cguimaraes
commented
1 year ago I don't have exactly that board but I will be testing with both a STM32F429ZI and STM32F767ZI, since I am not being able to replicate your issue.
In the meantime, I am doing some tests in a Unix environment against a Zenoh router and it seems to be working correctly. Here is a snippet of the code:
void data_handler(const z_sample_t *sample, void *ctx) {
(void)(ctx);
char *keystr = z_keyexpr_to_string(sample->keyexpr);
printf(">> [Subscriber] Received ('%s': '%.*s')\n", keystr, (int)sample->payload.len, sample->payload.start);
z_drop(z_move(keystr));
}
int main(int argc, char **argv) {
const char *keyexpr_sub = "demo/example/b";
const char *keyexpr_pub = "demo/example/a";
const char *value_2 = "pub-from-pico";
const char *mode = "client";
char *locator = NULL;
z_owned_config_t config = z_config_default();
zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(mode));
if (locator != NULL) {
zp_config_insert(z_loan(config), Z_CONFIG_PEER_KEY, z_string_make(locator));
}
printf("Opening session...\n");
z_owned_session_t s = z_open(z_move(config));
if (!z_check(s)) {
printf("Unable to open session!\n");
return -1;
}
// Start read and lease tasks for zenoh-pico
if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
printf("Unable to start read and lease tasks");
return -1;
}
z_owned_closure_sample_t callback = z_closure(data_handler);
printf("Declaring Subscriber on '%s'...\n", keyexpr_sub);
z_owned_subscriber_t sub = z_declare_subscriber(z_loan(s), z_keyexpr(keyexpr_sub), z_move(callback), NULL);
if (!z_check(sub)) {
printf("Unable to declare subscriber.\n");
return -1;
}
printf("Declaring publisher for '%s'...\n", keyexpr_pub);
z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(keyexpr_pub), NULL);
if (!z_check(pub)) {
printf("Unable to declare publisher for key expression!\n");
return -1;
}
char *buf = (char *)malloc(256);
for (int idx = 0; 1; ++idx) {
sleep(1);
snprintf(buf, 256, "[%4d] %s", idx, value_2);
printf("Putting Data ('%s': '%s')...\n", keyexpr_pub, buf);
z_publisher_put_options_t options = z_publisher_put_options_default();
options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL);
z_publisher_put(z_loan(pub), (const uint8_t *)buf, strlen(buf), &options);
}
printf("Enter 'q' to quit...\n");
char c = '\0';
while (c != 'q') {
fflush(stdin);
scanf("%c", &c);
}
z_undeclare_subscriber(z_move(sub));
// Stop read and lease tasks for zenoh-pico
zp_stop_read_task(z_loan(s));
zp_stop_lease_task(z_loan(s));
z_close(z_move(s));
return 0;
}Note that with Zenoh-Pico you need to explicitly launch the read and lease tasks (multi-thread) or to spin at your own pace (single-thread). I am assuming that you are doing it since you mention that subscribers sometimes they work.
If you can share a snippet of your code and/or logs (both from your application using Zenoh-Pico and from the Zenoh-ROS2-Bridge), it would be a great help to try to identify the issue.
eeas-joas
Describe the bug
We have zenoh-pico on STM32H7 with Zephyr. The Agent runs on a different system (Zenoh-ROS2-Bridge).
When the STM32H7-Board is reset (without resetting the agent!), the Zenoh-communication is established, following the examples (z_open, z_declare_subscriber, z_declare_publisher, ..).
All the Zenoh-API-calls do not return an error, but the following situations can occur:
A parallel started Zenoh-client on a Linux-system (Zenoh-python) works properly, so we assume, the failure is not coming from Zenoh-Agent.
To reproduce
System info