Zenoh reference connector

Layer-1 (pure-logic) tests run in default CI against MockZenohSession and require no real zenoh crate. Layer-2 (zenoh-integration feature gate) and Layer-3 (ZENOH_TEST_ROUTER env-gated client mode) tests run on dedicated CI jobs; they :status: draft until those jobs land.

Test Case: ZenohRouting field validation TEST_0300

status: implemented verifies: REQ_0224, REQ_0401 links incoming: REQ_0224, REQ_0401

Unit test asserting that constructing a ZenohRouting with an invalid key_expr (empty, leading slash, illegal wildcard combination) fails with ConnectorError::Configuration before any iceoryx2 service is created. Asserts that valid congestion-control / priority / reliability / express combinations round-trip through ChannelDescriptor without loss.

Test Case: ZenohConnector implements Connector with ZenohRouting TEST_0301

status: implemented verifies: REQ_0211, REQ_0220, REQ_0400 links incoming: REQ_0211, REQ_0220, REQ_0400

Compile-fail test ensuring ZenohConnector<JsonCodec> is accepted in any position requiring Connector<Routing = ZenohRouting>. Asserts create_writer / create_reader return the expected ChannelWriter<T, JsonCodec, N> / ChannelReader<T, JsonCodec, N> concrete types.

Test Case: Pub/sub end-to-end against MockZenohSession TEST_0302

status: implemented verifies: REQ_0402, REQ_0407, REQ_0408, REQ_0445 links incoming: REQ_0402, REQ_0407, REQ_0408, REQ_0445

Drive a ChannelWriter::send(value) through MockZenohSession and observe ChannelReader::try_recv receive the same value. Asserts sequence number monotonicity (Sequence number monotonical... (REQ_0202)), timestamp non-zero, and that the gateway publishes raw bytes on the inbound service (codec runs on the plugin side, per Zenoh gateway is byte-only ... (REQ_0408)).

Test Case: Query round-trip against MockZenohSession TEST_0303

status: implemented verifies: REQ_0420, REQ_0421, REQ_0422, REQ_0423, REQ_0424, REQ_0426, REQ_0427 links incoming: REQ_0420, REQ_0421, REQ_0422, REQ_0423, REQ_0424, REQ_0426, REQ_0427

End-to-end query test: plugin A calls ZenohQuerier::send(q); plugin B’s ZenohQueryable::try_recv surfaces (QueryId, Q); plugin B calls reply(id, r) three times then terminate(id); plugin A’s ZenohQuerier::try_recv observes the three replies in order followed by a 0x02 end-of-stream envelope. Asserts QueryId round-trips through the envelope’s correlation_id unchanged and that the queryable’s gateway map entry is freed after terminate.

Test Case: Codec failure paths for queries TEST_0304

status: open verifies: REQ_0427

Encoding a value larger than the envelope’s payload returns ConnectorError::Codec from ZenohQuerier::send and from ZenohQueryable::reply; decoding malformed bytes returns ConnectorError::Codec from the matching try_recv. The envelope is not silently dropped (re-affirming Codec decode error variant (REQ_0214)).

Test Case: Outbound bridge saturation surfaces as BackPressure TEST_0305

status: open verifies: REQ_0404, REQ_0405

With outbound_bridge_capacity = 1 and a deliberately stalled MockZenohSession, the second ChannelWriter::send (and the second ZenohQuerier::send) returns ConnectorError::BackPressure and the connector’s health() snapshot transitions to Degraded.

Test Case: Inbound bridge saturation surfaces as DroppedInbound TEST_0306

status: implemented verifies: REQ_0406, REQ_0428 links incoming: REQ_0406, REQ_0428

With inbound_bridge_capacity = 1 and a deliberately stalled plugin reader, the gateway emits HealthEvent::DroppedInbound { count = N } reflecting the number of pub/sub samples and reply chunks discarded. The in-flight QueryId is observable as a reply stream with fewer chunks than the upstream peer sent.

Test Case: Query timeout emits 0x03 terminator TEST_0307

status: implemented verifies: REQ_0425 links incoming: REQ_0425

With query_timeout = 50 ms and a queryable that never replies, ZenohQuerier::try_recv observes a single envelope with payload[0] == 0x03 for the in-flight QueryId; subsequent try_recv calls for that QueryId return None. Gateway map entry for that QueryId is freed.

Test Case: Health state machine on MockZenohSession lifecycle TEST_0308

status: implemented verifies: REQ_0231, REQ_0235, REQ_0440, REQ_0442 links incoming: REQ_0231, REQ_0235, REQ_0440, REQ_0442

Walk the mock session through Connecting → Up → Degraded → Up → Down and assert one HealthEvent per transition on the connector’s health channel. Asserts each variant carries the documented payload (since timestamp, reason string). Realised across two test files: the Connecting → Up → Down legs by crates/taktora-connector-zenoh/tests/health_transitions.rs, and the Up → Degraded → Up legs (driven by min_peers threshold crossings) by crates/taktora-connector-zenoh/tests/min_peers_degraded.rs.

Test Case: REQ_0441 anti-req — no ReconnectPolicy on session loss TEST_0309

status: implemented verifies: REQ_0235, REQ_0441 links incoming: REQ_0235

Regression-guard for the explicit anti-requirement NO ReconnectPolicy on Zenoh... (REQ_0441) (which is status:rejected because the project deliberately excludes ReconnectPolicy from the Zenoh connector — see the “Anti-goals” preamble above the rejected req cluster in spec/requirements/connector.rst). The :verifies: link asserts that the excluded behaviour remains absent; rejected parent + implemented verifier is the project’s documented convention for anti-req checks. Static check that ZenohGateway exposes no ReconnectPolicy-typed field and the ZenohConnectorOptions struct does not declare a reconnect_policy setting. Realised as crates/taktora-connector-zenoh/tests/no_reconnect_policy.rs, which shells out to cargo public-api and asserts the public surface contains no ReconnectPolicy / reconnect_policy identifier.

Test Case: zenoh-integration feature gates the real zenoh dep TEST_0310

status: implemented verifies: REQ_0444, REQ_0445 links incoming: REQ_0444, REQ_0445

Build the crate twice — once with default features, once with --features zenoh-integration — and assert that the default build does not link zenoh (via cargo tree introspection) while the feature build does. Both builds expose MockZenohSession. Realised as scripts/check_dep_gating.sh invoked from the dep-gating job in .github/workflows/ci-zenoh.yml.

Test Case: Cross-platform support TEST_0311

status: implemented verifies: REQ_0446 links incoming: REQ_0446

CI matrix builds the crate on Linux, macOS, and Windows (default features) and runs cargo test on all three. No platform-specific compile errors; no platform-gated #[cfg] paths break. Realised as the build-test-default matrix job in .github/workflows/ci-zenoh.yml.

Test Case: Two-peer real session pub/sub TEST_0312

status: draft verifies: REQ_0440, REQ_0443 links incoming: REQ_0440

Layer-2 integration test (zenoh-integration feature): spawn two ZenohConnector instances in peer mode in the same process with disjoint locator listings, exchange envelopes through a real zenoh::Session pair, and assert payloads / sequence numbers round-trip correctly. Status remains deferred until the dedicated CI job lands.

Test Case: Client-mode router smoke TEST_0313

status: draft verifies: REQ_0440, REQ_0443 links incoming: REQ_0440

Layer-3 env-gated test: when ZENOH_TEST_ROUTER names a reachable zenohd, open a client-mode session and assert ConnectorHealth reaches Up. Status remains deferred until the client-mode CI job lands.

Test Case: Tokio sidecar contained inside taktora-connector-zenoh TEST_0314

status: implemented verifies: REQ_0403 links incoming: REQ_0403

Static check that the zenoh::Session and any tokio runtime handle live entirely inside the taktora-connector-zenoh crate. No public type exported by taktora-connector-zenoh shall name a tokio::* type in its signature (compile-time API surface scan). Realised as crates/taktora-connector-zenoh/tests/tokio_containment.rs, which shells out to cargo public-api and asserts the public surface contains no tokio:: identifier. The runtime piece — an executor unit test asserting that the WaitSet thread does not contain any tokio task handle attributable to the gateway sidecar (mirrors Tokio sidecar contained ins... (TEST_0211) under Tokio sidecar contained ins... (REQ_0321)) — is deferred to a Z6+ stage that lands taktora-executor task introspection.

On this page

• Zenoh reference connector