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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,116 @@ | ||
| // | ||
| // Copyright (c) 2024 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]> | ||
|
|
||
| #include <stddef.h> | ||
| #include <stdio.h> | ||
| #include <unistd.h> | ||
| #include <zenoh-pico.h> | ||
|
|
||
| #if Z_FEATURE_LIVELINESS == 1 && Z_FEATURE_QUERY == 1 | ||
|
|
||
| int main(int argc, char **argv) { | ||
| const char *keyexpr = "group1/**"; | ||
| const char *mode = "client"; | ||
| const char *clocator = NULL; | ||
| const char *llocator = NULL; | ||
|
|
||
| int opt; | ||
| while ((opt = getopt(argc, argv, "k:e:m:l:")) != -1) { | ||
| switch (opt) { | ||
| case 'k': | ||
| keyexpr = optarg; | ||
| break; | ||
| case 'e': | ||
| clocator = optarg; | ||
| break; | ||
| case 'm': | ||
| mode = optarg; | ||
| break; | ||
| case 'l': | ||
| llocator = optarg; | ||
| break; | ||
| case '?': | ||
| if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'v' || optopt == 'l') { | ||
| fprintf(stderr, "Option -%c requires an argument.\n", optopt); | ||
| } else { | ||
| fprintf(stderr, "Unknown option `-%c'.\n", optopt); | ||
| } | ||
| return 1; | ||
| default: | ||
| return -1; | ||
| } | ||
| } | ||
|
|
||
| z_owned_config_t config; | ||
| z_config_default(&config); | ||
| zp_config_insert(z_loan_mut(config), Z_CONFIG_MODE_KEY, mode); | ||
| if (clocator != NULL) { | ||
| zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, clocator); | ||
| } | ||
| if (llocator != NULL) { | ||
| zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, llocator); | ||
| } | ||
|
|
||
| printf("Opening session...\n"); | ||
| z_owned_session_t s; | ||
| if (z_open(&s, z_move(config), NULL) < 0) { | ||
| printf("Unable to open session!\n"); | ||
| return -1; | ||
| } | ||
|
|
||
| // Start read and lease tasks for zenoh-pico | ||
| if (zp_start_read_task(z_loan_mut(s), NULL) < 0 || zp_start_lease_task(z_loan_mut(s), NULL) < 0) { | ||
| printf("Unable to start read and lease tasks\n"); | ||
| z_session_drop(z_session_move(&s)); | ||
| return -1; | ||
| } | ||
|
|
||
| z_view_keyexpr_t ke; | ||
| if (z_view_keyexpr_from_str(&ke, keyexpr) < 0) { | ||
| printf("%s is not a valid key expression", keyexpr); | ||
| return -1; | ||
| } | ||
|
|
||
| printf("Sending liveliness query '%s'...\n", keyexpr); | ||
| z_owned_fifo_handler_reply_t handler; | ||
| z_owned_closure_reply_t closure; | ||
| z_fifo_channel_reply_new(&closure, &handler, 16); | ||
| if (z_liveliness_get(z_loan(s), z_loan(ke), z_move(closure), NULL) < 0) { | ||
| printf("Liveliness query failed"); | ||
| return -1; | ||
| } | ||
| z_owned_reply_t reply; | ||
| for (z_result_t res = z_recv(z_loan(handler), &reply); res == Z_OK; res = z_recv(z_loan(handler), &reply)) { | ||
| if (z_reply_is_ok(z_loan(reply))) { | ||
| const z_loaned_sample_t *sample = z_reply_ok(z_loan(reply)); | ||
| z_view_string_t key_str; | ||
| z_keyexpr_as_view_string(z_sample_keyexpr(sample), &key_str); | ||
| printf(">> Alive token ('%.*s')\n", (int)z_string_len(z_loan(key_str)), z_string_data(z_loan(key_str))); | ||
| } else { | ||
| printf("Received an error\n"); | ||
| } | ||
| } | ||
|
|
||
| z_drop(z_move(reply)); | ||
| z_drop(z_move(handler)); | ||
| z_drop(z_move(s)); | ||
| return 0; | ||
| } | ||
| #else | ||
| int main(void) { | ||
| printf( | ||
| "ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY or Z_FEATURE_LIVELINESS but this example requires " | ||
| "them.\n"); | ||
| return -2; | ||
| } | ||
| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,121 @@ | ||
| // | ||
| // Copyright (c) 2024 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]> | ||
|
|
||
| #include <signal.h> | ||
| #include <stddef.h> | ||
| #include <stdio.h> | ||
| #include <stdlib.h> | ||
| #include <unistd.h> | ||
| #include <zenoh-pico.h> | ||
|
|
||
| #if Z_FEATURE_LIVELINESS == 1 | ||
|
|
||
| static volatile int keepRunning = 1; | ||
|
|
||
| void intHandler(int dummy) { | ||
| (void)dummy; | ||
| keepRunning = 0; | ||
| } | ||
|
|
||
| int main(int argc, char **argv) { | ||
| const char *keyexpr = "group1/zenoh-pico"; | ||
| const char *mode = "client"; | ||
| const char *clocator = NULL; | ||
| const char *llocator = NULL; | ||
|
|
||
| int opt; | ||
| while ((opt = getopt(argc, argv, "k:e:m:l:")) != -1) { | ||
| switch (opt) { | ||
| case 'k': | ||
| keyexpr = optarg; | ||
| break; | ||
| case 'e': | ||
| clocator = optarg; | ||
| break; | ||
| case 'm': | ||
| mode = optarg; | ||
| break; | ||
| case 'l': | ||
| llocator = optarg; | ||
| break; | ||
| case '?': | ||
| if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'v' || optopt == 'l') { | ||
| fprintf(stderr, "Option -%c requires an argument.\n", optopt); | ||
| } else { | ||
| fprintf(stderr, "Unknown option `-%c'.\n", optopt); | ||
| } | ||
| return 1; | ||
| default: | ||
| return -1; | ||
| } | ||
| } | ||
|
|
||
| z_owned_config_t config; | ||
| z_config_default(&config); | ||
| zp_config_insert(z_loan_mut(config), Z_CONFIG_MODE_KEY, mode); | ||
| if (clocator != NULL) { | ||
| zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, clocator); | ||
| } | ||
| if (llocator != NULL) { | ||
| zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, llocator); | ||
| } | ||
|
|
||
| printf("Opening session...\n"); | ||
| z_owned_session_t s; | ||
| if (z_open(&s, z_move(config), NULL) < 0) { | ||
| printf("Unable to open session!\n"); | ||
| return -1; | ||
| } | ||
|
|
||
| // Start read and lease tasks for zenoh-pico | ||
| if (zp_start_read_task(z_loan_mut(s), NULL) < 0 || zp_start_lease_task(z_loan_mut(s), NULL) < 0) { | ||
| printf("Unable to start read and lease tasks\n"); | ||
| z_session_drop(z_session_move(&s)); | ||
| return -1; | ||
| } | ||
|
|
||
| z_view_keyexpr_t ke; | ||
| if (z_view_keyexpr_from_str(&ke, keyexpr) < 0) { | ||
| printf("%s is not a valid key expression", keyexpr); | ||
| return -1; | ||
| } | ||
|
|
||
| printf("Declaring liveliness token '%s'...\n", keyexpr); | ||
| z_owned_liveliness_token_t token; | ||
| if (z_liveliness_declare_token(z_loan(s), &token, z_loan(ke), NULL) < 0) { | ||
| printf("Unable to create liveliness token!\n"); | ||
| exit(-1); | ||
| } | ||
|
|
||
| printf("Press CTRL-C to undeclare liveliness token and quit...\n"); | ||
| signal(SIGINT, intHandler); | ||
| while (keepRunning) { | ||
| z_sleep_s(1); | ||
| } | ||
|
|
||
| // LivelinessTokens are automatically closed when dropped | ||
| // Use the code below to manually undeclare it if needed | ||
| printf("Undeclaring liveliness token...\n"); | ||
| z_drop(z_move(token)); | ||
|
|
||
| z_drop(z_move(s)); | ||
| return 0; | ||
| } | ||
| #else | ||
| int main(void) { | ||
| printf( | ||
| "ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY or Z_FEATURE_MULTI_THREAD but this example requires " | ||
| "them.\n"); | ||
| return -2; | ||
| } | ||
| #endif |
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