Cleanup, formatting, comments

examples/rpi_pico_w/main.c

@@ -1,9 +1,24 @@
+//
+// 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]>
+//
+
 #include "FreeRTOS.h"
 #include "pico/cyw43_arch.h"
 #include "pico/stdlib.h"
 #include "task.h"
 
-#define TEST_TASK_PRIORITY (tskIDLE_PRIORITY + 2UL)
+#define TASK_PRIORITY (tskIDLE_PRIORITY + 2UL)
+#define WIFI_TIMEOUT 30000
 
 int app_main();
 
@@ -18,15 +33,16 @@ void print_ip_address() {
     }
 }
 
-void main_task(__unused void *params) {
+void main_task(void *params) {
+    (void)params;
     if (cyw43_arch_init()) {
         printf("Failed to initialise\n");
         return;
     }
 
     cyw43_arch_enable_sta_mode();
     printf("Connecting to Wi-Fi...\n");
-    if (cyw43_arch_wifi_connect_timeout_ms(WIFI_SSID, WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000) == 0) {
+    if (cyw43_arch_wifi_connect_timeout_ms(WIFI_SSID, WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, WIFI_TIMEOUT) == 0) {
         printf("Wi-Fi connected.\n");
         print_ip_address();
         app_main();
@@ -44,7 +60,7 @@ void main_task(__unused void *params) {
 int main(void) {
     stdio_init_all();
 
-    xTaskCreate(main_task, "TestMainThread", configMINIMAL_STACK_SIZE * 16, NULL, TEST_TASK_PRIORITY, NULL);
+    xTaskCreate(main_task, "MainThread", configMINIMAL_STACK_SIZE * 16, NULL, TASK_PRIORITY, NULL);
 
     vTaskStartScheduler();
 

examples/rpi_pico_w/z_sub_thr.c

@@ -11,6 +11,7 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
 //
+
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>

include/zenoh-pico/system/platform/rpi_pico_w.h

@@ -10,6 +10,7 @@
 //
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
+//
 
 #ifndef ZENOH_PICO_SYSTEM_RPI_PICO_W_TYPES_H
 #define ZENOH_PICO_SYSTEM_RPI_PICO_W_TYPES_H
@@ -28,11 +29,6 @@ typedef struct {
     const char *name;
     UBaseType_t priority;
     size_t stack_depth;
-#if (configSUPPORT_STATIC_ALLOCATION == 1)
-    bool static_allocation;
-    StackType_t *stack_buffer;
-    StaticTask_t *task_buffer;
-#endif /* SUPPORT_STATIC_ALLOCATION */
 } z_task_attr_t;
 
 typedef struct {

src/system/rpi_pico_w/network.c

@@ -10,6 +10,7 @@
 //
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
+//
 
 #include <stdlib.h>
 
@@ -33,7 +34,7 @@ z_result_t _z_create_endpoint_tcp(_z_sys_net_endpoint_t *ep, const char *s_addre
 
     struct addrinfo hints;
     (void)memset(&hints, 0, sizeof(hints));
-    hints.ai_family = PF_UNSPEC;  // Allow IPv4 or IPv6
+    hints.ai_family = PF_UNSPEC;
     hints.ai_socktype = SOCK_STREAM;
     hints.ai_flags = 0;
     hints.ai_protocol = IPPROTO_TCP;
@@ -42,7 +43,6 @@ z_result_t _z_create_endpoint_tcp(_z_sys_net_endpoint_t *ep, const char *s_addre
         ret = _Z_ERR_GENERIC;
     }
 
-    _Z_DEBUG("_z_create_endpoint_tcp: %s:%s -> %li", s_address, s_port, ep->_iptcp->ai_addrlen);
     return ret;
 }
 

src/system/rpi_pico_w/system.c

@@ -70,11 +70,6 @@ static z_task_attr_t z_default_task_attr = {
     .name = "",
     .priority = configMAX_PRIORITIES / 2,
     .stack_depth = 5120,
-#if (configSUPPORT_STATIC_ALLOCATION == 1)
-    .static_allocation = false,
-    .stack_buffer = NULL,
-    .task_buffer = NULL,
-#endif /* SUPPORT_STATIC_ALLOCATION */
 };
 
 /*------------------ Thread ------------------*/
@@ -92,22 +87,9 @@ z_result_t _z_task_init(_z_task_t *task, z_task_attr_t *attr, void *(*fun)(void
         attr = &z_default_task_attr;
     }
 
-#if (configSUPPORT_STATIC_ALLOCATION == 1)
-    if (attr->static_allocation) {
-        task->handle = xTaskCreateStatic(z_task_wrapper, attr->name, attr->stack_depth, z_arg, attr->priority,
-                                         attr->stack_buffer, attr->task_buffer);
-        if (task->handle == NULL) {
-            return -1;
-        }
-    } else {
-#endif /* SUPPORT_STATIC_ALLOCATION */
-        if (xTaskCreate(z_task_wrapper, attr->name, attr->stack_depth, z_arg, attr->priority, &task->handle) !=
-            pdPASS) {
-            return -1;
-        }
-#if (configSUPPORT_STATIC_ALLOCATION == 1)
+    if (xTaskCreate(z_task_wrapper, attr->name, attr->stack_depth, z_arg, attr->priority, &task->handle) != pdPASS) {
+        return -1;
     }
-#endif /* SUPPORT_STATIC_ALLOCATION */
 
     return 0;
 }