Merge branch 'eclipse-cyclonedds:master' into master

ports/zephyr/CMakeLists.txt

@@ -64,7 +64,6 @@ set(CDDS_INCLUDE_DIR ${CMAKE_CURRENT_BINARY_DIR}/cyclonedds-prefix/include)
 
 ExternalProject_Add(cyclonedds
   SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../
-  BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../
   BUILD_COMMAND ${CMAKE_COMMAND} --build .
   CMAKE_ARGS
   -DBUILD_SHARED_LIBS=0 -DENABLE_SECURITY=0 -DENABLE_SSL=0 -DENABLE_SOURCE_SPECIFIC_MULTICAST=0 -DENABLE_IPV6=1 -DENABLE_SHM=0 -DWITH_ZEPHYR=1 

ports/zephyr/README.md

@@ -4,16 +4,20 @@
 This directory contains some proof-of-concept applications that show how to build and use CycloneDDS on [Zephyr RTOS](https://www.zephyrproject.org) for a NXP X-S32Z27X-DC board.
 
 
-Getting Started with Zephyr information can be found [here](https://docs.zephyrproject.org/3.3.0/develop/getting_started/index.html)
+Getting Started with Zephyr information can be found [here](https://docs.zephyrproject.org/3.4.0/develop/getting_started/index.html)
+Documentation for the NXP X-S32Z27X-DC board can be found [here](https://docs.zephyrproject.org/3.4.0/boards/arm/s32z270dc2_r52/doc/index.html)
 
+## Usage
+The applications can be treated similarly to other Zephyr sample applications.
+The `CMakeLists.txt` is currently set up to build some of the CycloneDDS examples or ddsperf but can be easily modified or extended for other application code.
 
-Documentation for the NXP X-S32Z27X-DC board can be found [here](https://docs.zephyrproject.org/3.3.0/boards/arm/s32z270dc2_r52/doc/index.html)
+:warning: While CycloneDDS can be built in-tree, it does not support multiple different builds. Therefore the CycloneDDS source directory needs to be cleaned in order to build for Zephyr and must not contain an in-tree build for eg. the host system. Alternatively, this directory with Zephyr examples can be copied outside the CycloneDDS source directory but that requires updating the `ExternalProject_Add` directive in `CMakeLists.txt` to point to the CycloneDDS source directory.
 
-## Usage:
-This directory can used like any generic Zephyr application.
-The `CMakeLists.txt` is currently set up to build CycloneDDS examples and ddsperf but can be easily modified or extended for other application code.
+:warning: When building outside the Zephyr tree, `ZEPHYR_BASE` variable must be set. See [Application Development](https://docs.zephyrproject.org/3.4.0/develop/application/index.html) for more info.
 
-The copy_examples.sh script can be used (manually) to update the code from CycloneDDS examples and run idlc to generate types.
+:warning: A static IPv4/IPv6 address is defined in `prj.conf`. When running between two Zephyr nodes it is suggested to copy `prj.conf` to eg. `prj-host1.conf` and `prj-host2.conf`, updating the address as required and building with `-DCONF=prj-host1.conf` or `-DCONF=prj-host2.conf` respectively, as described in more detail [here](https://docs.zephyrproject.org/3.4.0/samples/net/eth_native_posix/README.html). A different approach is to enable DHCP client support in Zephyr (see [example](https://docs.zephyrproject.org/3.4.0/samples/net/dhcpv4_client/README.html)).
+
+The `copy_examples.sh` script can be used to (manually) update the code from CycloneDDS examples and run `idlc` to generate types.
 
 For example, to build Roundtrip Ping for the `s32z270dc2_rtu0_r52` target:
 ```
@@ -25,6 +29,9 @@ $ west build -b qemu_x86 . -- -DOVERLAY_CONFIG=overlay-e1000.conf -DBUILD_ROUNDT
 ```
 Command-line parameters for the example can be modified in `src/rountrip_main.c`
 
-
-The CycloneDDS configuration in `config.xml` is automatically converted to a char array and available as environment variable to support the default behaviour of retrieving config from CYCLONEDDS_URI.
+The CycloneDDS configuration in `config.xml` is automatically converted to a char array and available as environment variable to support the default behaviour of retrieving config from `CYCLONEDDS_URI`.
 Alternatively, [dds_create_domain_with_rawconfig](https://cyclonedds.io/docs/cyclonedds/latest/api/domain.html?#c.dds_create_domain_with_rawconfig) can be used without XML configuration data.
+
+## Zephyr versions
+At the time of writing, CycloneDDS has been tested on Zephyr [v3.3.0](https://github.com/zephyrproject-rtos/zephyr/releases/tag/v3.3.0) and [v3.4.0](https://github.com/zephyrproject-rtos/zephyr/releases/tag/v3.4.0). However, for the NXP X-S32Z27X-DC board an issue exists in `v3.4.0` that can cause CycloneDDS to crash. This is fixed on the Zephyr main branch, therefore we suggest using [@143429](https://github.com/zephyrproject-rtos/zephyr/commit/14342969150a35f3c26afa513a4725bdec310799).
+

ports/zephyr/boards/s32z270dc2_rtu0_r52.overlay

@@ -0,0 +1,13 @@
+/* Define 7M sram ragion to override 1M sram0 (for RTU0 only) */
+/{
+	soc {
+		sram2: memory@32100000 {
+			compatible = "mmio-sram";
+			reg = <0x32100000 DT_SIZE_M(7)>;
+		};
+	};
+
+	chosen {
+		zephyr,sram = &sram2;
+	};
+};

ports/zephyr/config.xml

@@ -4,33 +4,6 @@
       <!-- Transport>udp6</Transport -->
       <MaxMessageSize>1400B</MaxMessageSize>
     </General>
-    <Threads>
-      <Thread name="recv">
-        <Scheduling>
-          <Priority>15</Priority>
-        </Scheduling>
-      </Thread>
-      <Thread name="tev">
-        <Scheduling>
-          <Priority>15</Priority>
-        </Scheduling>
-      </Thread>
-      <Thread name="gc">
-        <Scheduling>
-          <Priority>15</Priority>
-        </Scheduling>
-      </Thread>
-      <Thread name="dq.builtins">
-        <Scheduling>
-          <Priority>15</Priority>
-        </Scheduling>
-      </Thread>
-      <Thread name="dq.user">
-        <Scheduling>
-          <Priority>15</Priority>
-        </Scheduling>
-      </Thread>
-    </Threads>
     <Sizing>
       <ReceiveBufferSize>40KiB</ReceiveBufferSize>
       <ReceiveBufferChunkSize>20KiB</ReceiveBufferChunkSize>

ports/zephyr/src/ddsperf_main.c

@@ -13,7 +13,7 @@ char **environ = (char*[]) {
   NULL
 };
 
-void main(void)
+int main(void)
 {
     printf("CycloneDDS DDSPerf (%s)\n", CONFIG_BOARD);
 #if BUILD_DDSPERF_PING
@@ -23,5 +23,5 @@ void main(void)
 #endif
     ddsperf_main(sizeof(args)/sizeof(args[0]), args);
     printf("Done\n");
-    return;
+    return 0;
 }

ports/zephyr/src/main.c

@@ -202,7 +202,7 @@ void helloworld_subscriber()
     DDS_FATAL("dds_delete (domain): %s\n", dds_strretcode(-rc));
 }
 
-void main(void)
+int main(void)
 {
     printf("CycloneDDS Hello World! %s\n", CONFIG_BOARD);
 #if BUILD_HELLOWORLD_PUB
@@ -211,5 +211,5 @@ void main(void)
     helloworld_subscriber();
 #endif
     printf("Done\n");
-    return;
+    return 0;
 }

ports/zephyr/src/roundtrip_main.c

@@ -14,7 +14,7 @@ char **environ = (char*[]) {
   NULL
 };
 
-void main(void)
+int main(void)
 {
     int ret;
     printf("CycloneDDS Roundtrip (%s)\n", CONFIG_BOARD);
@@ -34,5 +34,5 @@ void main(void)
     ret = roundtrip_pong(sizeof(args)/sizeof(args[0]), args);
 #endif
     printf("Done (ret=%d)\n", ret);
-    return;
+    return 0;
 }

ports/zephyr/src/throughput_main.c

@@ -14,7 +14,7 @@ char **environ = (char*[]) {
   NULL
 };
 
-void main(void)
+int main(void)
 {
     int ret;
     printf("CycloneDDS Throughput (%s)\n", CONFIG_BOARD);
@@ -26,5 +26,5 @@ void main(void)
     ret = throughput_sub(sizeof(args)/sizeof(args[0]), args);
 #endif
     printf("Done (ret=%d)\n", ret);
-    return;
+    return 0;
 }

src/core/cdr/include/dds/cdr/dds_cdrstream.h

@@ -245,7 +245,7 @@ uint32_t dds_stream_key_flags (struct dds_cdrstream_desc *desc, uint32_t *keysz_
 bool dds_stream_extensibility (const uint32_t * __restrict ops, enum dds_cdr_type_extensibility *ext);
 
 /** @component cdr_serializer */
-void dds_cdrstream_desc_init (struct dds_cdrstream_desc *desc, const struct dds_cdrstream_allocator * __restrict allocator,
+DDS_EXPORT void dds_cdrstream_desc_init (struct dds_cdrstream_desc *desc, const struct dds_cdrstream_allocator * __restrict allocator,
     uint32_t size, uint32_t align, uint32_t flagset, const uint32_t *ops, const dds_key_descriptor_t *keys, uint32_t nkeys);
 
 /** @component cdr_serializer */

src/core/cdr/src/dds_cdrstream_keys.part.c

@@ -168,11 +168,13 @@ static const uint32_t *dds_stream_extract_keyBO_from_data_delimited (dds_istream
 {
   uint32_t delimited_sz_is = dds_is_get4 (is), delimited_offs_is = is->m_index, insn;
 
-  /* At this point we can safely assume that at least one of the members
-     of this aggregated type is part of the key, so we need to add the dheader */
   uint32_t delimited_offs_os = 0;
   if (os != NULL)
+  {
+    /* At this point we can safely assume that at least one of the members
+      of this aggregated type is part of the key, so we need to add the dheader */
     delimited_offs_os = dds_os_reserve4BO (os, allocator);
+  }
 
   ops++;
   while ((insn = *ops) != DDS_OP_RTS)
@@ -194,6 +196,10 @@ static const uint32_t *dds_stream_extract_keyBO_from_data_delimited (dds_istream
     }
   }
 
+  /* Skip remainder of serialized data for this appendable type */
+  if (delimited_sz_is > is->m_index - delimited_offs_is)
+    is->m_index += delimited_sz_is - (is->m_index - delimited_offs_is);
+
   /* if not in skip mode: add dheader in os */
   if (os != NULL)
   {

src/core/ddsc/include/dds/ddsc/dds_public_dynamic_type.h

@@ -15,6 +15,8 @@
 extern "C" {
 #endif
 
+#ifdef DDS_HAS_TYPELIB
+
 struct ddsi_typeinfo;
 
 /**
@@ -624,6 +626,8 @@ DDS_EXPORT dds_return_t dds_dynamic_type_unref (dds_dynamic_type_t *type);
 DDS_EXPORT dds_dynamic_type_t dds_dynamic_type_dup (const dds_dynamic_type_t *src);
 
 
+#endif /* DDS_HAS_TYPELIB */
+
 #if defined (__cplusplus)
 }
 #endif

src/core/ddsc/tests/TypeBuilderTypes.idl

@@ -399,8 +399,10 @@ module TypeBuilderTypes {
     t27_1 f1;
   };
 
-  /* unbounded string key */
+  /* bounded and unbounded string key */
   struct t28 {
     @key string f1;
+    @key string<3> f2;
   };
+
 };

src/core/ddsi/CMakeLists.txt

@@ -226,17 +226,6 @@ if(ENABLE_DEADLINE_MISSED)
     ddsi_deadline.h
   )
 endif()
-if(ENABLE_TYPELIB)
-  list(APPEND srcs_ddsi
-    ddsi_typelib.c
-  )
-  list(APPEND hdrs_ddsi
-    ddsi_typelib.h
-  )
-  list(APPEND hdrs_private_ddsi
-    ddsi__typelib.h
-  )
-endif()
 if(ENABLE_TOPIC_DISCOVERY)
   list(APPEND srcs_ddsi
     ddsi_discovery_topic.c
@@ -249,19 +238,22 @@ if(ENABLE_TYPELIB)
   list(APPEND srcs_ddsi
     ddsi_xt_typeinfo.c
     ddsi_xt_typemap.c
+    ddsi_typelib.c
     ddsi_typewrap.c
     ddsi_typebuilder.c
     ddsi_dynamic_type.c
   )
   list(APPEND hdrs_ddsi
     ddsi_xt_typeinfo.h
     ddsi_xt_typemap.h
+    ddsi_typelib.h
     ddsi_typewrap.h
     ddsi_typebuilder.h
     ddsi_dynamic_type.h
   )
   list(APPEND hdrs_private_ddsi
     ddsi__xt_impl.h
+    ddsi__typelib.h
     ddsi__dynamic_type.h
   )
 endif()

src/core/ddsi/include/dds/ddsi/ddsi_dynamic_type.h

@@ -21,6 +21,8 @@
 extern "C" {
 #endif
 
+#ifdef DDS_HAS_TYPELIB
+
 struct ddsi_dynamic_type_struct_member_param {
   uint32_t id;
   const char *name;
@@ -131,6 +133,8 @@ struct ddsi_type * ddsi_dynamic_type_dup (const struct ddsi_type *src);
 /** @component dynamic_type_support */
 bool ddsi_dynamic_type_is_constructing (const struct ddsi_type *type);
 
+#endif /* DDS_HAS_TYPELIB */
+
 #if defined (__cplusplus)
 }
 #endif

src/core/ddsi/include/dds/ddsi/ddsi_typebuilder.h

@@ -22,11 +22,15 @@
 extern "C" {
 #endif
 
+#ifdef DDS_HAS_TYPELIB
+
 /** @component dynamic_types */
-dds_return_t ddsi_topic_descriptor_from_type (struct ddsi_domaingv *gv, dds_topic_descriptor_t *desc, const struct ddsi_type *type);
+DDS_EXPORT dds_return_t ddsi_topic_descriptor_from_type (struct ddsi_domaingv *gv, dds_topic_descriptor_t *desc, const struct ddsi_type *type);
 
 /** @component dynamic_types */
-void ddsi_topic_descriptor_fini (dds_topic_descriptor_t *desc);
+DDS_EXPORT void ddsi_topic_descriptor_fini (dds_topic_descriptor_t *desc);
+
+#endif /* DDS_HAS_TYPELIB */
 
 #if defined (__cplusplus)
 }

src/core/ddsi/include/dds/ddsi/ddsi_typelib.h

@@ -25,6 +25,8 @@
 extern "C" {
 #endif
 
+#ifdef DDS_HAS_TYPELIB
+
 struct ddsi_domaingv;
 struct ddsi_sertype;
 struct ddsi_type;
@@ -141,6 +143,8 @@ DDS_EXPORT struct ddsi_type * ddsi_type_lookup (struct ddsi_domaingv *gv, const
  */
 DDS_EXPORT int ddsi_type_compare (const struct ddsi_type *a, const struct ddsi_type *b);
 
+#endif /* DDS_HAS_TYPELIB */
+
 #if defined (__cplusplus)
 }
 #endif

src/core/ddsi/src/ddsi_sertype.c

@@ -298,5 +298,5 @@ DDS_EXPORT extern inline ddsi_typemap_t * ddsi_sertype_typemap (const struct dds
 DDS_EXPORT extern inline ddsi_typeinfo_t * ddsi_sertype_typeinfo (const struct ddsi_sertype *tp);
 DDS_EXPORT extern inline struct ddsi_sertype * ddsi_sertype_derive_sertype (const struct ddsi_sertype *base_sertype, dds_data_representation_id_t data_representation, dds_type_consistency_enforcement_qospolicy_t tce_qos);
 
-extern inline size_t ddsi_sertype_get_serialized_size(const struct ddsi_sertype *tp, const void *sample);
-extern inline bool ddsi_sertype_serialize_into(const struct ddsi_sertype *tp, const void *sample, void *dst_buffer, size_t dst_size);
+DDS_EXPORT extern inline size_t ddsi_sertype_get_serialized_size(const struct ddsi_sertype *tp, const void *sample);
+DDS_EXPORT extern inline bool ddsi_sertype_serialize_into(const struct ddsi_sertype *tp, const void *sample, void *dst_buffer, size_t dst_size);