From 145986dbc3c3563de2170daadf2df950ba82a3c6 Mon Sep 17 00:00:00 2001
From: Alexander Bushnev <Alexander@Bushnev.pro>
Date: Mon, 2 Dec 2024 18:33:36 +0100
Subject: [PATCH] Add cmake configurations, fix bugs

---
 examples/rpi_pico_w/CMakeLists.txt            | 30 ++++++++++++++-----
 examples/rpi_pico_w/main.c                    |  2 --
 extra_script.py                               |  5 ++++
 .../zenoh-pico/system/platform/rpi_pico_w.h   |  6 ++--
 src/system/rpi_pico_w/network.c               |  4 ---
 5 files changed, 30 insertions(+), 17 deletions(-)

diff --git a/examples/rpi_pico_w/CMakeLists.txt b/examples/rpi_pico_w/CMakeLists.txt
index 5c5517825..fc5995db2 100644
--- a/examples/rpi_pico_w/CMakeLists.txt
+++ b/examples/rpi_pico_w/CMakeLists.txt
@@ -1,5 +1,24 @@
 cmake_minimum_required(VERSION 3.13)
 
+# Set options
+set(WIFI_SSID "" CACHE STRING "WiFi SSID")
+set(WIFI_PASSWORD "" CACHE STRING "WiFi Password")
+
+set(ZENOH_CONFIG_MODE "client" CACHE STRING "ZENOH_CONFIG_MODE")
+set(ZENOH_CONFIG_CONNECT CACHE STRING "ZENOH_CONFIG_CONNECT")
+set(ZENOH_CONFIG_LISTEN CACHE STRING "ZENOH_CONFIG_LISTEN")
+
+message(STATUS "WIFI_SSID: ${WIFI_SSID}")
+if(WIFI_PASSWORD STREQUAL "")
+    message(STATUS "WIFI_PASSWORD is empty")
+else()
+    message(STATUS "WIFI_PASSWORD is set")
+endif()
+
+message(STATUS "ZENOH_CONFIG_MODE: ${ZENOH_CONFIG_MODE}")
+message(STATUS "ZENOH_CONFIG_CONNECT: ${ZENOH_CONFIG_CONNECT}")
+message(STATUS "ZENOH_CONFIG_LISTEN: ${ZENOH_CONFIG_LISTEN}")
+
 set(CMAKE_C_STANDARD 11)
 
 # Include Raspberry Pico SDK
@@ -12,13 +31,6 @@ include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
 # Include FreeRTOS SDK
 include(FreeRTOS_Kernel_import.cmake)
 
-# Ignore warnings from FreeRTOS code
-set_source_files_properties(
-    ${FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040/include/portmacro.h
-    PROPERTIES
-    COMPILE_OPTIONS "-Wno-strict-prototypes"
-)
-
 # Configure project
 project(zenohpico_rpi_pico_w_examples C CXX ASM)
 
@@ -55,7 +67,9 @@ target_include_directories(zenohpico_static PRIVATE
 target_compile_definitions(zenohpico_rpi_pico_w_examples PRIVATE
 	WIFI_SSID=\"${WIFI_SSID}\"
 	WIFI_PASSWORD=\"${WIFI_PASSWORD}\"
-	CYW43_TASK_STACK_SIZE=4096
+	ZENOH_CONFIG_MODE=\"${ZENOH_CONFIG_MODE}\"
+	ZENOH_CONFIG_CONNECT=\"${ZENOH_CONFIG_CONNECT}\"
+	ZENOH_CONFIG_LISTEN=\"${ZENOH_CONFIG_LISTEN}\"
 )
 target_include_directories(zenohpico_rpi_pico_w_examples PRIVATE 
 	${CMAKE_CURRENT_LIST_DIR}
diff --git a/examples/rpi_pico_w/main.c b/examples/rpi_pico_w/main.c
index 287cbe7cb..7a36ca6b5 100644
--- a/examples/rpi_pico_w/main.c
+++ b/examples/rpi_pico_w/main.c
@@ -28,13 +28,11 @@ void main_task(__unused void *params) {
         printf("Connected.\n");
     }
 
-    // cyw43_arch_lwip_begin();
 
     app_main();
 
     printf("Terminate.\n");
 
-    // cyw43_arch_lwip_end();
 
     cyw43_arch_deinit();
 
diff --git a/extra_script.py b/extra_script.py
index dc4332e65..1e519cb3e 100644
--- a/extra_script.py
+++ b/extra_script.py
@@ -26,6 +26,7 @@
                   "-<system/emscripten/>",
                   "-<system/espidf/>",
                   "-<system/freertos_plus_tcp/>",
+                  "-<system/rpi_pico_w/>",
                   "-<system/mbed/>",
                   "-<system/unix/>",
                   "-<system/flipper/>",
@@ -42,6 +43,7 @@
                       "-<system/emscripten/>",
                       "-<system/espidf>",
                       "-<system/freertos_plus_tcp/>",
+                      "-<system/rpi_pico_w/>",
                       "-<system/mbed/>",
                       "-<system/unix/>",
                       "-<system/flipper/>",
@@ -58,6 +60,7 @@
                           "-<system/emscripten/>",
                           "-<system/espidf>",
                           "-<system/freertos_plus_tcp/>",
+                          "-<system/rpi_pico_w/>",
                           "-<system/mbed/>",
                           "-<system/unix/>",
                           "-<system/flipper/>",
@@ -72,6 +75,7 @@
                   "-<system/arduino/>",
                   "-<system/emscripten/>",
                   "-<system/freertos_plus_tcp/>",
+                  "-<system/rpi_pico_w/>",
                   "-<system/mbed/>",
                   "-<system/unix/>",
                   "-<system/flipper/>",
@@ -87,6 +91,7 @@
                   "-<system/emscripten/>",
                   "-<system/espidf/>",
                   "-<system/freertos_plus_tcp/>",
+                  "-<system/rpi_pico_w/>",
                   "-<system/unix/>",
                   "-<system/flipper/>",
                   "-<system/windows/>",
diff --git a/include/zenoh-pico/system/platform/rpi_pico_w.h b/include/zenoh-pico/system/platform/rpi_pico_w.h
index 4a50bd6b6..4a149d74b 100644
--- a/include/zenoh-pico/system/platform/rpi_pico_w.h
+++ b/include/zenoh-pico/system/platform/rpi_pico_w.h
@@ -11,8 +11,8 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 
-#ifndef ZENOH_PICO_SYSTEM_FREERTOS_PLUS_TCP_TYPES_H
-#define ZENOH_PICO_SYSTEM_FREERTOS_PLUS_TCP_TYPES_H
+#ifndef ZENOH_PICO_SYSTEM_RPI_PICO_W_TYPES_H
+#define ZENOH_PICO_SYSTEM_RPI_PICO_W_TYPES_H
 
 #include "FreeRTOS.h"
 #include "event_groups.h"
@@ -71,4 +71,4 @@ typedef struct {
 }
 #endif
 
-#endif
+#endif  // ZENOH_PICO_SYSTEM_RPI_PICO_W_TYPES_H
diff --git a/src/system/rpi_pico_w/network.c b/src/system/rpi_pico_w/network.c
index 2eccea503..1f45443aa 100644
--- a/src/system/rpi_pico_w/network.c
+++ b/src/system/rpi_pico_w/network.c
@@ -146,11 +146,7 @@ size_t _z_read_exact_tcp(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t le
 }
 
 size_t _z_send_tcp(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t len) {
-#if defined(ZENOH_LINUX)
-    return (size_t)send(sock._fd, ptr, len, MSG_NOSIGNAL);
-#else
     return send(sock._fd, ptr, len, 0);
-#endif
 }
 #endif