no_std support

commons/zenoh-buffers/Cargo.toml

@@ -31,8 +31,12 @@ description = "Internal crate for zenoh."
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 [features]
-test = [ "rand" ]
+default = ["std"]
+std = ["zenoh-collections/std"]
+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,
@@ -131,6 +130,7 @@ impl<'a> HasReader for &'a BBuf {
 #[cfg(feature = "test")]
 impl BBuf {
     pub fn rand(len: usize) -> Self {
+        #[allow(unused_imports)]
         use alloc::vec::Vec;
         use rand::Rng;
 

commons/zenoh-buffers/src/lib.rs

@@ -13,7 +13,7 @@
 //
 
 //! Provide differnt buffer implementations used for serialization and deserialization.
-#![no_std]
+#![cfg_attr(not(feature = "std"), no_std)]
 extern crate alloc;
 
 mod bbuf;
@@ -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 +29,34 @@ 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-buffers/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,
 };
 
@@ -103,7 +103,7 @@ where
                     reader.read_zslices(len, |s| zbuf.push_zslice(s))?;
                 }
                 super::zslice::kind::SHM_INFO => {
-                    let bytes: Vec<u8> = self.codec.read(&mut *reader)?;
+                    let bytes: alloc::vec::Vec<u8> = self.codec.read(&mut *reader)?;
                     let shm_info: SharedMemoryBufInfoSerialized = bytes.into();
                     let zslice: ZSlice = shm_info.into();
                     zbuf.push_zslice(zslice);