Opt-in owned tokio runtime for nodes without ambient executor#1748
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Embedders that lack an ambient tokio runtime can now set DORA_CREATE_OWNED_TOKIO_RUNTIME=1 to have the node build its own multi-threaded runtime for the zenoh SHM data plane. Default remains strict: init errors when no runtime is available. Follow-up to #1745. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Node authors shouldn't have to set up a tokio runtime just to call `DoraNode::init_from_env()`. Drop the `DORA_CREATE_OWNED_TOKIO_RUNTIME` opt-in gate introduced in #1748 and always build an owned multi-threaded runtime when `Handle::try_current()` returns `Err`. Callers with an ambient runtime keep using it. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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* refactor: remove DropToken system now that zenoh SHM is the data plane Continuation of #1741, salvaging more from the closed #1378. Zenoh's SHM provider now handles buffer lifecycle via its own reference counting, so the custom shmem + DropToken tracking path is pure legacy. - Node API: zenoh session + SHM provider are now mandatory in standard mode (no more DropStream fallback, no custom shmem allocation cache, no `DataSampleInner::Shmem`). `allocate_data_sample` always returns a heap buffer; zenoh publishes large payloads zero-copy. - Message types: removed `DataMessage::SharedMemory`, `DropToken`, `NodeDropEvent`, `DaemonReply::NextDropEvents`, the `SubscribeDrop` / `ReportDropTokens` / `NextFinishedDropTokens` requests, and `drop_tokens` on `NextEvent`. `DataMessage` is now just `Vec`. - DaemonCommunication::Shmem drops `daemon_drop_region_id`. - Daemon: removed `drop_channels`, `pending_drop_tokens`, `DropTokenInformation`, `check_drop_token`, the drop listener loop, and the SHM mmap+copy fan-out path (only `DataMessage::Vec` remains). - Dropped the `shared_memory_extended` dependency from dora-node-api. Nodes that were implicitly relying on the non-tokio fallback will now fail init with a clear error instead of silently degrading. * cleanup: remove dead SHM-protocol leftovers from message enums - DaemonReply::PreparedMessage: no construction or match sites remain after the SHM data-plane removal. - node_to_daemon::InputData: single-variant enum with no callers (the InputData used in integration tests comes from a different module). - Collapse the now-single-arm DataMessage match in the daemon into an irrefutable let. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> * Trigger CI * Opt-in owned tokio runtime for nodes without ambient executor (#1748) Support opt-in owned tokio runtime for nodes Embedders that lack an ambient tokio runtime can now set DORA_CREATE_OWNED_TOKIO_RUNTIME=1 to have the node build its own multi-threaded runtime for the zenoh SHM data plane. Default remains strict: init errors when no runtime is available. Follow-up to #1745. Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com> * Create owned tokio runtime by default when none is ambient Node authors shouldn't have to set up a tokio runtime just to call `DoraNode::init_from_env()`. Drop the `DORA_CREATE_OWNED_TOKIO_RUNTIME` opt-in gate introduced in #1748 and always build an owned multi-threaded runtime when `Handle::try_current()` returns `Err`. Callers with an ambient runtime keep using it. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> * Carry ParamUpdate value as JSON bytes over the bincode wire `NodeEvent` is serialized with bincode on the daemon→node TCP channel. `serde_json::Value::deserialize` calls `Deserializer::deserialize_any`, which bincode does not support: the first `ParamUpdate` would kill the node's event stream with "Bincode does not support the serde::Deserializer::deserialize_any method". Change `NodeEvent::ParamUpdate.value` to `value_json: Vec<u8>` (JSON-encoded), and serialize/deserialize at the daemon and node boundaries. The public `Event::ParamUpdate.value: serde_json::Value` stays unchanged for callers. Adds a bincode round-trip regression test over representative JSON shapes so we don't slip a `deserialize_any` field back into `NodeEvent`. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> * Fall back to heap publishes when zenoh SHM provider creation fails CI runners with a small `/dev/shm` (and tests that spawn many nodes in sequence without segment cleanup between runs) now hit `ShmProviderBuilder::default_backend` returning `OS error 12` (ENOMEM), which used to abort node init outright. Treat the SHM provider as best-effort instead: log a warning and proceed with `zenoh_shm_provider = None`. The send path already publishes via heap buffers when the provider is missing, so messages still flow — just without the SHM zero-copy fast path. Restores the contract-test suite that started failing once nodes actually reached the SHM allocation step (previously they failed earlier on tokio runtime init, masking the issue). Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> --------- Co-authored-by: Claude <noreply@anthropic.com>
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Follow-up to #1745. Embedders without an ambient tokio runtime can set
DORA_CREATE_OWNED_TOKIO_RUNTIME=1to haveDoraNode::initbuild a multi-threaded runtime for the zenoh SHM data plane. Default stays strict — init errors if no runtime is available.Depends on #1745 being merged first (this branch is based on it).