zenoh 1.6.2

//
// Copyright (c) 2023 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>
//

#![cfg(feature = "internal_config")]

use std::{
    sync::{
        atomic::{AtomicUsize, Ordering},
        Arc,
    },
    time::Duration,
};

#[cfg(feature = "internal")]
use zenoh::internal::runtime::{Runtime, RuntimeBuilder};
#[cfg(feature = "unstable")]
use zenoh::qos::Reliability;
#[cfg(all(feature = "internal", feature = "unstable"))]
use zenoh::Wait;
use zenoh::{
    key_expr::KeyExpr, qos::CongestionControl, query::Querier, sample::SampleKind, Session,
};
use zenoh_core::ztimeout;
#[cfg(not(feature = "unstable"))]
use zenoh_protocol::core::Reliability;

const TIMEOUT: Duration = Duration::from_secs(60);
const SLEEP: Duration = Duration::from_secs(1);

const MSG_COUNT: usize = 1_000;
const MSG_SIZE: [usize; 2] = [1_024, 100_000];

async fn open_session_unicast(endpoints: &[&str]) -> (Session, Session) {
    // Open the sessions
    let mut config = zenoh::Config::default();
    config
        .listen
        .endpoints
        .set(
            endpoints
                .iter()
                .map(|e| e.parse().unwrap())
                .collect::<Vec<_>>(),
        )
        .unwrap();
    config.scouting.multicast.set_enabled(Some(false)).unwrap();
    println!("[  ][01a] Opening peer01 session: {endpoints:?}");
    let peer01 = ztimeout!(zenoh::open(config)).unwrap();

    let mut config = zenoh::Config::default();
    config
        .connect
        .endpoints
        .set(
            endpoints
                .iter()
                .map(|e| e.parse().unwrap())
                .collect::<Vec<_>>(),
        )
        .unwrap();
    config.scouting.multicast.set_enabled(Some(false)).unwrap();
    println!("[  ][02a] Opening peer02 session: {endpoints:?}");
    let peer02 = ztimeout!(zenoh::open(config)).unwrap();

    (peer01, peer02)
}

async fn open_session_multicast(endpoint01: &str, endpoint02: &str) -> (Session, Session) {
    // Open the sessions
    let mut config = zenoh::Config::default();
    config
        .listen
        .endpoints
        .set(vec![endpoint01.parse().unwrap()])
        .unwrap();
    config.scouting.multicast.set_enabled(Some(false)).unwrap();
    println!("[  ][01a] Opening peer01 session: {endpoint01}");
    let peer01 = ztimeout!(zenoh::open(config)).unwrap();

    let mut config = zenoh::Config::default();
    config
        .listen
        .endpoints
        .set(vec![endpoint02.parse().unwrap()])
        .unwrap();
    config.scouting.multicast.set_enabled(Some(false)).unwrap();
    println!("[  ][02a] Opening peer02 session: {endpoint02}");
    let peer02 = ztimeout!(zenoh::open(config)).unwrap();

    (peer01, peer02)
}

async fn close_session(peer01: Session, peer02: Session) {
    println!("[  ][01d] Closing peer01 session");
    ztimeout!(peer01.close()).unwrap();
    println!("[  ][02d] Closing peer02 session");
    ztimeout!(peer02.close()).unwrap();
}

async fn test_session_pubsub(peer01: &Session, peer02: &Session, reliability: Reliability) {
    let key_expr = "test/session";
    let msg_count = match reliability {
        Reliability::Reliable => MSG_COUNT,
        Reliability::BestEffort => 1,
    };
    let msgs = Arc::new(AtomicUsize::new(0));

    for size in MSG_SIZE {
        msgs.store(0, Ordering::SeqCst);

        // Subscribe to data
        println!("[PS][01b] Subscribing on peer01 session");
        let c_msgs = msgs.clone();
        let sub = ztimeout!(peer01.declare_subscriber(key_expr).callback(move |sample| {
            assert_eq!(sample.payload().len(), size);
            c_msgs.fetch_add(1, Ordering::Relaxed);
        }))
        .unwrap();

        // Wait for the declaration to propagate
        tokio::time::sleep(SLEEP).await;

        // Put data
        println!("[PS][02b] Putting on peer02 session. {MSG_COUNT} msgs of {size} bytes.");
        for _ in 0..msg_count {
            ztimeout!(peer02
                .put(key_expr, vec![0u8; size])
                .congestion_control(CongestionControl::Block))
            .unwrap();
        }

        ztimeout!(async {
            loop {
                let cnt = msgs.load(Ordering::Relaxed);
                println!("[PS][03b] Received {cnt}/{msg_count}.");
                if cnt < msg_count {
                    tokio::time::sleep(SLEEP).await;
                } else {
                    break;
                }
            }
        });

        // Wait for the messages to arrive
        tokio::time::sleep(SLEEP).await;

        println!("[PS][03b] Unsubscribing on peer01 session");
        ztimeout!(sub.undeclare()).unwrap();

        // Wait for the declaration to propagate
        tokio::time::sleep(SLEEP).await;
    }
}

trait HasGet {
    async fn get(&self, params: &str) -> zenoh::handlers::FifoChannelHandler<zenoh::query::Reply>;
}

struct SessionGetter<'a, 'b> {
    session: &'a Session,
    key_expr: &'b str,
}

impl HasGet for SessionGetter<'_, '_> {
    async fn get(&self, params: &str) -> zenoh::handlers::FifoChannelHandler<zenoh::query::Reply> {
        let selector = format!("{}?{}", self.key_expr, params);
        ztimeout!(self.session.get(selector)).unwrap()
    }
}

struct QuerierGetter<'a> {
    querier: Querier<'a>,
}

impl HasGet for QuerierGetter<'_> {
    async fn get(&self, params: &str) -> zenoh::handlers::FifoChannelHandler<zenoh::query::Reply> {
        ztimeout!(self.querier.get().parameters(params)).unwrap()
    }
}

async fn test_session_query_reply_internal<Getter: HasGet>(
    peer: &Session,
    key_expr: &str,
    reliability: Reliability,
    log_id: &str,
    getter: &Getter,
) {
    let msg_count = match reliability {
        Reliability::Reliable => MSG_COUNT,
        Reliability::BestEffort => 1,
    };

    let msgs = Arc::new(AtomicUsize::new(0));
    for size in MSG_SIZE {
        msgs.store(0, Ordering::Relaxed);

        // Queryable to data
        println!("[{log_id}][01c] Queryable on peer01 session");
        let c_msgs = msgs.clone();
        let ke = key_expr.to_owned();
        let qbl = ztimeout!(peer.declare_queryable(key_expr).callback(move |query| {
            c_msgs.fetch_add(1, Ordering::Relaxed);
            match query.parameters().as_str() {
                "ok_put" => {
                    tokio::task::block_in_place(|| {
                        tokio::runtime::Handle::current().block_on(async {
                            ztimeout!(query
                                .reply(KeyExpr::try_from(&ke).unwrap(), vec![0u8; size].to_vec()))
                            .unwrap()
                        })
                    });
                }
                "ok_del" => {
                    tokio::task::block_in_place(|| {
                        tokio::runtime::Handle::current()
                            .block_on(async { ztimeout!(query.reply_del(&ke)).unwrap() })
                    });
                }
                "err" => {
                    let rep = vec![0u8; size];
                    tokio::task::block_in_place(|| {
                        tokio::runtime::Handle::current()
                            .block_on(async { ztimeout!(query.reply_err(rep)).unwrap() })
                    });
                }
                _ => panic!("Unknown query parameter"),
            }
        }))
        .unwrap();

        // Wait for the declaration to propagate
        tokio::time::sleep(SLEEP).await;

        // Get data
        println!("[{log_id}][02c] Getting Ok(Put) on peer02 session. {msg_count} msgs.");
        let mut cnt = 0;
        for _ in 0..msg_count {
            let rs = getter.get("ok_put").await;
            while let Ok(s) = ztimeout!(rs.recv_async()) {
                #[cfg(feature = "unstable")]
                assert_eq!(s.replier_id(), Some(qbl.id()));
                let s = s.result().unwrap();
                assert_eq!(s.kind(), SampleKind::Put);
                assert_eq!(s.payload().len(), size);
                cnt += 1;
            }
        }
        println!("[{log_id}][02c] Got on peer02 session. {cnt}/{msg_count} msgs.");
        assert_eq!(msgs.load(Ordering::Relaxed), msg_count);
        assert_eq!(cnt, msg_count);

        msgs.store(0, Ordering::Relaxed);

        println!("[{log_id}][03c] Getting Ok(Delete) on peer02 session. {msg_count} msgs.");
        let mut cnt = 0;
        for _ in 0..msg_count {
            let rs = getter.get("ok_del").await;
            while let Ok(s) = ztimeout!(rs.recv_async()) {
                #[cfg(feature = "unstable")]
                assert_eq!(s.replier_id(), Some(qbl.id()));
                let s = s.result().unwrap();
                assert_eq!(s.kind(), SampleKind::Delete);
                assert_eq!(s.payload().len(), 0);
                cnt += 1;
            }
        }
        println!("[{log_id}][03c] Got on peer02 session. {cnt}/{msg_count} msgs.");
        assert_eq!(msgs.load(Ordering::Relaxed), msg_count);
        assert_eq!(cnt, msg_count);

        msgs.store(0, Ordering::Relaxed);

        println!("[{log_id}][04c] Getting Err() on peer02 session. {msg_count} msgs.");
        let mut cnt = 0;
        for _ in 0..msg_count {
            let rs = getter.get("err").await;
            while let Ok(s) = ztimeout!(rs.recv_async()) {
                #[cfg(feature = "unstable")]
                assert_eq!(s.replier_id(), Some(qbl.id()));
                let e = s.result().unwrap_err();
                assert_eq!(e.payload().len(), size);
                cnt += 1;
            }
        }
        println!("[{log_id}][04c] Got on peer02 session. {cnt}/{msg_count} msgs.");
        assert_eq!(msgs.load(Ordering::Relaxed), msg_count);
        assert_eq!(cnt, msg_count);

        println!("[{log_id}][03c] Unqueryable on peer01 session");
        ztimeout!(qbl.undeclare()).unwrap();

        // Wait for the declaration to propagate
        tokio::time::sleep(SLEEP).await;
    }
}

async fn test_session_getrep(peer01: &Session, peer02: &Session, reliability: Reliability) {
    let key_expr = "test/session";
    let querier = SessionGetter {
        session: peer02,
        key_expr,
    };
    ztimeout!(test_session_query_reply_internal(
        peer01,
        key_expr,
        reliability,
        "QR",
        &querier
    ))
}

async fn test_session_qrrep(peer01: &Session, peer02: &Session, reliability: Reliability) {
    let key_expr = "test/session";
    println!("[QQ][00c] Declaring Querier on peer02 session");
    let querier = QuerierGetter {
        querier: ztimeout!(peer02.declare_querier(key_expr)).unwrap(),
    };
    ztimeout!(test_session_query_reply_internal(
        peer01,
        key_expr,
        reliability,
        "QQ",
        &querier
    ))
}

#[tokio::test(flavor = "multi_thread", worker_threads = 4)]
async fn zenoh_session_unicast() {
    zenoh::init_log_from_env_or("error");
    let (peer01, peer02) = open_session_unicast(&["tcp/127.0.0.1:17447"]).await;
    test_session_pubsub(&peer01, &peer02, Reliability::Reliable).await;
    test_session_getrep(&peer01, &peer02, Reliability::Reliable).await;
    test_session_qrrep(&peer01, &peer02, Reliability::Reliable).await;
    close_session(peer01, peer02).await;
}

#[tokio::test(flavor = "multi_thread", worker_threads = 4)]
async fn zenoh_session_multicast() {
    zenoh::init_log_from_env_or("error");
    let (peer01, peer02) =
        open_session_multicast("udp/224.0.0.1:17448", "udp/224.0.0.1:17448").await;
    test_session_pubsub(&peer01, &peer02, Reliability::BestEffort).await;
    close_session(peer01, peer02).await;
}

#[cfg(feature = "internal")]
async fn open_session_unicast_runtime(endpoints: &[&str]) -> (Runtime, Runtime) {
    // Open the sessions
    let mut config = zenoh::Config::default();
    config
        .listen
        .endpoints
        .set(
            endpoints
                .iter()
                .map(|e| e.parse().unwrap())
                .collect::<Vec<_>>(),
        )
        .unwrap();
    config.scouting.multicast.set_enabled(Some(false)).unwrap();
    println!("[  ][01a] Creating r1 session runtime: {endpoints:?}");
    let mut r1 = RuntimeBuilder::new(config).build().await.unwrap();
    r1.start().await.unwrap();

    let mut config = zenoh::Config::default();
    config
        .connect
        .endpoints
        .set(
            endpoints
                .iter()
                .map(|e| e.parse().unwrap())
                .collect::<Vec<_>>(),
        )
        .unwrap();
    config.scouting.multicast.set_enabled(Some(false)).unwrap();
    println!("[  ][02a] Creating r2 session runtime: {endpoints:?}");
    let mut r2 = RuntimeBuilder::new(config).build().await.unwrap();
    r2.start().await.unwrap();

    (r1, r2)
}

#[cfg(feature = "internal")]
#[tokio::test(flavor = "multi_thread", worker_threads = 4)]
async fn zenoh_2sessions_1runtime_init() {
    let (r1, r2) = open_session_unicast_runtime(&["tcp/127.0.0.1:17449"]).await;
    println!("[RI][02a] Creating peer01 session from runtime 1");
    let peer01 = zenoh::session::init(r1.clone().into()).await.unwrap();
    println!("[RI][02b] Creating peer02 session from runtime 2");
    let peer02 = zenoh::session::init(r2.clone().into()).await.unwrap();
    println!("[RI][02c] Creating peer01a session from runtime 1");
    let peer01a = zenoh::session::init(r1.clone().into()).await.unwrap();
    println!("[RI][03c] Closing peer01a session");
    drop(peer01a);
    test_session_pubsub(&peer01, &peer02, Reliability::Reliable).await;
    close_session(peer01, peer02).await;
    println!("[  ][01e] Closing r1 runtime");
    ztimeout!(r1.close()).unwrap();
    println!("[  ][02e] Closing r2 runtime");
    ztimeout!(r2.close()).unwrap();
}

#[tokio::test(flavor = "multi_thread", worker_threads = 4)]
async fn zenoh_session_close() {
    zenoh::init_log_from_env_or("error");
    let (peer01, peer02) = open_session_unicast(&["tcp/127.0.0.1:17457"]).await;
    close_session(peer01, peer02).await;
}

#[cfg(all(feature = "internal", feature = "unstable"))]
#[tokio::test(flavor = "multi_thread", worker_threads = 4)]
async fn zenoh_session_close_in_background_async() {
    zenoh::init_log_from_env_or("error");

    let (peer01, peer02) = open_session_unicast(&["tcp/127.0.0.1:17467"]).await;
    let close_task_1 = peer01.close().in_background().await;
    let close_task_2 = peer02.close().in_background().await;

    let close_all = async move {
        close_task_1.await.unwrap();
        close_task_2.await.unwrap();
    };
    ztimeout!(close_all);
}

#[cfg(all(feature = "internal", feature = "unstable"))]
#[tokio::test(flavor = "multi_thread", worker_threads = 4)]
async fn zenoh_session_close_in_background_sync() {
    zenoh::init_log_from_env_or("error");

    let (peer01, peer02) = open_session_unicast(&["tcp/127.0.0.1:17477"]).await;
    let close_task_1 = peer01.close().in_background().await;
    let close_task_2 = peer02.close().in_background().await;

    close_task_1.wait().unwrap();
    close_task_2.wait().unwrap();
}

#[tokio::test(flavor = "multi_thread", worker_threads = 4)]
async fn test_undeclare_subscribers_same_keyexpr() {
    let key_expr = "test/undeclare/subscribers";
    let session = zenoh::open(zenoh::Config::default()).await.unwrap();
    let sub1 = session.declare_subscriber(key_expr).await.unwrap();
    let sub2 = session.declare_subscriber(key_expr).await.unwrap();
    tokio::time::sleep(SLEEP).await;
    ztimeout!(sub1.undeclare()).unwrap();
    ztimeout!(sub2.undeclare()).unwrap();
}

#[cfg(feature = "internal")]
#[tokio::test(flavor = "multi_thread", worker_threads = 4)]
async fn test_session_from_cloned_config() {
    use zenoh::Config;

    let (pub_config, sub_config) = {
        let mut common_config = Config::default();
        let locator = "tcp/127.0.0.1:38446";
        common_config
            .scouting
            .multicast
            .set_enabled(Some(false))
            .unwrap();

        let mut pub_config = common_config.clone();
        let mut sub_config = common_config;

        sub_config
            .listen
            .endpoints
            .set(vec![locator.parse().unwrap()])
            .unwrap();
        pub_config
            .connect
            .endpoints
            .set(vec![locator.parse().unwrap()])
            .unwrap();

        (pub_config, sub_config)
    };

    let _pub_session = zenoh::open(pub_config).await.unwrap();
    let _sub_session = zenoh::open(sub_config).await.unwrap();
}