Add Zephyr support

CMakeLists.txt

@@ -39,6 +39,8 @@ set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake/Modules")
 option(BUILD_IDLC "Build IDL preprocessor" ${not_crosscompiling})
 option(BUILD_DDSPERF "Build ddsperf tool" ${not_crosscompiling})
 
+option(WITH_ZEPHYR "Build for Zephyr RTOS" OFF)
+
 set(CMAKE_C_STANDARD 99)
 if(CMAKE_SYSTEM_NAME STREQUAL "VxWorks")
   add_definitions(-std=c99)
@@ -127,7 +129,12 @@ if("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang" OR
   endif()
 elseif("${CMAKE_C_COMPILER_ID}" STREQUAL "GNU")
   #message(STATUS gcc)
-  add_compile_options(-Wall -Wextra -Wconversion -Wmissing-prototypes)
+  if(WITH_ZEPHYR)
+    # Suppress false warnings from system includes
+    add_compile_options(-Wall -Wextra -Wno-unused-parameter -Wmissing-prototypes)
+  else()
+    add_compile_options(-Wall -Wextra -Wconversion -Wmissing-prototypes)
+  endif()
   if(${WERROR})
     add_compile_options(-Werror)
   endif()

examples/roundtrip/ping.c

@@ -118,7 +118,7 @@ static bool CtrlHandler (DWORD fdwCtrlType)
   dds_waitset_set_trigger (waitSet, true);
   return true; //Don't let other handlers handle this key
 }
-#elif !DDSRT_WITH_FREERTOS
+#elif !DDSRT_WITH_FREERTOS && !__ZEPHYR__
 static void CtrlHandler (int sig)
 {
   (void)sig;
@@ -253,7 +253,7 @@ int main (int argc, char *argv[])
   DDSRT_WARNING_GNUC_OFF(cast-function-type)
   SetConsoleCtrlHandler ((PHANDLER_ROUTINE)CtrlHandler, TRUE);
   DDSRT_WARNING_GNUC_ON(cast-function-type)
-#elif !DDSRT_WITH_FREERTOS
+#elif !DDSRT_WITH_FREERTOS && !__ZEPHYR__
   struct sigaction sat, oldAction;
   sat.sa_handler = CtrlHandler;
   sigemptyset (&sat.sa_mask);
@@ -415,7 +415,7 @@ int main (int argc, char *argv[])
 
 #ifdef _WIN32
   SetConsoleCtrlHandler (0, FALSE);
-#elif !DDSRT_WITH_FREERTOS
+#elif !DDSRT_WITH_FREERTOS && !__ZEPHYR__
   sigaction (SIGINT, &oldAction, 0);
 #endif
 

examples/roundtrip/pong.c

@@ -22,7 +22,7 @@ static bool CtrlHandler (DWORD fdwCtrlType)
   dds_waitset_set_trigger (waitSet, true);
   return true; //Don't let other handlers handle this key
 }
-#elif !DDSRT_WITH_FREERTOS
+#elif !DDSRT_WITH_FREERTOS && !__ZEPHYR__
 static void CtrlHandler (int sig)
 {
   (void)sig;
@@ -91,7 +91,7 @@ int main (int argc, char *argv[])
   DDSRT_WARNING_GNUC_OFF(cast-function-type)
   SetConsoleCtrlHandler ((PHANDLER_ROUTINE)CtrlHandler, TRUE);
   DDSRT_WARNING_GNUC_ON(cast-function-type)
-#elif !DDSRT_WITH_FREERTOS
+#elif !DDSRT_WITH_FREERTOS && !__ZEPHYR__
   struct sigaction sat, oldAction;
   sat.sa_handler = CtrlHandler;
   sigemptyset (&sat.sa_mask);
@@ -134,7 +134,7 @@ int main (int argc, char *argv[])
 
 #ifdef _WIN32
   SetConsoleCtrlHandler (0, FALSE);
-#elif !DDSRT_WITH_FREERTOS
+#elif !DDSRT_WITH_FREERTOS && !__ZEPHYR__
   sigaction (SIGINT, &oldAction, 0);
 #endif
 

examples/throughput/publisher.c

@@ -29,11 +29,13 @@ static int parse_args(int argc, char **argv, uint32_t *payloadSize, int *burstIn
 static dds_entity_t prepare_dds(dds_entity_t *writer, const char *partitionName);
 static void finalize_dds(dds_entity_t participant, dds_entity_t writer, ThroughputModule_DataType sample);
 
+#if !DDSRT_WITH_FREERTOS && !__ZEPHYR__
 static void sigint (int sig)
 {
   (void)sig;
   done = true;
 }
+#endif
 
 int main (int argc, char **argv)
 {
@@ -73,7 +75,9 @@ int main (int argc, char **argv)
   }
 
   /* Register handler for Ctrl-C */
+#if !DDSRT_WITH_FREERTOS && !__ZEPHYR__
   signal (SIGINT, sigint);
+#endif
 
   /* Register the sample instance and write samples repeatedly or until time out */
   start_writing(writer, &sample, burstInterval, burstSize, timeOut);

examples/throughput/subscriber.c

@@ -48,7 +48,11 @@ static dds_sample_info_t info[MAX_SAMPLES];
 
 static dds_entity_t waitSet;
 
+#if !DDSRT_WITH_FREERTOS && !__ZEPHYR__
 static volatile sig_atomic_t done = false;
+#else
+static bool done = false;
+#endif
 
 /* Forward declarations */
 static HandleMap * HandleMap__alloc (void);
@@ -62,11 +66,13 @@ static void process_samples(dds_entity_t reader, unsigned long long maxCycles);
 static dds_entity_t prepare_dds(dds_entity_t *reader, const char *partitionName);
 static void finalize_dds(dds_entity_t participant);
 
+#if !DDSRT_WITH_FREERTOS && !__ZEPHYR__
 static void sigint (int sig)
 {
   (void) sig;
   done = true;
 }
+#endif
 
 int main (int argc, char **argv)
 {
@@ -91,7 +97,9 @@ int main (int argc, char **argv)
 
   /* Process samples until Ctrl-C is pressed or until maxCycles */
   /* has been reached (0 = infinite) */
+#if !DDSRT_WITH_FREERTOS && !__ZEPHYR__
   signal (SIGINT, sigint);
+#endif
   process_samples(reader, maxCycles);
 
   (void) dds_set_status_mask (reader, 0);
@@ -341,12 +349,13 @@ static dds_entity_t prepare_dds(dds_entity_t *reader, const char *partitionName)
     DDS_FATAL("dds_create_subscriber: %s\n", dds_strretcode(-subscriber));
   dds_delete_qos (subQos);
 
-  /* A Reader is created on the Subscriber & Topic with a modified Qos. */
+  /* A Listener is created which is triggered when data is available to read */
 
   rd_listener = dds_create_listener(NULL);
   dds_lset_data_available(rd_listener, data_available_handler);
 
-  /* A Read Condition is created which is triggered when data is available to read */
+  /* A Waitset is created which is triggered when data is available to read */
+
   waitSet = dds_create_waitset (participant);
   if (waitSet < 0)
     DDS_FATAL("dds_create_waitset: %s\n", dds_strretcode(-waitSet));
@@ -363,6 +372,8 @@ static dds_entity_t prepare_dds(dds_entity_t *reader, const char *partitionName)
     samples[i] = &data[i];
   }
 
+  /* A Reader is created on the Subscriber & Topic and attached to Waitset */
+
   *reader = dds_create_reader (subscriber, topic, NULL, pollingDelay < 0 ? rd_listener : NULL);
   if (*reader < 0)
     DDS_FATAL("dds_create_reader: %s\n", dds_strretcode(-*reader));

src/core/ddsi/src/ddsi__plist_generic.h

@@ -31,7 +31,7 @@ enum ddsi_pserop {
   XSTOP,
   XO, /* octet sequence */
   XS, /* string */
-  XE1, XE2, XE3, /* enum 0..1, 0..2, 0..3 */
+  XE1, XE2, XE3, /* enum 0..1, 0..2, 0..3; mapping to integral type assumed to be the same for all three */
   Xs, /* int16_t */
   Xi, Xix2, Xix3, Xix4, /* int32_t, 1 .. 4 in a row */
   Xu, Xux2, Xux3, Xux4, Xux5, /* uint32_t, 1 .. 5 in a row */

src/core/ddsi/src/ddsi_mcgroup.c

@@ -48,11 +48,14 @@ static int cmp_group_membership (const void *va, const void *vb)
   const struct ddsi_mcgroup_membership_node *a = va;
   const struct ddsi_mcgroup_membership_node *b = vb;
   int c;
+
+#if !defined(DDSRT_MCGROUP_JOIN_ONCE)
   if (a->conn < b->conn)
     return -1;
   else if (a->conn > b->conn)
     return 1;
-  else if ((c = locator_compare_no_port (&a->srcloc, &b->srcloc)) != 0)
+#endif
+  if ((c = locator_compare_no_port (&a->srcloc, &b->srcloc)) != 0)
     return c;
   else if ((c = locator_compare_no_port (&a->mcloc, &b->mcloc)) != 0)
     return c;