From caf041a836ee2fe233b2195320607f65febb6b33 Mon Sep 17 00:00:00 2001
From: Alexander Bushnev <Alexander@Bushnev.pro>
Date: Fri, 13 Dec 2024 20:21:20 +0100
Subject: [PATCH] Fix liveliness test

---
 .github/workflows/build-check.yaml |  4 ++--
 GNUmakefile                        |  1 +
 examples/unix/c11/z_liveliness.c   | 23 ++++++++++-------------
 tests/memory_leak.py               |  6 +++---
 zenohpico.pc                       |  2 +-
 5 files changed, 17 insertions(+), 19 deletions(-)

diff --git a/.github/workflows/build-check.yaml b/.github/workflows/build-check.yaml
index 6339ef357..fa0b5e7a6 100644
--- a/.github/workflows/build-check.yaml
+++ b/.github/workflows/build-check.yaml
@@ -272,9 +272,9 @@ jobs:
       - name: Build project and run test
         run: |
           sudo apt install -y ninja-build
-          Z_FEATURE_UNSTABLE_API=1 Z_FEATURE_LIVELINESS=1 CMAKE_GENERATOR=Ninja make
+          CMAKE_GENERATOR=Ninja make
           python3 ./build/tests/memory_leak.py
-        timeout-minutes: 5
+        timeout-minutes: 10 
 
       - name: Kill Zenoh router
         if: always()
diff --git a/GNUmakefile b/GNUmakefile
index 15985b481..95942d486 100644
--- a/GNUmakefile
+++ b/GNUmakefile
@@ -62,6 +62,7 @@ Z_FEATURE_SUBSCRIPTION?=1
 Z_FEATURE_QUERY?=1
 Z_FEATURE_QUERYABLE?=1
 Z_FEATURE_INTEREST?=1
+Z_FEATURE_LIVELINESS?=1
 Z_FEATURE_RAWETH_TRANSPORT?=0
 
 # Buffer sizes
diff --git a/examples/unix/c11/z_liveliness.c b/examples/unix/c11/z_liveliness.c
index 0798621fe..0db1a9c10 100644
--- a/examples/unix/c11/z_liveliness.c
+++ b/examples/unix/c11/z_liveliness.c
@@ -11,7 +11,6 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 
-#include <signal.h>
 #include <stddef.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -20,21 +19,15 @@
 
 #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;
+    unsigned int timeout = 0;
 
     int opt;
-    while ((opt = getopt(argc, argv, "k:e:m:l:")) != -1) {
+    while ((opt = getopt(argc, argv, "k:e:m:l:t:")) != -1) {
         switch (opt) {
             case 'k':
                 keyexpr = optarg;
@@ -48,8 +41,12 @@ int main(int argc, char **argv) {
             case 'l':
                 llocator = optarg;
                 break;
+            case 't':
+                timeout = atoi(optarg);
+                break;
             case '?':
-                if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'v' || optopt == 'l') {
+                if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'v' || optopt == 'l' ||
+                    optopt == 't') {
                     fprintf(stderr, "Option -%c requires an argument.\n", optopt);
                 } else {
                     fprintf(stderr, "Unknown option `-%c'.\n", optopt);
@@ -98,9 +95,9 @@ int main(int argc, char **argv) {
     }
 
     printf("Press CTRL-C to undeclare liveliness token and quit...\n");
-    signal(SIGINT, intHandler);
-    while (keepRunning) {
-        z_sleep_s(1);
+    z_clock_t clock = z_clock_now();
+    while (timeout == 0 || z_clock_elapsed_s(&clock) < timeout) {
+        z_sleep_ms(100);
     }
 
     // LivelinessTokens are automatically closed when dropped
diff --git a/tests/memory_leak.py b/tests/memory_leak.py
index 2191d2295..01412ef6b 100644
--- a/tests/memory_leak.py
+++ b/tests/memory_leak.py
@@ -121,7 +121,7 @@ def query_and_queryable(query_cmd, queryable_cmd):
     z_query_process.wait()
 
     print(f"Stop {queryable_cmd}")
-    time.sleep(2)
+    time.sleep(5)
     if z_queryable_process.poll() is None:
         # send SIGINT to group
         z_quaryable_process_gid = os.getpgid(z_queryable_process.pid)
@@ -176,11 +176,11 @@ def query_and_queryable(query_cmd, queryable_cmd):
         EXIT_STATUS = 1
     # Test liveliness query
     print("*** Get liveliness test ***")
-    if query_and_queryable('z_get_liveliness', 'z_liveliness') == 1:
+    if query_and_queryable('z_get_liveliness', 'z_liveliness -t 5') == 1:
         EXIT_STATUS = 1
     # Test liveliness subscriber
     print("*** Liveliness subscriber test ***")
-    if query_and_queryable('z_sub_liveliness -h -n 1', 'z_liveliness') == 1:
+    if query_and_queryable('z_sub_liveliness -h -n 1', 'z_liveliness -t 1') == 1:
         EXIT_STATUS = 1
     # Exit
     sys.exit(EXIT_STATUS)
diff --git a/zenohpico.pc b/zenohpico.pc
index 421fe0950..9ca8475b0 100644
--- a/zenohpico.pc
+++ b/zenohpico.pc
@@ -3,6 +3,6 @@ prefix=/usr/local
 Name: zenohpico
 Description: 
 URL: 
-Version: 1.0.20241210dev
+Version: 1.0.0.0
 Cflags: -I${prefix}/include
 Libs: -L${prefix}/lib -lzenohpico