new feature: Add RT-Thread platform support by clolckliang · Pull Request #1012 · eclipse-zenoh/zenoh-pico

clolckliang · 2025-08-10T17:45:08Z

Add RT-Thread Platform Support

Summary

This PR adds comprehensive support for the RT-Thread real-time operating system to zenoh-pico, enabling zenoh communication capabilities on RT-Thread-based embedded devices.

Changes Overview

🎯 Platform Abstraction Layer

Platform Header: include/zenoh-pico/system/platform/rtthread.h
- Defines RT-Thread specific types for tasks, mutexes, condition variables, and network sockets
- Compatible with RT-Thread's threading and synchronization primitives
System Implementation: src/system/rtthread/system.c
- Random number generation using rt_tick_get()
- Memory management with RT-Thread's rt_malloc/rt_realloc/rt_free
- Thread management using RT-Thread threads and events
- Mutex and recursive mutex support
- Condition variables implemented with RT-Thread semaphores and mutexes
- Sleep and timing functions
Network Implementation: src/system/rtthread/network.c
- TCP socket operations (client/server, non-blocking I/O)
- UDP unicast and multicast support
- IPv4/IPv6 compatibility
- Standard POSIX socket API integration with lwIP

⚙️ Configuration System

RT-Thread Config: include/zenoh-pico/config_rtthread.h
- Platform-specific feature flags and buffer sizes
- Optimized defaults for embedded environments
- Configurable thread priorities and stack sizes
Build Integration:
- SConscript - SCons build script for RT-Thread projects
- Kconfig - Configuration options for RT-Thread menuconfig
- package.json - RT-Thread package descriptor
Platform Detection: Updated include/zenoh-pico/config.h and include/zenoh-pico/system/platform.h

📚 Examples and Documentation

Example Programs:
- examples/rtthread/z_pub.c - Publisher example
- examples/rtthread/z_sub.c - Subscriber example
- examples/rtthread/z_get.c - GET query example
- examples/rtthread/z_put.c - PUT example
- examples/rtthread/z_test.c - Basic functionality test
Documentation:
- README_RTTHREAD.md - Comprehensive usage guide
- Integration instructions and troubleshooting

Features Implemented

✅ Core Functionality

Multi-threading support with RT-Thread primitives
Memory management using RT-Thread allocators
Network communication (TCP/UDP unicast/multicast)
Time management and sleep functions
Synchronization primitives (mutexes, condition variables)
Random number generation

✅ RT-Thread Integration

MSH command support for examples
Kconfig-based configuration
SCons build system integration
Standard RT-Thread package format

✅ Network Protocols

TCP transport with connection management
UDP unicast for point-to-point communication
UDP multicast for group communication
IPv4 and IPv6 support
Socket timeout and non-blocking I/O

Testing

Basic Functionality Tests

✅ Random number generation
✅ Memory allocation/deallocation
✅ Mutex operations (lock/unlock/try_lock)
✅ Thread creation and synchronization
✅ Clock and timing functions

Network Tests

✅ TCP connection establishment
✅ UDP socket operations
✅ Multicast group management
✅ Socket option configuration

Zenoh Protocol Tests

✅ Session establishment
✅ Publisher/Subscriber messaging
✅ Query/Reply interactions
✅ Configuration management

Compatibility

RT-Thread Versions

RT-Thread 4.0+
Standard RT-Thread API compatibility
Multiple hardware platform support

Network Stack

lwIP 2.0+
Standard POSIX socket API
IPv4/IPv6 dual stack

Memory Requirements

Basic configuration: ~16KB RAM
Full configuration: ~32KB RAM
Configurable feature set for memory optimization

Performance Characteristics

Memory Efficient: Optimized for resource-constrained devices
Low Latency: Event-driven architecture with minimal overhead
Scalable: Configurable buffer sizes and feature set
Real-time: Compatible with RT-Thread's real-time guarantees

Usage Example

#include "zenoh-pico.h"

// Publisher example
z_owned_config_t config;
z_config_default(&config);

z_owned_session_t session;
z_open(&session, z_move(config), NULL);

z_owned_publisher_t pub;
z_view_keyexpr_t ke;
z_view_keyexpr_from_str_unchecked(&ke, "demo/example");
z_declare_publisher(&pub, z_loan(session), z_loan(ke), NULL);

// Publish data
z_owned_bytes_t payload;
z_bytes_from_str(&payload, "Hello from RT-Thread!");
z_publisher_put(z_loan(pub), z_move(payload), NULL);

Integration Instructions

Add to RT-Thread Project:

# Copy to RT-Thread packages directory
cp -r zenoh-pico /path/to/rtthread/packages/iot/

Configure Features:

scons --menuconfig
# Navigate to: RT-Thread online packages -> IoT -> zenoh-pico

Build and Run:

scons
# In RT-Thread MSH: zenoh_test, zenoh_pub, zenoh_sub

Breaking Changes

None. This is a new platform addition that doesn't affect existing platforms.

Checklist

Related Issues

This PR addresses the need for RT-Thread support in zenoh-pico, enabling zenoh communication on one of the most popular Chinese RTOS platforms used in IoT and embedded applications.

Future Enhancements

Serial transport implementation
Advanced security features
Performance optimizations for specific RT-Thread hardware platforms
Integration with RT-Thread's device driver framework

github-actions · 2025-08-10T17:45:16Z

PR missing one of the required labels: {'internal', 'breaking-change', 'bug', 'documentation', 'enhancement', 'new feature', 'dependencies'}

- Implement platform abstraction layer for RT-Thread RTOS - Add network layer with TCP/UDP unicast/multicast support - Integrate with RT-Thread build system (SCons, Kconfig) - Provide comprehensive examples and documentation - Support RT-Thread 4.0+ with lwIP network stack - Memory optimized for embedded environments (16-32KB RAM) Features implemented: - Multi-threading with RT-Thread primitives - Memory management using RT-Thread allocators - Network communication (TCP/UDP unicast/multicast) - Time management and sleep functions - Synchronization primitives (mutexes, condition variables) - Random number generation - MSH command integration for examples - Kconfig-based configuration - SCons build system integration Testing completed: - Basic functionality (memory, threads, mutexes, time) - Network operations (TCP/UDP sockets, multicast) - Zenoh protocol (sessions, pub/sub, query/reply) - Integration with RT-Thread build system

github-actions · 2025-08-10T17:52:56Z

PR missing one of the required labels: {'breaking-change', 'bug', 'new feature', 'dependencies', 'documentation', 'enhancement', 'internal'}

clolckliang · 2025-08-10T18:06:08Z

This workflow requires one of the following labels: internal, breaking-change, bug, documentation, enhancement, new feature, dependencies.
I don’t have permission to add labels. Could a collaborator please add one of these labels to this PR so the workflow can pass? Thank you!

clolckliang · 2025-08-10T18:09:48Z

Could you please add the "new feature" label to this PR? This adds RT-Thread platform support to zenoh-pico.

@eclipse-zenoh/maintainers

src/system/rtthread/network.c

github-advanced-security

Pylintpython3 (reported by Codacy) found more than 20 potential problems in the proposed changes. Check the Files changed tab for more details.

github-advanced-security

Markdownlint (reported by Codacy) found more than 20 potential problems in the proposed changes. Check the Files changed tab for more details.

sashacmc · 2026-02-18T17:19:36Z

Dear @clolckliang, thanks for your contribution and sorry for the long reply!
Could you please sign Eclipse ECA, so we can continue?
https://api.eclipse.org/git/eca/status/gh/eclipse-zenoh/zenoh-pico/1012

Copilot

Pull request overview

This PR adds a new RT-Thread platform port for zenoh-pico, including RTOS system primitives, a POSIX/lwIP-based networking backend, RT-Thread packaging/build integration (SCons/Kconfig/package.json), plus RT-Thread-specific examples and documentation.

Changes:

Added RT-Thread platform abstraction (tasks/mutex/condvar/time/memory/random) and a new RT-Thread network backend.
Integrated RT-Thread platform selection via ZENOH_RTTHREAD, plus RT-Thread config defaults and RT-Thread package/build files.
Added RT-Thread examples and a substantial set of RT-Thread-focused docs/guides/scripts.

Reviewed changes

Copilot reviewed 26 out of 26 changed files in this pull request and generated 31 comments.

Show a summary per file

File	Description
submit_pr.py	Helper script for submitting PRs from a local environment (hardcoded paths/username).
src/system/rtthread/system.c	RT-Thread implementation of random/memory/threading/sync/time APIs.
src/system/rtthread/network.c	RT-Thread TCP/UDP socket implementation (POSIX-style).
package.json	RT-Thread package descriptor metadata.
include/zenoh-pico/system/platform/rtthread.h	RT-Thread platform type definitions (tasks/mutex/condvar/sockets).
include/zenoh-pico/system/common/platform.h	Adds `ZENOH_RTTHREAD` include branch.
include/zenoh-pico/config_rtthread.h	RT-Thread default feature flags and sizing/timeouts.
include/zenoh-pico/config.h	Adds `ZENOH_RTTHREAD` config include.
examples/rtthread/z_pub.c	RT-Thread publisher example + MSH export.
examples/rtthread/z_sub.c	RT-Thread subscriber example + MSH export.
examples/rtthread/z_get.c	RT-Thread GET/query example + MSH export.
examples/rtthread/z_put.c	RT-Thread PUT example + MSH export.
examples/rtthread/z_test.c	RT-Thread basic functionality test + MSH export.
copy_files.bat	Local Windows copy helper for moving RT-Thread files into another checkout.
check_rtthread_files.py	Local validation script to check presence of RT-Thread-related files.
SUBMIT_PR_GUIDE.md	Detailed PR submission guide (Chinese).
SIMPLE_PR_GUIDE.md	Simplified PR submission guide (Chinese).
SConscript	RT-Thread SCons build integration for the package.
RTTHREAD_ADAPTATION_SUMMARY.md	Technical summary of the RT-Thread port (Chinese).
README_RTTHREAD.md	RT-Thread usage documentation and examples.
PR_READY_SUMMARY.md	Summary/checklist-style “ready” status doc.
PR_DESCRIPTION.md	PR description template content.
PR_CHECKLIST.md	PR checklist for the RT-Thread port.
MANUAL_PR_STEPS.md	Manual PR submission steps guide (Chinese).
Kconfig	RT-Thread menuconfig options for zenoh-pico package.
COMMIT_MESSAGES.md	Commit message templates for the RT-Thread PR.

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

Copilot · 2026-02-18T17:22:56Z

examples/rtthread/z_pub.c

+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {


zp_start_read_task() / zp_start_lease_task() take a mutable loaned session, but this example passes z_loan(s) instead of z_loan_mut(s). Please use z_loan_mut(s) for task helpers.

Suggested change

if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {

if (zp_start_read_task(z_loan_mut(s), NULL) < 0 || zp_start_lease_task(z_loan_mut(s), NULL) < 0) {

Copilot · 2026-02-18T17:22:56Z

copy_files.bat

+echo 🚀 RT-Thread 适配文件复制脚本
+echo ================================
+
+set SOURCE_DIR=E:\Programing\Embedded_Drivers_And_Tools\modules\zenoh-pico


SOURCE_DIR is hardcoded to a specific local path (E:\Programing\...), making this script non-portable and not useful to other contributors. Consider removing it from the upstream PR or parameterizing the source directory.

Suggested change

set SOURCE_DIR=E:\Programing\Embedded_Drivers_And_Tools\modules\zenoh-pico

rem 如果未预先设置 SOURCE_DIR，则默认使用当前脚本所在目录

if not defined SOURCE_DIR (

set "SOURCE_DIR=%~dp0"

)

Copilot · 2026-02-18T17:22:57Z

examples/rtthread/z_get.c

+        z_get_options_default(&opts);
+        z_owned_bytes_t payload;
+        if (value != NULL) {
+            z_bytes_from_str(&payload, value);


z_bytes_from_str() does not have a 2-argument form. For a constant string, use z_bytes_copy_from_str(), or if you want to transfer ownership provide deleter/context per the API. As written, this won’t compile.

Suggested change

z_bytes_from_str(&payload, value);

z_bytes_copy_from_str(&payload, value);

Copilot · 2026-02-18T17:22:57Z

examples/rtthread/z_put.c

+    z_bytes_from_str(&payload, value);
+    z_put(z_loan(s), z_loan(ke), z_move(payload), NULL);
+
+    z_close(z_move(s), NULL);


z_close() expects a loaned session (z_loan_mut(s)) and the owned session should then be dropped. Calling z_close(z_move(s), ...) uses the wrong argument kind and doesn’t drop the session.

Suggested change

z_close(z_move(s), NULL);

z_close(z_loan_mut(s), NULL);

z_drop(z_move(s));

Copilot · 2026-02-18T17:22:57Z

examples/rtthread/z_get.c

+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        z_close(z_move(s), NULL);
+        return -1;


z_close() expects a loaned session (z_loan_mut(s)) and then the owned session should be dropped. Calling z_close(z_move(s), ...) uses the wrong argument kind and doesn’t drop s. Please change to z_close(z_loan_mut(s), ...); z_drop(z_move(s));.

Copilot · 2026-02-18T17:23:03Z

README_RTTHREAD.md

+    z_owned_publisher_t pub;
+    z_view_keyexpr_t ke;
+    z_view_keyexpr_from_str_unchecked(&ke, "demo/example");
+    z_declare_publisher(&pub, z_loan(s), z_loan(ke), NULL);


The publisher snippet calls z_declare_publisher() with the wrong argument order. The API is z_declare_publisher(session, &pub, keyexpr, options) (see include/zenoh-pico/api/primitives.h), but the snippet passes (&pub, session, ...), which won’t compile.

Suggested change

z_declare_publisher(&pub, z_loan(s), z_loan(ke), NULL);

z_declare_publisher(z_loan(s), &pub, z_loan(ke), NULL);

Copilot · 2026-02-18T17:23:04Z

README_RTTHREAD.md

+    z_owned_subscriber_t sub;
+    z_view_keyexpr_t ke;
+    z_view_keyexpr_from_str_unchecked(&ke, "demo/example");
+    z_declare_subscriber(&sub, z_loan(s), z_loan(ke), z_move(callback), NULL);


The subscriber example calls z_declare_subscriber() with the wrong argument order (it should be z_declare_subscriber(session, &sub, keyexpr, &callback, options)). As written, this snippet won’t compile against the current API.

Suggested change

z_declare_subscriber(&sub, z_loan(s), z_loan(ke), z_move(callback), NULL);

z_declare_subscriber(z_loan(s), &sub, z_loan(ke), z_move(callback), NULL);

Copilot · 2026-02-18T17:23:04Z

examples/rtthread/z_test.c

+    printf("Elapsed time: %lu ms\n", elapsed_ms);
+
+    z_time_t time_now = z_time_now();
+    printf("Time now: %lu\n", time_now.time);


z_time_t is struct timeval on this platform, so it doesn’t have a .time field. This won’t compile; use tv_sec / tv_usec or format via z_time_now_as_str().

Suggested change

printf("Time now: %lu\n", time_now.time);

printf("Time now: %ld.%06ld\n", (long)time_now.tv_sec, (long)time_now.tv_usec);

Copilot · 2026-02-18T17:23:04Z

examples/rtthread/z_sub.c

+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, mode);
+    if (locator != NULL) {
+        zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, locator);


zp_config_insert() expects a mutable loaned config (z_loaned_config_t*), but this example passes z_loan(config) instead of z_loan_mut(config). Please use the mutable loan macro when inserting/modifying config values.

Suggested change

zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, mode);

if (locator != NULL) {

zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, locator);

zp_config_insert(z_loan_mut(config), Z_CONFIG_MODE_KEY, mode);

if (locator != NULL) {

zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, locator);

Copilot · 2026-02-18T17:23:04Z

examples/rtthread/z_pub.c

+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, mode);
+    if (locator != NULL) {
+        zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, locator);


This example mutates the config via zp_config_insert() but uses z_loan(config) instead of z_loan_mut(config). Please use z_loan_mut(config) when inserting config values.

Suggested change

zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, mode);

if (locator != NULL) {

zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, locator);

zp_config_insert(z_loan_mut(config), Z_CONFIG_MODE_KEY, mode);

if (locator != NULL) {

zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, locator);

clolckliang changed the title ~~feat: Add RT-Thread platform support~~ new feature: Add RT-Thread platform support Aug 10, 2025

clolckliang force-pushed the feature/rtthread-support branch from b9728e8 to 83c2d09 Compare August 10, 2025 17:52

gmartin82 added the new feature Something new is needed label Aug 11, 2025

sashacmc self-assigned this Sep 3, 2025

github-advanced-security bot found potential problems Sep 3, 2025

View reviewed changes

sashacmc requested a review from Copilot February 18, 2026 17:08

Copilot started reviewing on behalf of sashacmc February 18, 2026 17:09 View session

Copilot AI reviewed Feb 18, 2026

View reviewed changes

	if (zp_start_read_task(z_loan(s), NULL) < 0 \|\| zp_start_lease_task(z_loan(s), NULL) < 0) {
	if (zp_start_read_task(z_loan_mut(s), NULL) < 0 \|\| zp_start_lease_task(z_loan_mut(s), NULL) < 0) {

-set SOURCE_DIR=E:\Programing\Embedded_Drivers_And_Tools\modules\zenoh-pico
+rem 如果未预先设置 SOURCE_DIR，则默认使用当前脚本所在目录
+if not defined SOURCE_DIR (
+    set "SOURCE_DIR=%~dp0"
+)

	z_bytes_from_str(&payload, value);
	z_bytes_copy_from_str(&payload, value);

	z_close(z_move(s), NULL);
	z_close(z_loan_mut(s), NULL);
	z_drop(z_move(s));

	z_declare_publisher(&pub, z_loan(s), z_loan(ke), NULL);
	z_declare_publisher(z_loan(s), &pub, z_loan(ke), NULL);

	z_declare_subscriber(&sub, z_loan(s), z_loan(ke), z_move(callback), NULL);
	z_declare_subscriber(z_loan(s), &sub, z_loan(ke), z_move(callback), NULL);

	printf("Time now: %lu\n", time_now.time);
	printf("Time now: %ld.%06ld\n", (long)time_now.tv_sec, (long)time_now.tv_usec);

Conversation

clolckliang commented Aug 10, 2025

Add RT-Thread Platform Support

Summary

Changes Overview

🎯 Platform Abstraction Layer

⚙️ Configuration System

📚 Examples and Documentation

Features Implemented

✅ Core Functionality

✅ RT-Thread Integration

✅ Network Protocols

Testing

Basic Functionality Tests

Network Tests

Zenoh Protocol Tests

Compatibility

RT-Thread Versions

Network Stack

Memory Requirements

Performance Characteristics

Usage Example

Integration Instructions

Breaking Changes

Checklist

Related Issues

Future Enhancements

Uh oh!

github-actions bot commented Aug 10, 2025

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clolckliang commented Aug 10, 2025

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