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Zenoh update to 1.0.0.11 (#31)

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* Upgrade zenoh to version 1.0.0.11

* Update the download link for the zenoh-c library to version 1.0.0.11 and adjust some related URL configurations.

---------

Co-authored-by: hanjun <hanjun@agibot.com>
This commit is contained in:
han J 2024-10-16 19:39:38 +08:00 committed by GitHub
parent 036bd5bef9
commit 5b85a23678
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GPG Key ID: B5690EEEBB952194
8 changed files with 310 additions and 95 deletions
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31
CMakeLists.txt
View File

@ -249,7 +249,7 @@ if(AIMRT_BUILD_RUNTIME)
else() else()
message( message(
WARNING WARNING
"ZENOH_PLUGIN: Rust compiler (rustc) not found, will not compile zenoh plugin. Please install Rust environment referring to https://www.rust-lang.org/tools/install.") "ZENOH_PLUGIN: Rust compiler (rustc) not found, will not compile zenoh plugin. Please install Rust environment referring to https://www.rust-lang.org/tools/install .")
set(AIMRT_BUILD_ZENOH_PLUGIN OFF) set(AIMRT_BUILD_ZENOH_PLUGIN OFF)
endif() endif()
endif() endif()
@ -288,23 +288,20 @@ if(AIMRT_INSTALL
install(CODE "execute_process(COMMAND \"${CMAKE_COMMAND}\" --build \"${CMAKE_BINARY_DIR}\" --config ${CMAKE_BUILD_TYPE} --target create_python_pkg)") install(CODE "execute_process(COMMAND \"${CMAKE_COMMAND}\" --build \"${CMAKE_BINARY_DIR}\" --config ${CMAKE_BUILD_TYPE} --target create_python_pkg)")
endif() endif()
# print all aimrt options # Print all aimrt options
message("\n\n AIMRT CMake Options/Info:") message("\n AIMRT CMake Options/Info:")
get_cmake_property(all_variables VARIABLES) get_cmake_property(all_variables VARIABLES)
set(printed_vars) string(REGEX MATCHALL "AIMRT_[A-Za-z0-9_]*" aimrt_vars "${all_variables}")
list(REMOVE_DUPLICATES aimrt_vars)
list(SORT aimrt_vars)
foreach(var ${all_variables}) foreach(var ${aimrt_vars})
if(var MATCHES "^AIMRT_.*") string(LENGTH ${var} var_length)
if(NOT "${var}" IN_LIST printed_vars) math(EXPR padding_length "40 - ${var_length}")
list(APPEND printed_vars "${var}") if(padding_length GREATER 0)
string(LENGTH ${var} var_length) string(REPEAT "." ${padding_length} padding)
math(EXPR padding_length "40 - ${var_length}") else()
if(padding_length GREATER 0) set(padding "")
string(REPEAT "-" ${padding_length} padding)
else()
set(padding "")
endif()
message(" ${var}${padding}: ${${var}}")
endif()
endif() endif()
message(" ${var}${padding}: ${${var}}")
endforeach() endforeach()

2
cmake/GetZenoh.cmake
View File

@ -7,7 +7,7 @@ message(STATUS "Getting zenohc...")
# fetch zenoh-c # fetch zenoh-c
set(zenohc_DOWNLOAD_URL set(zenohc_DOWNLOAD_URL
"https://github.com/eclipse-zenoh/zenoh-c/archive/refs/tags/1.0.0.6.tar.gz" "https://github.com/eclipse-zenoh/zenoh-c/archive/refs/tags/1.0.0.11.tar.gz"
CACHE STRING "") CACHE STRING "")
if(zenohc_LOCAL_SOURCE) if(zenohc_LOCAL_SOURCE)

2
document/sphinx-cn/release_notes/v0_9_0.md
View File

@ -3,6 +3,7 @@
**重要修改**： **重要修改**：
- 优化了 zenoh 插件： - 优化了 zenoh 插件：
- 更新 zenohc 库至 1.0.0.11 版本；
- 添加了 zenoh rpc 后端； - 添加了 zenoh rpc 后端；
- 现在可以传入 zenoh 原生配置； - 现在可以传入 zenoh 原生配置；
- mqtt 新增配置项以支持加密传输； - mqtt 新增配置项以支持加密传输；
@ -14,3 +15,4 @@
- 优化代码结构，移动代码 src/runtime/common/net 至新位置 src/common/net； - 优化代码结构，移动代码 src/runtime/common/net 至新位置 src/common/net；
- 升级 jsoncpp 至 1.9.6 版本以优化一些 cmake 问题； - 升级 jsoncpp 至 1.9.6 版本以优化一些 cmake 问题；
- 新增了 aimrt_py channel benchmark 示例； - 新增了 aimrt_py channel benchmark 示例；
- iceoryx 插件在编译前先检查是否存在libacl，不存在则不进行编译；

14
document/sphinx-cn/tutorials/plugins/zenoh_plugin.md
View File

@ -32,12 +32,12 @@
| 配置项 | 作用 | zenoh_native_config中的配置值 | | 配置项 | 作用 | zenoh_native_config中的配置值 |
| :---------------------------: | :-------------------------------------------------------------------: | :---------------------------: | | :---------------------------: | :-------------------------------------------------------------------: | :---------------------------: |
| scouting.scouting. enabled | 是否开启多播，这将允许多个 zenoh 节点自动发现彼此 | true | | scouting.multicast. enabled | 是否开启多播，这将允许多个 zenoh 节点自动发现彼此 | true |
| scouting.scouting. address | 配置多播地址 | 224.0.0.224:7446 | | scouting.multicast. address | 配置多播地址 | 224.0.0.224:7446 |
| scouting.scouting. interface | 配置所用的网络接口 | auto | | scouting.multicast. interface | 配置所用的网络接口 | auto |
| listen.endpoints | 需要主动监听的地址 | - | | listen.endpoints | 需要主动监听的地址 | - |
| transport.unicast.lowlatency | 是否启动最低时延，若开启将有助于提升传输速率，注意其不能与qos同时开启 | true | | transport.unicast.lowlatency | 是否启动最低时延，若开启将有助于提升传输速率，注意其不能与qos同时开启 | false |
| transport.unicast.qos.enabled | 是否启动服务质量，注意其不能与lowlatency同时开启 | false | | transport.unicast.qos.enabled | 是否启动服务质量，注意其不能与lowlatency同时开启 | true |
- limit_domain 表示插件的通信域，其兼容 zenoh 强大的Key & Key Expression。如果不填写则使用插件的默认的通信域（即消息的 topic ），只有相`匹配`的域才能进行通信，具体的书写格式如下： - limit_domain 表示插件的通信域，其兼容 zenoh 强大的Key & Key Expression。如果不填写则使用插件的默认的通信域（即消息的 topic ），只有相`匹配`的域才能进行通信，具体的书写格式如下：
@ -67,8 +67,8 @@ aimrt:
## zenoh 类型 Rpc 后端 ## zenoh 类型 Rpc 后端
`zenoh`类型的 Rpc后端是**zenoh_plugin**中提供的一种 Rpc 后端，主要用来构建请求-响应模型。其所有的配置项如下： `zenoh`类型的 Rpc后端是**zenoh_plugin**中提供的一种 Rpc 后端，主要用来构建请求-响应模型。其所有的配置项如下：
| 节点 | 类型 | 是否可选 | 默认值 | 作用 | | 节点 | 类型 | 是否可选 | 默认值 | 作用 |
| ---------------- | ------ | -------- | ------ | ---------------------------------- | | ---------------- | ------ | -------- | ------ | ------------------------------------ |
| timeout_executor | string | 可选 | "" | Client 端发起 RPC 超时情况下的执行器 | | timeout_executor | string | 可选 | "" | Client 端发起 RPC 超时情况下的执行器 |
以下是一个简单的客户端的示例： 以下是一个简单的客户端的示例：

336
src/examples/plugins/zenoh_plugin/install/linux/bin/cfg/zenoh_native_config.json5
View File

@ -11,35 +11,92 @@
/// The node's mode (router, peer or client) /// The node's mode (router, peer or client)
mode: "peer", mode: "peer",
/// The node's metadata (name, location, DNS name, etc.) Arbitrary JSON data not interpreted by zenohd and available in admin space @/router/<id> /// The node's metadata (name, location, DNS name, etc.) Arbitrary JSON data not interpreted by zenoh and available in admin space @/<zid>/router, @/<zid>/peer or @/<zid>/client
metadata: { metadata: {
name: "strawberry", name: "strawberry",
location: "Penny Lane" location: "Penny Lane",
}, },
/// Which endpoints to connect to. E.g. tcp/localhost:7447. // /// Which endpoints to connect to. E.g. tcp/localhost:7447.
/// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup. // /// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
// /// For TCP/UDP on Linux, it is possible additionally specify the interface to be connected to:
// /// E.g. tcp/192.168.0.1:7447#iface=eth0, for connect only if the IP address is reachable via the interface eth0
// connect: { // connect: {
// /// timeout waiting for all endpoints connected (0: no retry, -1: infinite timeout)
// /// Accepts a single value (e.g. timeout_ms: 0)
// /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }).
// timeout_ms: { router: -1, peer: -1, client: 0 },
// /// The list of endpoints to connect to.
// /// Accepts a single list (e.g. endpoints: ["tcp/10.10.10.10:7447", "tcp/11.11.11.11:7447"])
// /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/10.10.10.10:7447"], peer: ["tcp/11.11.11.11:7447"] }).
// ///
// /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html
// endpoints: [ // endpoints: [
// "tcp/localhost:7447" // // "<proto>/<address>"
// ], // ],
// /// Global connect configuration,
// /// Accepts a single value or different values for router, peer and client.
// /// The configuration can also be specified for the separate endpoint
// /// it will override the global one
// /// E.g. tcp/192.168.0.1:7447#retry_period_init_ms=20000;retry_period_max_ms=10000"
// /// exit from application, if timeout exceed
// exit_on_failure: { router: false, peer: false, client: true },
// /// connect establishing retry configuration
// retry: {
// /// initial wait timeout until next connect try
// period_init_ms: 1000,
// /// maximum wait timeout until next connect try
// period_max_ms: 4000,
// /// increase factor for the next timeout until nexti connect try
// period_increase_factor: 2,
// },
// }, // },
// /// Which endpoints to listen on. E.g. tcp/localhost:7447. // /// Which endpoints to listen on. E.g. tcp/0.0.0.0:7447.
// /// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers, // /// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers,
// /// peers, or client can use to establish a zenoh session. // /// peers, or client can use to establish a zenoh session.
// /// For TCP/UDP on Linux, it is possible additionally specify the interface to be listened to:
// /// E.g. tcp/0.0.0.0:7447#iface=eth0, for listen connection only on eth0
// listen: { // listen: {
// endpoints: [ // /// timeout waiting for all listen endpoints (0: no retry, -1: infinite timeout)
// "tcp/localhost:50060" // /// Accepts a single value (e.g. timeout_ms: 0)
// ], // /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }).
// timeout_ms: 0,
// /// The list of endpoints to listen on.
// /// Accepts a single list (e.g. endpoints: ["tcp/[::]:7447", "udp/[::]:7447"])
// /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/[::]:7447"], peer: ["tcp/[::]:0"] }).
// ///
// /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html
// endpoints: { router: ["tcp/[::]:7447"], peer: ["tcp/[::]:0"] },
// /// Global listen configuration,
// /// Accepts a single value or different values for router, peer and client.
// /// The configuration can also be specified for the separate endpoint
// /// it will override the global one
// /// E.g. tcp/192.168.0.1:7447#exit_on_failure=false;retry_period_max_ms=1000"
// /// exit from application, if timeout exceed
// exit_on_failure: true,
// /// listen retry configuration
// retry: {
// /// initial wait timeout until next try
// period_init_ms: 1000,
// /// maximum wait timeout until next try
// period_max_ms: 4000,
// /// increase factor for the next timeout until next try
// period_increase_factor: 2,
// },
// }, // },
/// Configure the scouting mechanisms and their behaviours /// Configure the scouting mechanisms and their behaviours
scouting: { scouting: {
/// In client mode, the period dedicated to scouting for a router before failing /// In client mode, the period in milliseconds dedicated to scouting for a router before failing.
timeout: 3000, timeout: 3000,
/// In peer mode, the period dedicated to scouting remote peers before attempting other operations /// In peer mode, the maximum period in milliseconds dedicated to scouting remote peers before attempting other operations.
delay: 200, delay: 500,
/// The multicast scouting configuration. /// The multicast scouting configuration.
multicast: { multicast: {
/// Whether multicast scouting is enabled or not /// Whether multicast scouting is enabled or not
@ -48,27 +105,31 @@
address: "224.0.0.224:7446", address: "224.0.0.224:7446",
/// The network interface which should be used for multicast scouting /// The network interface which should be used for multicast scouting
interface: "auto", // If not set or set to "auto" the interface if picked automatically interface: "auto", // If not set or set to "auto" the interface if picked automatically
/// The time-to-live on multicast scouting packets
ttl: 1,
/// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast. /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast.
/// Accepts a single value or different values for router, peer and client. /// Accepts a single value (e.g. autoconnect: ["router", "peer"])
/// Each value is bit-or-like combinations of "peer", "router" and "client". /// or different values for router, peer and client (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
// autoconnect: { peer: "router|peer" }, /// Each value is a list of: "peer", "router" and/or "client".
autoconnect: { router: [], peer: ["router", "peer"] },
/// Whether or not to listen for scout messages on UDP multicast and reply to them. /// Whether or not to listen for scout messages on UDP multicast and reply to them.
listen: true, listen: true,
}, },
// /// The gossip scouting configuration. /// The gossip scouting configuration.
gossip: { gossip: {
/// Whether gossip scouting is enabled or not /// Whether gossip scouting is enabled or not
enabled: true, enabled: true,
/// When true, gossip scouting informations are propagated multiple hops to all nodes in the local network. /// When true, gossip scouting information are propagated multiple hops to all nodes in the local network.
/// When false, gossip scouting informations are only propagated to the next hop. /// When false, gossip scouting information are only propagated to the next hop.
/// Activating multihop gossip implies more scouting traffic and a lower scalability. /// Activating multihop gossip implies more scouting traffic and a lower scalability.
/// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have
/// direct connectivity with each other. /// direct connectivity with each other.
multihop: false, multihop: false,
/// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip. /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
/// Accepts a single value or different values for router, peer and client. /// Accepts a single value (e.g. autoconnect: ["router", "peer"])
/// Each value is bit-or-like combinations of "peer", "router" and "client". /// or different values for router, peer and client (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
// autoconnect: { router: "", peer: "router|peer" }, /// Each value is a list of: "peer", "router" and/or "client".
autoconnect: { router: [], peer: ["router", "peer"] },
}, },
}, },
@ -103,6 +164,127 @@
}, },
}, },
// /// The declarations aggregation strategy.
// aggregation: {
// /// A list of key-expressions for which all included subscribers will be aggregated into.
// subscribers: [
// // key_expression
// ],
// /// A list of key-expressions for which all included publishers will be aggregated into.
// publishers: [
// // key_expression
// ],
// },
// /// The downsampling declaration.
// downsampling: [
// {
// /// A list of network interfaces messages will be processed on, the rest will be passed as is.
// interfaces: [ "wlan0" ],
// /// Data flow messages will be processed on. ("egress" or "ingress")
// flow: "egress",
// /// A list of downsampling rules: key_expression and the maximum frequency in Hertz
// rules: [
// { key_expr: "demo/example/zenoh-rs-pub", freq: 0.1 },
// ],
// },
// ],
// /// Configure access control (ACL) rules
// access_control: {
// /// [true/false] acl will be activated only if this is set to true
// "enabled": false,
// /// [deny/allow] default permission is deny (even if this is left empty or not specified)
// "default_permission": "deny",
// /// Rule set for permissions allowing or denying access to key-expressions
// "rules":
// [
// {
// /// Id has to be unique within the rule set
// "id": "rule1",
// "messages": [
// "put", "delete", "declare_subscriber",
// "query", "reply", "declare_queryable",
// ],
// "flows":["egress","ingress"],
// "permission": "allow",
// "key_exprs": [
// "test/demo"
// ],
// },
// {
// "id": "rule2",
// "messages": [
// "put", "delete", "declare_subscriber",
// "query", "reply", "declare_queryable",
// ],
// "flows":["ingress"],
// "permission": "allow",
// "key_exprs": [
// "**"
// ],
// },
// ],
// /// List of combinations of subjects.
// ///
// /// If a subject property (i.e. username, certificate common name or interface) is empty
// /// it is interpreted as a wildcard. Moreover, a subject property cannot be an empty list.
// "subjects":
// [
// {
// /// Id has to be unique within the subjects list
// "id": "subject1",
// /// Subjects can be interfaces
// "interfaces": [
// "lo0",
// "en0",
// ],
// /// Subjects can be cert_common_names when using TLS or Quic
// "cert_common_names": [
// "example.zenoh.io"
// ],
// /// Subjects can be usernames when using user/password authentication
// "usernames": [
// "zenoh-example"
// ],
// /// This instance translates internally to this filter:
// /// (interface="lo0" && cert_common_name="example.zenoh.io" && username="zenoh-example") ||
// /// (interface="en0" && cert_common_name="example.zenoh.io" && username="zenoh-example")
// },
// {
// "id": "subject2",
// "interfaces": [
// "lo0",
// "en0",
// ],
// "cert_common_names": [
// "example2.zenoh.io"
// ],
// /// This instance translates internally to this filter:
// /// (interface="lo0" && cert_common_name="example2.zenoh.io") ||
// /// (interface="en0" && cert_common_name="example2.zenoh.io")
// },
// {
// "id": "subject3",
// /// An empty subject combination is a wildcard
// },
// ],
// /// The policies list associates rules to subjects
// "policies":
// [
// /// Each policy associates one or multiple rules to one or multiple subject combinations
// {
// /// Rules and Subjects are identified with their unique IDs declared above
// "rules": ["rule1"],
// "subjects": ["subject1", "subject2"],
// },
// {
// "rules": ["rule2"],
// "subjects": ["subject3"],
// },
// ]
//},
/// Configure internal transport parameters /// Configure internal transport parameters
transport: { transport: {
unicast: { unicast: {
@ -118,39 +300,51 @@
/// This option does not make LowLatency transport mandatory, the actual implementation of transport /// This option does not make LowLatency transport mandatory, the actual implementation of transport
/// used will depend on Establish procedure and other party's settings /// used will depend on Establish procedure and other party's settings
/// ///
/// NOTE: Currently, the LowLatency transport doesn't preserve QoS prioritization. /// NOTE: Currently, the LowLatency transport doesn't preserve QoS prioritization.
/// NOTE: Due to the note above, 'lowlatency' is incompatible with 'qos' option, so in order to /// NOTE: Due to the note above, 'lowlatency' is incompatible with 'qos' option, so in order to
/// enable 'lowlatency' you need to explicitly disable 'qos'. /// enable 'lowlatency' you need to explicitly disable 'qos'.
lowlatency: true, /// NOTE: LowLatency transport does not support the fragmentation, so the message size should be
/// smaller than the tx batch_size.
lowlatency: false,
/// Enables QoS on unicast communications. /// Enables QoS on unicast communications.
qos: { qos: {
enabled: false, enabled: true,
}, },
/// Enables compression on unicast communications. /// Enables compression on unicast communications.
/// Compression capabilities are negotiated during session establishment. /// Compression capabilities are negotiated during session establishment.
/// If both Zenoh nodes support compression, then compression is activated. /// If both Zenoh nodes support compression, then compression is activated.
compression: { compression: {
enabled: false, enabled: false,
}, },
}, },
/// WARNING: multicast communication does not perform any negotiation upon group joining.
/// Because of that, it is important that all transport parameters are the same to make
/// sure all your nodes in the system can communicate. One common parameter to configure
/// is "transport/link/tx/batch_size" since its default value depends on the actual platform
/// when operating on multicast.
/// E.g., the batch size on Linux and Windows is 65535 bytes, on Mac OS X is 9216, and anything else is 8192.
multicast: { multicast: {
/// Enables QoS on multicast communication. /// JOIN message transmission interval in milliseconds.
join_interval: 2500,
/// Maximum number of multicast sessions.
max_sessions: 1000,
/// Enables QoS on multicast communication.
/// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility. /// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility.
qos: { qos: {
enabled: false, enabled: false,
}, },
/// Enables compression on multicast communication. /// Enables compression on multicast communication.
/// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility. /// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility.
compression: { compression: {
enabled: false, enabled: false,
}, },
}, },
link: { link: {
/// An optional whitelist of protocols to be used for accepting and opening sessions. /// An optional whitelist of protocols to be used for accepting and opening sessions. If not
/// If not configured, all the supported protocols are automatically whitelisted. /// configured, all the supported protocols are automatically whitelisted. The supported
/// The supported protocols are: ["tcp" , "udp", "tls", "quic", "ws", "unixsock-stream"] // /// protocols are: ["tcp" , "udp", "tls", "quic", "ws", "unixsock-stream", "vsock"] For
/// For example, to only enable "tls" and "quic": // /// example, to only enable "tls" and "quic": protocols: ["tls", "quic"],
// protocols: ["tls", "quic"], // protocols: ["udp","tcp"],
/// Configure the zenoh TX parameters of a link /// Configure the zenoh TX parameters of a link
tx: { tx: {
/// The resolution in bits to be used for the message sequence numbers. /// The resolution in bits to be used for the message sequence numbers.
@ -162,8 +356,10 @@
/// Number of keep-alive messages in a link lease duration. If no data is sent, keep alive /// Number of keep-alive messages in a link lease duration. If no data is sent, keep alive
/// messages will be sent at the configured time interval. /// messages will be sent at the configured time interval.
/// NOTE: In order to consider eventual packet loss and transmission latency and jitter, /// NOTE: In order to consider eventual packet loss and transmission latency and jitter,
/// set the actual keep_alive timeout to one fourth of the lease time. /// set the actual keep_alive interval to one fourth of the lease time: i.e. send
/// This is in-line with the ITU-T G.8013/Y.1731 specification on continous connectivity /// 4 keep_alive messages in a lease period. Changing the lease time will have the
/// keep_alive messages sent more or less often.
/// This is in-line with the ITU-T G.8013/Y.1731 specification on continuous connectivity
/// check which considers a link as failed when no messages are received in 3.5 times the /// check which considers a link as failed when no messages are received in 3.5 times the
/// target interval. /// target interval.
keep_alive: 4, keep_alive: 4,
@ -174,6 +370,7 @@
/// Each zenoh link has a transmission queue that can be configured /// Each zenoh link has a transmission queue that can be configured
queue: { queue: {
/// The size of each priority queue indicates the number of batches a given queue can contain. /// The size of each priority queue indicates the number of batches a given queue can contain.
/// NOTE: the number of batches in each priority must be included between 1 and 16. Different values will result in an error.
/// The amount of memory being allocated for each queue is then SIZE_XXX * BATCH_SIZE. /// The amount of memory being allocated for each queue is then SIZE_XXX * BATCH_SIZE.
/// In the case of the transport link MTU being smaller than the ZN_BATCH_SIZE, /// In the case of the transport link MTU being smaller than the ZN_BATCH_SIZE,
/// then amount of memory being allocated for each queue is SIZE_XXX * LINK_MTU. /// then amount of memory being allocated for each queue is SIZE_XXX * LINK_MTU.
@ -188,19 +385,37 @@
data_low: 4, data_low: 4,
background: 4, background: 4,
}, },
/// The initial exponential backoff time in nanoseconds to allow the batching to eventually progress. /// Congestion occurs when the queue is empty (no available batch).
/// Higher values lead to a more aggressive batching but it will introduce additional latency. congestion_control: {
backoff: 100, /// Behavior pushing CongestionControl::Drop messages to the queue.
// Number of threads dedicated to transmission drop: {
// By default, the number of threads is calculated as follows: 1 + ((#cores - 1) / 4) /// The maximum time in microseconds to wait for an available batch before dropping a droppable message if still no batch is available.
// threads: 4, wait_before_drop: 1000,
},
/// Behavior pushing CongestionControl::Block messages to the queue.
block: {
/// The maximum time in microseconds to wait for an available batch before closing the transport session when sending a blocking message
/// if still no batch is available.
wait_before_close: 5000000,
},
},
/// Perform batching of messages if they are smaller of the batch_size
batching: {
/// Perform adaptive batching of messages if they are smaller of the batch_size.
/// When the network is detected to not be fast enough to transmit every message individually, many small messages may be
/// batched together and sent all at once on the wire reducing the overall network overhead. This is typically of a high-throughput
/// scenario mainly composed of small messages. In other words, batching is activated by the network back-pressure.
enabled: true,
/// The maximum time limit (in ms) a message should be retained for batching when back-pressure happens.
time_limit: 1,
},
}, },
}, },
/// Configure the zenoh RX parameters of a link /// Configure the zenoh RX parameters of a link
rx: { rx: {
/// Receiving buffer size in bytes for each link /// Receiving buffer size in bytes for each link
/// The default the rx_buffer_size value is the same as the default batch size: 65335. /// The default the rx_buffer_size value is the same as the default batch size: 65535.
/// For very high throughput scenarios, the rx_buffer_size can be increased to accomodate /// For very high throughput scenarios, the rx_buffer_size can be increased to accommodate
/// more in-flight data. This is particularly relevant when dealing with large messages. /// more in-flight data. This is particularly relevant when dealing with large messages.
/// E.g. for 16MiB rx_buffer_size set the value to: 16777216. /// E.g. for 16MiB rx_buffer_size set the value to: 16777216.
buffer_size: 65535, buffer_size: 65535,
@ -216,26 +431,26 @@
/// or the client's keys and certificates, depending on the node's mode. If not specified /// or the client's keys and certificates, depending on the node's mode. If not specified
/// on router mode then the default WebPKI certificates are used instead. /// on router mode then the default WebPKI certificates are used instead.
root_ca_certificate: null, root_ca_certificate: null,
/// Path to the TLS server private key /// Path to the TLS listening side private key
server_private_key: null, listen_private_key: null,
/// Path to the TLS server public certificate /// Path to the TLS listening side public certificate
server_certificate: null, listen_certificate: null,
/// Client authentication, if true enables mTLS (mutual authentication) /// Enables mTLS (mutual authentication), client authentication
client_auth: false, enable_mtls: false,
/// Path to the TLS client private key /// Path to the TLS connecting side private key
client_private_key: null, connect_private_key: null,
/// Path to the TLS client public certificate /// Path to the TLS connecting side certificate
client_certificate: null, connect_certificate: null,
// Whether or not to use server name verification, if set to false zenoh will disregard the common names of the certificates when verifying servers. // Whether or not to verify the matching between hostname/dns and certificate when connecting,
// if set to false zenoh will disregard the common names of the certificates when verifying servers.
// This could be dangerous because your CA can have signed a server cert for foo.com, that's later being used to host a server at baz.com. If you wan't your // This could be dangerous because your CA can have signed a server cert for foo.com, that's later being used to host a server at baz.com. If you wan't your
// ca to verify that the server at baz.com is actually baz.com, let this be true (default). // ca to verify that the server at baz.com is actually baz.com, let this be true (default).
server_name_verification: null, verify_name_on_connect: true,
}, },
}, },
/// Access control configuration
auth: { auth: {
/// The configuration of authentification. /// The configuration of authentication.
/// A password implies a username is required. /// A password implies a username is required.
usrpwd: { usrpwd: {
user: null, user: null,
@ -257,11 +472,12 @@
/// Configure the Admin Space /// Configure the Admin Space
/// Unstable: this configuration part works as advertised, but may change in a future release /// Unstable: this configuration part works as advertised, but may change in a future release
adminspace: { adminspace: {
// Enables the admin space
enabled: false,
// read and/or write permissions on the admin space // read and/or write permissions on the admin space
permissions: { permissions: {
read: true, read: true,
write: false, write: false,
}, },
}, },
}
}

2
src/plugins/zenoh_plugin/CMakeLists.txt
View File

@ -34,7 +34,7 @@ target_link_libraries(
${CUR_TARGET_NAME} ${CUR_TARGET_NAME}
PRIVATE aimrt::interface::aimrt_core_plugin_interface PRIVATE aimrt::interface::aimrt_core_plugin_interface
aimrt::runtime::core aimrt::runtime::core
zenohc::shared zenohc::lib
jsoncpp::jsoncpp) jsoncpp::jsoncpp)
# Add -Werror option # Add -Werror option

16
src/plugins/zenoh_plugin/zenoh_manager.cc
View File

@ -18,7 +18,7 @@ void ZenohManager::Initialize(const std::string &native_cfg_path) {
z_config_default(&z_config_); z_config_default(&z_config_);
} }
if (z_open(&z_session_, z_move(z_config_)) < 0) { if (z_open(&z_session_, z_move(z_config_), NULL) < 0) {
AIMRT_ERROR("Unable to open zenoh session!"); AIMRT_ERROR("Unable to open zenoh session!");
return; return;
} }
@ -26,18 +26,18 @@ void ZenohManager::Initialize(const std::string &native_cfg_path) {
void ZenohManager::Shutdown() { void ZenohManager::Shutdown() {
for (auto ptr : z_pub_registry_) { for (auto ptr : z_pub_registry_) {
z_undeclare_publisher(z_move(ptr.second)); z_drop(z_move(ptr.second));
} }
for (auto ptr : z_sub_registry_) { for (auto ptr : z_sub_registry_) {
z_undeclare_subscriber(z_move(ptr.second)); z_drop(z_move(ptr.second));
} }
msg_handle_vec_.clear(); msg_handle_vec_.clear();
z_pub_registry_.clear(); z_pub_registry_.clear();
z_sub_registry_.clear(); z_sub_registry_.clear();
z_close(z_move(z_session_)); z_drop(z_move(z_session_));
} }
void ZenohManager::RegisterPublisher(const std::string &keyexpr) { void ZenohManager::RegisterPublisher(const std::string &keyexpr) {
@ -47,7 +47,7 @@ void ZenohManager::RegisterPublisher(const std::string &keyexpr) {
z_owned_publisher_t z_pub; z_owned_publisher_t z_pub;
z_publisher_put_options_default(&z_pub_options_); z_publisher_put_options_default(&z_pub_options_);
if (z_declare_publisher(&z_pub, z_loan(z_session_), z_loan(key), NULL) < 0) { if (z_declare_publisher(z_loan(z_session_), &z_pub, z_loan(key), NULL) < 0) {
AIMRT_ERROR("Unable to declare Publisher!"); AIMRT_ERROR("Unable to declare Publisher!");
return; return;
} }
@ -56,15 +56,15 @@ void ZenohManager::RegisterPublisher(const std::string &keyexpr) {
AIMRT_TRACE("Publisher with keyexpr: {} registered successfully.", keyexpr.c_str()); AIMRT_TRACE("Publisher with keyexpr: {} registered successfully.", keyexpr.c_str());
} }
void data_handler(const z_loaned_sample_t *sample, void *arg) {}
void ZenohManager::RegisterSubscriber(const std::string &keyexpr, MsgHandleFunc handle) { void ZenohManager::RegisterSubscriber(const std::string &keyexpr, MsgHandleFunc handle) {
z_view_keyexpr_t key; z_view_keyexpr_t key;
z_view_keyexpr_from_str(&key, keyexpr.c_str()); z_view_keyexpr_from_str(&key, keyexpr.c_str());
z_owned_closure_sample_t z_callback; z_owned_closure_sample_t z_callback;
auto function_ptr = std::make_shared<MsgHandleFunc>(std::move(handle)); auto function_ptr = std::make_shared<MsgHandleFunc>(std::move(handle));
z_closure( z_closure(
&z_callback, &z_callback,
[](const z_loaned_sample_t *sample, void *arg) { (*reinterpret_cast<MsgHandleFunc *>(arg))(sample); }, [](z_loaned_sample_t *sample, void *arg) { (*reinterpret_cast<MsgHandleFunc *>(arg))(sample); },
nullptr, nullptr,
@ -74,7 +74,7 @@ void ZenohManager::RegisterSubscriber(const std::string &keyexpr, MsgHandleFunc
z_owned_subscriber_t z_sub; z_owned_subscriber_t z_sub;
if (z_declare_subscriber(&z_sub, z_loan(z_session_), z_loan(key), z_move(z_callback), NULL) < 0) { if (z_declare_subscriber(z_loan(z_session_), &z_sub, z_loan(key), z_move(z_callback), NULL) < 0) {
AIMRT_ERROR("Unable to declare Subscriber!"); AIMRT_ERROR("Unable to declare Subscriber!");
return; return;
} }

2
url_cn.bashrc
View File

@ -15,7 +15,7 @@ export AIMRT_DOWNLOAD_FLAGS="-Dboost_DOWNLOAD_URL=https://gitee.com/AimRT/boost/
-Dnlohmann_json_DOWNLOAD_URL=https://gitee.com/AimRT/json/repository/archive/v3.11.3.zip \ -Dnlohmann_json_DOWNLOAD_URL=https://gitee.com/AimRT/json/repository/archive/v3.11.3.zip \
-Dopentelemetry_proto_DOWNLOAD_URL=https://gitee.com/AimRT/opentelemetry-proto/repository/archive/v1.3.2.zip \ -Dopentelemetry_proto_DOWNLOAD_URL=https://gitee.com/AimRT/opentelemetry-proto/repository/archive/v1.3.2.zip \
-Dopentelemetry_cpp_DOWNLOAD_URL=https://gitee.com/AimRT/opentelemetry-cpp/repository/archive/v1.16.1.zip \ -Dopentelemetry_cpp_DOWNLOAD_URL=https://gitee.com/AimRT/opentelemetry-cpp/repository/archive/v1.16.1.zip \
-Dzenohc_DOWNLOAD_URL=https://gitee.com/AimRT/zenoh-c/repository/archive/1.0.0.6.zip \ -Dzenohc_DOWNLOAD_URL=https://gitee.com/AimRT/zenoh-c/repository/archive/1.0.0.11.zip \
-Dnghttp2_DOWNLOAD_URL=https://gitee.com/mirrors/nghttp2/repository/archive/v1.62.1.zip \ -Dnghttp2_DOWNLOAD_URL=https://gitee.com/mirrors/nghttp2/repository/archive/v1.62.1.zip \
-Diceoryx_DOWNLOAD_URL=https://gitee.com/mirrors/iceoryx/repository/archive/v2.0.6.zip \ -Diceoryx_DOWNLOAD_URL=https://gitee.com/mirrors/iceoryx/repository/archive/v2.0.6.zip \
-Dcpptoml_DOWNLOAD_URL=https://gitee.com/AimRT/cpptoml/repository/archive/v0.1.0.zip" -Dcpptoml_DOWNLOAD_URL=https://gitee.com/AimRT/cpptoml/repository/archive/v0.1.0.zip"