new feature: Add RT-Thread platform support #1012

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

+        return ret;
+    }
+
+    (void)memcpy(&ep->_sockaddr, result->ai_addr, result->ai_addrlen);


src/system/rtthread/network.c

+        }
+
+        if (ret == _Z_RES_OK) {
+            (void)memcpy(&sock->_addr, &rep._sockaddr, sizeof(struct sockaddr_in));


src/system/rtthread/network.c

+                case AF_INET6: {
+                    struct ipv6_mreq mreq;
+                    (void)memset(&mreq, 0, sizeof(mreq));
+                    (void)memcpy(&mreq.ipv6mr_multiaddr, &((struct sockaddr_in6 *)&rep._sockaddr)->sin6_addr,


src/system/rtthread/network.c

+        }
+
+        if (ret == _Z_RES_OK) {
+            (void)memcpy(&sock->_addr, &rep._sockaddr, sizeof(struct sockaddr_in));


src/system/rtthread/network.c

+
+    if ((rb != SIZE_MAX) && (addr != NULL)) {
+        *addr = _z_bytes_make(raddrlen);
+        (void)memcpy((uint8_t *)addr->start, &raddr, raddrlen);


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

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

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

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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

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