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
 
 

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

@@ -217,11 +217,72 @@ install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/zenoh-pico
   COMPONENT Headers
 )
 
-if(BUILD_EXAMPLES)
-  add_subdirectory(examples)
-endif()
+if(BUILD_WITH_CUSTOM_ALLOCATOR)
+  add_definitions(-DZ_CUSTOM_ALLOCATOR=1)
+  set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/examples)
+
+  if(UNIX)
+    if(CMAKE_C_STANDARD MATCHES "99")
+      add_executable(z_pub_ualloc ${PROJECT_SOURCE_DIR}/examples/unix/c99/z_pub_ualloc.c)
+    else()
+      add_executable(z_pub_ualloc ${PROJECT_SOURCE_DIR}/examples/unix/c11/z_pub_ualloc.c)
+    endif()
+
+    target_link_libraries(z_pub_ualloc ${Libname})
+  endif()
+else()
+  if(BUILD_EXAMPLES)
+    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/examples)
+
+    if(UNIX)
+      if(CMAKE_C_STANDARD MATCHES "99")
+        add_executable(z_put ${PROJECT_SOURCE_DIR}/examples/unix/c99/z_put.c)
+        add_executable(z_pub ${PROJECT_SOURCE_DIR}/examples/unix/c99/z_pub.c)
+        add_executable(z_pub_st ${PROJECT_SOURCE_DIR}/examples/unix/c99/z_pub_st.c)
+        add_executable(z_sub ${PROJECT_SOURCE_DIR}/examples/unix/c99/z_sub.c)
+        add_executable(z_sub_st ${PROJECT_SOURCE_DIR}/examples/unix/c99/z_sub_st.c)
+        add_executable(z_pull ${PROJECT_SOURCE_DIR}/examples/unix/c99/z_pull.c)
+        add_executable(z_get ${PROJECT_SOURCE_DIR}/examples/unix/c99/z_get.c)
+        add_executable(z_queryable ${PROJECT_SOURCE_DIR}/examples/unix/c99/z_queryable.c)
+        add_executable(z_info ${PROJECT_SOURCE_DIR}/examples/unix/c99/z_info.c)
+        add_executable(z_scout ${PROJECT_SOURCE_DIR}/examples/unix/c99/z_scout.c)
+      else()
+        add_executable(z_put ${PROJECT_SOURCE_DIR}/examples/unix/c11/z_put.c)
+        add_executable(z_pub ${PROJECT_SOURCE_DIR}/examples/unix/c11/z_pub.c)
+        add_executable(z_pub_st ${PROJECT_SOURCE_DIR}/examples/unix/c11/z_pub_st.c)
+        add_executable(z_sub ${PROJECT_SOURCE_DIR}/examples/unix/c11/z_sub.c)
+        add_executable(z_sub_st ${PROJECT_SOURCE_DIR}/examples/unix/c11/z_sub_st.c)
+        add_executable(z_pull ${PROJECT_SOURCE_DIR}/examples/unix/c11/z_pull.c)
+        add_executable(z_get ${PROJECT_SOURCE_DIR}/examples/unix/c11/z_get.c)
+        add_executable(z_queryable ${PROJECT_SOURCE_DIR}/examples/unix/c11/z_queryable.c)
+        add_executable(z_info ${PROJECT_SOURCE_DIR}/examples/unix/c11/z_info.c)
+        add_executable(z_scout ${PROJECT_SOURCE_DIR}/examples/unix/c11/z_scout.c)
+      endif()
+    elseif (MSVC)
+        add_executable(z_put ${PROJECT_SOURCE_DIR}/examples/windows/z_put.c)
+        add_executable(z_pub ${PROJECT_SOURCE_DIR}/examples/windows/z_pub.c)
+        add_executable(z_pub_st ${PROJECT_SOURCE_DIR}/examples/windows/z_pub_st.c)
+        add_executable(z_sub ${PROJECT_SOURCE_DIR}/examples/windows/z_sub.c)
+        add_executable(z_sub_st ${PROJECT_SOURCE_DIR}/examples/windows/z_sub_st.c)
+        add_executable(z_pull ${PROJECT_SOURCE_DIR}/examples/windows/z_pull.c)
+        add_executable(z_get ${PROJECT_SOURCE_DIR}/examples/windows/z_get.c)
+        add_executable(z_queryable ${PROJECT_SOURCE_DIR}/examples/windows/z_queryable.c)
+        add_executable(z_info ${PROJECT_SOURCE_DIR}/examples/windows/z_info.c)
+        add_executable(z_scout ${PROJECT_SOURCE_DIR}/examples/windows/z_scout.c)
+    endif()
+
+    target_link_libraries(z_put ${Libname})
+    target_link_libraries(z_pub ${Libname})
+    target_link_libraries(z_pub_st ${Libname})
+    target_link_libraries(z_sub ${Libname})
+    target_link_libraries(z_sub_st ${Libname})
+    target_link_libraries(z_pull ${Libname})
+    target_link_libraries(z_get ${Libname})
+    target_link_libraries(z_queryable ${Libname})
+    target_link_libraries(z_info ${Libname})
+    target_link_libraries(z_scout ${Libname})
+  endif()
 
-if(UNIX OR MSVC)
   if(BUILD_TOOLS)
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/tools)
     add_executable(z_keyexpr_canonizer ${PROJECT_SOURCE_DIR}/tools/z_keyexpr_canonizer.c)
@@ -236,25 +297,19 @@ if(UNIX OR MSVC)
     add_executable(z_iobuf_test ${PROJECT_SOURCE_DIR}/tests/z_iobuf_test.c)
     add_executable(z_msgcodec_test ${PROJECT_SOURCE_DIR}/tests/z_msgcodec_test.c)
     add_executable(z_keyexpr_test ${PROJECT_SOURCE_DIR}/tests/z_keyexpr_test.c)
-    add_executable(z_api_null_drop_test ${PROJECT_SOURCE_DIR}/tests/z_api_null_drop_test.c)
-    add_executable(z_api_double_drop_test ${PROJECT_SOURCE_DIR}/tests/z_api_double_drop_test.c)
 
     target_link_libraries(z_data_struct_test ${Libname})
     target_link_libraries(z_endpoint_test ${Libname})
     target_link_libraries(z_iobuf_test ${Libname})
     target_link_libraries(z_msgcodec_test ${Libname})
     target_link_libraries(z_keyexpr_test ${Libname})
-    target_link_libraries(z_api_null_drop_test ${Libname})
-    target_link_libraries(z_api_double_drop_test ${Libname})
 
     enable_testing()
     add_test(z_data_struct_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_data_struct_test)
     add_test(z_endpoint_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_endpoint_test)
     add_test(z_iobuf_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_iobuf_test)
     add_test(z_msgcodec_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_msgcodec_test)
     add_test(z_keyexpr_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_keyexpr_test)
-    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()
 
   if(BUILD_MULTICAST)

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/unix/c11/z_pub_ualloc.c

@@ -0,0 +1,199 @@
+//
+// 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]>
+//
+
+#include <ctype.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/mman.h>
+#include <unistd.h>
+#include <zenoh-pico.h>
+
+// First Fit custom / user defined allocators
+#define WORD uint64_t             // FIXME: not true for other architectues like 32-bits architectures
+#define VAS_SIZE 1 * 1024 * 1024  // Virtual address space in bytes
+
+typedef struct z_m_block_hdr_t {
+    size_t size;               // Block size
+    struct z_m_block_t *next;  // The next block in the list
+    _Bool is_used;             // Whether this block is currently being used
+} z_m_block_hdr_t;
+
+typedef struct z_m_block_t {
+    z_m_block_hdr_t hdr;
+    WORD data[1];  // Payload pointer. Note: this MUST always be the last member in the struct.
+} z_m_block_t;
+
+z_mutex_t mut;
+void *z_heap_start = NULL;  // Heap start. It must be explicitly initialized
+void *z_heap_end = NULL;    // Heap end. Defined for convenience to avoid computing
+                            // it multiple times
+z_m_block_t *p_brk = NULL;  // Program break identifying the top of our local heap
+
+void *z_minit(size_t size) {
+    z_heap_start = mmap(NULL, size, PROT_READ | PROT_WRITE, MAP_PRIVATE | MAP_ANONYMOUS, 0, 0);
+    if (z_heap_start == MAP_FAILED) {
+        z_heap_start = NULL;
+        z_heap_end = NULL;
+    } else {
+        z_heap_end = z_heap_start + (size * sizeof(uint8_t));
+    }
+
+    z_m_block_t *new_block = z_heap_start;
+    if (((uint8_t *)new_block + (sizeof(z_m_block_hdr_t) + 0)) <= (uint8_t *)z_heap_end) {
+        *new_block = (z_m_block_t){.hdr = {.next = NULL, .is_used = true, .size = 0}};
+        p_brk = (z_m_block_t *)((uint8_t *)new_block->data + new_block->hdr.size);
+    }
+
+    return z_heap_start;
+}
+
+void z_muninit(void *start, size_t size) { munmap(start, size); }
+
+// Align the size to the word size.
+size_t z_malign(size_t size) {
+    size_t aligned_size = (size + sizeof(WORD) - 1) & ~(sizeof(WORD) - 1);
+    return aligned_size;
+}
+
+// Allocates a block of memory of size bytes, following a first fit strategy.
+// Due to allignment extra bytes might be allocated.
+void *z_malloc(size_t size) {
+    z_mutex_lock(&mut);
+    WORD *ret = NULL;
+    size_t aligned_size = z_malign(size);
+
+    z_m_block_t *block = z_heap_start;
+    _Bool found = false;
+    while (block->hdr.next != NULL) {
+        block = block->hdr.next;
+        if (block->hdr.is_used == false && block->hdr.size >= aligned_size) {
+            found = true;
+            break;
+        }
+    }
+
+    if (found == true) {
+        ret = block->data;
+        block->hdr.is_used = true;
+    } else {
+        z_m_block_t *new_block = p_brk;
+        if (((uint8_t *)new_block + (sizeof(z_m_block_hdr_t) + aligned_size)) <= (uint8_t *)z_heap_end) {
+            *new_block = (z_m_block_t){.hdr = {.next = NULL, .is_used = true, .size = aligned_size}};
+            ret = new_block->data;
+            block->hdr.next = new_block;
+            p_brk = (z_m_block_t *)((uint8_t *)new_block->data + new_block->hdr.size);
+        }
+    }
+    z_mutex_unlock(&mut);
+
+    return ret;
+}
+
+void z_free(void *ptr) {
+    z_mutex_lock(&mut);
+    z_m_block_t *block = ptr - sizeof(z_m_block_hdr_t);
+    block->hdr.is_used = false;
+    z_mutex_unlock(&mut);
+}
+//
+
+int main(int argc, char **argv) {
+    if (z_minit(VAS_SIZE) == NULL) {
+        printf("Failed to reserve memory\n");
+    }
+
+    const char *keyexpr = "demo/example/zenoh-pico-pub";
+    const char *value = "Pub from Pico!";
+    const char *mode = "client";
+    char *locator = NULL;
+
+    int opt;
+    while ((opt = getopt(argc, argv, "k:v:e:m:")) != -1) {
+        switch (opt) {
+            case 'k':
+                keyexpr = optarg;
+                break;
+            case 'v':
+                value = optarg;
+                break;
+            case 'e':
+                locator = optarg;
+                break;
+            case 'm':
+                mode = optarg;
+                break;
+            case '?':
+                if (optopt == 'k' || optopt == 'v' || optopt == 'e' || optopt == 'm') {
+                    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();
+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(mode));
+    if (locator != NULL) {
+        zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(locator));
+    }
+
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks");
+        return -1;
+    }
+
+    printf("Declaring publisher for '%s'...\n", keyexpr);
+    z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(keyexpr), NULL);
+    if (!z_check(pub)) {
+        printf("Unable to declare publisher for key expression!\n");
+        return -1;
+    }
+
+    char *buf = (char *)malloc(256);
+    for (int idx = 0; 1; ++idx) {
+        sleep(1);
+        snprintf(buf, 256, "[%4d] %s", idx, value);
+        printf("Putting Data ('%s': '%s')...\n", keyexpr, buf);
+
+        z_publisher_put_options_t options = z_publisher_put_options_default();
+        options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL);
+        z_publisher_put(z_loan(pub), (const uint8_t *)buf, strlen(buf), &options);
+    }
+
+    z_undeclare_publisher(z_move(pub));
+
+    // Stop read and lease tasks for zenoh-pico
+    zp_stop_read_task(z_loan(s));
+    zp_stop_lease_task(z_loan(s));
+
+    z_close(z_move(s));
+
+    free(buf);
+
+    z_muninit(z_heap_start, VAS_SIZE);
+
+    return 0;
+}