eclipse-zenoh · p-avital · Dec 4, 2023 · Nov 22, 2023 · Nov 22, 2023 · Nov 22, 2023
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -186,7 +186,7 @@ elseif(WITH_FREERTOS_PLUS_TCP)
   file (GLOB Sources_Freertos_Plus_TCP "src/system/freertos_plus_tcp/*.c")
   list(APPEND Sources ${Sources_Freertos_Plus_TCP})
 elseif(CMAKE_SYSTEM_NAME MATCHES "Linux" OR CMAKE_SYSTEM_NAME MATCHES "Darwin" OR CMAKE_SYSTEM_NAME MATCHES "BSD" OR POSIX_COMPATIBLE)
-  file (GLOB Sources_Unix "src/system/unix/*.c")
+  file (GLOB Sources_Unix "src/system/unix/*.c" "src/system/unix/link/*.c")
   list(APPEND Sources ${Sources_Unix})
 elseif(CMAKE_SYSTEM_NAME MATCHES "Emscripten")
   file (GLOB Sources_Emscripten "src/system/emscripten/*.c")

diff --git a/include/zenoh-pico/config.h b/include/zenoh-pico/config.h
@@ -218,6 +218,13 @@
 #endif
 #endif
 
+/**
+ * Enable raweth transport/link.
+ */
+#ifndef Z_FEATURE_RAWETH_TRANSPORT
+#define Z_FEATURE_RAWETH_TRANSPORT 0
+#endif
+
 /*------------------ Compile-time configuration properties ------------------*/
 /**
  * Default length for Zenoh ID. Maximum size is 16 bytes.

diff --git a/include/zenoh-pico/link/config/raweth.h b/include/zenoh-pico/link/config/raweth.h
@@ -0,0 +1,32 @@
+//
+// 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]>
+//
+
+#ifndef ZENOH_PICO_LINK_CONFIG_RAWETH_H
+#define ZENOH_PICO_LINK_CONFIG_RAWETH_H
+
+#include "zenoh-pico/collections/intmap.h"
+#include "zenoh-pico/collections/string.h"
+#include "zenoh-pico/config.h"
+#include "zenoh-pico/link/link.h"
+
+#if Z_FEATURE_RAWETH_TRANSPORT == 1
+
+#define RAWETH_SCHEMA "reth"
+
+int8_t _z_endpoint_raweth_valid(_z_endpoint_t *endpoint);
+
+int8_t _z_new_link_raweth(_z_link_t *zl, _z_endpoint_t endpoint);
+
+#endif /* Z_FEATURE_RAWETH_TRANSPORT */
+#endif /* ZENOH_PICO_LINK_CONFIG_RAWETH_H */
diff --git a/include/zenoh-pico/system/link/raweth.h b/include/zenoh-pico/system/link/raweth.h
@@ -0,0 +1,67 @@
+//
+// 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]>
+//
+
+#ifndef ZENOH_PICO_SYSTEM_LINK_RAWETH_H
+#define ZENOH_PICO_SYSTEM_LINK_RAWETH_H
+
+#include <stdint.h>
+
+#include "zenoh-pico/collections/string.h"
+#include "zenoh-pico/system/platform.h"
+
+#if Z_FEATURE_RAWETH_TRANSPORT == 1
+
+// Ethernet types (big endian)
+#define _ZP_ETH_TYPE_VLAN 0x0081
+
+// Address Sizes
+#define _ZP_MAC_ADDR_LENGTH 6
+
+// Max frame size
+#define _ZP_MAX_ETH_FRAME_SIZE 1500
+
+// Ethernet header structure type
+typedef struct {
+    uint8_t dmac[_ZP_MAC_ADDR_LENGTH];  // Destination mac address
+    uint8_t smac[_ZP_MAC_ADDR_LENGTH];  // Source mac address
+    uint16_t ethtype;                   // Ethertype of frame
+} _zp_eth_header_t;
+
+typedef struct {
+    uint8_t dmac[_ZP_MAC_ADDR_LENGTH];  // Destination mac address
+    uint8_t smac[_ZP_MAC_ADDR_LENGTH];  // Source mac address
+    uint16_t vlan_type;                 // Vlan ethtype
+    uint16_t tag;                       // Vlan tag
+    uint16_t ethtype;                   // Ethertype of frame
+} _zp_eth_vlan_header_t;
+
+typedef struct {
+    const char *_interface;
+    _z_sys_net_socket_t _sock;
+    uint16_t _vlan;
+    uint16_t ethtype;
+    uint8_t _dmac[_ZP_MAC_ADDR_LENGTH];
+    uint8_t _smac[_ZP_MAC_ADDR_LENGTH];
+    _Bool _has_vlan;
+} _z_raweth_socket_t;
+
+int8_t _z_get_smac_raweth(_z_raweth_socket_t *resock);
+int8_t _z_open_raweth(_z_sys_net_socket_t *sock, const char *interface);
+size_t _z_send_raweth(const _z_sys_net_socket_t *sock, const void *buff, size_t buff_len);
+size_t _z_receive_raweth(const _z_sys_net_socket_t *sock, void *buff, size_t buff_len, _z_bytes_t *addr);
+int8_t _z_close_raweth(_z_sys_net_socket_t *sock);
+
+#endif
+
+#endif /* ZENOH_PICO_SYSTEM_LINK_RAWETH_H */
diff --git a/include/zenoh-pico/transport/multicast/read.h b/include/zenoh-pico/transport/multicast/read.h
@@ -22,4 +22,4 @@ int8_t _zp_multicast_start_read_task(_z_transport_t *zt, _z_task_attr_t *attr, _
 int8_t _zp_multicast_stop_read_task(_z_transport_t *zt);
 void *_zp_multicast_read_task(void *ztm_arg);  // The argument is void* to avoid incompatible pointer types in tasks
 
-#endif /* ZENOH_PICO_TRANSPORT_LINK_TASK_READ_H */
+#endif /* ZENOH_PICO_MULTICAST_READ_H */
diff --git a/include/zenoh-pico/transport/multicast/tx.h b/include/zenoh-pico/transport/multicast/tx.h
@@ -18,8 +18,6 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/transport/transport.h"
 
-int8_t _z_multicast_send_z_msg(_z_session_t *zn, _z_zenoh_message_t *z_msg, z_reliability_t reliability,
-                               z_congestion_control_t cong_ctrl);
 int8_t _z_multicast_send_n_msg(_z_session_t *zn, const _z_network_message_t *z_msg, z_reliability_t reliability,
                                z_congestion_control_t cong_ctrl);
 int8_t _z_multicast_send_t_msg(_z_transport_multicast_t *ztm, const _z_transport_message_t *t_msg);

diff --git a/include/zenoh-pico/transport/raweth/config.h b/include/zenoh-pico/transport/raweth/config.h
@@ -0,0 +1,58 @@
+//
+// 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]>
+//
+
+#ifndef ZENOH_PICO_RAWETH_CONFIG_H
+#define ZENOH_PICO_RAWETH_CONFIG_H
+
+#include <stdbool.h>
+
+#include "zenoh-pico/protocol/core.h"
+#include "zenoh-pico/system/link/raweth.h"
+#include "zenoh-pico/transport/transport.h"
+#include "zenoh-pico/utils/result.h"
+
+#if Z_FEATURE_RAWETH_TRANSPORT == 1
+
+typedef struct {
+    _z_keyexpr_t _keyexpr;
+    uint16_t _vlan;  // vlan tag (pcp + dei + id), big endian
+    uint8_t _dmac[_ZP_MAC_ADDR_LENGTH];
+    _Bool _has_vlan;
+} _zp_raweth_cfg_entry;
+
+typedef struct {
+    uint8_t _mac[_ZP_MAC_ADDR_LENGTH];
+} _zp_raweth_cfg_whitelist_val;
+
+// Ethertype to use in frame
+extern const uint16_t _ZP_RAWETH_CFG_ETHTYPE;
+
+// Interface to use
+extern const char *_ZP_RAWETH_CFG_INTERFACE;
+
+// Source mac address
+extern const uint8_t _ZP_RAWETH_CFG_SMAC[_ZP_MAC_ADDR_LENGTH];
+
+// Main config array
+extern const _zp_raweth_cfg_entry _ZP_RAWETH_CFG_ARRAY[];
+
+// Mac address rx whitelist array
+extern const _zp_raweth_cfg_whitelist_val _ZP_RAWETH_CFG_WHITELIST[];
+
+// Array size
+extern const size_t _ZP_RAWETH_CFG_SIZE;
+extern const size_t _ZP_RAWETH_CFG_WHITELIST_SIZE;
+
+#endif  // Z_FEATURE_RAWETH_TRANSPORT == 1
+#endif  // ZENOH_PICO_RAWETH_CONFIG_H
diff --git a/include/zenoh-pico/transport/raweth/join.h b/include/zenoh-pico/transport/raweth/join.h
@@ -0,0 +1,22 @@
+//
+// 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]>
+//
+
+#ifndef ZENOH_RAWETH_JOIN_H
+#define ZENOH_RAWETH_JOIN_H
+
+#include "zenoh-pico/transport/transport.h"
+
+int8_t _zp_raweth_send_join(_z_transport_multicast_t *ztm);
+
+#endif /* ZENOH_RAWETH_JOIN_H */
diff --git a/include/zenoh-pico/transport/raweth/lease.h b/include/zenoh-pico/transport/raweth/lease.h
@@ -0,0 +1,25 @@
+//
+// 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]>
+//
+
+#ifndef ZENOH_PICO_RAWETH_LEASE_H
+#define ZENOH_PICO_RAWETH_LEASE_H
+
+#include "zenoh-pico/transport/transport.h"
+
+int8_t _zp_raweth_send_keep_alive(_z_transport_multicast_t *ztm);
+int8_t _zp_raweth_start_lease_task(_z_transport_t *zt, _z_task_attr_t *attr, _z_task_t *task);
+int8_t _zp_raweth_stop_lease_task(_z_transport_t *zt);
+void *_zp_raweth_lease_task(void *ztm_arg);  // The argument is void* to avoid incompatible pointer types in tasks
+
+#endif /* ZENOH_PICO_RAWETH_LEASE_H */
diff --git a/include/zenoh-pico/transport/raweth/read.h b/include/zenoh-pico/transport/raweth/read.h
@@ -0,0 +1,25 @@
+//
+// 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]>
+//
+
+#ifndef ZENOH_PICO_RAWETH_READ_H
+#define ZENOH_PICO_RAWETH_READ_H
+
+#include "zenoh-pico/transport/transport.h"
+
+int8_t _zp_raweth_read(_z_transport_multicast_t *ztm);
+int8_t _zp_raweth_start_read_task(_z_transport_t *zt, _z_task_attr_t *attr, _z_task_t *task);
+int8_t _zp_raweth_stop_read_task(_z_transport_t *zt);
+void *_zp_raweth_read_task(void *ztm_arg);  // The argument is void* to avoid incompatible pointer types in tasks
+
+#endif /* ZENOH_PICO_RAWETH_READ_H */
diff --git a/include/zenoh-pico/transport/raweth/rx.h b/include/zenoh-pico/transport/raweth/rx.h
@@ -0,0 +1,23 @@
+//
+// 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]>
+//
+
+#ifndef ZENOH_PICO_RAWETH_RX_H
+#define ZENOH_PICO_RAWETH_RX_H
+
+#include "zenoh-pico/transport/transport.h"
+
+int8_t _z_raweth_recv_t_msg(_z_transport_multicast_t *ztm, _z_transport_message_t *t_msg, _z_bytes_t *addr);
+int8_t _z_raweth_recv_t_msg_na(_z_transport_multicast_t *ztm, _z_transport_message_t *t_msg, _z_bytes_t *addr);
+
+#endif /* ZENOH_PICO_RAWETH_RX_H */
diff --git a/include/zenoh-pico/transport/raweth/transport.h b/include/zenoh-pico/transport/raweth/transport.h
@@ -0,0 +1,28 @@
+//
+// 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]>
+//
+
+#ifndef ZENOH_PICO_RAWETH_TRANSPORT_H
+#define ZENOH_PICO_RAWETH_TRANSPORT_H
+
+#include "zenoh-pico/api/types.h"
+
+int8_t _z_raweth_transport_create(_z_transport_t *zt, _z_link_t *zl, _z_transport_multicast_establish_param_t *param);
+int8_t _z_raweth_open_peer(_z_transport_multicast_establish_param_t *param, const _z_link_t *zl,
+                           const _z_id_t *local_zid);
+int8_t _z_raweth_open_client(_z_transport_multicast_establish_param_t *param, const _z_link_t *zl,
+                             const _z_id_t *local_zid);
+int8_t _z_raweth_send_close(_z_transport_multicast_t *ztm, uint8_t reason, _Bool link_only);
+int8_t _z_raweth_transport_close(_z_transport_multicast_t *ztm, uint8_t reason);
+void _z_raweth_transport_clear(_z_transport_t *zt);
+#endif /* ZENOH_PICO_RAWETH_TRANSPORT_H */
diff --git a/include/zenoh-pico/transport/raweth/tx.h b/include/zenoh-pico/transport/raweth/tx.h
@@ -0,0 +1,26 @@
+//
+// 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]>
+//
+
+#ifndef ZENOH_PICO_RAWETH_TX_H
+#define ZENOH_PICO_RAWETH_TX_H
+
+#include "zenoh-pico/net/session.h"
+#include "zenoh-pico/transport/transport.h"
+
+int8_t _z_raweth_link_send_t_msg(const _z_link_t *zl, const _z_transport_message_t *t_msg);
+int8_t _z_raweth_send_n_msg(_z_session_t *zn, const _z_network_message_t *z_msg, z_reliability_t reliability,
+                            z_congestion_control_t cong_ctrl);
+int8_t _z_raweth_send_t_msg(_z_transport_multicast_t *ztm, const _z_transport_message_t *t_msg);
+
+#endif /* ZENOH_PICO_RAWETH_TX_H */
diff --git a/include/zenoh-pico/transport/unicast/tx.h b/include/zenoh-pico/transport/unicast/tx.h
@@ -18,8 +18,6 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/transport/transport.h"
 
-int8_t _z_unicast_send_z_msg(_z_session_t *zn, _z_zenoh_message_t *z_msg, z_reliability_t reliability,
-                             z_congestion_control_t cong_ctrl);
 int8_t _z_unicast_send_n_msg(_z_session_t *zn, const _z_network_message_t *z_msg, z_reliability_t reliability,
                              z_congestion_control_t cong_ctrl);
 int8_t _z_unicast_send_t_msg(_z_transport_unicast_t *ztu, const _z_transport_message_t *t_msg);

diff --git a/include/zenoh-pico/utils/result.h b/include/zenoh-pico/utils/result.h
@@ -16,6 +16,7 @@
 #define ZENOH_PICO_UTILS_RESULT_H
 
 #define _ZP_UNUSED(x) (void)(x)
+#define _ZP_ARRAY_SIZE(array) (sizeof(array) / sizeof(array[0]))
 
 #define _Z_ERR_MESSAGE_MASK 0x88
 #define _Z_ERR_ENTITY_MASK 0x90

diff --git a/src/system/arduino/esp32/network.cpp b/src/system/arduino/esp32/network.cpp
@@ -858,4 +858,8 @@ size_t _z_send_serial(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t
 }
 #endif
 
+#if Z_FEATURE_RAWETH_TRANSPORT == 1
+#error "Raw ethernet transport not supported yet on ESP32 port of Zenoh-Pico"
+#endif
+
 }  // extern "C"
diff --git a/src/system/arduino/opencr/network.cpp b/src/system/arduino/opencr/network.cpp
@@ -347,4 +347,8 @@ size_t _z_send_udp_multicast(const _z_sys_net_socket_t sock, const uint8_t *ptr,
 #if Z_FEATURE_LINK_SERIAL == 1
 #error "Serial not supported yet on OpenCR port of Zenoh-Pico"
 #endif
+
+#if Z_FEATURE_RAWETH_TRANSPORT == 1
+#error "Raw ethernet transport not supported yet on OpenCR port of Zenoh-Pico"
+#endif
 }
diff --git a/src/system/emscripten/network.c b/src/system/emscripten/network.c
@@ -173,3 +173,7 @@ size_t _z_send_ws(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t len
 #if Z_FEATURE_LINK_SERIAL == 1
 #error "Serial not supported yet on Emscripten port of Zenoh-Pico"
 #endif
+
+#if Z_FEATURE_RAWETH_TRANSPORT == 1
+#error "Raw ethernet transport not supported yet on Emscripten port of Zenoh-Pico"
+#endif