Restore single thread compilation

.github/workflows/build-check.yaml

@@ -95,6 +95,31 @@ jobs:
         env:
           Z_FEATURE_RAWETH_TRANSPORT: ${{ matrix.feature_reth }}
 
+  st_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: Build project and run test
+        run: |
+          sudo apt install -y ninja-build
+          CMAKE_GENERATOR=Ninja make
+          python3 ./build/tests/single_thread.py
+        timeout-minutes: 5
+        env:
+          Z_FEATURE_MULTI_THREAD: 0  
+
+      - name: Stop docker image
+        if: always()
+        run: |
+           docker stop zenoh_router
+           docker rm zenoh_router
+
   fragment_test:
     name: Test multicast and unicast fragmentation
     runs-on: ubuntu-latest

CMakeLists.txt

@@ -112,17 +112,20 @@ if (BATCH_UNICAST_SIZE)
 endif()
 
 # Zenoh pico feature configuration options
+set(Z_FEATURE_MULTI_THREAD 1 CACHE STRING "Toggle multithread feature")
 set(Z_FEATURE_PUBLICATION 1 CACHE STRING "Toggle publication feature")
 set(Z_FEATURE_SUBSCRIPTION 1 CACHE STRING "Toggle subscription feature")
 set(Z_FEATURE_QUERY 1 CACHE STRING "Toggle query feature")
 set(Z_FEATURE_QUERYABLE 1 CACHE STRING "Toggle queryable feature")
 set(Z_FEATURE_RAWETH_TRANSPORT 0 CACHE STRING "Toggle raw ethernet transport feature")
+add_definition(Z_FEATURE_MULTI_THREAD=${Z_FEATURE_MULTI_THREAD})
 add_definition(Z_FEATURE_PUBLICATION=${Z_FEATURE_PUBLICATION})
 add_definition(Z_FEATURE_SUBSCRIPTION=${Z_FEATURE_SUBSCRIPTION})
 add_definition(Z_FEATURE_QUERY=${Z_FEATURE_QUERY})
 add_definition(Z_FEATURE_QUERYABLE=${Z_FEATURE_QUERYABLE})
 add_definition(Z_FEATURE_RAWETH_TRANSPORT=${Z_FEATURE_RAWETH_TRANSPORT})
 message(STATUS "Building with feature confing:\n\
+* MULTI-THREAD: ${Z_FEATURE_MULTI_THREAD}\n\
 * PUBLICATION: ${Z_FEATURE_PUBLICATION}\n\
 * SUBSCRIPTION: ${Z_FEATURE_SUBSCRIPTION}\n\
 * QUERY: ${Z_FEATURE_QUERY}\n\
@@ -328,6 +331,7 @@ if(UNIX OR MSVC)
     configure_file(${PROJECT_SOURCE_DIR}/tests/modularity.py ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/modularity.py COPYONLY)
     configure_file(${PROJECT_SOURCE_DIR}/tests/raweth.py ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/raweth.py COPYONLY)
     configure_file(${PROJECT_SOURCE_DIR}/tests/fragment.py ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/fragment.py COPYONLY)
+    configure_file(${PROJECT_SOURCE_DIR}/tests/single_thread.py ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/single_thread.py COPYONLY)
 
     enable_testing()
     add_test(z_data_struct_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_data_struct_test)

GNUmakefile

@@ -47,6 +47,7 @@ ZENOH_DEBUG?=0
 
 # Feature config toggle
 # Accepted values: 0, 1
+Z_FEATURE_MULTI_THREAD?=1
 Z_FEATURE_PUBLICATION?=1
 Z_FEATURE_SUBSCRIPTION?=1
 Z_FEATURE_QUERY?=1
@@ -67,6 +68,7 @@ CROSSIMG_PREFIX=zenoh-pico_
 # - 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=$(BUILD_MULTICAST)\
+ -DZ_FEATURE_MULTI_THREAD=$(Z_FEATURE_MULTI_THREAD) \
  -DZ_FEATURE_PUBLICATION=$(Z_FEATURE_PUBLICATION) -DZ_FEATURE_SUBSCRIPTION=$(Z_FEATURE_SUBSCRIPTION) -DZ_FEATURE_QUERY=$(Z_FEATURE_QUERY) -DZ_FEATURE_QUERYABLE=$(Z_FEATURE_QUERYABLE)\
  -DZ_FEATURE_RAWETH_TRANSPORT=$(Z_FEATURE_RAWETH_TRANSPORT) -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
 

examples/unix/c11/z_ping.c

@@ -21,7 +21,7 @@
 #include "zenoh-pico.h"
 #include "zenoh-pico/system/platform.h"
 
-#if Z_FEATURE_SUBSCRIPTION == 1 && Z_FEATURE_PUBLICATION == 1
+#if Z_FEATURE_SUBSCRIPTION == 1 && Z_FEATURE_PUBLICATION == 1 && Z_FEATURE_MULTI_THREAD == 1
 
 #define DEFAULT_PKT_SIZE 8
 #define DEFAULT_PING_NB 100
@@ -175,8 +175,8 @@
 #else
 int main(void) {
     printf(
-        "ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION or Z_FEATURE_PUBLICATION but this example "
-        "requires them.\n");
+        "ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION or Z_FEATURE_PUBLICATION or "
+        "Z_FEATURE_MULTI_THREAD but this example requires them.\n");
     return -2;
 }
 #endif

examples/unix/c11/z_pub.c

@@ -54,7 +54,8 @@
                 n = atoi(optarg);
                 break;
             case '?':
-                if (optopt == 'k' || optopt == 'v' || optopt == 'e' || optopt == 'm' || optopt == 'l') {
+                if (optopt == 'k' || optopt == 'v' || optopt == 'e' || optopt == 'm' || optopt == 'l' ||
+                    optopt == 'n') {
                     fprintf(stderr, "Option -%c requires an argument.\n", optopt);
                 } else {
                     fprintf(stderr, "Unknown option `-%c'.\n", optopt);
@@ -97,7 +98,6 @@
     for (int idx = 0; idx < n; ++idx) {
         sleep(1);
         (void)idx;
-        // snprintf(buf, 256, "[%4d] %s", idx, value);
         printf("Putting Data ('%s': '%s')...\n", keyexpr, value);
 
         z_publisher_put_options_t options = z_publisher_put_options_default();

examples/unix/c11/z_pub_st.c

@@ -22,13 +22,15 @@
 #if Z_FEATURE_PUBLICATION == 1
 int main(int argc, char **argv) {
     const char *keyexpr = "demo/example/zenoh-pico-pub";
-    const char *value = "Pub from Pico!";
+    char *const default_value = "Pub from Pico!";
+    const char *value = default_value;
     const char *mode = "client";
     char *clocator = NULL;
     char *llocator = NULL;
+    int n = 10;
 
     int opt;
-    while ((opt = getopt(argc, argv, "k:v:e:m:l:")) != -1) {
+    while ((opt = getopt(argc, argv, "k:v:e:m:l:n:")) != -1) {
         switch (opt) {
             case 'k':
                 keyexpr = optarg;
@@ -45,8 +47,12 @@
             case 'l':
                 llocator = optarg;
                 break;
+            case 'n':
+                n = atoi(optarg);
+                break;
             case '?':
-                if (optopt == 'k' || optopt == 'v' || optopt == 'e' || optopt == 'm' || optopt == 'l') {
+                if (optopt == 'k' || optopt == 'v' || optopt == 'e' || optopt == 'm' || optopt == 'l' ||
+                    optopt == 'n') {
                     fprintf(stderr, "Option -%c requires an argument.\n", optopt);
                 } else {
                     fprintf(stderr, "Unknown option `-%c'.\n", optopt);
@@ -79,29 +85,19 @@
         printf("Unable to declare publisher for key expression!\n");
         return -1;
     }
-
-    char *buf = (char *)malloc(256);
-    z_clock_t now = z_clock_now();
-    for (int idx = 0; 1;) {
-        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 = z_clock_now();
-        }
+    // Main loop
+    for (int idx = 0; idx < n; idx++) {
+        sleep(1);
+        (void)idx;
+        printf("Putting Data ('%s': '%s')...\n", keyexpr, value);
+        z_publisher_put(z_loan(pub), (const uint8_t *)value, strlen(value), NULL);
 
         zp_read(z_loan(s), NULL);
         zp_send_keep_alive(z_loan(s), NULL);
         zp_send_join(z_loan(s), NULL);
     }
-
     z_undeclare_publisher(z_move(pub));
-
     z_close(z_move(s));
-
-    free(buf);
     return 0;
 }
 #else

examples/unix/c11/z_sub_st.c

@@ -20,22 +20,27 @@
 #include <zenoh-pico.h>
 
 #if Z_FEATURE_SUBSCRIPTION == 1
+
+static int msg_nb = 0;
+
 void data_handler(const z_sample_t *sample, void *ctx) {
     (void)(ctx);
     z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
     printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
            sample->payload.start);
     z_drop(z_move(keystr));
+    msg_nb++;
 }
 
 int main(int argc, char **argv) {
     const char *keyexpr = "demo/example/**";
     const char *mode = "client";
     char *clocator = NULL;
     char *llocator = NULL;
+    int n = -1;
 
     int opt;
-    while ((opt = getopt(argc, argv, "k:e:m:l:")) != -1) {
+    while ((opt = getopt(argc, argv, "k:e:m:l:n:")) != -1) {
         switch (opt) {
             case 'k':
                 keyexpr = optarg;
@@ -49,8 +54,11 @@
             case 'l':
                 llocator = optarg;
                 break;
+            case 'n':
+                n = atoi(optarg);
+                break;
             case '?':
-                if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'l') {
+                if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'l' || optopt == 'n') {
                     fprintf(stderr, "Option -%c requires an argument.\n", optopt);
                 } else {
                     fprintf(stderr, "Unknown option `-%c'.\n", optopt);
@@ -85,16 +93,13 @@
         return -1;
     }
 
-    while (1) {
+    while (msg_nb != n) {
         zp_read(z_loan(s), NULL);
         zp_send_keep_alive(z_loan(s), NULL);
         zp_send_join(z_loan(s), NULL);
     }
-
     z_undeclare_subscriber(z_move(sub));
-
     z_close(z_move(s));
-
     return 0;
 }
 #else

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

@@ -15,12 +15,13 @@
 #ifndef ZENOH_PICO_SYSTEM_WASM_TYPES_H
 #define ZENOH_PICO_SYSTEM_WASM_TYPES_H
 
-#include <pthread.h>
 #include <stdint.h>
 
 #include "zenoh-pico/config.h"
 
 #if Z_FEATURE_MULTI_THREAD == 1
+#include <pthread.h>
+
 typedef pthread_t _z_task_t;
 typedef pthread_attr_t _z_task_attr_t;
 typedef pthread_mutex_t _z_mutex_t;

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

@@ -18,11 +18,12 @@
 #include <driver/uart.h>
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
-#include <pthread.h>
 
 #include "zenoh-pico/config.h"
 
 #if Z_FEATURE_MULTI_THREAD == 1
+#include <pthread.h>
+
 typedef TaskHandle_t _z_task_t;
 typedef void *_z_task_attr_t;  // Not used in ESP32
 typedef pthread_mutex_t _z_mutex_t;

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

@@ -15,7 +15,6 @@
 #ifndef ZENOH_PICO_SYSTEM_UNIX_TYPES_H
 #define ZENOH_PICO_SYSTEM_UNIX_TYPES_H
 
-#include <pthread.h>
 #include <stdbool.h>
 #include <stddef.h>
 #include <stdint.h>
@@ -24,6 +23,8 @@
 #include "zenoh-pico/config.h"
 
 #if Z_FEATURE_MULTI_THREAD == 1
+#include <pthread.h>
+
 typedef pthread_t _z_task_t;
 typedef pthread_attr_t _z_task_attr_t;
 typedef pthread_mutex_t _z_mutex_t;

include/zenoh-pico/transport/multicast/lease.h

@@ -19,8 +19,13 @@
 
 int8_t _zp_multicast_send_join(_z_transport_multicast_t *ztm);
 int8_t _zp_multicast_send_keep_alive(_z_transport_multicast_t *ztm);
-int8_t _zp_multicast_start_lease_task(_z_transport_multicast_t *ztm, _z_task_attr_t *attr, _z_task_t *task);
 int8_t _zp_multicast_stop_lease_task(_z_transport_multicast_t *ztm);
 void *_zp_multicast_lease_task(void *ztm_arg);  // The argument is void* to avoid incompatible pointer types in tasks
 
+#if Z_FEATURE_MULTI_THREAD == 1 && (Z_FEATURE_MULTICAST_TRANSPORT == 1 || Z_FEATURE_RAWETH_TRANSPORT == 1)
+int8_t _zp_multicast_start_lease_task(_z_transport_multicast_t *ztm, _z_task_attr_t *attr, _z_task_t *task);
+#else
+int8_t _zp_multicast_start_lease_task(_z_transport_multicast_t *ztm, void *attr, void *task);
+#endif /* Z_FEATURE_MULTI_THREAD == 1 &&  (Z_FEATURE_MULTICAST_TRANSPORT == 1 || Z_FEATURE_RAWETH_TRANSPORT == 1) */
+
 #endif /* ZENOH_PICO_MULTICAST_LEASE_H */

include/zenoh-pico/transport/multicast/read.h

@@ -18,8 +18,13 @@
 #include "zenoh-pico/transport/transport.h"
 
 int8_t _zp_multicast_read(_z_transport_multicast_t *ztm);
-int8_t _zp_multicast_start_read_task(_z_transport_t *zt, _z_task_attr_t *attr, _z_task_t *task);
 int8_t _zp_multicast_stop_read_task(_z_transport_t *zt);
 void *_zp_multicast_read_task(void *ztm_arg);  // The argument is void* to avoid incompatible pointer types in tasks
 
+#if Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_MULTICAST_TRANSPORT == 1
+int8_t _zp_multicast_start_read_task(_z_transport_t *zt, _z_task_attr_t *attr, _z_task_t *task);
+#else
+int8_t _zp_multicast_start_read_task(_z_transport_t *zt, void *attr, void *task);
+#endif /* #if Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_MULTICAST_TRANSPORT == 1 */
+
 #endif /* ZENOH_PICO_MULTICAST_READ_H */

include/zenoh-pico/transport/raweth/read.h

@@ -18,8 +18,13 @@
 #include "zenoh-pico/transport/transport.h"
 
 int8_t _zp_raweth_read(_z_transport_multicast_t *ztm);
-int8_t _zp_raweth_start_read_task(_z_transport_t *zt, _z_task_attr_t *attr, _z_task_t *task);
 int8_t _zp_raweth_stop_read_task(_z_transport_t *zt);
 void *_zp_raweth_read_task(void *ztm_arg);  // The argument is void* to avoid incompatible pointer types in tasks
 
+#if Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_RAWETH_TRANSPORT == 1
+int8_t _zp_raweth_start_read_task(_z_transport_t *zt, _z_task_attr_t *attr, _z_task_t *task);
+#else
+int8_t _zp_raweth_start_read_task(_z_transport_t *zt, void *attr, void *task);
+#endif /* Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_RAWETH_TRANSPORT == 1 */
+
 #endif /* ZENOH_PICO_RAWETH_READ_H */

include/zenoh-pico/transport/unicast/lease.h

@@ -18,8 +18,13 @@
 #include "zenoh-pico/transport/transport.h"
 
 int8_t _zp_unicast_send_keep_alive(_z_transport_unicast_t *ztu);
-int8_t _zp_unicast_start_lease_task(_z_transport_t *zt, _z_task_attr_t *attr, _z_task_t *task);
 int8_t _zp_unicast_stop_lease_task(_z_transport_t *zt);
 void *_zp_unicast_lease_task(void *ztu_arg);  // The argument is void* to avoid incompatible pointer types in tasks
 
+#if Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_UNICAST_TRANSPORT == 1
+int8_t _zp_unicast_start_lease_task(_z_transport_t *zt, _z_task_attr_t *attr, _z_task_t *task);
+#else
+int8_t _zp_unicast_start_lease_task(_z_transport_t *zt, void *attr, void *task);
+#endif /* Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_UNICAST_TRANSPORT == 1 */
+
 #endif /* ZENOH_PICO_TRANSPORT_LINK_TASK_LEASE_H */

include/zenoh-pico/transport/unicast/read.h

@@ -18,8 +18,13 @@
 #include "zenoh-pico/transport/transport.h"
 
 int8_t _zp_unicast_read(_z_transport_unicast_t *ztu);
-int8_t _zp_unicast_start_read_task(_z_transport_t *zt, _z_task_attr_t *attr, _z_task_t *task);
 int8_t _zp_unicast_stop_read_task(_z_transport_t *zt);
 void *_zp_unicast_read_task(void *ztu_arg);  // The argument is void* to avoid incompatible pointer types in tasks
 
+#if Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_UNICAST_TRANSPORT == 1
+int8_t _zp_unicast_start_read_task(_z_transport_t *zt, _z_task_attr_t *attr, _z_task_t *task);
+#else
+int8_t _zp_unicast_start_read_task(_z_transport_t *zt, void *attr, void *task);
+#endif /* Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_UNICAST_TRANSPORT == 1 */
+
 #endif /* ZENOH_PICO_UNICAST_READ_H */

src/system/unix/system.c

@@ -15,6 +15,7 @@
 #include <stddef.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include <time.h>
 
 #if defined(ZENOH_LINUX)
 #include <sys/random.h>