zenoh 1.10.1

Zenoh: The Zero Overhead Pub/Sub/Query Protocol.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238

//
// Copyright (c) 2026 ZettaScale Technology
//
// This program and the accompanying materials are made available under the
// terms of the Eclipse Public License 2.0 which is available at
// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
// which is available at https://www.apache.org/licenses/LICENSE-2.0.
//
// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
//
// Contributors:
//   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
//
use std::{
    net::{IpAddr, Ipv4Addr, SocketAddr},
    time::Duration,
};

use tokio::time::timeout;
use zenoh::config::WhatAmI;
#[cfg(all(feature = "unstable", feature = "transport_tcp"))]
use zenoh::sample::SampleKind;
use zenoh_config::{Config, ModeDependentValue, WhatAmIMatcher};
use zenoh_link::EndPoint;
#[cfg(all(feature = "unstable", feature = "transport_tcp"))]
use zenoh_test::get_free_tcp_port;
use zenoh_test::get_free_udp_port;

#[tokio::test(flavor = "multi_thread")]
async fn multicast_scouting_works_on_loopback() {
    zenoh::init_log_from_env_or("error");

    let mcast_addr = SocketAddr::new(
        IpAddr::V4(Ipv4Addr::new(224, 0, 0, 224)),
        get_free_udp_port(),
    );

    let mut responder_config = Config::default();
    responder_config.set_mode(Some(WhatAmI::Router)).unwrap();
    responder_config
        .listen
        .endpoints
        .set(Vec::<EndPoint>::new())
        .unwrap();
    responder_config
        .scouting
        .gossip
        .set_enabled(Some(false))
        .unwrap();
    responder_config
        .scouting
        .multicast
        .set_enabled(Some(true))
        .unwrap();
    responder_config
        .scouting
        .multicast
        .set_address(Some(mcast_addr))
        .unwrap();
    responder_config
        .scouting
        .multicast
        .set_interface(Some("127.0.0.1".to_string()))
        .unwrap();
    responder_config
        .scouting
        .multicast
        .set_autoconnect(Some(ModeDependentValue::Unique(WhatAmIMatcher::empty())))
        .unwrap();

    let responder = zenoh::open(responder_config).await.unwrap();
    let responder_zid = responder.zid();

    let mut scout_config = Config::default();
    scout_config
        .scouting
        .gossip
        .set_enabled(Some(false))
        .unwrap();
    scout_config
        .scouting
        .multicast
        .set_address(Some(mcast_addr))
        .unwrap();
    scout_config
        .scouting
        .multicast
        .set_interface(Some("127.0.0.1".to_string()))
        .unwrap();

    let scout = zenoh::scout(WhatAmI::Router, scout_config).await.unwrap();
    let hello = timeout(Duration::from_secs(5), scout.recv_async())
        .await
        .expect("timed out waiting for multicast scout Hello")
        .unwrap();

    assert_eq!(hello.whatami(), WhatAmI::Router);
    assert_eq!(hello.zid(), responder_zid);

    scout.stop();
    responder.close().await.unwrap();
}

#[cfg(all(feature = "unstable", feature = "transport_tcp"))]
#[tokio::test(flavor = "multi_thread")]
async fn gossip_autoconnect_works_on_loopback() {
    zenoh::init_log_from_env_or("error");

    let port_a = get_free_tcp_port();
    let port_b = get_free_tcp_port();
    let port_c = get_free_tcp_port();
    let endpoint_a = format!("tcp/127.0.0.1:{port_a}");
    let endpoint_b = format!("tcp/127.0.0.1:{port_b}");
    let endpoint_c = format!("tcp/127.0.0.1:{port_c}");

    let peer_config = |listen: &str, connect: Option<&str>| {
        let mut config = Config::default();
        config.set_mode(Some(WhatAmI::Peer)).unwrap();
        config.scouting.multicast.set_enabled(Some(false)).unwrap();
        config.scouting.gossip.set_enabled(Some(true)).unwrap();
        config
            .listen
            .endpoints
            .set(vec![listen.parse::<EndPoint>().unwrap()])
            .unwrap();
        if let Some(connect) = connect {
            config
                .connect
                .endpoints
                .set(vec![connect.parse::<zenoh_config::EndPoints>().unwrap()])
                .unwrap();
        }
        config
    };

    let peer_a = zenoh::open(peer_config(&endpoint_a, None)).await.unwrap();
    let peer_a_events = peer_a
        .info()
        .transport_events_listener()
        .with(flume::bounded(32))
        .await
        .unwrap();

    let peer_b = zenoh::open(peer_config(&endpoint_b, Some(&endpoint_a)))
        .await
        .unwrap();
    let peer_b_zid = peer_b.zid();

    timeout(Duration::from_secs(5), async {
        loop {
            let event = peer_a_events.recv_async().await.unwrap();
            if event.kind() == SampleKind::Put && event.transport().zid() == &peer_b_zid {
                break;
            }
        }
    })
    .await
    .expect("timed out waiting for the initial gossip connection");

    // C only connects to A. It must discover B through gossip, including B's
    // loopback listener address.
    let peer_c = zenoh::open(peer_config(&endpoint_c, Some(&endpoint_a)))
        .await
        .unwrap();
    let peer_c_events = peer_c
        .info()
        .transport_events_listener()
        .history(true)
        .await
        .unwrap();

    timeout(Duration::from_secs(5), async {
        loop {
            let event = peer_c_events.recv_async().await.unwrap();
            if event.kind() == SampleKind::Put && event.transport().zid() == &peer_b_zid {
                break;
            }
        }
    })
    .await
    .expect("timed out waiting for gossip discovery on loopback");

    peer_c.close().await.unwrap();
    peer_b.close().await.unwrap();
    peer_a.close().await.unwrap();
}

#[cfg(all(feature = "unstable", feature = "transport_tcp"))]
#[tokio::test(flavor = "multi_thread")]
async fn multicast_autoconnect_works_on_loopback() {
    zenoh::init_log_from_env_or("error");

    let mcast_addr = SocketAddr::new(
        IpAddr::V4(Ipv4Addr::new(224, 0, 0, 224)),
        get_free_udp_port(),
    );
    let peer_config = || {
        let mut config = Config::default();
        config.set_mode(Some(WhatAmI::Peer)).unwrap();
        config.scouting.gossip.set_enabled(Some(false)).unwrap();
        config.scouting.multicast.set_enabled(Some(true)).unwrap();
        config
            .scouting
            .multicast
            .set_address(Some(mcast_addr))
            .unwrap();
        config
            .scouting
            .multicast
            .set_interface(Some("127.0.0.1".to_string()))
            .unwrap();
        config
    };

    let peer1 = zenoh::open(peer_config()).await.unwrap();
    let peer1_events = peer1
        .info()
        .transport_events_listener()
        .with(flume::bounded(32))
        .await
        .unwrap();
    let peer2 = zenoh::open(peer_config()).await.unwrap();
    let peer2_zid = peer2.zid();

    timeout(Duration::from_secs(5), async {
        loop {
            let event = peer1_events.recv_async().await.unwrap();
            if event.kind() == SampleKind::Put && event.transport().zid() == &peer2_zid {
                break;
            }
        }
    })
    .await
    .expect("timed out waiting for loopback scout connection");

    peer2.close().await.unwrap();
    peer1.close().await.unwrap();
}