Merge pull request eclipse-zenoh#250 from DenisBiryukov91/feature/pla…

…tform-primitives

add synchronization primitives for zenoh-c (similar to zenoh-pico)

examples/z_ping.c

@@ -1,5 +1,4 @@
 #include <errno.h>
-#include <pthread.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <string.h>
@@ -15,11 +14,11 @@
 #define handle_error_en(en, msg) \
     do { errno = en; perror(msg); exit(EXIT_FAILURE); } while (0)
 
-pthread_cond_t cond;
-pthread_mutex_t mutex;
+z_condvar_t cond;
+z_mutex_t mutex;
 
-void callback(const z_sample_t* sample, void* context) { pthread_cond_signal(&cond); }
-void drop(void* context) { pthread_cond_destroy(&cond); }
+void callback(const z_sample_t* sample, void* context) { z_condvar_signal(&cond); }
+void drop(void* context) { z_condvar_free(&cond); }
 
 struct args_t {
     unsigned int size;             // -s
@@ -43,8 +42,8 @@ int main(int argc, char** argv) {
             DEFAULT_PKT_SIZE, DEFAULT_PING_NB, DEFAULT_WARMUP_MS);
         return 1;
     }
-    pthread_mutex_init(&mutex, NULL);
-    pthread_cond_init(&cond, NULL);
+    z_mutex_init(&mutex);
+    z_condvar_init(&cond);
     z_owned_config_t config = args.config_path ? zc_config_from_file(args.config_path) : z_config_default();
     z_owned_session_t session = z_open(z_move(config));
     z_keyexpr_t ping = z_keyexpr_unchecked("test/ping");
@@ -56,7 +55,7 @@ int main(int argc, char** argv) {
     for (int i = 0; i < args.size; i++) {
         data[i] = i % 10;
     }
-    pthread_mutex_lock(&mutex);
+    z_mutex_lock(&mutex);
     if (args.warmup_ms) {
         printf("Warming up for %dms...\n", args.warmup_ms);
         struct timespec wmup_start, wmup_stop, wmup_timeout;
@@ -66,9 +65,9 @@ int main(int argc, char** argv) {
             clock_gettime(CLOCK_REALTIME, &wmup_timeout);
             wmup_timeout.tv_sec += PING_TIMEOUT_SEC;
             z_publisher_put(z_loan(pub), data, args.size, NULL);
-            int s = pthread_cond_timedwait(&cond, &mutex, &wmup_timeout);
+            int s = z_condvar_wait(&cond, &mutex);
             if (s != 0) {
-                handle_error_en(s, "pthread_cond_timedwait");
+                handle_error_en(s, "z_condvar_wait");
             }
             clock_gettime(CLOCK_MONOTONIC, &wmup_stop);
             elapsed_us =
@@ -82,17 +81,17 @@ int main(int argc, char** argv) {
         t_timeout.tv_sec += PING_TIMEOUT_SEC;
         clock_gettime(CLOCK_MONOTONIC, &t_start);
         z_publisher_put(z_loan(pub), data, args.size, NULL);
-        int s = pthread_cond_timedwait(&cond, &mutex, &t_timeout);
+        int s = z_condvar_wait(&cond, &mutex);
         if (s != 0) {
-            handle_error_en(s, "pthread_cond_timedwait");
+            handle_error_en(s, "z_condvar_wait");
         }
         clock_gettime(CLOCK_MONOTONIC, &t_stop);
         results[i] = (1000000 * (t_stop.tv_sec - t_start.tv_sec) + (t_stop.tv_nsec - t_start.tv_nsec) / 1000);
     }
     for (int i = 0; i < args.number_of_pings; i++) {
         printf("%d bytes: seq=%d rtt=%luµs, lat=%luµs\n", args.size, i, results[i], results[i] / 2);
     }
-    pthread_mutex_unlock(&mutex);
+    z_mutex_unlock(&mutex);
     z_free(results);
     z_free(data);
     z_drop(z_move(sub));

include/zenoh_commons.h

@@ -470,6 +470,20 @@ typedef struct z_owned_closure_zid_t {
   void (*call)(const struct z_id_t*, void*);
   void (*drop)(void*);
 } z_owned_closure_zid_t;
+/**
+ * Condvar
+ *
+ */
+typedef struct z_condvar_t {
+  size_t _0;
+} z_condvar_t;
+/**
+ * Mutex
+ *
+ */
+typedef struct z_mutex_t {
+  size_t _0;
+} z_mutex_t;
 /**
  * An owned zenoh configuration.
  *
@@ -796,6 +810,16 @@ typedef struct z_owned_scouting_config_t {
 typedef struct z_subscriber_t {
   const struct z_owned_subscriber_t *_0;
 } z_subscriber_t;
+/**
+ * Task
+ *
+ */
+typedef struct z_task_t {
+  size_t _0;
+} z_task_t;
+typedef struct z_task_attr_t {
+  size_t _0;
+} z_task_attr_t;
 /**
  * The options for `zc_liveliness_declare_token`
  */
@@ -1198,6 +1222,10 @@ ZENOHC_API void z_closure_zid_drop(struct z_owned_closure_zid_t *closure);
  * Constructs a null safe-to-drop value of 'z_owned_closure_zid_t' type
  */
 ZENOHC_API struct z_owned_closure_zid_t z_closure_zid_null(void);
+ZENOHC_API int8_t z_condvar_free(struct z_condvar_t *cv);
+ZENOHC_API int8_t z_condvar_init(struct z_condvar_t *cv);
+ZENOHC_API int8_t z_condvar_signal(struct z_condvar_t *cv);
+ZENOHC_API int8_t z_condvar_wait(struct z_condvar_t *cv, struct z_mutex_t *m);
 /**
  * Returns ``true`` if `config` is valid.
  */
@@ -1615,6 +1643,11 @@ ZENOHC_API struct z_owned_str_t z_keyexpr_to_string(struct z_keyexpr_t keyexpr);
  */
 ZENOHC_API
 struct z_keyexpr_t z_keyexpr_unchecked(const char *name);
+ZENOHC_API int8_t z_mutex_free(struct z_mutex_t *m);
+ZENOHC_API int8_t z_mutex_init(struct z_mutex_t *m);
+ZENOHC_API int8_t z_mutex_lock(struct z_mutex_t *m);
+ZENOHC_API int8_t z_mutex_try_lock(struct z_mutex_t *m);
+ZENOHC_API int8_t z_mutex_unlock(struct z_mutex_t *m);
 /**
  * Opens a zenoh session. Should the session opening fail, `z_check` ing the returned value will return `false`.
  */
@@ -2028,6 +2061,12 @@ ZENOHC_API struct z_subscriber_options_t z_subscriber_options_default(void);
  *     sub: The :c:type:`z_owned_pull_subscriber_t` to pull from.
  */
 ZENOHC_API int8_t z_subscriber_pull(struct z_pull_subscriber_t sub);
+ZENOHC_API
+int8_t z_task_init(struct z_task_t *task,
+                   const struct z_task_attr_t *_attr,
+                   void (*fun)(void *arg),
+                   void *arg);
+ZENOHC_API int8_t z_task_join(struct z_task_t *task);
 /**
  * Returns ``true`` if `ts` is a valid timestamp
  */

src/lib.rs

@@ -49,6 +49,8 @@ pub use publication_cache::*;
 mod querying_subscriber;
 pub use querying_subscriber::*;
 pub mod attachment;
+pub use platform::*;
+pub mod platform;
 #[cfg(feature = "shared-memory")]
 mod shm;
 

src/platform/mod.rs

@@ -0,0 +1,16 @@
+//
+// Copyright (c) 2017, 2023 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]>
+//
+
+pub use synchronization::*;
+mod synchronization;