Merge main into dev/1.0.0 (#567)

* add support for qos settings in sample * - silence cpp compiler regading compound literals and type conversions, - add missing dots in docs * fix _z_qos_t definition and doc * fix z_qos_t definition and doc * - replace binary literals (non-core C) with hexadecimal ones - replace _z_n_qos_unmake with _z_n_qos_unmake_public in subscription.c * make _z_n_qos_unmake static inline to prevent linking errors * fix format * reduce qos size to 1 byte; use getters to extract individual qos settings * fix _z_n_qos_make to no longer use compund literals to avoid warnings from zenoh-cpp * fix z_qos_default() signature * Add Flipper platform (#351) * Add Flipper platform * Fix warnings and other platform builds * move z_n_qos_t related functions into .c (to hide designated initializers from c++) * z_sample_t docs update to include qos * move qos functions back to header and remove usage of designated initializers * format * fix: Bump sphinx doc build dep to `7.2.6` (#361) * replac zp_ prefix for platform functions that are also available in zenoh-c * fix format * replace zp_ prefix with z_ for zp_random_u64 * put back previously removed zp_ functions as deprecated * added missing new line at the end of the file * typo fix * move deprecated platform header to a separate folder * Add config endpoint in raweth locator (#364) * feat: add ethtype to reth endpoint config * feat: type renaming * fix: remove unused macro call * feat: remove static raweth config * feat: use defines for separators * feat: add mapping function * fix: add default raweth mapping * feat: add debug traces on raweth config parsing * fix: ethtype validity test * fix: strtok parsing calls * chore: clang-format * fix: include first mapping entry in lookup * fix: appease the tyran codacy * Fix bug reading from ws (#370) * Expose timeout option in z_get_options_t (#375) * Expose timeout option in z_get_options_t * Add default get timeout * Align examples and remove reading from stdin (#359) * Remove reading from stdin, align example implementations * Update examples tests * Adjust z_sub_thr output * Fix z_get single query examples * Replace pthread uses with z_mutex and z_condvar * Add multi-thread feature condition to z_get examples * Update error message for features absence * Update z_get expected output in modularity test * Update sample count for freertos single-thread examples * fix: remove unused variable warning (#379) * Changing references to zenoh:master to zenoh:main. (#381) * correct unsigned atomic in refcount.h (#382) * Fix refcount cast (#384) * Fix esp32 CI (#386) * fix: const discard warning * build: fix platformio dependency check * Serial timeout (#383) * correct unsigned atomic in refcount.h * made espidf freertos compatible with timeout on read --------- Co-authored-by: Luca Cominardi <[email protected]> * Run clang-format (#388) * Fix misra violations (#390) * chore: run clang format * fix: misra issues * ci: Allow building zenoh from arbitrary branch in build-check workflow (#389) * ci: Allow building Zenoh from arbitrary branch in build-check workflow * Update other jobs --------- Co-authored-by: OlivierHecart <[email protected]> * support for integration as a west module in zephyr (#395) Integrate zenoh as a west module and enable adding zenoh as a library using kconfig. This will allows easier integration with zephyr by including in the west manifest (west.yml), i.e.: @@ -2,7 +2,13 @@ manifest: remotes: - name: upstream url-base: https://github.com/zephyrproject-rtos + - name: zenoh + url-base: https://github.com/eclipse-zenoh projects: + - name: zenoh-pico + revision: main + path: external/zenoh-pico + remote: zenoh - name: canopennode revision: dec12fa3f0d790cafa8414a4c2930ea71ab72ffd path: modules/lib/canopennode and then enabling the publication example with: CONFIG_ZENOH_PICO=y CONFIG_ZENOH_PICO_LINK_SERIAL=y CONFIG_ZENOH_PICO_PUBLICATION=y application can then be built with west: west build -b reel_board zephyr/samples/publication Signed-off-by: Anas Nashif <[email protected]> * fix: concurrency issue on task_running init value (#401) * feat: Automate Release (#402) * feat: Store project version in `version.txt` * fix: Add `CMakeFiles` to `.gitignore` * feat: Automate Release * fix: Remove enforce-linking-issues workflow * fix: Remove unecessary SSH passphrase/privatekey inputs * fix: Force push release branch * fix: Make build-macos need pre-build * fix: Typo in pre-build.bash path * fix: Typo in examples build path * Fix windows socket timeout value (#411) * fix: replace windows sockopt timeout value type * fix: void functions returning value * fix: use z_reliability enum type to set flag (#413) * ci: change raweth workflow (#416) * Enable releasing from any branch (#421) * Align version with zenoh-c (#438) As per eclipse-zenoh/zenoh-c#466, align how we configure zenoh CMake based projects version. * feat: add malloc value guards for freertos (#527) * fix: add mutex free value guard (#551) * Add missed merge changes --------- Signed-off-by: Anas Nashif <[email protected]> Co-authored-by: Denis Biryukov <[email protected]> Co-authored-by: Michael Ilyin <[email protected]> Co-authored-by: Mahmoud Mazouz <[email protected]> Co-authored-by: Jean-Roland Gosse <[email protected]> Co-authored-by: OlivierHecart <[email protected]> Co-authored-by: oteffahi <[email protected]> Co-authored-by: Geoff Martin <[email protected]> Co-authored-by: Lieven <[email protected]> Co-authored-by: Luca Cominardi <[email protected]> Co-authored-by: OlivierHecart <[email protected]> Co-authored-by: Anas Nashif <[email protected]> Co-authored-by: Diogo Matsubara <[email protected]>
eclipse-zenoh · Aug 1, 2024 · 96ce437 · 96ce437
1 parent 2c7929f
commit 96ce437
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Showing 21 changed files with 200 additions and 39 deletions.
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
@@ -26,6 +26,10 @@ on:
         type: string
         description: Release number
         required: false
+      branch:
+        type: string
+        description: Release branch
+        required: false
 jobs:
   tag:
     name: Branch, Bump & tag
@@ -44,6 +48,7 @@ jobs:
           # However, we still need some placeholder version to test that the
           # version can be reliably bumped.
           version: ${{ inputs.version || '0.0.0' }}
+          branch: ${{ inputs.branch }}
           github-token: ${{ secrets.BOT_TOKEN_WORKFLOW }}
 
       - name: Checkout this repository

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -27,6 +27,12 @@ set(ZENOH_PICO_MINOR ${PROJECT_VERSION_MINOR})
 set(ZENOH_PICO_PATCH ${PROJECT_VERSION_PATCH})
 set(ZENOH_PICO_TWEAK ${PROJECT_VERSION_TWEAK})
 
+configure_file(
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/zenoh-pico.h.in
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/zenoh-pico.h
+  @ONLY
+)
+
 set(project_version "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
 if(NOT DEFINED PROJECT_VERSION_TWEAK)
 	set(project_version "${project_version}")

diff --git a/include/zenoh-pico/protocol/definitions/network.h b/include/zenoh-pico/protocol/definitions/network.h
@@ -78,7 +78,7 @@ typedef _z_qos_t _z_n_qos_t;
 static inline _z_qos_t _z_n_qos_create(_Bool express, z_congestion_control_t congestion_control,
                                        z_priority_t priority) {
     _z_n_qos_t ret;
-    _Bool nodrop = (congestion_control != Z_CONGESTION_CONTROL_DROP);
+    _Bool nodrop = congestion_control == Z_CONGESTION_CONTROL_DROP ? 0 : 1;
     ret._val = (uint8_t)((express << 4) | (nodrop << 3) | priority);
     return ret;
 }

diff --git a/include/zenoh-pico/protocol/definitions/transport.h b/include/zenoh-pico/protocol/definitions/transport.h
@@ -505,10 +505,12 @@ _z_transport_message_t _z_t_msg_make_open_syn(_z_zint_t lease, _z_zint_t initial
 _z_transport_message_t _z_t_msg_make_open_ack(_z_zint_t lease, _z_zint_t initial_sn);
 _z_transport_message_t _z_t_msg_make_close(uint8_t reason, _Bool link_only);
 _z_transport_message_t _z_t_msg_make_keep_alive(void);
-_z_transport_message_t _z_t_msg_make_frame(_z_zint_t sn, _z_network_message_vec_t messages, _Bool is_reliable);
-_z_transport_message_t _z_t_msg_make_frame_header(_z_zint_t sn, _Bool is_reliable);
-_z_transport_message_t _z_t_msg_make_fragment_header(_z_zint_t sn, _Bool is_reliable, _Bool is_last);
-_z_transport_message_t _z_t_msg_make_fragment(_z_zint_t sn, _z_slice_t messages, _Bool is_reliable, _Bool is_last);
+_z_transport_message_t _z_t_msg_make_frame(_z_zint_t sn, _z_network_message_vec_t messages,
+                                           z_reliability_t reliability);
+_z_transport_message_t _z_t_msg_make_frame_header(_z_zint_t sn, z_reliability_t reliability);
+_z_transport_message_t _z_t_msg_make_fragment_header(_z_zint_t sn, z_reliability_t reliability, _Bool is_last);
+_z_transport_message_t _z_t_msg_make_fragment(_z_zint_t sn, _z_slice_t messages, z_reliability_t reliability,
+                                              _Bool is_last);
 
 /*------------------ Copy ------------------*/
 void _z_t_msg_copy(_z_transport_message_t *clone, _z_transport_message_t *msg);

diff --git a/src/protocol/definitions/transport.c b/src/protocol/definitions/transport.c
@@ -209,12 +209,13 @@ _z_transport_message_t _z_t_msg_make_keep_alive(void) {
     return msg;
 }
 
-_z_transport_message_t _z_t_msg_make_frame(_z_zint_t sn, _z_network_message_vec_t messages, _Bool is_reliable) {
+_z_transport_message_t _z_t_msg_make_frame(_z_zint_t sn, _z_network_message_vec_t messages,
+                                           z_reliability_t reliability) {
     _z_transport_message_t msg;
     msg._header = _Z_MID_T_FRAME;
 
     msg._body._frame._sn = sn;
-    if (is_reliable == true) {
+    if (reliability == Z_RELIABILITY_RELIABLE) {
         _Z_SET_FLAG(msg._header, _Z_FLAG_T_FRAME_R);
     }
 
@@ -224,12 +225,12 @@ _z_transport_message_t _z_t_msg_make_frame(_z_zint_t sn, _z_network_message_vec_
 }
 
 /*------------------ Frame Message ------------------*/
-_z_transport_message_t _z_t_msg_make_frame_header(_z_zint_t sn, _Bool is_reliable) {
+_z_transport_message_t _z_t_msg_make_frame_header(_z_zint_t sn, z_reliability_t reliability) {
     _z_transport_message_t msg;
     msg._header = _Z_MID_T_FRAME;
 
     msg._body._frame._sn = sn;
-    if (is_reliable == true) {
+    if (reliability == Z_RELIABILITY_RELIABLE) {
         _Z_SET_FLAG(msg._header, _Z_FLAG_T_FRAME_R);
     }
 
@@ -239,16 +240,17 @@ _z_transport_message_t _z_t_msg_make_frame_header(_z_zint_t sn, _Bool is_reliabl
 }
 
 /*------------------ Fragment Message ------------------*/
-_z_transport_message_t _z_t_msg_make_fragment_header(_z_zint_t sn, _Bool is_reliable, _Bool is_last) {
-    return _z_t_msg_make_fragment(sn, _z_slice_empty(), is_reliable, is_last);
+_z_transport_message_t _z_t_msg_make_fragment_header(_z_zint_t sn, z_reliability_t reliability, _Bool is_last) {
+    return _z_t_msg_make_fragment(sn, _z_slice_empty(), reliability, is_last);
 }
-_z_transport_message_t _z_t_msg_make_fragment(_z_zint_t sn, _z_slice_t payload, _Bool is_reliable, _Bool is_last) {
+_z_transport_message_t _z_t_msg_make_fragment(_z_zint_t sn, _z_slice_t payload, z_reliability_t reliability,
+                                              _Bool is_last) {
     _z_transport_message_t msg;
     msg._header = _Z_MID_T_FRAGMENT;
     if (is_last == false) {
         _Z_SET_FLAG(msg._header, _Z_FLAG_T_FRAGMENT_M);
     }
-    if (is_reliable == true) {
+    if (reliability == Z_RELIABILITY_RELIABLE) {
         _Z_SET_FLAG(msg._header, _Z_FLAG_T_FRAGMENT_R);
     }
 

diff --git a/src/system/windows/network.c b/src/system/windows/network.c
@@ -64,9 +64,7 @@ int8_t _z_open_tcp(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_t rep, u
 
     sock->_sock._fd = socket(rep._ep._iptcp->ai_family, rep._ep._iptcp->ai_socktype, rep._ep._iptcp->ai_protocol);
     if (sock->_sock._fd != INVALID_SOCKET) {
-        z_time_t tv;
-        tv.time = tout / (uint32_t)1000;
-        tv.millitm = tout % (uint32_t)1000;
+        DWORD tv = tout;
         if ((ret == _Z_RES_OK) && (setsockopt(sock->_sock._fd, SOL_SOCKET, SO_RCVTIMEO, (char *)&tv, sizeof(tv)) < 0)) {
             ret = _Z_ERR_GENERIC;
         }
@@ -200,9 +198,7 @@ int8_t _z_open_udp_unicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoint_
 
     sock->_sock._fd = socket(rep._ep._iptcp->ai_family, rep._ep._iptcp->ai_socktype, rep._ep._iptcp->ai_protocol);
     if (sock->_sock._fd != INVALID_SOCKET) {
-        z_time_t tv;
-        tv.time = tout / (uint32_t)1000;
-        tv.millitm = tout % (uint32_t)1000;
+        DWORD tv = tout;
         if ((ret == _Z_RES_OK) && (setsockopt(sock->_sock._fd, SOL_SOCKET, SO_RCVTIMEO, (char *)&tv, sizeof(tv)) < 0)) {
             ret = _Z_ERR_GENERIC;
         }
@@ -326,9 +322,7 @@ int8_t _z_open_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpoin
     if (addrlen != 0U) {
         sock->_sock._fd = socket(rep._ep._iptcp->ai_family, rep._ep._iptcp->ai_socktype, rep._ep._iptcp->ai_protocol);
         if (sock->_sock._fd != INVALID_SOCKET) {
-            z_time_t tv;
-            tv.time = tout / (uint32_t)1000;
-            tv.millitm = tout % (uint32_t)1000;
+            DWORD tv = tout;
             if ((ret == _Z_RES_OK) &&
                 (setsockopt(sock->_sock._fd, SOL_SOCKET, SO_RCVTIMEO, (char *)&tv, sizeof(tv)) < 0)) {
                 ret = _Z_ERR_GENERIC;
@@ -430,9 +424,7 @@ int8_t _z_listen_udp_multicast(_z_sys_net_socket_t *sock, const _z_sys_net_endpo
     if (addrlen != 0U) {
         sock->_sock._fd = socket(rep._ep._iptcp->ai_family, rep._ep._iptcp->ai_socktype, rep._ep._iptcp->ai_protocol);
         if (sock->_sock._fd != INVALID_SOCKET) {
-            z_time_t tv;
-            tv.time = tout / (uint32_t)1000;
-            tv.millitm = tout % (uint32_t)1000;
+            DWORD tv = tout;
             if ((ret == _Z_RES_OK) &&
                 (setsockopt(sock->_sock._fd, SOL_SOCKET, SO_RCVTIMEO, (char *)&tv, sizeof(tv)) < 0)) {
                 ret = _Z_ERR_GENERIC;

diff --git a/src/system/zephyr/system.c b/src/system/zephyr/system.c
@@ -96,7 +96,12 @@ void _z_task_free(_z_task_t **task) {
 /*------------------ Mutex ------------------*/
 int8_t _z_mutex_init(_z_mutex_t *m) { return pthread_mutex_init(m, 0); }
 
-int8_t _z_mutex_drop(_z_mutex_t *m) { return pthread_mutex_destroy(m); }
+int8_t _z_mutex_drop(_z_mutex_t *m) {
+    if (m == NULL) {
+        return 0;
+    }
+    return pthread_mutex_destroy(m);
+}
 
 int8_t _z_mutex_lock(_z_mutex_t *m) { return pthread_mutex_lock(m); }
 

diff --git a/src/transport/multicast/lease.c b/src/transport/multicast/lease.c
@@ -189,13 +189,14 @@ void *_zp_multicast_lease_task(void *ztm_arg) {
 int8_t _zp_multicast_start_lease_task(_z_transport_multicast_t *ztm, z_task_attr_t *attr, _z_task_t *task) {
     // Init memory
     (void)memset(task, 0, sizeof(_z_task_t));
-    // Init task
+    ztm->_lease_task_running = true;  // Init before z_task_init for concurrency issue
+                                      // Init task
     if (_z_task_init(task, attr, _zp_multicast_lease_task, ztm) != _Z_RES_OK) {
+        ztm->_lease_task_running = false;
         return _Z_ERR_SYSTEM_TASK_FAILED;
     }
     // Attach task
     ztm->_lease_task = task;
-    ztm->_lease_task_running = true;
     return _Z_RES_OK;
 }
 

diff --git a/src/transport/multicast/read.c b/src/transport/multicast/read.c
@@ -130,13 +130,14 @@ void *_zp_multicast_read_task(void *ztm_arg) {
 int8_t _zp_multicast_start_read_task(_z_transport_t *zt, z_task_attr_t *attr, _z_task_t *task) {
     // Init memory
     (void)memset(task, 0, sizeof(_z_task_t));
-    // Init task
+    zt->_transport._multicast._read_task_running = true;  // Init before z_task_init for concurrency issue
+                                                          // Init task
     if (_z_task_init(task, attr, _zp_multicast_read_task, &zt->_transport._multicast) != _Z_RES_OK) {
+        zt->_transport._multicast._read_task_running = false;
         return _Z_ERR_SYSTEM_TASK_FAILED;
     }
     // Attach task
     zt->_transport._multicast._read_task = task;
-    zt->_transport._multicast._read_task_running = true;
     return _Z_RES_OK;
 }
 

diff --git a/src/transport/raweth/read.c b/src/transport/raweth/read.c
@@ -90,13 +90,14 @@ void *_zp_raweth_read_task(void *ztm_arg) {
 int8_t _zp_raweth_start_read_task(_z_transport_t *zt, z_task_attr_t *attr, _z_task_t *task) {
     // Init memory
     (void)memset(task, 0, sizeof(_z_task_t));
+    zt->_transport._unicast._lease_task_running = true;  // Init before z_task_init for concurrency issue
     // Init task
     if (_z_task_init(task, attr, _zp_raweth_read_task, &zt->_transport._raweth) != _Z_RES_OK) {
+        zt->_transport._unicast._lease_task_running = false;
         return _Z_ERR_SYSTEM_TASK_FAILED;
     }
     // Attach task
     zt->_transport._raweth._read_task = task;
-    zt->_transport._raweth._read_task_running = true;
     return _Z_RES_OK;
 }
 

diff --git a/src/transport/unicast/read.c b/src/transport/unicast/read.c
@@ -123,13 +123,14 @@ void *_zp_unicast_read_task(void *ztu_arg) {
 int8_t _zp_unicast_start_read_task(_z_transport_t *zt, z_task_attr_t *attr, _z_task_t *task) {
     // Init memory
     (void)memset(task, 0, sizeof(_z_task_t));
-    // Init task
+    zt->_transport._unicast._read_task_running = true;  // Init before z_task_init for concurrency issue
+                                                        // Init task
     if (_z_task_init(task, attr, _zp_unicast_read_task, &zt->_transport._unicast) != _Z_RES_OK) {
+        zt->_transport._unicast._read_task_running = false;
         return _Z_ERR_SYSTEM_TASK_FAILED;
     }
     // Attach task
     zt->_transport._unicast._read_task = task;
-    zt->_transport._unicast._read_task_running = true;
     return _Z_RES_OK;
 }
 

diff --git a/tests/fragment.py b/tests/fragment.py
@@ -14,7 +14,7 @@ def check_output(tx_status, tx_output, rx_status, rx_output):
     # Expected rx output & status
     z_rx_expected_status = 0
     z_rx_expected_output = (
-        "[rx]: Received packet on test/zenoh-pico-fragment, len: 10000, validity: 1")
+        "[rx]: Received packet on test/zenoh-pico-fragment, len: 10000, validity: 1, qos {priority: 4, cong_ctrl: 0}")
 
     # Check the exit status of tx
     if tx_status == z_tx_expected_status:

diff --git a/tests/z_client_test.c b/tests/z_client_test.c
@@ -387,6 +387,13 @@ int main(int argc, char **argv) {
 
     z_sleep_s(SLEEP);
 
+    // Stop read and lease tasks for zenoh-pico
+    zp_stop_read_task(z_loan_mut(s1));
+    zp_stop_lease_task(z_loan_mut(s1));
+
+    zp_stop_read_task(z_loan_mut(s2));
+    zp_stop_lease_task(z_loan_mut(s2));
+
     // Close both sessions
     printf("Closing session 1\n");
     z_close(z_move(s1));

diff --git a/tests/z_peer_multicast_test.c b/tests/z_peer_multicast_test.c
@@ -178,6 +178,13 @@ int main(int argc, char **argv) {
 
     z_sleep_s(SLEEP);
 
+    // Stop read and lease tasks for zenoh-pico
+    zp_stop_read_task(z_loan_mut(s1));
+    zp_stop_lease_task(z_loan_mut(s1));
+
+    zp_stop_read_task(z_loan_mut(s2));
+    zp_stop_lease_task(z_loan_mut(s2));
+
     // Close both sessions
     printf("Closing session 1\n");
     z_close(z_move(s1));

diff --git a/tests/z_perf_tx.c b/tests/z_perf_tx.c
@@ -106,6 +106,11 @@ int main(int argc, char **argv) {
     z_bytes_from_buf(&payload, value, 1, NULL, NULL);
 
     z_publisher_put(z_loan(pub), z_move(payload), NULL);
+
+    // Stop read and lease tasks for zenoh-pico
+    zp_stop_read_task(z_loan_mut(s));
+    zp_stop_lease_task(z_loan_mut(s));
+
     // Clean up
     z_undeclare_publisher(z_move(pub));
     z_close(z_move(s));

diff --git a/tests/z_session_test.c b/tests/z_session_test.c
@@ -17,6 +17,7 @@
 #include <string.h>
 
 #include "zenoh-pico.h"
+#include "zenoh-pico/api/macros.h"
 
 #undef NDEBUG
 #include <assert.h>
@@ -43,6 +44,10 @@ int main(void) {
     // Commented out wait for 1 second. Stopping should work without it.
     // z_sleep_ms(1000);
 
+    // Stop read and lease tasks for zenoh-pico
+    zp_stop_read_task(z_loan_mut(s));
+    zp_stop_lease_task(z_loan_mut(s));
+
     // Immediately close the session
     z_close(&s);
 }
diff --git a/tests/z_test_fragment_rx.c b/tests/z_test_fragment_rx.c
@@ -33,8 +33,9 @@ void data_handler(const z_loaned_sample_t *sample, void *ctx) {
             break;
         }
     }
-    printf("[rx]: Received packet on %s, len: %d, validity: %d\n", z_string_data(z_loan(keystr)), (int)data_len,
-           is_valid);
+    printf("[rx]: Received packet on %s, len: %d, validity: %d, qos {priority: %d, cong_ctrl: %d}\n",
+           z_string_data(z_loan(keystr)), (int)data_len, is_valid, z_qos_get_priority(sample->qos),
+           z_qos_get_congestion_control(sample->qos));
     z_drop(z_move(value));
 }
 

diff --git a/tests/z_test_fragment_tx.c b/tests/z_test_fragment_tx.c
@@ -76,13 +76,19 @@ int main(int argc, char **argv) {
     // Put data
     z_view_keyexpr_t ke;
     z_view_keyexpr_from_str(&ke, keyexpr);
+
+    z_put_options_t options;
+    z_put_options_default(&options);
+    options.priority = Z_PRIORITY_DATA_HIGH;
+    options.congestion_control = Z_CONGESTION_CONTROL_BLOCK;
+
     for (int i = 0; i < 5; i++) {
         // Create payload
         z_owned_bytes_t payload;
         z_bytes_from_buf(&payload, value, size, NULL, NULL);
 
         printf("[tx]: Sending packet on %s, len: %d\n", keyexpr, (int)size);
-        if (z_put(z_loan(s), z_loan(ke), z_move(payload), NULL) < 0) {
+        if (z_put(z_loan(s), z_loan(ke), z_move(payload), &options) < 0) {
             printf("Oh no! Put has failed...\n");
             return -1;
         }

diff --git a/zephyr/CMakeLists.txt b/zephyr/CMakeLists.txt
@@ -0,0 +1,45 @@
+if(CONFIG_ZENOH_PICO)
+
+zephyr_compile_definitions(ZENOH_ZEPHYR)
+zephyr_include_directories(../include)
+zephyr_library()
+
+function(configure_zenoh_feature config)
+  string(REPLACE CONFIG_ZENOH_PICO Z_FEATURE feature ${config})
+  if(${config})
+    zephyr_compile_definitions(${feature}=1)
+  else()
+    zephyr_compile_definitions(${feature}=0)
+  endif()
+endfunction()
+
+
+configure_zenoh_feature(CONFIG_ZENOH_PICO_LINK_SERIAL)
+configure_zenoh_feature(CONFIG_ZENOH_PICO_MULTI_THREAD)
+configure_zenoh_feature(CONFIG_ZENOH_PICO_PUBLICATION)
+configure_zenoh_feature(CONFIG_ZENOH_PICO_SUBSCRIPTION)
+configure_zenoh_feature(CONFIG_ZENOH_PICO_QUERY)
+configure_zenoh_feature(CONFIG_ZENOH_PICO_QUERYABLE)
+configure_zenoh_feature(CONFIG_ZENOH_PICO_RAWETH_TRANSPORT)
+configure_zenoh_feature(CONFIG_ZENOH_PICO_LINK_TCP)
+configure_zenoh_feature(CONFIG_ZENOH_PICO_LINK_UDP_UNICAST)
+configure_zenoh_feature(CONFIG_ZENOH_PICO_LINK_UDP_MULTICAST)
+configure_zenoh_feature(CONFIG_ZENOH_PICO_SCOUTING_UDP)
+configure_zenoh_feature(CONFIG_ZENOH_PICO_LINK_WS)
+
+
+file(GLOB_RECURSE Sources
+  "../src/api/*.c"
+  "../src/collections/*.c"
+  "../src/link/*.c"
+  "../src/net/*.c"
+  "../src/protocol/*.c"
+  "../src/session/*.c"
+  "../src/transport/*.c"
+  "../src/utils/*.c"
+)
+
+file (GLOB Sources_Zephyr "../src/system/zephyr/*.c")
+list(APPEND Sources ${Sources_Zephyr})
+zephyr_library_sources(${Sources})
+endif()