[Bug] zenoh-pico on openthread and esp-idf

[giovanidiniz]

Describe the bug

I'm currently trying to use zenoh-pico on ESP32-C6 MCUs using openthread on network layer.

My network setup is as follows:
esp32-c6 -> border router - > laptop (on home wifi) running zenohd in docker (--net=host)

I have "successfully" connected the the three pieces:

• from the esp32-c6, I can ping the laptop using the laptop's home wifi IP(v4) address
• when I run the ot_cli example, I can use a simple tcp socket client tcpsockclient connect ipv6 7447 - for those familiar with ot_cli) and establish a connection with zenohd's 7447 address.

After these tests I tried to connect with zenohd in my code, but it's consistently crashing here:

// 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));
    zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, z_string_make(CONNECT));
    
    // Open Zenoh session
    ESP_LOGI(ZENOH_TAG, "Trying to open Zenoh Session...");
    z_session = z_open(z_move(config));
    sleep(3);
    ESP_LOGI(ZENOH_TAG, "Checking Zenoh router connection...");

    while (!z_check(z_session))
    {
        ESP_LOGE(ZENOH_TAG, "Unable to open session...waiting...\n");
        z_session = z_open(z_move(config));
        sleep(3);
    }

    printf("OK\n");

I have very little experience with the codebase and was hoping someone could shed some light on things to debug and help with this issue.

To reproduce

In my code I make sure that openthread is running and has established connection with the border router - by checking the openthread state and making sure it is either a child or router.

at that point, I let zenoh-pico attempt to establish connection with zenohd and I get this stderr:

Guru Meditation Error: Core  0 panic'ed (Load access fault). Exception was unhandled.

Core  0 register dump:
Stack dump detected
MEPC    : 0x42015612  RA      : 0x42011432  SP      : 0x4081d810  GP      : 0x40810704  
0x42015612: socket at /home/ubuntu/turbine/esp/esp-idf/components/lwip/include/lwip/sockets.h:48
 (inlined by) _z_open_tcp at /home/ubuntu/turbine/lib/zenoh-pico/src/system/espidf/network.c:55
0x42011432: _z_f_link_open_tcp at /home/ubuntu/turbine/lib/zenoh-pico/src/link/unicast/tcp.c:119

TP      : 0x4081daa0  T0      : 0x40022494  T1      : 0xffffffe0  T2      : 0x00000009  
0x40022494: multi_heap_internal_unlock in ROM

S0/FP   : 0x00000000  S1      : 0x4081d8fc  A0      : 0x4081d8fc  A1      : 0x00000000  
A2      : 0x00001388  A3      : 0x00000001  A4      : 0x00000000  A5      : 0x4081d8f4  
A6      : 0x00000004  A7      : 0xffffff9f  S2      : 0x4081d960  S3      : 0x00000002  
S4      : 0x40824e74  S5      : 0x00000000  S6      : 0x00000000  S7      : 0x00000000  
S8      : 0x00000000  S9      : 0x00000000  S10     : 0x00000000  S11     : 0x00000000  
T3      : 0x7fffffff  T4      : 0x00000000  T5      : 0x0ccccccc  T6      : 0x00000019  
MSTATUS : 0x00001881  MTVEC   : 0x40800001  MCAUSE  : 0x00000005  MTVAL   : 0x0000000c  
0x40800001: _vector_table at /home/ubuntu/turbine/esp/esp-idf/components/riscv/vectors_intc.S:54

MHARTID : 0x00000000  


Backtrace:


socket (protocol=0, type=0, domain=0) at /home/ubuntu/turbine/esp/esp-idf/components/lwip/include/lwip/sockets.h:48
48      { return lwip_socket(domain,type,protocol); }
#0  socket (protocol=0, type=0, domain=0) at /home/ubuntu/turbine/esp/esp-idf/components/lwip/include/lwip/sockets.h:48
#1  _z_open_tcp (sock=sock@entry=0x4081d8fc, rep=..., tout=5000) at /home/ubuntu/turbine/lib/zenoh-pico/src/system/espidf/network.c:55
#2  0x42011432 in _z_f_link_open_tcp (zl=0x4081d8e4) at /home/ubuntu/turbine/lib/zenoh-pico/src/link/unicast/tcp.c:116
#3  0x420108f0 in _z_open_link (zl=zl@entry=0x4081d8e4, locator=locator@entry=0x40824e74 "") at /home/ubuntu/turbine/lib/zenoh-pico/src/link/link.c:62
#4  0x4200fc58 in _z_new_transport_client (zt=0x40824d2c, locator=0x40824e74 "", local_zid=0x4081d960) at /home/ubuntu/turbine/lib/zenoh-pico/src/transport/manager.c:29
#5  0x00000000 in ?? ()
Backtrace stopped: frame did not save the PC
ELF file SHA256: 2e40677ba```



### System info

- MCU: Platfom ESP-IDF esp32-c6 - zenoh pico v0.10.1-rc
- Laptop: Ubuntu 22.04 - zenoh v0.10.1-rc

[giovanidiniz]

Ah, for the record, I think the issue was caused by a mismatch in zenoh versions between pico and zenohd.
I'm closing this for now