Add z_open peer establishment tests

Author: gmartin82

CMakeLists.txt

@@ -656,6 +656,7 @@ if(UNIX OR MSVC)
     add_executable(z_sync_group_test ${PROJECT_SOURCE_DIR}/tests/z_sync_group_test.c)
     add_executable(z_cancellation_token_test ${PROJECT_SOURCE_DIR}/tests/z_cancellation_token_test.c)
     add_executable(z_local_loopback_test ${PROJECT_SOURCE_DIR}/tests/z_local_loopback_test.c)
+    add_executable(z_open_test ${PROJECT_SOURCE_DIR}/tests/z_open_test.c)
     add_executable(z_json_encoder_test ${PROJECT_SOURCE_DIR}/tests/z_json_encoder_test.c)
     add_executable(z_executor_test ${PROJECT_SOURCE_DIR}/tests/z_executor_test.c)
     add_executable(z_background_executor_test ${PROJECT_SOURCE_DIR}/tests/z_background_executor_test.c)
@@ -690,6 +691,10 @@ if(UNIX OR MSVC)
     target_link_libraries(z_sync_group_test zenohpico::lib)
     target_link_libraries(z_cancellation_token_test zenohpico::lib)
     target_link_libraries(z_local_loopback_test zenohpico::lib)
+    target_link_libraries(z_open_test zenohpico::lib)
+    if(CHECK_THREADS)
+      target_link_libraries(z_open_test Threads::Threads)
+    endif()
     target_include_directories(z_local_loopback_test PRIVATE ${PROJECT_SOURCE_DIR}/include)
     target_compile_definitions(z_local_loopback_test PRIVATE Z_TEST_HOOKS=1)
     if(PICO_SHARED)
@@ -740,6 +745,7 @@ if(UNIX OR MSVC)
     add_test(z_sync_group_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_sync_group_test)
     add_test(z_cancellation_token_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_cancellation_token_test)
     add_test(z_local_loopback_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_local_loopback_test)
+    add_test(z_open_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_open_test)
     add_test(z_json_encoder_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_json_encoder_test)
     add_test(z_executor_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_executor_test)
     add_test(z_background_executor_test ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/z_background_executor_test)

include/zenoh-pico.h

@@ -17,12 +17,13 @@
 #ifndef ZENOH_PICO_H
 #define ZENOH_PICO_H
 
-#define ZENOH_PICO "1.5.0"
+#define ZENOH_PICO "1.8.0"
 #define ZENOH_PICO_MAJOR 1
-#define ZENOH_PICO_MINOR 5
+#define ZENOH_PICO_MINOR 8
 #define ZENOH_PICO_PATCH 0
 #define ZENOH_PICO_TWEAK
 
+#include "zenoh-pico/api/admin_space.h"
 #include "zenoh-pico/api/advanced_publisher.h"
 #include "zenoh-pico/api/advanced_subscriber.h"
 #include "zenoh-pico/api/constants.h"

include/zenoh-pico/config.h

@@ -67,7 +67,6 @@
 #define Z_FEATURE_UNICAST_PEER 1
 #define Z_FEATURE_AUTO_RECONNECT 1
 #define Z_FEATURE_MULTICAST_DECLARATIONS 0
-#define Z_FEATURE_PERIODIC_TASKS 0
 #define Z_FEATURE_ADMIN_SPACE 0
 
 // End of CMake generation
@@ -175,6 +174,82 @@
 #define Z_CONFIG_TLS_CONNECT_CERTIFICATE_BASE64_KEY 0x55
 #define Z_CONFIG_TLS_VERIFY_NAME_ON_CONNECT_KEY 0x56
 
+/*------------------ Connect behaviour properties ------------------*/
+
+/**
+ * The timeout dedicated to establishing connections to configured
+ * connect locators.
+ *
+ * Accepted values : `<int in milliseconds>`.
+ * - `0`  : no retry, try each locator once
+ * - `>0` : retry retryable locators until timeout expires
+ * - `-1` : retry indefinitely until a connection is established
+ *
+ * In client mode, this applies to the initial connection attempt and
+ * requires at least one locator to succeed.
+ *
+ * In peer mode, this applies to the initial connection phase for
+ * configured locators.
+ *
+ * Default value : `"0"` in client mode, `"-1"` in peer mode.
+ */
+#define Z_CONFIG_CONNECT_TIMEOUT_KEY 0x57
+#define Z_CONFIG_CONNECT_TIMEOUT_CLIENT_DEFAULT "0"
+#define Z_CONFIG_CONNECT_TIMEOUT_PEER_DEFAULT "-1"
+
+/**
+ * Indicates whether the application should fail if connection attempts
+ * to configured connect locators do not succeed.
+ *
+ * Accepted values : `false`, `true`.
+ * - `true`  : fail if the connection phase does not establish the required connectivity
+ * - `false` : allow the session to continue even if some connections fail
+ *
+ * In client mode, this requires at least one locator to be successfully connected.
+ *
+ * In peer mode, this applies to the initial connection phase for
+ * configured locators.
+ *
+ * Default value : `"true"` in client mode, `"false"` in peer mode.
+ */
+#define Z_CONFIG_CONNECT_EXIT_ON_FAILURE_KEY 0x58
+#define Z_CONFIG_CONNECT_EXIT_ON_FAILURE_CLIENT_DEFAULT "true"
+#define Z_CONFIG_CONNECT_EXIT_ON_FAILURE_PEER_DEFAULT "false"
+
+/*------------------ Listen behaviour properties ------------------*/
+
+/**
+ * The timeout dedicated to opening configured listen locators.
+ *
+ * Accepted values : `<int in milliseconds>`.
+ * - `0`  : no retry, try each locator once
+ * - `>0` : retry retryable locators until timeout expires
+ * - `-1` : retry indefinitely until a listener is established
+ *
+ * In peer mode, this applies to the initial listen phase for
+ * configured locators.
+ *
+ * Default value : `"0"`.
+ */
+#define Z_CONFIG_LISTEN_TIMEOUT_KEY 0x59
+#define Z_CONFIG_LISTEN_TIMEOUT_DEFAULT "0"
+
+/**
+ * Indicates whether the application should fail if configured listen
+ * locators cannot be opened.
+ *
+ * Accepted values : `false`, `true`.
+ * - `true`  : fail if the listen phase does not establish the required listeners
+ * - `false` : allow the session to continue even if listen attempts fail
+ *
+ * In peer mode, this applies to the initial listen phase for
+ * configured locators.
+ *
+ * Default value : `"true"`.
+ */
+#define Z_CONFIG_LISTEN_EXIT_ON_FAILURE_KEY 0x5A
+#define Z_CONFIG_LISTEN_EXIT_ON_FAILURE_DEFAULT "true"
+
 /*------------------ Compile-time configuration properties ------------------*/
 /**
  * Default length for Zenoh ID. Maximum size is 16 bytes.

src/net/session.c

@@ -394,6 +394,11 @@ z_result_t _z_open_locators_peer(_z_session_rc_t *zn, _z_string_t *listen_locato
     return _Z_RES_OK;
 }
 
+static inline z_result_t _z_validate_open_timeout(int32_t timeout_ms) {
+    _Z_ERROR("Invalid timeout value: %d", timeout_ms);
+    return (timeout_ms >= -1) ? _Z_RES_OK : _Z_ERR_CONFIG_INVALID_VALUE;
+}
+
 z_result_t _z_open_locators(_z_session_rc_t *zn, const _z_string_svec_t *listen_locators,
                             const _z_string_svec_t *connect_locators, const _z_id_t *zid, _z_config_t *config,
                             z_whatami_t mode) {
@@ -418,6 +423,7 @@ z_result_t _z_open_locators(_z_session_rc_t *zn, const _z_string_svec_t *listen_
     int32_t listen_timeout_ms;
     _Z_RETURN_IF_ERR(_z_config_get_i32_default(config, Z_CONFIG_LISTEN_TIMEOUT_KEY, Z_CONFIG_LISTEN_TIMEOUT_DEFAULT,
                                                &listen_timeout_ms));
+    _Z_RETURN_IF_ERR(_z_validate_open_timeout(listen_timeout_ms));
 
     bool listen_exit_on_failure;
     _Z_RETURN_IF_ERR(_z_config_get_bool_default(config, Z_CONFIG_LISTEN_EXIT_ON_FAILURE_KEY,
@@ -428,6 +434,7 @@ z_result_t _z_open_locators(_z_session_rc_t *zn, const _z_string_svec_t *listen_
     int32_t connect_timeout_ms;
     _Z_RETURN_IF_ERR(
         _z_config_get_i32_default(config, Z_CONFIG_CONNECT_TIMEOUT_KEY, connect_timeout_default, &connect_timeout_ms));
+    _Z_RETURN_IF_ERR(_z_validate_open_timeout(connect_timeout_ms));
 
     const char *connect_exit_default = (mode == Z_WHATAMI_CLIENT) ? Z_CONFIG_CONNECT_EXIT_ON_FAILURE_CLIENT_DEFAULT
                                                                   : Z_CONFIG_CONNECT_EXIT_ON_FAILURE_PEER_DEFAULT;