no_std support

commons/zenoh-buffers/Cargo.toml

@@ -31,8 +31,10 @@ description = "Internal crate for zenoh."
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 [features]
-test = [ "rand" ]
+test = ["rand"]
+defmt = ["dep:defmt", "zenoh-collections/defmt"]
 
 [dependencies]
+defmt = { version = "0.3.2", features = ["alloc"], optional = true }
 rand = { version = "0.8.5", optional = true }
 zenoh-collections = { version = "0.7.0-rc", path = "../zenoh-collections/", default-features = false }

commons/zenoh-buffers/src/bbuf.rs

@@ -11,8 +11,6 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
 //
-extern crate alloc;
-
 use crate::{
     reader::HasReader,
     vec,
@@ -22,6 +20,7 @@ use alloc::boxed::Box;
 use core::num::NonZeroUsize;
 
 #[derive(Clone, Debug, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct BBuf {
     buffer: Box<[u8]>,
     len: usize,

commons/zenoh-buffers/src/lib.rs

@@ -12,7 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 
-//! Provide differnt buffer implementations used for serialization and deserialization.
+//! Provide different buffer implementations used for serialization and deserialization.
 #![no_std]
 extern crate alloc;
 
@@ -32,6 +32,7 @@ pub mod writer {
     use core::num::NonZeroUsize;
 
     #[derive(Debug, Clone, Copy)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
     pub struct DidntWrite;
 
     pub trait Writer {
@@ -74,6 +75,7 @@ pub mod reader {
     use core::num::NonZeroUsize;
 
     #[derive(Debug, Clone, Copy)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
     pub struct DidntRead;
 
     pub trait Reader {
@@ -114,6 +116,7 @@ pub mod reader {
     }
 
     #[derive(Debug, Clone, Copy)]
+    #[cfg_attr(feature = "defmt", derive(defmt::Format))]
     pub struct DidntSiphon;
 
     pub trait SiphonableReader: Reader {

commons/zenoh-buffers/src/vec.rs

@@ -11,8 +11,6 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
 //
-extern crate alloc;
-
 use crate::{
     reader::HasReader,
     writer::{BacktrackableWriter, DidntWrite, HasWriter, Writer},

commons/zenoh-buffers/src/zbuf.rs

@@ -11,8 +11,6 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
 //
-extern crate alloc;
-
 use crate::{
     reader::{BacktrackableReader, DidntRead, DidntSiphon, HasReader, Reader, SiphonableReader},
     writer::{BacktrackableWriter, DidntWrite, HasWriter, Writer},
@@ -27,6 +25,7 @@ fn get_mut_unchecked<T>(arc: &mut Arc<T>) -> &mut T {
 }
 
 #[derive(Debug, Clone, Default, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct ZBuf {
     slices: SingleOrVec<ZSlice>,
 }
@@ -125,12 +124,14 @@ where
 
 // Reader
 #[derive(Debug, Default, Clone, Copy, PartialEq, Eq, PartialOrd, Ord)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct ZBufPos {
     slice: usize,
     byte: usize,
 }
 
 #[derive(Debug, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct ZBufReader<'a> {
     inner: &'a ZBuf,
     cursor: ZBufPos,
@@ -348,6 +349,7 @@ impl Iterator for ZBufSliceIterator<'_, '_> {
 
 // Writer
 #[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct ZBufWriter<'a> {
     inner: &'a mut ZBuf,
     cache: Arc<Vec<u8>>,

commons/zenoh-buffers/src/zslice.rs

@@ -11,8 +11,6 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
 //
-extern crate alloc;
-
 use crate::reader::{BacktrackableReader, DidntRead, HasReader, Reader};
 use alloc::{boxed::Box, sync::Arc, vec::Vec};
 use core::{
@@ -213,6 +211,13 @@ impl fmt::Debug for ZSlice {
     }
 }
 
+#[cfg(feature = "defmt")]
+impl defmt::Format for ZSlice {
+    fn format(&self, f: defmt::Formatter) {
+        defmt::write!(f, "{:02x}", self.as_slice());
+    }
+}
+
 // From impls
 impl<T> From<Arc<T>> for ZSlice
 where

commons/zenoh-codec/Cargo.toml

@@ -29,20 +29,33 @@ description = "Internal crate for zenoh."
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [features]
-shared-memory = ["zenoh-shm", "zenoh-protocol/shared-memory"]
+default = ["std"]
+std = [
+    "uhlc/std",
+    "zenoh-protocol/std"
+]
+shared-memory = [
+    "std",
+    "zenoh-shm",
+    "zenoh-protocol/shared-memory"
+]
 complete_n = ["zenoh-protocol/complete_n"]
+defmt = [
+    "zenoh-buffers/defmt",
+    "zenoh-protocol/defmt"
+]
 
 [dependencies]
-uhlc = "0.5.1"
-zenoh-buffers = { version = "0.7.0-rc", path = "../zenoh-buffers/" }
-zenoh-protocol = { version = "0.7.0-rc", path = "../zenoh-protocol/" }
+uhlc = { git = "https://github.com/atolab/uhlc-rs.git", default-features = false } # TODO: Using github source until the no_std update gets released on crates.io
+zenoh-buffers = { version = "0.7.0-rc", path = "../zenoh-buffers/", default-features = false }
+zenoh-protocol = { version = "0.7.0-rc", path = "../zenoh-protocol/", default-features = false }
 zenoh-shm = { version = "0.7.0-rc", path = "../zenoh-shm/", optional = true }
 
 [dev-dependencies]
 criterion = "0.4.0"
 rand = "0.8.5"
 uuid = { version = "1.1.2", features = ["v4"] }
-zenoh-protocol = { version = "0.7.0-rc", path = "../zenoh-protocol/", features = [ "test" ] }
+zenoh-protocol = { version = "0.7.0-rc", path = "../zenoh-protocol/", features = ["test"] }
 
 [[bench]]
 name = "codec"

commons/zenoh-codec/src/common/attachment.rs

@@ -22,7 +22,7 @@ use zenoh_protocol::{
     transport::tmsg,
 };
 #[cfg(feature = "shared-memory")]
-use {crate::Zenoh060Condition, std::any::TypeId, zenoh_shm::SharedMemoryBufInfoSerialized};
+use {crate::Zenoh060Condition, core::any::TypeId, zenoh_shm::SharedMemoryBufInfoSerialized};
 
 impl<W> WCodec<&Attachment, &mut W> for Zenoh060
 where

commons/zenoh-codec/src/core/encoding.rs

@@ -12,6 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use crate::{RCodec, WCodec, Zenoh060};
+use alloc::string::String;
 use zenoh_buffers::{
     reader::{DidntRead, Reader},
     writer::{DidntWrite, Writer},

commons/zenoh-codec/src/core/endpoint.rs

@@ -12,6 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use crate::{RCodec, WCodec, Zenoh060};
+use alloc::{string::String, vec::Vec};
 use core::convert::TryFrom;
 use zenoh_buffers::{
     reader::{DidntRead, Reader},

commons/zenoh-codec/src/core/keyexpr.rs

@@ -12,6 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use crate::{RCodec, WCodec, Zenoh060, Zenoh060Condition};
+use alloc::string::String;
 use zenoh_buffers::{
     reader::{DidntRead, Reader},
     writer::{DidntWrite, Writer},

commons/zenoh-codec/src/core/locator.rs

@@ -12,6 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use crate::{RCodec, WCodec, Zenoh060};
+use alloc::{string::String, vec::Vec};
 use core::convert::TryFrom;
 use zenoh_buffers::{
     reader::{DidntRead, Reader},

commons/zenoh-codec/src/core/mod.rs

@@ -23,6 +23,7 @@ mod zint;
 mod zslice;
 
 use crate::{RCodec, WCodec, Zenoh060};
+use alloc::{string::String, vec::Vec};
 use zenoh_buffers::{
     reader::{DidntRead, Reader},
     writer::{DidntWrite, Writer},

commons/zenoh-codec/src/core/property.rs

@@ -12,6 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use crate::{RCodec, WCodec, Zenoh060};
+use alloc::vec::Vec;
 use zenoh_buffers::{
     reader::{DidntRead, Reader},
     writer::{DidntWrite, Writer},

commons/zenoh-codec/src/core/zbuf.rs

@@ -19,7 +19,7 @@ use zenoh_buffers::{
 };
 #[cfg(feature = "shared-memory")]
 use {
-    crate::Zenoh060Condition, std::any::TypeId, zenoh_buffers::ZSlice,
+    crate::Zenoh060Condition, core::any::TypeId, zenoh_buffers::ZSlice,
     zenoh_shm::SharedMemoryBufInfoSerialized,
 };
 

commons/zenoh-codec/src/lib.rs

@@ -11,6 +11,9 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
 //
+#![cfg_attr(not(feature = "std"), no_std)]
+extern crate alloc;
+
 mod common;
 mod core;
 mod scouting;

commons/zenoh-codec/src/scouting/hello.rs

@@ -12,6 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use crate::{RCodec, WCodec, Zenoh060, Zenoh060Header};
+use alloc::{vec, vec::Vec};
 use zenoh_buffers::{
     reader::{DidntRead, Reader},
     writer::{DidntWrite, Writer},

commons/zenoh-codec/src/transport/frame.rs

@@ -12,6 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use crate::{RCodec, WCodec, Zenoh060, Zenoh060Header, Zenoh060Reliability};
+use alloc::vec::Vec;
 use zenoh_buffers::{
     reader::{BacktrackableReader, DidntRead, Reader},
     writer::{DidntWrite, Writer},

commons/zenoh-codec/src/transport/join.rs

@@ -12,6 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use crate::{RCodec, WCodec, Zenoh060, Zenoh060Header};
+use alloc::boxed::Box;
 use core::time::Duration;
 use zenoh_buffers::{
     reader::{DidntRead, Reader},

commons/zenoh-codec/src/zenoh/declare.rs

@@ -12,6 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use crate::{RCodec, WCodec, Zenoh060, Zenoh060Condition, Zenoh060Header};
+use alloc::vec::Vec;
 use zenoh_buffers::{
     reader::{DidntRead, Reader},
     writer::{DidntWrite, Writer},

commons/zenoh-codec/src/zenoh/linkstate.rs

@@ -12,6 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use crate::{RCodec, WCodec, Zenoh060, Zenoh060Header};
+use alloc::vec::Vec;
 use zenoh_buffers::{
     reader::{DidntRead, Reader},
     writer::{DidntWrite, Writer},

commons/zenoh-codec/src/zenoh/query.rs

@@ -12,6 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use crate::{RCodec, WCodec, Zenoh060, Zenoh060Condition, Zenoh060Header};
+use alloc::string::String;
 use zenoh_buffers::{
     reader::{DidntRead, Reader},
     writer::{DidntWrite, Writer},

commons/zenoh-collections/Cargo.toml

@@ -29,8 +29,10 @@ description = "Internal crate for zenoh."
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [features]
-std = ["zenoh-core"]
 default = ["std"]
+std = ["zenoh-core"]
+defmt = ["dep:defmt"]
 
 [dependencies]
+defmt = { version = "0.3.2", features = ["alloc"], optional = true }
 zenoh-core = { version = "0.7.0-rc", path = "../zenoh-core/", optional = true }

commons/zenoh-collections/src/lib.rs

@@ -17,6 +17,9 @@
 //! This crate is intended for Zenoh's internal use.
 //!
 //! [Click here for Zenoh's documentation](../zenoh/index.html)
+#![cfg_attr(not(feature = "std"), no_std)]
+extern crate alloc;
+
 pub mod single_or_vec;
 pub use single_or_vec::*;
 

commons/zenoh-collections/src/single_or_vec.rs

@@ -11,6 +11,7 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
 //
+use alloc::{vec, vec::Vec};
 use core::{
     cmp::PartialEq,
     fmt, iter,
@@ -19,6 +20,7 @@ use core::{
 };
 
 #[derive(Clone, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 enum SingleOrVecInner<T> {
     Single(T),
     Vec(Vec<T>),
@@ -80,6 +82,7 @@ where
 }
 
 #[derive(Clone, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct SingleOrVec<T>(SingleOrVecInner<T>);
 
 impl<T> SingleOrVec<T> {
@@ -197,7 +200,7 @@ impl<T> iter::Extend<T> for SingleOrVec<T> {
 }
 
 pub struct IntoIter<T> {
-    pub drain: std::vec::IntoIter<T>,
+    pub drain: alloc::vec::IntoIter<T>,
     pub last: Option<T>,
 }
 

commons/zenoh-protocol/Cargo.toml

@@ -30,19 +30,34 @@ categories = ["network-programming"]
 description = "Internal crate for zenoh."
 
 [features]
-test = [ "rand", "zenoh-buffers/test" ]
-shared-memory = []
+default = ["std"]
+std = [
+    "hex/std",
+    "rand?/std",
+    "rand?/std_rng",
+    "serde/std",
+    "uhlc/std",
+    "uuid/std"
+]
+test = ["rand", "zenoh-buffers/test"]
+shared-memory = ["std"]
 complete_n = []
+defmt = [
+    "dep:defmt",
+    "uhlc/defmt",
+    "zenoh-buffers/defmt"
+]
 
 [dependencies]
-hex = "0.4.3"
-rand = { version = "0.8.5", optional = true }
-serde = "1.0.147"
-uhlc = "0.5.1"
-uuid = "1.2.1"
-zenoh-buffers = { version = "0.7.0-rc", path = "../zenoh-buffers/" }
+defmt = { version = "0.3.2", features = ["alloc"], optional = true }
+hex = { version = "0.4.3", default-features = false, features = ["alloc"] }
+rand = { version = "0.8.5", default-features = false, features = ["alloc", "getrandom"], optional = true }
+serde = { version = "1.0.147", default-features = false, features = ["alloc"] }
+uhlc = { git = "https://github.com/atolab/uhlc-rs.git", default-features = false } # TODO: Using github source until the no_std update gets released on crates.io
+uuid = { version = "1.2.1", default-features = false } # Needs a getrandom::getrandom() custom implementation on embedded (in root crate)
+zenoh-buffers = { version = "0.7.0-rc", path = "../zenoh-buffers/", default-features = false }
 zenoh-core = { version = "0.7.0-rc", path = "../zenoh-core/" }
 
 [dev-dependencies]
 lazy_static = "1.4.0"
-zenoh-protocol = { version = "0.7.0-rc", path = ".", features = [ "test" ] }
+zenoh-protocol = { version = "0.7.0-rc", path = ".", features = ["test"] }