Session restart example

examples/zephyr/z_pub_session_retry.c

@@ -0,0 +1,96 @@
+//
+// 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 PEER ""  // If empty, it will scout
+#elif CLIENT_OR_PEER == 1
+#define MODE "peer"
+#define PEER "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!"
+
+int main(int argc, char **argv) {
+
+    while (true) {
+        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(PEER, "") != 0) {
+            zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(PEER));
+        }
+
+        // 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");
+        bool session_is_valid = true;
+
+        // 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; session_is_valid; ++idx) {
+            sleep(1);
+            sprintf(buf, "[%4d] %s", idx, VALUE);
+            printf("Putting Data ('%s': '%s')...\n", KEYEXPR, buf);
+            int put_res = z_publisher_put(z_loan(pub), (const uint8_t *)buf, strlen(buf), NULL);
+            if (put_res != _Z_RES_OK) {
+                printf("Error publishing message (%d)\n", put_res);
+                session_is_valid = false;
+            }
+            if(!z_check(s)) {
+                printf("Zenoh session has become invalid\n");
+            }
+        }
+
+        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;
+}

include/zenoh-pico/config.h

@@ -222,7 +222,7 @@
  */
 #ifndef Z_BATCH_SIZE_RX
 #define Z_BATCH_SIZE_RX \
-    65535  // Warning: changing this value can break the communication
+    3072  // Warning: changing this value can break the communication
            //          with zenohd in the current protocol version.
            //          In the future, it will be possible to negotiate such value.
            // Change it at your own risk.
@@ -232,7 +232,7 @@
  * Defaulf maximum batch size possible to be sent.
  */
 #ifndef Z_BATCH_SIZE_TX
-#define Z_BATCH_SIZE_TX 65535
+#define Z_BATCH_SIZE_TX 3072
 #endif
 
 /**