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| _Z_ERROR_RETURN(_Z_ERR_GENERIC); | ||
| } | ||
| if (fcntl(sock->_fd, F_SETFL, flags | O_NONBLOCK) == -1) { | ||
| if (fcntl(sock->_fd, F_SETFL, blocking ? (flags & ~O_NONBLOCK) : (flags | O_NONBLOCK)) == -1) { |
Check warning
Code scanning / Cppcheck (reported by Codacy)
Because of missing configuration, misra checking is incomplete. There can be false negatives! Variable 'O_NONBLOCK' is unknown Warning
| _Z_ERROR_RETURN(_Z_ERR_GENERIC); | ||
| } | ||
| if (fcntl(sock->_fd, F_SETFL, flags | O_NONBLOCK) == -1) { | ||
| if (fcntl(sock->_fd, F_SETFL, blocking ? (flags & ~O_NONBLOCK) : (flags | O_NONBLOCK)) == -1) { |
Check warning
Code scanning / Cppcheck (reported by Codacy)
Because of missing configuration, misra checking is incomplete. There can be false negatives! Variable 'F_SETFL' is unknown Warning
| return ts; | ||
| } | ||
|
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||
| unsigned long zp_clock_elapsed_us_since(z_clock_t *instant, z_clock_t* epoch) { |
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Code scanning / Cppcheck (reported by Codacy)
Parameter 'instant' can be declared as pointer to const Note
| return ts; | ||
| } | ||
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| unsigned long zp_clock_elapsed_us_since(z_clock_t *instant, z_clock_t* epoch) { |
Check notice
Code scanning / Cppcheck (reported by Codacy)
Parameter 'epoch' can be declared as pointer to const Note
| return elapsed > 0 ? (unsigned long)elapsed : 0; | ||
| } | ||
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| unsigned long zp_clock_elapsed_ms_since(z_clock_t *instant, z_clock_t* epoch) { |
Check notice
Code scanning / Cppcheck (reported by Codacy)
Parameter 'epoch' can be declared as pointer to const Note
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Pull request overview
This PR introduces a unified asynchronous executor/runtime to run zenoh-pico background activities (read/lease/accept/periodic-like work) through a single execution model, enabling single-threaded builds to progress networking via a new zp_spin_once() primitive, and refactoring transport/session internals accordingly.
Changes:
- Replaces per-session/threaded task management with an executor-backed runtime (incl. background executor in multi-thread builds, manual spinning in single-thread builds).
- Refactors transport read/accept/lease paths to executor “future” task functions and adds connect/accept receive deadlines.
- Updates tests/examples to remove explicit
zp_start_*_task/zp_stop_*_taskcalls and to usezp_spin_once()in single-threaded examples; adds platform task-id and clock elapsed-since helpers.
Reviewed changes
Copilot reviewed 219 out of 219 changed files in this pull request and generated 5 comments.
Show a summary per file
| File | Description |
|---|---|
| tests/z_wildcard_subscription_test.c | Removes explicit read/lease task start/stop calls. |
| tests/z_tls_config_test.c | Removes explicit task start calls for client/server sessions. |
| tests/z_test_peer_unicast.c | Updates peer test timing/options; removes explicit task start; adjusts waits/asserts. |
| tests/z_test_peer_multicast.c | Updates peer test timing/options; removes explicit task start; adjusts waits/asserts. |
| tests/z_test_fragment_tx.c | Removes explicit read/lease task start. |
| tests/z_test_fragment_rx.c | Removes explicit read/lease task start. |
| tests/z_session_test.c | Removes multi-thread task auto-start behavior tests (file deleted). |
| tests/z_perf_tx.c | Removes explicit task start/stop around perf publisher. |
| tests/z_perf_rx.c | Removes explicit task start around perf subscriber. |
| tests/z_multi_queryable_test.c | Removes explicit task start/stop calls. |
| tests/z_multi_pubsub_test.c | Removes explicit task start/stop calls. |
| tests/z_collections_test.c | Adds deque/pqueue template tests. |
| tests/z_client_test.c | Removes explicit read/lease task start/stop calls. |
| tests/z_api_source_info_test.c | Removes explicit task start/stop calls in source-info tests. |
| tests/z_api_local_subscriber_test.c | Removes explicit task start/stop calls. |
| tests/z_api_local_queryable_test.c | Removes explicit task start/stop calls. |
| tests/z_api_liveliness_test.c | Removes explicit task start/stop and manual join in tests. |
| tests/z_api_connectivity_test.c | Removes task start/stop from session open/close helper. |
| tests/z_api_cancellation_test.c | Removes explicit task start calls across cancellation tests. |
| tests/z_api_alignment_test.c | Removes ZENOH_PICO task start/stop blocks. |
| tests/z_api_advanced_pubsub_test.c | Removes explicit read/lease/periodic task management in advanced pubsub tests. |
| tests/z_api_admin_space_test.c | Removes task start/stop from session open/close helper. |
| src/transport/unicast/transport.c | Removes RX mutex/task fields; adds handshake recv deadlines; updates clear signature. |
| src/transport/unicast/rx.c | Removes transport RX mutex usage in unicast receive path. |
| src/transport/unicast/read.c | Replaces thread task loop with executor future function for unicast reads. |
| src/transport/transport.c | Simplifies _z_transport_clear() signature; sets transport state to closed. |
| src/transport/raweth/rx.c | Removes transport RX mutex usage in raw ethernet receive path. |
| src/transport/raweth/read.c | Replaces raweth read task loop with executor future function. |
| src/transport/peer.c | Adjusts multicast peer copy (removes _next_lease). |
| src/transport/multicast/transport.c | Removes RX mutex/task fields; updates clear signature. |
| src/transport/multicast/rx.c | Removes transport RX mutex usage; removes _next_lease updates. |
| src/transport/multicast/read.c | Replaces multicast read task loop with executor future function. |
| src/transport/manager.c | Passes runtime into peer transport creation; spawns accept via runtime; uses new blocking API. |
| src/transport/common/transport.c | Removes common stop-tasks helper; drops RX mutex teardown. |
| src/transport/common/rx.c | Refactors link receive into flow-specific helpers + deadline-based receive loop. |
| src/transport/common/read.c | Keeps _z_read() but removes legacy _zp_read_task() dispatcher. |
| src/transport/common/lease.c | Adds feature-guarded switch cases for join/keep-alive sending. |
| src/system/zephyr/system.c | Adds task-id helpers and clock elapsed-since helpers. |
| src/system/zephyr/network.c | Replaces non-blocking setter with _z_socket_set_blocking; uses mt-lock wrapper in wait_event. |
| src/system/windows/system.c | Adds task-id helpers and clock elapsed-since helpers. |
| src/system/windows/network.c | Replaces non-blocking setter with _z_socket_set_blocking; uses mt-lock wrapper in wait_event. |
| src/system/unix/system.c | Adds task-id helpers and clock elapsed-since helpers. |
| src/system/unix/network.c | Replaces non-blocking setter with _z_socket_set_blocking; uses mt-lock wrapper in wait_event; tweaks TCP connect loop. |
| src/system/threadx/stm32/system.c | Adds task-id helpers and clock elapsed-since helpers. |
| src/system/rpi_pico/system.c | Adds task-id helpers and clock elapsed-since helpers. |
| src/system/rpi_pico/network.c | Replaces non-blocking setter with _z_socket_set_blocking; uses mt-lock wrapper in wait_event. |
| src/system/mbed/system.cpp | Adds task-id helpers and clock elapsed-since helpers. |
| src/system/mbed/network.cpp | Replaces non-blocking setter with _z_socket_set_blocking stub. |
| src/system/freertos/system.c | Adds task-id helpers and clock elapsed-since helpers; rewires elapsed helpers. |
| src/system/freertos/lwip/network.c | Replaces non-blocking setter with _z_socket_set_blocking; uses mt-lock wrapper in wait_event. |
| src/system/freertos/freertos_plus_tcp/network.c | Replaces non-blocking setter with _z_socket_set_blocking; uses mt-lock wrapper in wait_event. |
| src/system/flipper/system.c | Adds task-id helpers and clock elapsed-since helpers (task-id currently stubbed). |
| src/system/flipper/network.c | Replaces non-blocking setter with _z_socket_set_blocking stub. |
| src/system/espidf/system.c | Adds task-id helpers and clock elapsed-since helpers. |
| src/system/espidf/network.c | Replaces non-blocking setter with _z_socket_set_blocking; uses mt-lock wrapper in wait_event. |
| src/system/emscripten/system.c | Adds elapsed-since helpers; refactors time elapsed implementation. |
| src/system/emscripten/network.c | Replaces non-blocking setter with _z_socket_set_blocking stub. |
| src/system/arduino/opencr/system.c | Adds task-id helpers and clock elapsed-since helpers (task-id currently stubbed). |
| src/system/arduino/opencr/network.cpp | Replaces non-blocking setter with _z_socket_set_blocking stub. |
| src/system/arduino/esp32/system.c | Adds task-id helpers and clock elapsed-since helpers. |
| src/system/arduino/esp32/network.cpp | Replaces non-blocking setter with _z_socket_set_blocking; uses mt-lock wrapper in wait_event. |
| src/session/utils.c | Adds runtime init/clear; removes legacy task/periodic scheduler setup/teardown; updates transport clear call. |
| src/session/query.c | Adds executor task fn for periodic pending-query timeout processing. |
| src/api/advanced_publisher.c | Replaces periodic scheduler usage with runtime futures for heartbeat; stores fut handle/period. |
| include/zenoh-pico/utils/scheduler.h | Removes periodic scheduler header (deleted). |
| include/zenoh-pico/utils/result.h | Adds new error codes for spawn failure and RX deadline expiry. |
| include/zenoh-pico/utils/mutex.h | Adds MT-aware recursive-mutex lock/unlock wrappers for single-thread builds. |
| include/zenoh-pico/transport/unicast/transport.h | Updates unicast transport clear signature. |
| include/zenoh-pico/transport/unicast/read.h | Replaces thread task APIs with executor task fn declaration. |
| include/zenoh-pico/transport/unicast/lease.h | Replaces thread task APIs with executor task fn declarations. |
| include/zenoh-pico/transport/unicast/accept.h | Replaces accept task start/stop with executor task fn declaration. |
| include/zenoh-pico/transport/transport.h | Removes RX mutex/task fields; adds transport state; updates clear signature; removes multicast _next_lease. |
| include/zenoh-pico/transport/raweth/read.h | Replaces thread task APIs with executor task fn declaration. |
| include/zenoh-pico/transport/multicast/transport.h | Updates multicast transport clear signature. |
| include/zenoh-pico/transport/multicast/read.h | Replaces thread task APIs with executor task fn declaration. |
| include/zenoh-pico/transport/multicast/lease.h | Replaces thread task APIs with executor task fn declarations. |
| include/zenoh-pico/transport/manager.h | Adds runtime parameter to transport creation API. |
| include/zenoh-pico/transport/common/transport.h | Removes common stop-tasks declaration. |
| include/zenoh-pico/transport/common/rx.h | Updates _z_link_recv_t_msg signature to include recv deadline. |
| include/zenoh-pico/transport/common/read.h | Removes legacy _zp_read_task declaration. |
| include/zenoh-pico/system/platform/zephyr.h | Adds _z_task_id_t typedef. |
| include/zenoh-pico/system/platform/windows.h | Adds _z_task_id_t typedef. |
| include/zenoh-pico/system/platform/void.h | Adds _z_task_id_t typedef. |
| include/zenoh-pico/system/platform/unix.h | Adds _z_task_id_t typedef. |
| include/zenoh-pico/system/platform/threadx/stm32.h | Adds _z_task_id_t typedef. |
| include/zenoh-pico/system/platform/rpi_pico.h | Adds _z_task_id_t typedef. |
| include/zenoh-pico/system/platform/mbed.h | Adds _z_task_id_t typedef. |
| include/zenoh-pico/system/platform/freertos/lwip.h | Adds _z_task_id_t typedef. |
| include/zenoh-pico/system/platform/freertos/freertos_plus_tcp.h | Adds _z_task_id_t typedef. |
| include/zenoh-pico/system/platform/flipper.h | Adds _z_task_id_t typedef. |
| include/zenoh-pico/system/platform/espidf.h | Adds _z_task_id_t typedef. |
| include/zenoh-pico/system/platform/emscripten.h | Adds _z_task_id_t typedef. |
| include/zenoh-pico/system/platform/arduino/opencr.h | Adds _z_task_id_t typedef. |
| include/zenoh-pico/system/platform/arduino/esp32.h | Adds _z_task_id_t typedef. |
| include/zenoh-pico/system/common/platform.h | Adds task-id API + elapsed-since API; renames socket blocking setter. |
| include/zenoh-pico/session/utils.h | Adds platform include. |
| include/zenoh-pico/session/runtime.h | Introduces runtime abstraction over executor/background executor + spawn/cancel/spin helpers. |
| include/zenoh-pico/session/query.h | Declares pending-query timeout executor task fn. |
| include/zenoh-pico/config.h.in | Adds transport accept/connect timeout configuration macros. |
| include/zenoh-pico/collections/background_executor.h | Adds background executor API (multi-thread runtime backend). |
| include/zenoh-pico/api/types.h | Removes periodic-task open option and periodic scheduler options struct. |
| include/zenoh-pico/api/primitives.h | Removes periodic scheduler APIs; adds zp_spin_once for single-thread builds. |
| include/zenoh-pico/api/advanced_subscriber.h | Switches periodic query tracking to a future handle. |
| include/zenoh-pico/api/advanced_publisher.h | Switches heartbeat task tracking to a future handle + stores heartbeat period. |
| examples/zephyr/z_sub.c | Removes explicit read/lease task start. |
| examples/zephyr/z_queryable.c | Removes explicit read/lease task start. |
| examples/zephyr/z_pull.c | Removes explicit read/lease task start. |
| examples/zephyr/z_pub.c | Removes explicit read/lease task start. |
| examples/zephyr/z_get.c | Removes explicit read/lease task start. |
| examples/windows/z_sub_st.c | Uses zp_spin_once loop for single-thread; tightens feature guard + error text. |
| examples/windows/z_sub.c | Removes explicit read/lease task start. |
| examples/windows/z_queryable.c | Removes explicit read/lease task start. |
| examples/windows/z_put.c | Removes explicit read/lease task start. |
| examples/windows/z_pull.c | Removes explicit read/lease task start. |
| examples/windows/z_pub_st.c | Uses zp_spin_once loop for single-thread; tightens feature guard + error text. |
| examples/windows/z_pub.c | Removes explicit task start/stop. |
| examples/windows/z_pong.c | Removes explicit read/lease task start. |
| examples/windows/z_ping.c | Removes explicit read/lease task start. |
| examples/windows/z_info.c | Removes explicit read/lease task start. |
| examples/windows/z_get.c | Removes explicit read/lease task start. |
| examples/unix/c99/z_sub_st.c | Uses zp_spin_once loop for single-thread; tightens feature guard + error text. |
| examples/unix/c99/z_sub.c | Removes explicit read/lease task start. |
| examples/unix/c99/z_queryable.c | Removes explicit read/lease task start. |
| examples/unix/c99/z_put.c | Removes explicit read/lease task start. |
| examples/unix/c99/z_pull.c | Removes explicit read/lease task start. |
| examples/unix/c99/z_pub_st.c | Uses zp_spin_once loop for single-thread; tightens feature guard + error text. |
| examples/unix/c99/z_pub.c | Removes explicit read/lease task start. |
| examples/unix/c99/z_pong.c | Removes explicit read/lease task start. |
| examples/unix/c99/z_ping.c | Removes explicit read/lease task start. |
| examples/unix/c99/z_info.c | Removes explicit read/lease task start. |
| examples/unix/c99/z_get.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_sub_tls.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_sub_thr.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_sub_st.c | Uses zp_spin_once loop for single-thread; tightens feature guard + error text. |
| examples/unix/c11/z_sub_liveliness.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_sub_channel.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_sub_attachment.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_sub.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_queryable_lat.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_queryable_channel.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_queryable_attachment.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_queryable.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_querier.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_put.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_pull.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_pub_tls.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_pub_thr.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_pub_st.c | Uses zp_spin_once loop for single-thread; tightens feature guard + error text. |
| examples/unix/c11/z_pub_attachment.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_pub.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_pong.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_ping.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_liveliness.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_info.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_get_liveliness.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_get_lat.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_get_channel.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_get_attachment.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_get.c | Removes explicit read/lease task start. |
| examples/unix/c11/z_advanced_sub.c | Removes explicit read/lease/periodic scheduler task start. |
| examples/unix/c11/z_advanced_pub.c | Removes explicit read/lease/periodic scheduler task start. |
| examples/threadx_stm32/z_sub.c | Removes explicit read/lease task start. |
| examples/threadx_stm32/z_pub.c | Removes explicit read/lease task start. |
| examples/rpi_pico/z_sub_thr.c | Removes explicit read/lease task start. |
| examples/rpi_pico/z_sub_st.c | Uses zp_spin_once loop for single-thread; tightens feature guard + error text. |
| examples/rpi_pico/z_sub.c | Removes explicit read/lease task start. |
| examples/rpi_pico/z_queryable.c | Removes explicit read/lease task start. |
| examples/rpi_pico/z_put.c | Removes explicit read/lease task start. |
| examples/rpi_pico/z_pull.c | Removes explicit read/lease task start. |
| examples/rpi_pico/z_pub_thr.c | Removes explicit read/lease task start. |
| examples/rpi_pico/z_pub_st.c | Uses zp_spin_once loop for single-thread; tightens feature guard + error text. |
| examples/rpi_pico/z_pub.c | Removes explicit read/lease task start. |
| examples/rpi_pico/z_get.c | Removes explicit read/lease task start. |
| examples/mbed/z_sub.cpp | Removes explicit read/lease task start. |
| examples/mbed/z_queryable.cpp | Removes explicit read/lease task start. |
| examples/mbed/z_pull.cpp | Removes explicit read/lease task start. |
| examples/mbed/z_pub.cpp | Removes explicit read/lease task start. |
| examples/mbed/z_get.cpp | Removes explicit read/lease task start. |
| examples/freertos_plus_tcp/z_sub_st.c | Uses zp_spin_once loop for single-thread; tightens feature guard + error text. |
| examples/freertos_plus_tcp/z_sub.c | Removes explicit read/lease task start. |
| examples/freertos_plus_tcp/z_queryable.c | Removes explicit read/lease task start. |
| examples/freertos_plus_tcp/z_put.c | Removes explicit read/lease task start. |
| examples/freertos_plus_tcp/z_pull.c | Removes explicit read/lease task start. |
| examples/freertos_plus_tcp/z_pub_st.c | Uses zp_spin_once loop for single-thread; tightens feature guard + error text. |
| examples/freertos_plus_tcp/z_pub.c | Removes explicit task creation/start boilerplate for read/lease tasks. |
| examples/freertos_plus_tcp/z_get.c | Removes explicit read/lease task start. |
| examples/espidf/z_sub.c | Removes explicit read/lease task start. |
| examples/espidf/z_queryable.c | Removes explicit read/lease task start. |
| examples/espidf/z_pull.c | Removes explicit read/lease task start. |
| examples/espidf/z_pub.c | Removes explicit read/lease task start. |
| examples/espidf/z_get.c | Removes explicit read/lease task start. |
| examples/arduino/z_sub.ino | Removes explicit read/lease task start. |
| examples/arduino/z_queryable.ino | Removes explicit read/lease task start. |
| examples/arduino/z_pull.ino | Removes explicit read/lease task start. |
| examples/arduino/z_pub.ino | Removes explicit read/lease task start. |
| examples/arduino/z_get.ino | Removes explicit read/lease task start. |
| docs/config.rst | Documents new transport accept/connect timeout options (names currently inconsistent with macros). |
| docs/api.rst | Replaces periodic scheduler docs reference with zp_spin_once. |
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Description
This PR introduces asynchronous executor. It allows to run all zenoh-pico tasks (accept, reconnect read, send_join, send_keep_alive, lease, periodic tasks etc) in a single thread, which significantly simplifies task management.
In addition, for single threaded mode zp_spin_once function is provided, which allows to spin executor manually. In particular this trivially extends all previously only multi-threaded features, like p2p, connectivity events, auto-reconnect and advanced pub-sub to single-threaded case.
What does this PR do?
Replaces multiple threads with a single background executor.
Introduces zp_spin_once to allow spinning executor manually in single-threaded mode.
Updates all the examples: removes no-longer needed task start/stop calls from multi-threaded cases, replaces all zp_read/send_keep_alive/send_join with zp_spin_once in single-threaded cases.
Adds platform thread_id getters, and functions to measure elapsed time between 2 z_clock_t instances.
Why is this change needed?
Simplify task management.
Related Issues
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