upgrade to Zenoh V0.6.0-dev.0

.gitignore

@@ -1,4 +1,5 @@
-
+.idea
 obj
 bin
-
+*.user
+package/

README.md

@@ -1,45 +1,57 @@
 ![zenoh banner](./zenoh-dragon.png)
 
-[![NuGet](https://img.shields.io/nuget/v/Zenoh.svg)](https://www.nuget.org/packages/Zenoh)
-[![Gitter](https://badges.gitter.im/atolab/zenoh.svg)](https://gitter.im/atolab/zenoh?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge)
+[![NuGet](https://img.shields.io/nuget/v/Zenoh-CS?color=blue)](https://www.nuget.org/packages/Zenoh-CS/)
 [![License](https://img.shields.io/badge/License-EPL%202.0-blue)](https://choosealicense.com/licenses/epl-2.0/)
 [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 
-# Eclipse zenoh C# API
+# Zenoh C# API
 
-[Eclipse zenoh](http://zenoh.io) is an extremely efficient and fault-tolerant [Named Data Networking](http://named-data.net) (NDN) protocol 
-that is able to scale down to extremely constrainded devices and networks.
+[中文/chinese readme](https://github.com/sanri/zenoh-csharp/blob/master/README.zh.md)
+
+[Zenoh](http://zenoh.io) is an extremely efficient and fault-tolerant [Named Data Networking](http://named-data.net) (NDN) protocol that is able to scale down to extremely constrainded devices and networks.
+
+The C# API is for pure clients, in other terms does not support peer-to-peer communication, 
+can be easily tested against a zenoh router running in a Docker container (see https://zenoh.io/docs/getting-started/quick-test/).
 
-The C# API is for pure clients, in other terms does not support peer-to-peer communication, can be easily tested against a zenoh router running in a Docker container (see https://github.com/eclipse-zenoh/zenoh#how-to-test-it).
 
 -------------------------------
 ## How to install it
 
 Requirements:
- - The [zenoh-c](https://github.com/eclipse-zenoh/zenoh-c) library must be installed on your host
-
-The Eclipse zenoh C# library is available on NuGet: 
+- The [zenoh-c](https://github.com/eclipse-zenoh/zenoh-c) library must be installed on your host
+- The zenoh C# library [Zenoh-CS](https://www.nuget.org/packages/Zenoh-CS/) is available on NuGet(Only x64).
 
 ### Supported .NET Standards
+- .NET 6.0
+- .NET 7.0
+
+### Supported CPU arch
+- x64
+- arm64 (untested)
 
-The library is configured to target the **.NET Standard 2.0** at minimum.
+### Mapping between Zenoh-CS and Zenoh-C versions
+|  Zenoh-C  | Zenoh-CS |
+|:---------:|:--------:|
+| v0.7.2-rc |  v0.1.*  |
 
 
 -------------------------------
 ## How to build it
 
-Requirements:
+Requirements:  
  * The [zenoh-c](https://github.com/eclipse-zenoh/zenoh-c) library must be installed on your host
- * A .NET environment
-
-Simply run `dotnet build  Zenoh/`.
+ * A .NET environment. .NET6 or .NET7 [SDK](https://dotnet.microsoft.com/zh-cn/download/dotnet)
 
+Build:   
+Because some of Zenoh-C data structures are not the same length in `x64` and `arm64`, you need to add the option `-p:Platform=x64` or `-p:Platform=ARM64` when building.
+```shell
+# x64 CPU
+dotnet build Zenoh.csproj -c Release -p:Platform=x64
+# arm64 CPU
+dotnet build Zenoh.csproj -c Release -p:Platform=ARM64
+```
 
 -------------------------------
 ## Running the Examples
 
-The examples are configured to target **net5.0**.
-
-The simplest way to run some of the examples is to get a Docker image of the **zenoh** network router (see https://github.com/eclipse-zenoh/zenoh#how-to-test-it) and then to run the examples on your machine.
-
-Then, run the zenoh-csharp examples following the instructions in [examples/Zenoh.Net/README.md](https://github.com/eclipse-zenoh/zenoh-csharp/blob/master/examples/Zenoh.Net/README.md)
+Build and run the zenoh-csharp examples following the instructions in [examples/README.md](https://github.com/sanri/zenoh-csharp/blob/master/examples/README.md)

README.zh.md

@@ -0,0 +1,55 @@
+![zenoh banner](./zenoh-dragon.png)
+
+[![NuGet](https://img.shields.io/nuget/v/Zenoh-CS?color=blue)](https://www.nuget.org/packages/Zenoh-CS/)
+[![License](https://img.shields.io/badge/License-EPL%202.0-blue)](https://choosealicense.com/licenses/epl-2.0/)
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+
+# Zenoh C# API
+
+[Zenoh](http://zenoh.io)是一种非常高效和容错的命名数据网络([NDN](http://named-data.net))协议, 能够在非常受限制的设备和网络中运行.
+
+C# API是用于纯客户端的, 可以很容易地针对运行在Docker容器中的zenoh路由器进行测试 (参考[快速测试](https://zenoh.io/docs/getting-started/quick-test/)).
+
+-------------------------------
+## 如何安装
+
+需求:
+- 库 [zenoh-c](https://github.com/eclipse-zenoh/zenoh-c) 必需被安装在你的主机上.
+- Zenoh C# 库 [Zenoh-CS](https://www.nuget.org/packages/Zenoh-CS/) 库在NuGet上可用(只支持x64)
+
+### 支持的 .NET 标准 
+- .NET 6.0
+- .NET 7.0
+
+### 支持的CPU架构
+- x64
+- arm64 (未测试)
+
+### Zenoh-CS 版本与 Zenoh-C 版本对应关系
+|  Zenoh-C  | Zenoh-CS |
+|:---------:|:--------:|
+| v0.7.2-rc |  v0.1.*  |
+
+
+-------------------------------
+## 如何构建 
+
+需求:
+- 库 [zenoh-c](https://github.com/eclipse-zenoh/zenoh-c) 必需被安装在你的主机上.
+- 主机安装有 .NET6 或 .NET7 的 [SDK](https://dotnet.microsoft.com/zh-cn/download/dotnet)
+
+构建命令:   
+由于Zenoh-C的部分数据结构在 `x64` 与 `arm64` 下长度不一样, 所以构建时需要增加选项 `-p:Platform=x64` 或 `-p:Platform=ARM64`
+```shell
+# x64 CPU
+dotnet build Zenoh.csproj -c Release -p:Platform=x64
+# arm64 CPU
+dotnet build Zenoh.csproj -c Release -p:Platform=ARM64
+```
+
+
+-------------------------------
+## 运行示例
+
+构建和运行示程序, 参考  [examples/README.zh.md](https://github.com/sanri/zenoh-csharp/blob/master/examples/README.zh.md)
+

Zenoh/Channel.cs

@@ -0,0 +1,191 @@
+using System;
+using System.Runtime.InteropServices;
+
+namespace Zenoh;
+
+public enum ChannelType
+{
+    Ring,
+    Fifo
+}
+
+public abstract class Channel : IDisposable
+{
+    internal nint Handle{get; private protected set;}
+    public ChannelType ChannelType { get; private protected set; }
+
+    public abstract void Dispose();
+
+    internal void CheckDisposed()
+    {
+        if (Handle == nint.Zero)
+        {
+            throw new InvalidOperationException("Channel is disposed");
+        }
+    }
+}
+
+public abstract class ChannelSample: Channel
+{
+    /// <summary>
+    /// <para>
+    /// Returns sample from the buffer channel.
+    /// </para>
+    /// <para>
+    /// If there are no more pending replies will block until next sample is received,
+    /// or until the channel is dropped (normally when there are no more samples to receive).
+    /// </para>
+    /// </summary>
+    /// <param name="sample"></param>
+    /// <returns>
+    /// <para>"ZResult.Ok" in case of success.</para>
+    /// <para>"ZResult.ChannelDisconnected" if channel was dropped (the sample will be set to "null").</para>
+    /// </returns>
+    public abstract Result Recv(out Sample? sample);
+
+    /// <summary>
+    /// <para>
+    /// Returns sample from the buffer channel.
+    /// </para>
+    /// <para>
+    /// If there are no more pending replies will return immediately (with sample set to null).
+    /// </para>
+    /// </summary>
+    /// <param name="sample"></param>
+    /// <returns>
+    /// <para>"ZResult.Ok" in case of success.</para>
+    /// <para>"ZResult.ChannelDisconnected" if channel was dropped (the sample will be set to "null").</para>
+    /// <para>"ZResult.ChannelNodata" if the channel is still alive, but its buffer is empty (the sample will be set to "null").</para>
+    /// </returns>
+    public abstract Result TryRecv(out Sample? sample);
+
+}
+
+public sealed class ChannelSampleRing : ChannelSample
+{
+    // z_owned_ring_handler_sample_t
+
+    internal ChannelSampleRing()
+    {
+        ChannelType = ChannelType.Ring;
+        var pChannel = Marshal.AllocHGlobal(Marshal.SizeOf<ZOwnedRingHandlerSample>());
+        ZenohC.z_internal_ring_handler_sample_null(pChannel);
+        Handle = pChannel;
+    }
+
+    public override void Dispose()
+    {
+        Dispose(true);
+        GC.SuppressFinalize(this);
+    }
+
+    ~ChannelSampleRing()=>Dispose(false);
+
+    private void Dispose(bool disposing)
+    {
+        if (Handle == nint.Zero) return;
+
+        ZenohC.z_ring_handler_sample_drop(Handle);
+        Marshal.FreeHGlobal(Handle);
+        Handle = nint.Zero;
+    }
+
+    public override Result Recv(out Sample? sample)
+    {
+        CheckDisposed();
+
+        sample = Sample.CreateOwnedSample();
+        var pLoanedRingHandlerSample = ZenohC.z_ring_handler_sample_loan(Handle);
+
+        var r = ZenohC.z_ring_handler_sample_recv(pLoanedRingHandlerSample, sample.Handle);
+
+        if (r == Result.Ok) return Result.Ok;
+
+        sample.Dispose();
+        sample = null;
+        return r;
+    }
+
+    public override Result TryRecv(out Sample? sample)
+    {
+        CheckDisposed();   
+
+        sample = Sample.CreateOwnedSample();
+        var pLoanedRingHandlerSample = ZenohC.z_ring_handler_sample_loan(Handle);
+
+        var r = ZenohC.z_ring_handler_sample_try_recv(pLoanedRingHandlerSample, sample.Handle);
+
+        if (r == Result.Ok) return Result.Ok;
+
+        sample.Dispose();
+        sample = null;
+        return r;
+    }
+}
+
+public sealed class ChannelSampleFifo : ChannelSample
+{
+    // z_owned_fifo_handler_sample_t
+
+    private ChannelSampleFifo()
+    {
+        ChannelType = ChannelType.Fifo;
+        var pChannel = Marshal.AllocHGlobal(Marshal.SizeOf<ZOwnedFifoHandlerSample>());
+        ZenohC.z_internal_fifo_handler_sample_null(pChannel);
+        Handle = pChannel;
+    }
+
+    public override void Dispose()
+    {
+        Dispose(true);
+        GC.SuppressFinalize(this);
+    }
+
+    ~ChannelSampleFifo()=>Dispose(false);
+
+    private void Dispose(bool disposing)
+    {
+        if (Handle == nint.Zero) return;
+
+        ZenohC.z_fifo_handler_sample_drop(Handle);
+        Marshal.FreeHGlobal(Handle);
+        Handle = nint.Zero;
+    }
+
+    public override Result Recv(out Sample? sample)
+    {
+        CheckDisposed();
+
+        sample = Sample.CreateOwnedSample();
+        var pLoanedFifoHandlerSample = ZenohC.z_fifo_handler_sample_loan(Handle);
+
+        var r = ZenohC.z_fifo_handler_sample_recv(pLoanedFifoHandlerSample, sample.Handle);
+
+        if (r == Result.Ok) return Result.Ok;
+
+        sample.Dispose();
+        sample = null;
+        return r;
+    }
+
+    public override Result TryRecv(out Sample? sample)
+    {
+        CheckDisposed();
+
+        sample = Sample.CreateOwnedSample();
+        var pLoanedFifoHandlerSample = ZenohC.z_fifo_handler_sample_loan(Handle);
+
+        var r = ZenohC.z_fifo_handler_sample_try_recv(pLoanedFifoHandlerSample, sample.Handle);
+
+        if (r == Result.Ok) return Result.Ok;
+
+        sample.Dispose();
+        sample = null;
+        return r;
+    }
+}
+
+public abstract class ChannelReply : Channel
+{
+}
+