Zenoh Pico hello-world (space-ros#43)

* Initial commit of Zynq RTEMS hello-world Signed-off-by: Morgan Quigley <[email protected]> * a bit of cleanup Signed-off-by: Morgan Quigley <[email protected]> * cross-compile Zenoh-Pico static library Signed-off-by: Morgan Quigley <[email protected]> * add application skeleton for a zenoh pick client Signed-off-by: Morgan Quigley <[email protected]> * WIP fix build Signed-off-by: Morgan Quigley <[email protected]> * fix echo flag Signed-off-by: Morgan Quigley <[email protected]> * fix toolchain file to declare FreeBSD explicitly Signed-off-by: Morgan Quigley <[email protected]> * iterate toolchain Signed-off-by: Morgan Quigley <[email protected]> * create zenoh session seems to work Signed-off-by: Morgan Quigley <[email protected]> * a bit of cleanup and documentation Signed-off-by: Morgan Quigley <[email protected]> * doc Signed-off-by: Morgan Quigley <[email protected]> * doc Signed-off-by: Morgan Quigley <[email protected]> * rename script to agree with doc Signed-off-by: Morgan Quigley <[email protected]> * fix warning Signed-off-by: Morgan Quigley <[email protected]> * doc Signed-off-by: Morgan Quigley <[email protected]> * send hello-world data through zenoh Signed-off-by: Morgan Quigley <[email protected]> * doc Signed-off-by: Morgan Quigley <[email protected]> Signed-off-by: Morgan Quigley <[email protected]>
B-AROL-O · Dec 16, 2022 · 386fc69 · 386fc69
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diff --git a/zynq_rtems/Dockerfile b/zynq_rtems/Dockerfile
@@ -68,3 +68,23 @@ WORKDIR /root/rtems/rtems-libbsd
 RUN ./waf configure --prefix=$PREFIX --rtems-archs=aarch64 --rtems-bsps=aarch64/xilinx_zynqmp_lp64_qemu --buildset=buildset/default.ini
 RUN ./waf
 RUN ./waf install
+
+# build Zenoh Pico, using a CMake toolchain file to cross-compile
+WORKDIR /root
+RUN git clone https://github.com/eclipse-zenoh/zenoh-pico
+RUN mkdir /root/zenoh-pico/build
+RUN wget -q https://raw.githubusercontent.com/space-ros/docker/zynq_rtems_zenoh_pico/zynq_rtems/toolchain.cmake -O /root/toolchain.cmake
+WORKDIR /root/zenoh-pico/build
+RUN cmake -DCMAKE_TOOLCHAIN_FILE=/root/toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DBUILD_TESTING=OFF ..
+RUN make
+
+# install Rust and Cargo, and add to the Docker build path
+WORKDIR /root
+RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
+ENV PATH="/root/.cargo/bin:${PATH}"
+
+# build "normal" (non-Pico) Zenoh
+WORKDIR /root
+RUN git clone https://github.com/eclipse-zenoh/zenoh
+WORKDIR /root/zenoh
+RUN cargo build
diff --git a/zynq_rtems/README.md b/zynq_rtems/README.md
@@ -2,71 +2,128 @@
 
 (Please note, this demonstration is a work in progress)
 
-The goal is to create an hard real-time embedded application that runs on a
-Xilinx Zynq SoC FPGA which will communicate with Space-ROS.
+The goal is to create an hard real-time embedded application that runs on a Xilinx Zynq SoC FPGA which will communicate with Space-ROS.
 
-This demonstration will be on [QEMU](https://www.qemu.org), the open-source CPU
-and system emulator. This is for several reasons. First, development cycles in
-QEMU are much faster and less painful than using real hardware. Second, given
-the state of the semiconductor industry at time of writing (late 2022), it is
-nearly impossible to obtain Zynq development boards. Third, a QEMU-based
-demonstration requires no upfront costs or delays.
+This demonstration will be on [QEMU](https://www.qemu.org), the open-source CPU and system emulator. This is for several reasons:
+ * Development cycles in QEMU are much faster and less painful than hardware.
+ * Given the state of the semiconductor industry at time of writing (late 2022), it is nearly impossible to obtain Zynq development boards.
+ * QEMU-based work requires no upfront hardware costs or purchasing delays
 
-There are a number of reasonable choices available when selecting a real-time
-OS (RTOS).  We selected [RTEMS](https://www.rtems.org/) because it is fully
-open-source and has a long history of successful deployments in space
-applications.
+There are a number of reasonable choices available when selecting a real-time OS (RTOS).
+We selected [RTEMS](https://www.rtems.org/) because it is fully open-source and has a long history of successful deployments in space applications.
 
 # Build
 
-To simplify collecting and compiling dependencies on a wide range of systems,
-we have created a Docker container that contains everything. You will need
-to install Docker on your system first. Then, run this [script](https://github.com/space-ros/docker/blob/zynq_rtems/zynq_rtems/build_dependencies.sh):
+To simplify collecting and compiling dependencies on a wide range of systems, we have created a Docker container that contains everything.
+You will need to install Docker on your system first, for example, using `sudo apt install docker.io`
+Then, run this [script](https://github.com/space-ros/docker/blob/zynq_rtems/zynq_rtems/build_dependencies.sh):
 
 ```
 cd /path/to/zynq_rtems
 ./build_dependencies.sh
 ```
 
-This will use the [zynq_rtems Dockerfile](https://github.com/space-ros/docker/blob/zynq_rtems/zynq_rtems/Dockerfile), which builds QEMU, a cross-compile toolchain for the ARMv8 processor inside the Zynq SoC, and RTEMS from source in the container. This will typically take at least 10 minutes, and can take much longer if either your network connection or compute resources is limited.
+This will build the [zynq_rtems Dockerfile](https://github.com/space-ros/docker/blob/zynq_rtems_zenoh_pico/zynq_rtems/Dockerfile), which builds QEMU, a cross-compile toolchain for the ARMv8 processor inside the Zynq SoC, and RTEMS from source in the container.
+This will typically take at least 10 minutes, and can take much longer if either your network connection or compute resources is limited.
 
-Next, we will use this "container full of dependencies" to compile a sample "Hello, World" application which will just ping the host from within the container:
+Next, we will use this "container full of dependencies" to compile a sample application.
 
 ```
 cd /path/to/zynq_rtems
 ./compile_demos.sh
 ```
 
-The demo application and its cross-compiled RTEMS kernel will live "outside" the container for ease of source control, editing cycles, and debugging. The build products will land in `zynq_rtems/hello_network/build`.
+The demo application and its cross-compiled RTEMS kernel will be accessible both "inside" and "outside" the container for ease of source control, editing cycles, and debugging.
+The build products will land in `zynq_rtems/hello_zenoh/build`.
 
 # Run
 
-The emulated system that will run inside QEMU needs to have a way to talk to a virtual network segment on the host machine. We'll create a TAP device for this. The following script will set this up, creating a virtual `10.0.42.x` subnet for a device named `tap0`:
+The emulated system that will run inside QEMU needs to have a way to talk to a virtual network segment on the host machine.
+We'll create a TAP device for this.
+The following script will set this up, creating a virtual `10.0.42.x` subnet for a device named `tap0`:
 ```
-zynq_rtems/start_network_tap.sh
+./start_network_tap.sh
 ```
 
-Now we can run the RTEMS-based application built in the previous step. The following script will run QEMU inside the container, with a volume-mount of the `hello_network` demo application so that the build products from the previous step are made available to the QEMU that was built inside the container.
+We will need three terminals for this demo:
+ * Zenoh router
+ * Zenoh subscriber
+ * Zenoh-Pico publisher (in RTEMS in QEMU)
+
+First, we will start a Zenoh router:
+```
+cd /path/to/zynq_rtems
+cd hello_zenoh
+./run_zenoh_router
+```
+This will print a bunch of startup information and then continue running silently, waiting for inbound Zenoh traffic. Leave this terminal running.
+
+In the second terminal, we'll run the Zenoh subscriber example:
+```
+cd /path/to/zynq_rtems
+cd hello_zenoh
+./run_zenoh_subscriber
+```
+
+In the third terminal, we will run the RTEMS-based application, which will communicate with the Zenoh router and thence to the Zenoh subscriber.
+The following script will run QEMU inside the container, with a volume-mount of the `hello_zenoh` demo application so that the build products from the previous step are made available to the QEMU that was built inside the container.
 ```
 cd /path/to/zynq_rtems
-cd hello_network
-./run_qemu.sh
+cd hello_zenoh
+./run_rtems.sh
 ```
 
-You should see the following output, which shows that an emulated network interface on the emulated Zynq SoC is able to `ping` the virtual network segment provided by the host machine's Linux kernel:
+The terminal should print a bunch of information about the various emulated Zynq network interfaces and their routing information.
+After that, it should contact the `zenohd` instance running in the other terminal. It should print something like this:
+```
+Opening zenoh session...
+Zenoh session opened.
+Own ID: 0000000000000000F45E7E462568C23B
+Routers IDs:
+ B2FE444C3B454E27BCB11DF83120D927
+Peers IDs:
+Stopping read and lease tasks...
+sending a few messages...
+publishing: Hello, world! 0
+publishing: Hello, world! 1
+publishing: Hello, world! 2
+publishing: Hello, world! 3
+publishing: Hello, world! 4
+publishing: Hello, world! 5
+publishing: Hello, world! 6
+publishing: Hello, world! 7
+publishing: Hello, world! 8
+publishing: Hello, world! 9
+Closing zenoh session...
+Done. Goodbye.
 ```
-PING 10.0.42.1 (10.0.42.1): 56 data bytes
-64 bytes from 10.0.42.1: icmp_seq=0 ttl=64 time=5.846 ms
-64 bytes from 10.0.42.1: icmp_seq=1 ttl=64 time=0.598 ms
-64 bytes from 10.0.42.1: icmp_seq=2 ttl=64 time=0.484 ms
 
---- 10.0.42.1 ping statistics ---
-3 packets transmitted, 3 packets received, 0.0% packet loss
-round-trip min/avg/max/stddev = 0.484/2.309/5.846/2.501 ms
+The second terminal, running a Zenoh example subscriber, should print something like this:
+```
+Declaring Subscriber on 'example'...
+[2022-12-06T21:41:11Z DEBUG zenoh::net::routing::resource] Register resource example
+[2022-12-06T21:41:11Z DEBUG zenoh::net::routing::pubsub] Register client subscription
+[2022-12-06T21:41:11Z DEBUG zenoh::net::routing::pubsub] Register client subscription example
+[2022-12-06T21:41:11Z DEBUG zenoh::net::routing::pubsub] Register subscription example for Face{0, 5F6D54C4366D42EDB367F17A5A2CACCD}
+Enter 'q' to quit...
+>> [Subscriber] Received PUT ('example': 'Hello, world! 0')
+>> [Subscriber] Received PUT ('example': 'Hello, world! 1')
+>> [Subscriber] Received PUT ('example': 'Hello, world! 2')
+>> [Subscriber] Received PUT ('example': 'Hello, world! 3')
+>> [Subscriber] Received PUT ('example': 'Hello, world! 4')
+>> [Subscriber] Received PUT ('example': 'Hello, world! 5')
+>> [Subscriber] Received PUT ('example': 'Hello, world! 6')
+>> [Subscriber] Received PUT ('example': 'Hello, world! 7')
+>> [Subscriber] Received PUT ('example': 'Hello, world! 8')
+>> [Subscriber] Received PUT ('example': 'Hello, world! 9')
 ```
 
 After that output, the RTEMS shutdown will display the various RTEMS threads running and their memory usage.
 
+This showed that the Zenoh Pico client running in RTEMS successfully reached the Zenoh router running natively on the host.
+Success!
+This is a good thing.
+
 # Clean up
 
 If you would like, you can now remove the network tap device that we created in the previous step:

diff --git a/zynq_rtems/compile_demos.sh b/zynq_rtems/compile_demos.sh
@@ -4,7 +4,7 @@ set -o verbose
 docker run --rm --net=host -e DISPLAY=$DISPLAY \
   --device=/dev/dri:/dev/dri \
   --volume="$HOME/.Xauthority:/root/.Xauthority:rw" \
-  --volume="$PWD/hello_network:/root/hello_network" \
-  -w /root/hello_network \
+  --volume="$PWD/hello_zenoh:/root/hello_zenoh" \
+  -w /root/hello_zenoh \
   openrobotics/zynq_rtems:latest \
-  /root/hello_network/compile.sh
+  /root/hello_zenoh/compile.sh
diff --git a/zynq_rtems/enter_container.sh b/zynq_rtems/enter_container.sh
@@ -2,8 +2,8 @@
 docker run --rm -e DISPLAY=$DISPLAY \
   --device=/dev/dri:/dev/dri \
   --device=/dev/net/tun --cap-add=NET_ADMIN \
-  --volume="$HOME/.Xauthority:/root/.Xauthority:rw" \
   --volume="$PWD/hello_network:/root/hello_network" \
+  --volume="$PWD/hello_zenoh:/root/hello_zenoh" \
   --network=host \
   -w /root \
   -it \

diff --git a/zynq_rtems/hello_zenoh/compile.sh b/zynq_rtems/hello_zenoh/compile.sh
@@ -0,0 +1,21 @@
+#!/bin/bash
+APP_NAME=hello_zenoh
+if [ $(basename $PWD) != $APP_NAME ]; then
+  echo "This script must be run in the '$APP_NAME' directory."
+  exit
+fi
+if [ $(id -u) -ne 0 ]; then
+  echo "Non-root user detected. Re-running myself inside docker..."
+  set -o verbose
+  docker run --rm --net=host -e DISPLAY=$DISPLAY \
+    --device=/dev/dri:/dev/dri \
+    --volume=$PWD:/root/$APP_NAME \
+    -w /root/$APP_NAME \
+    openrobotics/zynq_rtems:latest \
+    /root/$APP_NAME/compile.sh
+  exit
+fi
+set -o errexit
+set -o verbose
+./waf configure --rtems=/root/rtems/6 --rtems-archs=aarch64 --rtems-version=6 --show-commands
+./waf