Support for custom / user-defined allocators

.github/workflows/emscripten.yaml

@@ -34,7 +34,7 @@ jobs:
     - name: Compile debug
       run: |
        mkdir build
-       emcmake cmake -E env CFLAGS="-DZ_LINK_WS=1 -DZ_LINK_TCP=0 -DZ_LINK_UDP_MULTICAST=0 -DZ_LINK_UDP_UNICAST=0 -DZ_SCOUTING_UDP=0" cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_C_STANDARD=11 -DBUILD_EXAMPLES=OFF -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF -DBUILD_MULTICAST=OFF -DBUILD_INTEGRATION=OFF -DBUILD_TOOLS=OFF -DZENOH_DEBUG=3 -H. -Bbuild
+       emcmake cmake -E env CFLAGS="-DZ_LINK_WS=1 -DZ_LINK_TCP=0 -DZ_LINK_UDP_MULTICAST=0 -DZ_LINK_UDP_UNICAST=0 -DZ_SCOUTING_UDP=0" cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_C_STANDARD=11 -DBUILD_WITH_CUSTOM_ALLOCATOR=OFF -DBUILD_EXAMPLES=OFF -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF -DBUILD_MULTICAST=OFF -DBUILD_INTEGRATION=OFF -DBUILD_TOOLS=OFF -DZENOH_DEBUG=3 -H. -Bbuild
        make -C build
 
 

.github/workflows/testing.yaml

@@ -0,0 +1,52 @@
+#
+# Copyright (c) 2022 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]>
+#
+name: testing
+
+on:
+  push:
+    branches: [ '**' ]
+  pull_request:
+    branches: [ '**' ]
+  schedule:
+    - cron: '0 6 * * 1-5'
+
+jobs:
+  build:
+
+    name: Build on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ ubuntu-latest, macOS-latest ]
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Compile debug
+      run: make all
+      env:
+        BUILD_TYPE: Debug
+        BUILD_TESTING: ON
+        BUILD_MULTICAST: OFF
+        BUILD_INTEGRATION: OFF
+
+    - name: Test debug
+      run: make test
+      env:
+        BUILD_TYPE: Debug     # Workaround for Windows as it seems the previous step is being ignored
+        BUILD_TESTING: OFF    # Workaround for Windows as it seems the previous step is being ignored
+        BUILD_MULTICAST: OFF  # Workaround for Windows as it seems the previous step is being ignored
+        BUILD_INTEGRATION: ON # Workaround for Windows as it seems the previous step is being ignored
+        ZENOH_BRANCH: master

BSDmakefile

@@ -21,6 +21,10 @@ BUILD_TYPE?=Release
 # Accepted values: ON, OFF
 BUILD_EXAMPLES?=ON
 
+# Build with custom / user allocators. This sets the BUILD_WITH_CUSTOM_ALLOCATOR variable.
+# Accepted values: ON, OFF
+BUILD_WITH_CUSTOM_ALLOCATOR?=OFF
+
 # Build testing. This sets the BUILD_TESTING variable.
 # Accepted values: ON, OFF
 BUILD_TESTING?=ON
@@ -58,7 +62,7 @@ CROSSIMG_PREFIX=zenoh-pico_
 # NOTES:
 # - ARM:   old versions of dockcross/dockcross were creating some issues since they used an old GCC (4.8.3) which lacks <stdatomic.h> (even using -std=gnu11)
 
-CMAKE_OPT=-DZENOH_DEBUG=$(ZENOH_DEBUG) -DBUILD_EXAMPLES=$(BUILD_EXAMPLES) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DBUILD_TESTING=$(BUILD_TESTING) -DBUILD_MULTICAST=$(BUILD_MULTICAST) -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
+CMAKE_OPT=-DZENOH_DEBUG=$(ZENOH_DEBUG) -DBUILD_EXAMPLES=$(BUILD_EXAMPLES) -DBUILD_WITH_CUSTOM_ALLOCATOR=$(BUILD_WITH_CUSTOM_ALLOCATOR) -D -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DBUILD_TESTING=$(BUILD_TESTING) -DBUILD_MULTICAST=$(BUILD_MULTICAST) -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
 
 all: make
 

CMakeLists.txt

@@ -242,20 +242,26 @@ if(UNIX)
   install(FILES "${CMAKE_SOURCE_DIR}/zenohpico.pc" CONFIGURATIONS Release RelWithDebInfo DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig")
 endif()
 
+if(BUILD_WITH_CUSTOM_ALLOCATOR)
+  add_definitions(-DZ_CUSTOM_ALLOCATOR=1)
+endif()
+
 if(BUILD_EXAMPLES)
   add_subdirectory(examples)
 endif()
 
-if(UNIX OR MSVC)
-  if(BUILD_TOOLS)
+if(BUILD_TOOLS)
+  if(NOT BUILD_WITH_CUSTOM_ALLOCATOR)
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/tools)
     add_executable(z_keyexpr_canonizer ${PROJECT_SOURCE_DIR}/tools/z_keyexpr_canonizer.c)
     target_link_libraries(z_keyexpr_canonizer ${Libname})
   endif()
+endif()
 
-  if(BUILD_TESTING)
-    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/tests")
+if(BUILD_TESTING)
+  set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/tests")
 
+  if(NOT BUILD_WITH_CUSTOM_ALLOCATOR)
     add_executable(z_data_struct_test ${PROJECT_SOURCE_DIR}/tests/z_data_struct_test.c)
     add_executable(z_endpoint_test ${PROJECT_SOURCE_DIR}/tests/z_endpoint_test.c)
     add_executable(z_iobuf_test ${PROJECT_SOURCE_DIR}/tests/z_iobuf_test.c)
@@ -281,10 +287,12 @@ if(UNIX OR MSVC)
     add_test(z_api_null_drop_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_api_null_drop_test)
     add_test(z_api_double_drop_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_api_double_drop_test)
   endif()
+endif()
 
-  if(BUILD_MULTICAST)
-    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/tests")
+if(BUILD_MULTICAST)
+  set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/tests")
 
+  if(NOT BUILD_WITH_CUSTOM_ALLOCATOR)
     if(CMAKE_C_STANDARD MATCHES "11")
       add_executable(z_peer_multicast_test ${PROJECT_SOURCE_DIR}/tests/z_peer_multicast_test.c)
       target_link_libraries(z_peer_multicast_test ${Libname})
@@ -295,10 +303,12 @@ if(UNIX OR MSVC)
       add_test(z_peer_multicast_test bash ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/multicast.sh z_peer_multicast_test)
     endif()
   endif()
+endif()
 
-  if(BUILD_INTEGRATION)
-    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/tests")
+if(BUILD_INTEGRATION)
+  set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/tests")
 
+  if(NOT BUILD_WITH_CUSTOM_ALLOCATOR)
     if(CMAKE_C_STANDARD MATCHES "11")
       add_executable(z_client_test ${PROJECT_SOURCE_DIR}/tests/z_client_test.c)
       add_executable(z_api_alignment_test ${PROJECT_SOURCE_DIR}/tests/z_api_alignment_test.c)

GNUmakefile

@@ -21,6 +21,10 @@ BUILD_TYPE?=Release
 # Accepted values: ON, OFF
 BUILD_EXAMPLES?=ON
 
+# Build with custom / user allocators. This sets the BUILD_WITH_CUSTOM_ALLOCATOR variable.
+# Accepted values: ON, OFF
+BUILD_WITH_CUSTOM_ALLOCATOR?=OFF
+
 # Build testing. This sets the BUILD_TESTING variable.
 # Accepted values: ON, OFF
 BUILD_TESTING?=ON
@@ -58,7 +62,7 @@ CROSSIMG_PREFIX=zenoh-pico_
 # NOTES:
 # - ARM:   old versions of dockcross/dockcross were creating some issues since they used an old GCC (4.8.3) which lacks <stdatomic.h> (even using -std=gnu11)
 
-CMAKE_OPT=-DZENOH_DEBUG=$(ZENOH_DEBUG) -DBUILD_EXAMPLES=$(BUILD_EXAMPLES) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DBUILD_TESTING=$(BUILD_TESTING) -DBUILD_MULTICAST=$(BUILD_MULTICAST) -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
+CMAKE_OPT=-DZENOH_DEBUG=$(ZENOH_DEBUG) -DBUILD_EXAMPLES=$(BUILD_EXAMPLES) -DBUILD_WITH_CUSTOM_ALLOCATOR=$(BUILD_WITH_CUSTOM_ALLOCATOR) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DBUILD_TESTING=$(BUILD_TESTING) -DBUILD_MULTICAST=$(BUILD_MULTICAST) -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
 
 all: make
 

examples/CMakeLists.txt

@@ -1,62 +1,86 @@
+#
+# Copyright (c) 2022 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]>
+#
 if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_CURRENT_SOURCE_DIR})
-    # Settings when 'examples' is the root projet
-    cmake_minimum_required(VERSION 3.20)
-    project(zenohpico_examples LANGUAGES C)
-    include(../cmake/helpers.cmake)
-    set_default_build_type(Release)
-    configure_include_project(ZENOHPICO zenohpico zenohpico ".." zenohc "https://github.com/eclipse-zenoh/zenoh-pico" "")
-    add_custom_target(examples ALL)
+  # Settings when 'examples' is the root projet
+  cmake_minimum_required(VERSION 3.20)
+  project(zenohpico_examples LANGUAGES C)
+  include(../cmake/helpers.cmake)
+  set_default_build_type(Release)
+  configure_include_project(ZENOHPICO zenohpico zenohpico ".." zenohc "https://github.com/eclipse-zenoh/zenoh-pico" "")
+  add_custom_target(examples ALL)
 else()
-    message(STATUS "zenoh-pico examples")
-    add_custom_target(examples)
+  message(STATUS "zenoh-pico examples")
+  add_custom_target(examples)
 endif()
 
 function(add_example name)
-    add_executable(${name} ${ARGN})
-    set_property(TARGET ${name} PROPERTY C_STANDARD 11)
-    target_link_libraries(${name} zenohpico)
-    add_dependencies(examples ${name})
+  add_executable(${name} ${ARGN})
+  set_property(TARGET ${name} PROPERTY C_STANDARD 11)
+  target_link_libraries(${name} zenohpico)
+  add_dependencies(examples ${name})
 endfunction()
 
 if(UNIX)
+  if(BUILD_WITH_CUSTOM_ALLOCATOR)
+    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/examples)
     if(CMAKE_C_STANDARD MATCHES "99")
-        add_example(z_put unix/c99/z_put.c)
-        add_example(z_pub unix/c99/z_pub.c)
-        add_example(z_pub_st unix/c99/z_pub_st.c)
-        add_example(z_sub unix/c99/z_sub.c)
-        add_example(z_sub_st unix/c99/z_sub_st.c)
-        add_example(z_pull unix/c99/z_pull.c)
-        add_example(z_get unix/c99/z_get.c)
-        add_example(z_queryable unix/c99/z_queryable.c)
-        add_example(z_info unix/c99/z_info.c)
-        add_example(z_scout unix/c99/z_scout.c)
-        add_example(z_ping unix/c99/z_ping.c)
-        add_example(z_pong unix/c99/z_pong.c)
+      add_executable(z_pub_ualloc ${PROJECT_SOURCE_DIR}/examples/unix/c99/z_pub_ualloc.c)
     else()
-        add_example(z_put unix/c11/z_put.c)
-        add_example(z_pub unix/c11/z_pub.c)
-        add_example(z_pub_st unix/c11/z_pub_st.c)
-        add_example(z_sub unix/c11/z_sub.c)
-        add_example(z_sub_st unix/c11/z_sub_st.c)
-        add_example(z_pull unix/c11/z_pull.c)
-        add_example(z_get unix/c11/z_get.c)
-        add_example(z_queryable unix/c11/z_queryable.c)
-        add_example(z_info unix/c11/z_info.c)
-        add_example(z_scout unix/c11/z_scout.c)
-        add_example(z_ping unix/c11/z_ping.c)
-        add_example(z_pong unix/c11/z_pong.c)
+      add_executable(z_pub_ualloc ${PROJECT_SOURCE_DIR}/examples/unix/c11/z_pub_ualloc.c)
     endif()
+
+    target_link_libraries(z_pub_ualloc ${Libname})
+  else()
+    if(CMAKE_C_STANDARD MATCHES "99")
+      add_example(z_put unix/c99/z_put.c)
+      add_example(z_pub unix/c99/z_pub.c)
+      add_example(z_pub_st unix/c99/z_pub_st.c)
+      add_example(z_sub unix/c99/z_sub.c)
+      add_example(z_sub_st unix/c99/z_sub_st.c)
+      add_example(z_pull unix/c99/z_pull.c)
+      add_example(z_get unix/c99/z_get.c)
+      add_example(z_queryable unix/c99/z_queryable.c)
+      add_example(z_info unix/c99/z_info.c)
+      add_example(z_scout unix/c99/z_scout.c)
+      add_example(z_ping unix/c99/z_ping.c)
+      add_example(z_pong unix/c99/z_pong.c)
+    else()
+      add_example(z_put unix/c11/z_put.c)
+      add_example(z_pub unix/c11/z_pub.c)
+      add_example(z_pub_st unix/c11/z_pub_st.c)
+      add_example(z_sub unix/c11/z_sub.c)
+      add_example(z_sub_st unix/c11/z_sub_st.c)
+      add_example(z_pull unix/c11/z_pull.c)
+      add_example(z_get unix/c11/z_get.c)
+      add_example(z_queryable unix/c11/z_queryable.c)
+      add_example(z_info unix/c11/z_info.c)
+      add_example(z_scout unix/c11/z_scout.c)
+      add_example(z_ping unix/c11/z_ping.c)
+      add_example(z_pong unix/c11/z_pong.c)
+    endif()
+  endif()
 elseif(MSVC)
-    add_example(z_put windows/z_put.c)
-    add_example(z_pub windows/z_pub.c)
-    add_example(z_pub_st windows/z_pub_st.c)
-    add_example(z_sub windows/z_sub.c)
-    add_example(z_sub_st windows/z_sub_st.c)
-    add_example(z_pull windows/z_pull.c)
-    add_example(z_get windows/z_get.c)
-    add_example(z_queryable windows/z_queryable.c)
-    add_example(z_info windows/z_info.c)
-    add_example(z_scout windows/z_scout.c)
-    add_example(z_ping windows/z_ping.c)
-    add_example(z_pong windows/z_pong.c)
+  add_example(z_put windows/z_put.c)
+  add_example(z_pub windows/z_pub.c)
+  add_example(z_pub_st windows/z_pub_st.c)
+  add_example(z_sub windows/z_sub.c)
+  add_example(z_sub_st windows/z_sub_st.c)
+  add_example(z_pull windows/z_pull.c)
+  add_example(z_get windows/z_get.c)
+  add_example(z_queryable windows/z_queryable.c)
+  add_example(z_info windows/z_info.c)
+  add_example(z_scout windows/z_scout.c)
+  add_example(z_ping windows/z_ping.c)
+  add_example(z_pong windows/z_pong.c)
 endif()

examples/unix/c11/z_ping.c

@@ -9,17 +9,17 @@
 
 // WARNING: for the sake of this example we are using "internal" structs and functions (starting with "_").
 //          Synchronisation primitives are planned to be added to the API in the future.
-_z_condvar_t cond;
-_z_mutex_t mutex;
+z_condvar_t cond;
+z_mutex_t mutex;
 
 void callback(const z_sample_t* sample, void* context) {
     (void)sample;
     (void)context;
-    _z_condvar_signal(&cond);
+    z_condvar_signal(&cond);
 }
 void drop(void* context) {
     (void)context;
-    _z_condvar_free(&cond);
+    z_condvar_free(&cond);
 }
 
 struct args_t {
@@ -42,8 +42,8 @@ int main(int argc, char** argv) {
 		");
         return 1;
     }
-    _z_mutex_init(&mutex);
-    _z_condvar_init(&cond);
+    z_mutex_init(&mutex);
+    z_condvar_init(&cond);
     z_owned_config_t config = z_config_default();
     z_owned_session_t session = z_open(z_move(config));
     if (!z_check(session)) {
@@ -76,28 +76,28 @@ int main(int argc, char** argv) {
     for (unsigned int i = 0; i < args.size; i++) {
         data[i] = i % 10;
     }
-    _z_mutex_lock(&mutex);
+    z_mutex_lock(&mutex);
     if (args.warmup_ms) {
         printf("Warming up for %dms...\n", args.warmup_ms);
         clock_t warmup_end = clock() + CLOCKS_PER_SEC * args.warmup_ms / 1000;
         for (clock_t now = clock(); now < warmup_end; now = clock()) {
             z_publisher_put(z_loan(pub), data, args.size, NULL);
-            _z_condvar_wait(&cond, &mutex);
+            z_condvar_wait(&cond, &mutex);
         }
     }
     clock_t* results = z_malloc(sizeof(clock_t) * args.number_of_pings);
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
         clock_t start = clock();
         z_publisher_put(z_loan(pub), data, args.size, NULL);
-        _z_condvar_wait(&cond, &mutex);
+        z_condvar_wait(&cond, &mutex);
         clock_t end = clock();
         results[i] = end - start;
     }
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
         clock_t rtt = results[i] * 1000000 / CLOCKS_PER_SEC;
         printf("%d bytes: seq=%d rtt=%ldµs lat=%ldµs\n", args.size, i, rtt, rtt / 2);
     }
-    _z_mutex_unlock(&mutex);
+    z_mutex_unlock(&mutex);
     z_free(results);
     z_free(data);
     z_drop(z_move(pub));