fix(workflows/release): Sync actions/upload-artifact and actions/down…

…load-artifact versions (v3)

.github/workflows/release.yml

@@ -25,7 +25,9 @@ jobs:
     name: Preparation
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - name: Clone this repository
+        uses: actions/checkout@v4
+
       - name: Environment setup
         id: env
         shell: bash
@@ -34,32 +36,32 @@ jobs:
           echo "GITHUB_SHA=${GITHUB_SHA:0:8}"
           GIT_BRANCH=`[[ $GITHUB_REF =~ ^refs/heads/.* ]] && echo ${GITHUB_REF/refs\/heads\//} || true`
           echo "GIT_BRANCH=${GIT_BRANCH}"
-          echo ::set-output name=GIT_BRANCH::"${GIT_BRANCH}"
+          echo "GIT_BRANCH=${GIT_BRANCH}" >> $GITHUB_OUTPUT
           GIT_TAG=`[[ $GITHUB_REF =~ ^refs/tags/.* ]] && echo ${GITHUB_REF/refs\/tags\//} || true`
           echo "GIT_TAG=${GIT_TAG}"
-          echo ::set-output name=GIT_TAG::"${GIT_TAG}"
+          echo "GIT_TAG=${GIT_TAG}" >> $GITHUB_OUTPUT
 
           ZENOH_VERSION=$(sed -n 's/^project(libzenohpico VERSION \(.*\) LANGUAGES C)/\1/p' CMakeLists.txt | head -n1)
           echo "ZENOH_VERSION=${ZENOH_VERSION}"
-          echo ::set-output name=ZENOH_VERSION::"${ZENOH_VERSION}"
+          echo "ZENOH_VERSION=${ZENOH_VERSION}" >> $GITHUB_OUTPUT
           if [ -n "${GIT_TAG}" ]; then
             IS_RELEASE="true"
             echo "IS_RELEASE=${IS_RELEASE}"
-            echo ::set-output name=IS_RELEASE::"${IS_RELEASE}"
+            echo "IS_RELEASE=${IS_RELEASE}" >> $GITHUB_OUTPUT
             PKG_VERSION=${GIT_TAG}
           elif [ -n "${GIT_BRANCH}" ]; then
             PKG_VERSION=${GIT_BRANCH}-${GITHUB_SHA:0:8}
           else
             PKG_VERSION=${ZENOH_VERSION}-${GITHUB_SHA:0:8}
           fi
           echo "PKG_VERSION=${PKG_VERSION}"
-          echo ::set-output name=PKG_VERSION::"${PKG_VERSION}"
+          echo "PKG_VERSION=${PKG_VERSION}" >> $GITHUB_OUTPUT
 
           CROSSBUILD_TARGETS=$(sed -n 's/^CROSSBUILD_TARGETS=\(.*\)/\1/p' GNUmakefile | head -n1)
           echo "CROSSBUILD_TARGETS=$CROSSBUILD_TARGETS"
           TARGET_MATRIX="{\"target\": [\"${CROSSBUILD_TARGETS// /\",\"}\"]}"
           echo "TARGET_MATRIX=$TARGET_MATRIX"
-          echo ::set-output name=TARGET_MATRIX::"${TARGET_MATRIX}"
+          echo "TARGET_MATRIX=$TARGET_MATRIX" >> $GITHUB_OUTPUT
     outputs:
       GIT_BRANCH: ${{ steps.env.outputs.GIT_BRANCH }}
       GIT_TAG: ${{ steps.env.outputs.GIT_TAG }}
@@ -73,11 +75,14 @@ jobs:
     needs: preps
     runs-on: macos-latest
     steps:
-      - uses: actions/checkout@v4
+      - name: Clone this repository
+        uses: actions/checkout@v4
+
       - name: MacOS build
         run: make
         env:
           BUILD_TYPE: RELEASE
+
       - name: Packaging
         id: package
         shell: bash
@@ -86,14 +91,15 @@ jobs:
           echo "Packaging ${LIB_PKG_NAME}:"
           cd build && zip -r ${LIB_PKG_NAME} lib && cd -
           zip -r ${LIB_PKG_NAME} include
-          echo ::set-output name=LIB_PKG_NAME::"${LIB_PKG_NAME}"
+          echo "LIB_PKG_NAME=${LIB_PKG_NAME}" >> $GITHUB_OUTPUT
 
           EXP_PKG_NAME=${PWD}/zenoh-pico-${{ needs.preps.outputs.PKG_VERSION }}-macos-x64-examples.zip
           echo "Packaging ${EXP_PKG_NAME}:"
           cd build/examples && zip ${EXP_PKG_NAME} * && cd -
-          echo ::set-output name=EXP_PKG_NAME::"${EXP_PKG_NAME}"
+          echo "EXP_PKG_NAME=${EXP_PKG_NAME}" >> $GITHUB_OUTPUT
+
       - name: "Upload x86_64 macos package"
-        uses: actions/upload-artifact@master
+        uses: actions/upload-artifact@v3
         with:
           name: macos-x64
           path: |
@@ -108,11 +114,14 @@ jobs:
       fail-fast: false
       matrix: ${{fromJson(needs.preps.outputs.TARGET_MATRIX)}}
     steps:
-      - uses: actions/checkout@v4
+      - name: Clone this repository
+        uses: actions/checkout@v4
+
       - name: make for ${{ matrix.target }}
         env:
           BUILD_TYPE: RELEASE
         run: make ${{ matrix.target }}
+
       - name: Packaging
         id: package
         shell: bash
@@ -126,22 +135,23 @@ jobs:
           echo "Packaging ${LIB_PKG_NAME}:"
           cd crossbuilds/${TARGET} && zip -r ${LIB_PKG_NAME} lib && cd -
           zip -r ${LIB_PKG_NAME} include
-          echo ::set-output name=LIB_PKG_NAME::"${LIB_PKG_NAME}"
+          echo "LIB_PKG_NAME=${LIB_PKG_NAME}" >> $GITHUB_OUTPUT
 
           cd crossbuilds/${TARGET}/packages
           echo "Packaging ${DEB_PKG_NAME}:"
           zip ${DEB_PKG_NAME} *.deb
-          echo ::set-output name=DEB_PKG_NAME::"${DEB_PKG_NAME}"
+          echo "DEB_PKG_NAME=${DEB_PKG_NAME}" >> $GITHUB_OUTPUT
           echo "Packaging ${RPM_PKG_NAME}:"
           zip ${RPM_PKG_NAME} *.rpm
-          echo ::set-output name=RPM_PKG_NAME::"${RPM_PKG_NAME}"
+          echo "RPM_PKG_NAME=${RPM_PKG_NAME}" >> $GITHUB_OUTPUT
           cd -
 
           echo "Packaging ${EXP_PKG_NAME}:"
           cd crossbuilds/${TARGET}/examples && zip ${EXP_PKG_NAME} * && cd -
-          echo ::set-output name=EXP_PKG_NAME::"${EXP_PKG_NAME}"
+          echo "EXP_PKG_NAME=${EXP_PKG_NAME}" >> $GITHUB_OUTPUT
+
       - name: "Upload packages"
-        uses: actions/upload-artifact@master
+        uses: actions/upload-artifact@v3
         with:
           name: ${{ matrix.target }}
           path: |
@@ -157,13 +167,15 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Download result of previous builds
-        uses: actions/download-artifact@v2
+        uses: actions/download-artifact@v3
         with:
           path: ARTIFACTS
+
       - name: Publish as github release
         uses: softprops/action-gh-release@v1
         with:
           files: ARTIFACTS/*/*.*
+
       - name: Publish to download.eclipse.org/zenoh
         env:
           SSH_TARGET: [email protected]

include/zenoh-pico/link/link.h

@@ -43,24 +43,44 @@
 #include "zenoh-pico/utils/result.h"
 
 /**
- * Link capabilities values, defined as a bitmask.
+ * Link transport capability enum.
  *
  * Enumerators:
- *     Z_LINK_CAPABILITY_NONE: Bitmask to define that link has no capabilities.
- *     Z_LINK_CAPABILITY_RELIABLE: Bitmask to define and check if link is reliable.
- *     Z_LINK_CAPABILITY_STREAMED: Bitmask to define and check if link is streamed.
- *     Z_LINK_CAPABILITY_MULTICAST: Bitmask to define and check if link is multicast.
+ *     Z_LINK_CAP_TRANSPORT_UNICAST: Link has unicast capabilities.
+ *     Z_LINK_CAP_TRANSPORT_MULTICAST: Link has multicast capabilities.
  */
 typedef enum {
-    Z_LINK_CAPABILITY_NONE = 0x00,      // 0
-    Z_LINK_CAPABILITY_RELIABLE = 0x01,  // 1 << 0
-    Z_LINK_CAPABILITY_STREAMED = 0x02,  // 1 << 1
-    Z_LINK_CAPABILITY_MULTICAST = 0x04  // 1 << 2
-} _z_link_capabilities_t;
+    Z_LINK_CAP_TRANSPORT_UNICAST = 0,
+    Z_LINK_CAP_TRANSPORT_MULTICAST = 1,
+} _z_link_cap_transport_t;
 
-#define _Z_LINK_IS_RELIABLE(X) ((X & Z_LINK_CAPABILITY_RELIABLE) == Z_LINK_CAPABILITY_RELIABLE)
-#define _Z_LINK_IS_STREAMED(X) ((X & Z_LINK_CAPABILITY_STREAMED) == Z_LINK_CAPABILITY_STREAMED)
-#define _Z_LINK_IS_MULTICAST(X) ((X & Z_LINK_CAPABILITY_MULTICAST) == Z_LINK_CAPABILITY_MULTICAST)
+/**
+ * Link flow capability enum.
+ *
+ * Enumerators:
+ *     Z_LINK_CAP_FLOW_STREAM: Link use datagrams.
+ *     Z_LINK_CAP_FLOW_DATAGRAM: Link use byte stream.
+ */
+typedef enum {
+    Z_LINK_CAP_FLOW_DATAGRAM = 0,
+    Z_LINK_CAP_FLOW_STREAM = 1,
+} _z_link_cap_flow_t;
+
+/**
+ * Link capabilities, stored as a register-like object.
+ *
+ * Fields:
+ *     transport: 2 bits, see _z_link_cap_transport_t enum.
+ *     flow: 1 bit, see _z_link_cap_flow_t enum.
+ *     reliable: 1 bit, 1 if the link is reliable (network definition)
+ *     reserved: 4 bits, reserved for futur use
+ */
+typedef struct _z_link_capabilities_t {
+    uint8_t _transport : 2;
+    uint8_t _flow : 1;
+    uint8_t _is_reliable : 1;
+    uint8_t _reserved : 4;
+} _z_link_capabilities_t;
 
 struct _z_link_t;  // Forward declaration to be used in _z_f_link_*
 
@@ -104,7 +124,7 @@ typedef struct _z_link_t {
     _z_f_link_free _free_f;
 
     uint16_t _mtu;
-    uint8_t _capabilities;
+    _z_link_capabilities_t _cap;
 } _z_link_t;
 
 void _z_link_clear(_z_link_t *zl);

include/zenoh-pico/transport/common/tx.h

@@ -19,8 +19,8 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/transport/transport.h"
 
-void __unsafe_z_prepare_wbuf(_z_wbuf_t *buf, _Bool is_streamed);
-void __unsafe_z_finalize_wbuf(_z_wbuf_t *buf, _Bool is_streamed);
+void __unsafe_z_prepare_wbuf(_z_wbuf_t *buf, uint8_t link_flow_capability);
+void __unsafe_z_finalize_wbuf(_z_wbuf_t *buf, uint8_t link_flow_capability);
 /*This function is unsafe because it operates in potentially concurrent
         data.*Make sure that the following mutexes are locked before calling this function : *-ztu->mutex_tx */
 int8_t __unsafe_z_serialize_zenoh_fragment(_z_wbuf_t *dst, _z_wbuf_t *src, z_reliability_t reliability, size_t sn);

src/link/link.c

@@ -148,7 +148,17 @@ size_t _z_link_recv_exact_zbuf(const _z_link_t *link, _z_zbuf_t *zbf, size_t len
 
 int8_t _z_link_send_wbuf(const _z_link_t *link, const _z_wbuf_t *wbf) {
     int8_t ret = _Z_RES_OK;
-    _Bool link_is_streamed = _Z_LINK_IS_STREAMED(link->_capabilities);
+    _Bool link_is_streamed = false;
+
+    switch (link->_cap._flow) {
+        case Z_LINK_CAP_FLOW_STREAM:
+            link_is_streamed = true;
+            break;
+        case Z_LINK_CAP_FLOW_DATAGRAM:
+        default:
+            link_is_streamed = false;
+            break;
+    }
     for (size_t i = 0; (i < _z_wbuf_len_iosli(wbf)) && (ret == _Z_RES_OK); i++) {
         _z_bytes_t bs = _z_iosli_to_bytes(_z_wbuf_get_iosli(wbf, i));
         size_t n = bs.len;

src/link/multicast/bt.c

@@ -115,7 +115,10 @@ uint16_t _z_get_link_mtu_bt(void) { return SPP_MAXIMUM_PAYLOAD; }
 int8_t _z_new_link_bt(_z_link_t *zl, _z_endpoint_t endpoint) {
     int8_t ret = _Z_RES_OK;
 
-    zl->_capabilities = Z_LINK_CAPABILITY_STREAMED | Z_LINK_CAPABILITY_MULTICAST;
+    zl->_cap._transport = Z_LINK_CAP_TRANSPORT_MULTICAST;
+    zl->_cap._flow = Z_LINK_CAP_FLOW_STREAM;
+    zl->_cap._is_reliable = false;
+
     zl->_mtu = _z_get_link_mtu_bt();
 
     zl->_endpoint = endpoint;

src/link/multicast/udp.c

@@ -171,7 +171,10 @@ uint16_t _z_get_link_mtu_udp_multicast(void) {
 int8_t _z_new_link_udp_multicast(_z_link_t *zl, _z_endpoint_t endpoint) {
     int8_t ret = _Z_RES_OK;
 
-    zl->_capabilities = Z_LINK_CAPABILITY_MULTICAST;
+    zl->_cap._transport = Z_LINK_CAP_TRANSPORT_MULTICAST;
+    zl->_cap._flow = Z_LINK_CAP_FLOW_DATAGRAM;
+    zl->_cap._is_reliable = false;
+
     zl->_mtu = _z_get_link_mtu_udp_multicast();
 
     zl->_endpoint = endpoint;

src/link/unicast/serial.c

@@ -116,7 +116,10 @@ uint16_t _z_get_link_mtu_serial(void) { return _Z_SERIAL_MTU_SIZE; }
 int8_t _z_new_link_serial(_z_link_t *zl, _z_endpoint_t endpoint) {
     int8_t ret = _Z_RES_OK;
 
-    zl->_capabilities = Z_LINK_CAPABILITY_NONE;
+    zl->_cap._transport = Z_LINK_CAP_TRANSPORT_UNICAST;
+    zl->_cap._flow = Z_LINK_CAP_FLOW_DATAGRAM;
+    zl->_cap._is_reliable = false;
+
     zl->_mtu = _z_get_link_mtu_serial();
 
     zl->_endpoint = endpoint;

src/link/unicast/tcp.c

@@ -156,7 +156,10 @@ uint16_t _z_get_link_mtu_tcp(void) {
 int8_t _z_new_link_tcp(_z_link_t *zl, _z_endpoint_t *endpoint) {
     int8_t ret = _Z_RES_OK;
 
-    zl->_capabilities = Z_LINK_CAPABILITY_RELIABLE | Z_LINK_CAPABILITY_STREAMED;
+    zl->_cap._transport = Z_LINK_CAP_TRANSPORT_UNICAST;
+    zl->_cap._flow = Z_LINK_CAP_FLOW_STREAM;
+    zl->_cap._is_reliable = true;
+
     zl->_mtu = _z_get_link_mtu_tcp();
 
     zl->_endpoint = *endpoint;

src/link/unicast/udp.c

@@ -162,7 +162,10 @@ uint16_t _z_get_link_mtu_udp_unicast(void) {
 int8_t _z_new_link_udp_unicast(_z_link_t *zl, _z_endpoint_t endpoint) {
     int8_t ret = _Z_RES_OK;
 
-    zl->_capabilities = Z_LINK_CAPABILITY_NONE;
+    zl->_cap._transport = Z_LINK_CAP_TRANSPORT_UNICAST;
+    zl->_cap._flow = Z_LINK_CAP_FLOW_DATAGRAM;
+    zl->_cap._is_reliable = false;
+
     zl->_mtu = _z_get_link_mtu_udp_unicast();
 
     zl->_endpoint = endpoint;

src/link/unicast/ws.c

@@ -157,7 +157,10 @@ uint16_t _z_get_link_mtu_ws(void) {
 int8_t _z_new_link_ws(_z_link_t *zl, _z_endpoint_t *endpoint) {
     int8_t ret = _Z_RES_OK;
 
-    zl->_capabilities = Z_LINK_CAPABILITY_RELIABLE;
+    zl->_cap._transport = Z_LINK_CAP_TRANSPORT_UNICAST;
+    zl->_cap._flow = Z_LINK_CAP_FLOW_DATAGRAM;
+    zl->_cap._is_reliable = true;
+
     zl->_mtu = _z_get_link_mtu_ws();
 
     zl->_endpoint = *endpoint;

src/transport/common/rx.c

@@ -28,32 +28,37 @@ int8_t _z_link_recv_t_msg(_z_transport_message_t *t_msg, const _z_link_t *zl) {
     _z_zbuf_t zbf = _z_zbuf_make(Z_BATCH_UNICAST_SIZE);
     _z_zbuf_reset(&zbf);
 
-    if (_Z_LINK_IS_STREAMED(zl->_capabilities) == true) {
-        // Read the message length
-        if (_z_link_recv_exact_zbuf(zl, &zbf, _Z_MSG_LEN_ENC_SIZE, NULL) == _Z_MSG_LEN_ENC_SIZE) {
-            size_t len = 0;
-            for (uint8_t i = 0; i < _Z_MSG_LEN_ENC_SIZE; i++) {
-                len |= (size_t)(_z_zbuf_read(&zbf) << (i * (uint8_t)8));
-            }
+    switch (zl->_cap._flow) {
+        case Z_LINK_CAP_FLOW_STREAM:
+            // Read the message length
+            if (_z_link_recv_exact_zbuf(zl, &zbf, _Z_MSG_LEN_ENC_SIZE, NULL) == _Z_MSG_LEN_ENC_SIZE) {
+                size_t len = 0;
+                for (uint8_t i = 0; i < _Z_MSG_LEN_ENC_SIZE; i++) {
+                    len |= (size_t)(_z_zbuf_read(&zbf) << (i * (uint8_t)8));
+                }
 
-            size_t writable = _z_zbuf_capacity(&zbf) - _z_zbuf_len(&zbf);
-            if (writable >= len) {
-                // Read enough bytes to decode the message
-                if (_z_link_recv_exact_zbuf(zl, &zbf, len, NULL) != len) {
-                    ret = _Z_ERR_TRANSPORT_RX_FAILED;
+                size_t writable = _z_zbuf_capacity(&zbf) - _z_zbuf_len(&zbf);
+                if (writable >= len) {
+                    // Read enough bytes to decode the message
+                    if (_z_link_recv_exact_zbuf(zl, &zbf, len, NULL) != len) {
+                        ret = _Z_ERR_TRANSPORT_RX_FAILED;
+                    }
+                } else {
+                    ret = _Z_ERR_TRANSPORT_NO_SPACE;
                 }
             } else {
-                ret = _Z_ERR_TRANSPORT_NO_SPACE;
+                ret = _Z_ERR_TRANSPORT_RX_FAILED;
             }
-        } else {
-            ret = _Z_ERR_TRANSPORT_RX_FAILED;
-        }
-    } else {
-        if (_z_link_recv_zbuf(zl, &zbf, NULL) == SIZE_MAX) {
-            ret = _Z_ERR_TRANSPORT_RX_FAILED;
-        }
+            break;
+        case Z_LINK_CAP_FLOW_DATAGRAM:
+            if (_z_link_recv_zbuf(zl, &zbf, NULL) == SIZE_MAX) {
+                ret = _Z_ERR_TRANSPORT_RX_FAILED;
+            }
+            break;
+        default:
+            ret = _Z_ERR_GENERIC;
+            break;
     }
-
     if (ret == _Z_RES_OK) {
         _z_transport_message_t l_t_msg;
         ret = _z_transport_message_decode(&l_t_msg, &zbf);