Update Zephyr port to support Zephyr V3.4.0

Signed-off-by: Patrick Masselink <patrick.masselink@zettascale.tech>
eclipse-cyclonedds · Jul 17, 2023 · 560d666 · 560d666
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diff --git a/ports/zephyr/README.md b/ports/zephyr/README.md
@@ -4,16 +4,20 @@
 This directory contains some proof-of-concept applications that show how to build and use CycloneDDS on [Zephyr RTOS](https://www.zephyrproject.org) for a NXP X-S32Z27X-DC board.
 
 
-Getting Started with Zephyr information can be found [here](https://docs.zephyrproject.org/3.3.0/develop/getting_started/index.html)
+Getting Started with Zephyr information can be found [here](https://docs.zephyrproject.org/latest/develop/getting_started/index.html)
+Documentation for the NXP X-S32Z27X-DC board can be found [here](https://docs.zephyrproject.org/latest/boards/arm/s32z270dc2_r52/doc/index.html)
 
+## Usage
+The applications can be treated similarly to other Zephyr sample applications.
+The `CMakeLists.txt` is currently set up to build some of the CycloneDDS examples or ddsperf but can be easily modified or extended for other application code.
 
-Documentation for the NXP X-S32Z27X-DC board can be found [here](https://docs.zephyrproject.org/3.3.0/boards/arm/s32z270dc2_r52/doc/index.html)
+:warning: While CycloneDDS can be built in-tree, it does not support multiple different builds. Therefore the CycloneDDS source directory needs to be cleaned in order to build for Zephyr and must not contain an in-tree build for eg. the host system. Alternatively, this directory with Zephyr examples can be copied outside the CycloneDDS source directory but that requires updating the `ExternalProject_Add` directive in `CMakeLists.txt` to point to the CycloneDDS source directory.
 
-## Usage:
-This directory can used like any generic Zephyr application.
-The `CMakeLists.txt` is currently set up to build CycloneDDS examples and ddsperf but can be easily modified or extended for other application code.
+:warning: When building outside the Zephyr tree, `ZEPHYR_BASE` variable must be set. See [Application Development](https://docs.zephyrproject.org/latest/develop/application/index.html) for more info.
 
-The copy_examples.sh script can be used (manually) to update the code from CycloneDDS examples and run idlc to generate types.
+:warning: A static IPv4/IPv6 address is defined in `prj.conf`. When running between two Zephyr nodes it is suggested to copy `prj.conf` to eg. `prj-host1.conf` and `prj-host2.conf`, updating the address as required and building with `-DCONF=prj-host1.conf` or `-DCONF=prj-host2.conf` respectively, as described in more detail [here](https://docs.zephyrproject.org/latest/samples/net/eth_native_posix/README.html). A different approach is to enable DHCP client support in Zephyr (see [example](https://docs.zephyrproject.org/latest/samples/net/dhcpv4_client/README.html)).
+
+The `copy_examples.sh` script can be used to (manually) update the code from CycloneDDS examples and run `idlc` to generate types.
 
 For example, to build Roundtrip Ping for the `s32z270dc2_rtu0_r52` target:
 ```
@@ -25,6 +29,5 @@ $ west build -b qemu_x86 . -- -DOVERLAY_CONFIG=overlay-e1000.conf -DBUILD_ROUNDT
 ```
 Command-line parameters for the example can be modified in `src/rountrip_main.c`
 
-
-The CycloneDDS configuration in `config.xml` is automatically converted to a char array and available as environment variable to support the default behaviour of retrieving config from CYCLONEDDS_URI.
+The CycloneDDS configuration in `config.xml` is automatically converted to a char array and available as environment variable to support the default behaviour of retrieving config from `CYCLONEDDS_URI`.
 Alternatively, [dds_create_domain_with_rawconfig](https://cyclonedds.io/docs/cyclonedds/latest/api/domain.html?#c.dds_create_domain_with_rawconfig) can be used without XML configuration data.
diff --git a/ports/zephyr/boards/s32z270dc2_rtu0_r52.overlay b/ports/zephyr/boards/s32z270dc2_rtu0_r52.overlay
@@ -0,0 +1,13 @@
+/* Define 7M sram ragion to override 1M sram0 (for RTU0 only) */
+/{
+	soc {
+		sram2: memory@32100000 {
+			compatible = "mmio-sram";
+			reg = <0x32100000 DT_SIZE_M(7)>;
+		};
+	};
+
+	chosen {
+		zephyr,sram = &sram2;
+	};
+};
diff --git a/ports/zephyr/config.xml b/ports/zephyr/config.xml
@@ -4,33 +4,6 @@
       <!-- Transport>udp6</Transport -->
       <MaxMessageSize>1400B</MaxMessageSize>
     </General>
-    <Threads>
-      <Thread name="recv">
-        <Scheduling>
-          <Priority>15</Priority>
-        </Scheduling>
-      </Thread>
-      <Thread name="tev">
-        <Scheduling>
-          <Priority>15</Priority>
-        </Scheduling>
-      </Thread>
-      <Thread name="gc">
-        <Scheduling>
-          <Priority>15</Priority>
-        </Scheduling>
-      </Thread>
-      <Thread name="dq.builtins">
-        <Scheduling>
-          <Priority>15</Priority>
-        </Scheduling>
-      </Thread>
-      <Thread name="dq.user">
-        <Scheduling>
-          <Priority>15</Priority>
-        </Scheduling>
-      </Thread>
-    </Threads>
     <Sizing>
       <ReceiveBufferSize>40KiB</ReceiveBufferSize>
       <ReceiveBufferChunkSize>20KiB</ReceiveBufferChunkSize>

diff --git a/ports/zephyr/src/ddsperf_main.c b/ports/zephyr/src/ddsperf_main.c
@@ -13,7 +13,7 @@ char **environ = (char*[]) {
   NULL
 };
 
-void main(void)
+int main(void)
 {
     printf("CycloneDDS DDSPerf (%s)\n", CONFIG_BOARD);
 #if BUILD_DDSPERF_PING
@@ -23,5 +23,5 @@ void main(void)
 #endif
     ddsperf_main(sizeof(args)/sizeof(args[0]), args);
     printf("Done\n");
-    return;
+    return 0;
 }
diff --git a/ports/zephyr/src/main.c b/ports/zephyr/src/main.c
@@ -202,7 +202,7 @@ void helloworld_subscriber()
     DDS_FATAL("dds_delete (domain): %s\n", dds_strretcode(-rc));
 }
 
-void main(void)
+int main(void)
 {
     printf("CycloneDDS Hello World! %s\n", CONFIG_BOARD);
 #if BUILD_HELLOWORLD_PUB
@@ -211,5 +211,5 @@ void main(void)
     helloworld_subscriber();
 #endif
     printf("Done\n");
-    return;
+    return 0;
 }
diff --git a/ports/zephyr/src/roundtrip_main.c b/ports/zephyr/src/roundtrip_main.c
@@ -14,7 +14,7 @@ char **environ = (char*[]) {
   NULL
 };
 
-void main(void)
+int main(void)
 {
     int ret;
     printf("CycloneDDS Roundtrip (%s)\n", CONFIG_BOARD);
@@ -34,5 +34,5 @@ void main(void)
     ret = roundtrip_pong(sizeof(args)/sizeof(args[0]), args);
 #endif
     printf("Done (ret=%d)\n", ret);
-    return;
+    return 0;
 }
diff --git a/ports/zephyr/src/throughput_main.c b/ports/zephyr/src/throughput_main.c
@@ -14,7 +14,7 @@ char **environ = (char*[]) {
   NULL
 };
 
-void main(void)
+int main(void)
 {
     int ret;
     printf("CycloneDDS Throughput (%s)\n", CONFIG_BOARD);
@@ -26,5 +26,5 @@ void main(void)
     ret = throughput_sub(sizeof(args)/sizeof(args[0]), args);
 #endif
     printf("Done (ret=%d)\n", ret);
-    return;
+    return 0;
 }
diff --git a/src/ddsrt/src/sockets/posix/socket.c b/src/ddsrt/src/sockets/posix/socket.c
@@ -332,15 +332,15 @@ ddsrt_setsockopt(
           } else {
             maddr = net_if_ipv6_maddr_add(iface, &(mreq->ipv6mr_multiaddr));
             if (maddr) {
-              net_if_ipv6_maddr_join(maddr);
+              net_if_ipv6_maddr_join(iface, maddr);
               net_if_mcast_monitor(iface, &(maddr->address), true);
               return DDS_RETCODE_OK;
             }
           }
         } else if (optname == IPV6_LEAVE_GROUP) {
           if (maddr) {
             if (net_if_ipv6_maddr_rm(iface, &(mreq->ipv6mr_multiaddr))) {
-              net_if_ipv6_maddr_leave(maddr);
+              net_if_ipv6_maddr_leave(iface, maddr);
               net_if_mcast_monitor(iface, &(maddr->address), false);
               return DDS_RETCODE_OK;
             }
@@ -380,15 +380,15 @@ ddsrt_setsockopt(
           } else {
             maddr = net_if_ipv4_maddr_add(iface, &(mreq->imr_multiaddr));
             if (maddr) {
-              net_if_ipv4_maddr_join(maddr);
+              net_if_ipv4_maddr_join(iface, maddr);
               net_if_mcast_monitor(iface, &(maddr->address), true);
               return DDS_RETCODE_OK;
             }
           }
         } else if (optname == IP_DROP_MEMBERSHIP) {
           if (maddr) {  
             if (net_if_ipv4_maddr_rm(iface, &(mreq->imr_multiaddr))) {
-              net_if_ipv4_maddr_leave(maddr);
+              net_if_ipv4_maddr_leave(iface, maddr);
               net_if_mcast_monitor(iface, &(maddr->address), false);
               return DDS_RETCODE_OK;
             }

diff --git a/src/ddsrt/src/threads/posix/threads.c b/src/ddsrt/src/threads/posix/threads.c
@@ -314,7 +314,7 @@ ddsrt_thread_create (
       DDS_ERROR ("ddsrt_thread_create(%s): CYCLONEDDS_THREAD_COUNT(%d) exceeded\n", name, currThrIdx);
       goto err;
     }
-    if ((result = pthread_attr_setstack (&attr, &zephyr_stacks[currThrIdx], tattr.stackSize)) != 0)
+    if ((result = pthread_attr_setstack (&pattr, &zephyr_stacks[currThrIdx], tattr.stackSize)) != 0)
     {
       DDS_ERROR ("ddsrt_thread_create(%s): pthread_attr_setstack(%p, %"PRIu32") failed with error %d\n",
         name, &zephyr_stacks[currThrIdx], tattr.stackSize, result);
@@ -348,6 +348,17 @@ ddsrt_thread_create (
       DDS_ERROR("ddsrt_thread_create(%s): pthread_getschedparam(self) failed with error %d\n", name, result);
       goto err;
     }
+#else
+    if ((result = pthread_attr_getschedparam(&pattr, &sched_param)) != 0)
+    {
+      DDS_ERROR("ddsrt_thread_create(%s): pthread_attr_getschedparam() failed with error %d\n", name, result);
+      goto err;
+    }
+    if ((result = pthread_attr_getschedpolicy(&pattr, &policy)) != 0)
+    {
+      DDS_ERROR("ddsrt_thread_create(%s): pthread_attr_getschedpolicy() failed with error %d\n", name, result);
+      goto err;
+    }
 #endif
     switch (tattr.schedClass)
     {
@@ -360,27 +371,33 @@ ddsrt_thread_create (
         policy = SCHED_FIFO;
         break;
       case DDSRT_SCHED_TIMESHARE:
-#if !defined(__ZEPHYR__)
         policy = SCHED_OTHER;
-#else
-        DDS_ERROR("ddsrt_thread_create(%s): timeshare scheduling class not supported on this platform\n", name);
-        goto err;
-#endif
         break;
     }
-    if (tattr.schedClass != DDSRT_SCHED_DEFAULT) {
+    if (tattr.schedClass != DDSRT_SCHED_DEFAULT)
+    {
       if ((result = pthread_attr_setschedpolicy (&pattr, policy)) != 0)
       {
         DDS_ERROR("ddsrt_thread_create(%s): pthread_attr_setschedpolicy(%d) failed with error %d\n", name, policy, result);
         goto err;
       }
     }
-    sched_param.sched_priority = tattr.schedPriority;
+
+    if ((tattr.schedPriority >= sched_get_priority_min(policy)) && (tattr.schedPriority <= sched_get_priority_max(policy)))
+    {
+      sched_param.sched_priority = tattr.schedPriority;
+    }
+    else
+    {
+      DDS_WARNING("ddsrt_thread_create(%s): requested thread priority(%d) invalid for policy(%d), fall-back to default\n: %d", name, tattr.schedPriority, policy, sched_param.sched_priority);
+    }
+
     if ((result = pthread_attr_setschedparam (&pattr, &sched_param)) != 0)
     {
       DDS_ERROR("ddsrt_thread_create(%s): pthread_attr_setschedparam(priority = %d) failed with error %d\n", name, tattr.schedPriority, result);
       goto err;
     }
+
 #if !defined(__ZEPHYR__)
     if ((result = pthread_attr_setinheritsched (&pattr, PTHREAD_EXPLICIT_SCHED)) != 0)
     {