zephyr: add complete sample application

This sample can be built with west using:

west build -b <board> zephyr/samples/publication

features can be enabled/disable using Kconfig in prj.conf

Signed-off-by: Anas Nashif <[email protected]>

zephyr/samples/publication/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.13.1)
+
+add_definitions(-DSHIELD=link_board_eth)
+set(DTC_OVERLAY_FILE $ENV{ZEPHYR_BASE}/boards/shields/link_board_eth/link_board_eth.overlay)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(zenoh-pico-zephyr)
+
+FILE(GLOB app_sources src/*.c*)
+target_sources(app PRIVATE ${app_sources})

zephyr/samples/publication/prj.conf

@@ -0,0 +1,18 @@
+# Kernel options
+CONFIG_MAIN_STACK_SIZE=5120
+CONFIG_HEAP_MEM_POOL_SIZE=150000
+CONFIG_ENTROPY_GENERATOR=y
+CONFIG_TEST_RANDOM_GENERATOR=y
+CONFIG_INIT_STACKS=y
+
+CONFIG_ZENOH_PICO=y
+CONFIG_ZENOH_PICO_LINK_SERIAL=y
+CONFIG_ZENOH_PICO_PUBLICATION=y
+
+CONFIG_POSIX_API=y
+
+# Network driver config
+CONFIG_TEST_RANDOM_GENERATOR=y
+
+CONFIG_NEWLIB_LIBC=y
+CONFIG_NEWLIB_LIBC_NANO=n

zephyr/samples/publication/src/main.c

@@ -0,0 +1,91 @@
+//
+// 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 <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <zenoh-pico.h>
+
+#define CLIENT_OR_PEER 0  // 0: Client mode; 1: Peer mode
+#if CLIENT_OR_PEER == 0
+#define MODE "client"
+#define CONNECT ""  // If empty, it will scout
+#elif CLIENT_OR_PEER == 1
+#define MODE "peer"
+#define CONNECT "udp/224.0.0.225:7447#iface=en0"
+#else
+#error "Unknown Zenoh operation mode. Check CLIENT_OR_PEER value."
+#endif
+
+#define KEYEXPR "demo/example/zenoh-pico-pub"
+#define VALUE "[STSTM32]{nucleo-F767ZI} Pub from Zenoh-Pico!"
+
+#if Z_FEATURE_PUBLICATION == 1
+int main(int argc, char **argv) {
+    sleep(5);
+
+    // Initialize Zenoh Session and other parameters
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(MODE));
+    if (strcmp(CONNECT, "") != 0) {
+        zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, z_string_make(CONNECT));
+    }
+
+    // Open Zenoh session
+    printf("Opening Zenoh Session...");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
+        printf("Unable to open session!\n");
+        exit(-1);
+    }
+    printf("OK\n");
+
+    // Start the receive and the session lease loop for zenoh-pico
+    zp_start_read_task(z_loan(s), NULL);
+    zp_start_lease_task(z_loan(s), NULL);
+
+    printf("Declaring publisher for '%s'...", 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");
+        exit(-1);
+    }
+    printf("OK\n");
+
+    char buf[256];
+    for (int idx = 0; 1; ++idx) {
+        sleep(1);
+        sprintf(buf, "[%4d] %s", idx, VALUE);
+        printf("Putting Data ('%s': '%s')...\n", KEYEXPR, buf);
+        z_publisher_put(z_loan(pub), (const uint8_t *)buf, strlen(buf), NULL);
+    }
+
+    printf("Closing Zenoh Session...");
+    z_undeclare_publisher(z_move(pub));
+
+    // Stop the receive and the session lease loop for zenoh-pico
+    zp_stop_read_task(z_loan(s));
+    zp_stop_lease_task(z_loan(s));
+
+    z_close(z_move(s));
+    printf("OK!\n");
+
+    return 0;
+}
+#else
+int main(void) {
+    printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
+    return -2;
+}
+#endif