

@@ -94,6 +94,7 @@ void setup() {
 }
 
 void loop() {
+    delay(1000);
     char buf[256];
     sprintf(buf, "[%4d] %s", idx++, VALUE);
     Serial.print("Writing Data ('");
@@ -105,8 +106,6 @@ void loop() {
     if (z_publisher_put(z_publisher_loan(&pub), (const uint8_t *)buf, strlen(buf), NULL) < 0) {
         Serial.println("Error while publishing data");
     }
-
-    delay(1000);
 }
 #else
 void setup() {

examples/arduino/z_queryable.ino

@@ -106,7 +106,7 @@ void setup() {
     delay(300);
 }
 
-void loop() { delay(5000); }
+void loop() { delay(1000); }
 
 #else
 void setup() {

examples/arduino/z_sub.ino

@@ -104,7 +104,7 @@ void setup() {
     delay(300);
 }
 
-void loop() { delay(5000); }
+void loop() { delay(1000); }
 
 #else
 void setup() {

examples/espidf/z_queryable.c

@@ -159,7 +159,7 @@ void app_main() {
     printf("Zenoh setup finished!\n");
 
     while (1) {
-        sleep(5);
+        sleep(1);
     }
 
     printf("Closing Zenoh Session...");

examples/espidf/z_sub.c

@@ -154,7 +154,7 @@ void app_main() {
     printf("OK!\n");
 
     while (1) {
-        sleep(5);
+        sleep(1);
     }
 
     printf("Closing Zenoh Session...");

examples/freertos_plus_tcp/z_get.c

@@ -76,7 +76,7 @@ void app_main(void) {
     }
 
     while (1) {
-        zp_sleep_s(5);
+        z_sleep_s(5);
         printf("Sending Query '%s'...\n", KEYEXPR);
         z_get_options_t opts = z_get_options_default();
         if (strcmp(VALUE, "") != 0) {

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;
 
-    zp_task_attr_t read_task_attr = {
+    z_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;
 
-    zp_task_attr_t lease_task_attr = {
+    z_task_attr_t lease_task_attr = {
         .name = "ZenohLeaseTask",
         .priority = 10,
         .stack_depth = 1000,
@@ -89,7 +89,7 @@ void app_main(void) {
 
     char *buf = (char *)pvPortMalloc(256);
     for (int idx = 0; 1; ++idx) {
-        zp_sleep_s(1);
+        z_sleep_s(1);
         snprintf(buf, 256, "[%4d] %s", idx, VALUE);
         printf("Putting Data ('%s': '%s')...\n", KEYEXPR, buf);
 

examples/freertos_plus_tcp/z_pub_st.c

@@ -30,6 +30,7 @@
 
 #define KEYEXPR "demo/example/zenoh-pico-pub"
 #define VALUE "[FreeRTOS-Plus-TCP] Pub from Zenoh-Pico!"
+#define N 2147483647  // max int value by default
 
 void app_main(void) {
     z_owned_config_t config = z_config_default();
@@ -53,15 +54,15 @@ void app_main(void) {
     }
 
     char *buf = (char *)pvPortMalloc(256);
-    zp_clock_t now = zp_clock_now();
-    for (int idx = 0; 1;) {
-        if (zp_clock_elapsed_ms(&now) > 1000) {
+    z_clock_t now = z_clock_now();
+    for (int idx = 0; idx < N;) {
+        if (z_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 = zp_clock_now();
+            now = z_clock_now();
         }
 
         zp_read(z_loan(s), NULL);

examples/freertos_plus_tcp/z_pull.c

@@ -69,7 +69,7 @@ void app_main(void) {
     // }
 
     // while (1) {
-    //     zp_sleep_s(5);
+    //     z_sleep_s(5);
     //     printf("Pulling data from '%s'...\n", KEYEXPR);
     //     z_subscriber_pull(z_loan(sub));
     // }

examples/freertos_plus_tcp/z_put.c

@@ -68,7 +68,7 @@ void app_main(void) {
     }
 
     while (1) {
-        zp_sleep_s(1);
+        z_sleep_s(1);
     }
 
     // Clean up

examples/freertos_plus_tcp/z_queryable.c

@@ -80,7 +80,7 @@ void app_main(void) {
     }
 
     while (1) {
-        zp_sleep_s(5);
+        z_sleep_s(1);
     }
 
     z_undeclare_queryable(z_move(qable));

examples/freertos_plus_tcp/z_sub.c

@@ -66,7 +66,7 @@ void app_main(void) {
     }
 
     while (1) {
-        zp_sleep_s(5);
+        z_sleep_s(1);
     }
 
     z_undeclare_subscriber(z_move(sub));