test: isolate Pico router tests from multicast scouting

tests/CMakeLists.txt

@@ -22,6 +22,7 @@ function(add_test_instance file mode lib option)
 	add_dependencies(tests_${mode} ${target})
 	add_dependencies(${target} ${lib})
 	target_link_libraries(${target} PUBLIC ${lib})
+	target_include_directories(${target} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
 	set_property(TARGET ${target} PROPERTY LANGUAGE CXX)
 	set_property(TARGET ${target} PROPERTY CXX_STANDARD 17)
 	if (option STREQUAL "Router")

tests/run_with_router.sh

@@ -17,103 +17,7 @@ TESTBIN="$1"
 TESTDIR=$(dirname "$0")
 ZENOH_BRANCH="$2"
 
-resolve_interface_ip() {
-    case "${RUNNER_OS:-$(uname -s)}" in
-        Linux)
-            ip route get 1.1.1.1 |
-                awk '{ for (i = 1; i <= NF; i++) if ($i == "src") { print $(i + 1); exit } }' |
-                select_private_ipv4
-            ;;
-        macOS|Darwin)
-            INTERFACE=$(route -n get default | awk '/interface:/{print $2; exit}')
-            ipconfig getifaddr "$INTERFACE" | select_private_ipv4
-            ;;
-        Windows|MINGW*|MSYS*)
-            powershell.exe -NoProfile -Command '
-                $ErrorActionPreference = "Stop"
-                try {
-                    $route = Get-NetRoute `
-                        -AddressFamily IPv4 `
-                        -DestinationPrefix "0.0.0.0/0" `
-                        -PolicyStore ActiveStore |
-                        Sort-Object @{Expression = { $_.RouteMetric + $_.InterfaceMetric }} |
-                        Select-Object -First 1
-
-                    if ($null -eq $route) { exit 1 }
-
-                    $ip = Get-NetIPAddress `
-                        -AddressFamily IPv4 `
-                        -InterfaceIndex $route.InterfaceIndex `
-                        -AddressState Preferred |
-                        Where-Object {
-                            $_.IPAddress -match "^(10\.|192\.168\.|172\.(1[6-9]|2[0-9]|3[0-1])\.)"
-                        } |
-                        Select-Object -First 1 -ExpandProperty IPAddress
-
-                    if ($ip) {
-                        $ip
-                        exit 0
-                    }
-
-                    exit 1
-                } catch {
-                    exit 1
-                }
-            ' |
-                tr -d '\015'
-            ;;
-        *)
-            return 1
-            ;;
-    esac
-}
-
-select_private_ipv4() {
-    while IFS= read -r candidate; do
-        if is_private_ipv4 "$candidate"; then
-            printf '%s\n' "$candidate"
-            return 0
-        fi
-    done
-    return 1
-}
-
-is_valid_ipv4() {
-    printf '%s\n' "$1" | awk -F. '
-        NF != 4 { exit 1 }
-        {
-            for (i = 1; i <= 4; i++) {
-                if ($i !~ /^[0-9]+$/ || $i < 0 || $i > 255) exit 1
-            }
-        }
-    '
-}
-
-is_private_ipv4() {
-    is_valid_ipv4 "$1" || return 1
-
-    case "$1" in
-        10.*|192.168.*|172.16.*|172.17.*|172.18.*|172.19.*|172.2[0-9].*|172.3[0-1].*)
-            return 0
-            ;;
-        *)
-            return 1
-            ;;
-    esac
-}
-
-if [ -z "${ZENOH_TEST_ROUTER_LISTENER:-}" ]; then
-    INTERFACE_IP=$(resolve_interface_ip)
-    if ! is_private_ipv4 "$INTERFACE_IP"; then
-        echo "ERROR: could not resolve a private IPv4 address for the test interface." >&2
-        echo "Resolved address: ${INTERFACE_IP:-<empty>}" >&2
-        echo "Set ZENOH_TEST_ROUTER_LISTENER to a concrete interface address before running ctest, or connect this machine to a private network." >&2
-        echo "Refusing to fall back to tcp/0.0.0.0:7447: that would expose the unauthenticated test router on every network interface." >&2
-        exit 1
-    fi
-    ZENOH_TEST_ROUTER_LISTENER="tcp/$INTERFACE_IP:7447"
-    export ZENOH_TEST_ROUTER_LISTENER
-fi
+LOCATOR="tcp/127.0.0.1:7447"
 
 # get vinary name without extension
 TEST_NAME_WE=$(basename -- "$TESTBIN")
@@ -164,33 +68,34 @@ fi
 
 chmod +x zenohd
 
-LOCATORS="$ZENOH_TEST_ROUTER_LISTENER"
-for LOCATOR in $(echo "$LOCATORS" | xargs); do
-    sleep 1
+sleep 1
 
-    echo "> Running zenohd ... $LOCATOR"
-    RUST_LOG=debug ./zenohd --plugin-search-dir "$TESTDIR/zenoh-git/target/debug" -l "$LOCATOR" > zenohd."$TEST_NAME_WE".log 2>&1 &
-    ZPID=$!
+echo "> Running zenohd ... $LOCATOR"
+RUST_LOG=debug ./zenohd --plugin-search-dir "$TESTDIR/zenoh-git/target/debug" -l "$LOCATOR" > zenohd."$TEST_NAME_WE".log 2>&1 &
+ZPID=$!
 
-    sleep 5
+sleep 5
 
-    echo "> Running $TESTBIN ..."
-    "$TESTBIN" "$LOCATOR" > client."$TEST_NAME_WE".log 2>&1
-    RETCODE=$?
+echo "> Running $TESTBIN ..."
+if command -v stdbuf >/dev/null 2>&1; then
+    stdbuf -oL -eL "$TESTBIN" > client."$TEST_NAME_WE".log 2>&1
+else
+    "$TESTBIN" > client."$TEST_NAME_WE".log 2>&1
+fi
+RETCODE=$?
 
-    echo "> Logs of $TESTBIN ..."
-    cat client."$TEST_NAME_WE".log
+echo "> Logs of $TESTBIN ..."
+cat client."$TEST_NAME_WE".log
 
-    echo "> Stopping zenohd ..."
-    stop_router
+echo "> Stopping zenohd ..."
+stop_router
 
-    sleep 1
+sleep 1
 
-    echo "> Logs of zenohd ..."
-    cat zenohd."$TEST_NAME_WE".log
+echo "> Logs of zenohd ..."
+cat zenohd."$TEST_NAME_WE".log
 
-    [ "$RETCODE" -lt 0 ] && exit "$RETCODE"
-done
+[ "$RETCODE" -lt 0 ] && exit "$RETCODE"
 
 echo "> Done ($RETCODE)."
 exit "$RETCODE"

tests/test_config.hxx

@@ -0,0 +1,26 @@
+//
+// Copyright (c) 2026 ZettaScale Technology
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// https://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+
+#pragma once
+
+#include "zenoh.hxx"
+
+inline zenoh::Config test_config() {
+    auto config = zenoh::Config::create_default();
+
+#ifdef ZENOHCXX_ZENOHPICO
+    // Pico's multicast scouting cannot discover the loopback-only test router, so connect directly instead.
+    config.insert(Z_CONFIG_CONNECT_KEY, "tcp/127.0.0.1:7447");
+    config.insert(Z_CONFIG_MULTICAST_SCOUTING_KEY, "false");
+#endif
+
+    return config;
+}

tests/universal/network/advanced_pub_sub.cxx

@@ -19,6 +19,7 @@
 #include <variant>
 #include <vector>
 
+#include "test_config.hxx"
 #include "zenoh.hxx"
 
 using namespace zenoh;
@@ -32,13 +33,13 @@ std::array<std::string, 6> VALUES_TO_PUBLISH = {"test_value_1", "test_value_2",
 
 void test_pub_sub() {
     KeyExpr ke("zenoh/advanced_pub_sub_test");
-    auto config1 = Config::create_default();
+    auto config1 = test_config();
 #if defined(ZENOHCXX_ZENOHC)
     config1.insert_json5(Z_CONFIG_ADD_TIMESTAMP_KEY, "true");
 #endif
 
     auto session1 = Session::open(std::move(config1));
-    auto session2 = Session::open(Config::create_default());
+    auto session2 = Session::open(test_config());
 
     ext::SessionExt::AdvancedPublisherOptions opts;
     opts.cache.emplace().max_samples = VALUES_TO_PUBLISH.size();
@@ -83,13 +84,13 @@ void test_pub_sub() {
 
 void test_pub_sub_channels() {
     KeyExpr ke("zenoh/advanced_pub_sub_chennels_test");
-    auto config1 = Config::create_default();
+    auto config1 = test_config();
 #if defined(ZENOHCXX_ZENOHC)
     config1.insert_json5(Z_CONFIG_ADD_TIMESTAMP_KEY, "true");
 #endif
 
     auto session1 = Session::open(std::move(config1));
-    auto session2 = Session::open(Config::create_default());
+    auto session2 = Session::open(test_config());
 
     ext::SessionExt::AdvancedPublisherOptions opts;
     opts.cache.emplace().max_samples = VALUES_TO_PUBLISH.size();

tests/universal/network/cancellation.cxx

@@ -15,6 +15,7 @@
 #include <chrono>
 #include <thread>
 
+#include "test_config.hxx"
 #include "zenoh.hxx"
 
 using namespace zenoh;
@@ -26,8 +27,8 @@ using namespace std::chrono_literals;
 void test_get() {
     std::cout << "test_get\n";
 
-    auto session1 = Session::open(Config::create_default());
-    auto session2 = Session::open(Config::create_default());
+    auto session1 = Session::open(test_config());
+    auto session2 = Session::open(test_config());
     KeyExpr ke("zenoh-cpp/query/cancellation/test");
     auto queryable = session1.declare_queryable(ke, channels::FifoChannel(3));
     std::this_thread::sleep_for(1s);
@@ -100,8 +101,8 @@ void test_get() {
 void test_querier_get() {
     std::cout << "test_querier_get\n";
 
-    auto session1 = Session::open(Config::create_default());
-    auto session2 = Session::open(Config::create_default());
+    auto session1 = Session::open(test_config());
+    auto session2 = Session::open(test_config());
     KeyExpr ke("zenoh-cpp/querier/cancellation/test");
     auto queryable = session1.declare_queryable(ke, channels::FifoChannel(3));
     auto querier = session2.declare_querier(ke);
@@ -175,8 +176,8 @@ void test_querier_get() {
 void test_liveliness_get() {
     std::cout << "test_liveliness_get\n";
 
-    auto session1 = Session::open(Config::create_default());
-    auto session2 = Session::open(Config::create_default());
+    auto session1 = Session::open(test_config());
+    auto session2 = Session::open(test_config());
     KeyExpr ke("zenoh-cpp/liveliness/cancellation/test");
     auto liveliness_token = session1.liveliness_declare_token(ke);
     std::this_thread::sleep_for(1s);

tests/universal/network/keyexpr.cxx

@@ -17,6 +17,8 @@ using namespace zenoh;
 #undef NDEBUG
 #include <assert.h>
 
+#include "test_config.hxx"
+
 void key_expr() {
     KeyExpr foo("FOO");
     assert(interop::detail::check(foo));
@@ -113,7 +115,7 @@ int main(int argc, char** argv) {
     intersects();
 
     // Session based tests
-    Config config = Config::create_default();
+    Config config = test_config();
     auto session = Session::open(std::move(config));
     declare(session);
 }

tests/universal/network/liveliness.cxx

@@ -16,6 +16,7 @@
 #include <thread>
 #include <unordered_set>
 
+#include "test_config.hxx"
 #include "zenoh.hxx"
 
 using namespace zenoh;
@@ -27,8 +28,8 @@ using namespace std::chrono_literals;
 void test_liveliness_get() {
     KeyExpr ke("zenoh/liveliness/test/*");
     KeyExpr token_ke("zenoh/liveliness/test/1");
-    auto session1 = Session::open(Config::create_default());
-    auto session2 = Session::open(Config::create_default());
+    auto session1 = Session::open(test_config());
+    auto session2 = Session::open(test_config());
     auto token = session1.liveliness_declare_token(token_ke);
     std::this_thread::sleep_for(1s);
 
@@ -54,8 +55,8 @@ void test_liveliness_subscriber() {
     KeyExpr ke("zenoh/liveliness/test/*");
     KeyExpr token_ke1("zenoh/liveliness/test/1");
     KeyExpr token_ke2("zenoh/liveliness/test/2");
-    auto session1 = Session::open(Config::create_default());
-    auto session2 = Session::open(Config::create_default());
+    auto session1 = Session::open(test_config());
+    auto session2 = Session::open(test_config());
 
     std::unordered_set<std::string> put_tokens;
     std::unordered_set<std::string> delete_tokens;

tests/universal/network/pub_sub.cxx

@@ -15,6 +15,7 @@
 #include <chrono>
 #include <thread>
 
+#include "test_config.hxx"
 #include "zenoh.hxx"
 
 using namespace zenoh;
@@ -47,8 +48,8 @@ class SHMAllocator {
 template <typename Talloc>
 void pub_sub(Talloc& alloc) {
     KeyExpr ke("zenoh/test");
-    auto session1 = Session::open(Config::create_default());
-    auto session2 = Session::open(Config::create_default());
+    auto session1 = Session::open(test_config());
+    auto session2 = Session::open(test_config());
 
     auto publisher = session1.declare_publisher(ke);
 
@@ -83,8 +84,8 @@ void pub_sub(Talloc& alloc) {
 template <typename Talloc>
 void put_sub(Talloc& alloc) {
     KeyExpr ke("zenoh/test");
-    auto session1 = Session::open(Config::create_default());
-    auto session2 = Session::open(Config::create_default());
+    auto session1 = Session::open(test_config());
+    auto session2 = Session::open(test_config());
 
     std::this_thread::sleep_for(1s);
 
@@ -115,8 +116,8 @@ void put_sub(Talloc& alloc) {
 template <typename Talloc>
 void put_sub_fifo_channel(Talloc& alloc) {
     KeyExpr ke("zenoh/test");
-    auto session1 = Session::open(Config::create_default());
-    auto session2 = Session::open(Config::create_default());
+    auto session1 = Session::open(test_config());
+    auto session2 = Session::open(test_config());
 
     std::this_thread::sleep_for(1s);
 
@@ -160,8 +161,8 @@ void put_sub_fifo_channel(Talloc& alloc) {
 template <typename Talloc>
 void put_sub_ring_channel(Talloc& alloc) {
     KeyExpr ke("zenoh/test");
-    auto session1 = Session::open(Config::create_default());
-    auto session2 = Session::open(Config::create_default());
+    auto session1 = Session::open(test_config());
+    auto session2 = Session::open(test_config());
 
     std::this_thread::sleep_for(1s);
 
@@ -228,7 +229,7 @@ void test_with_alloc() {
 
 void publisher_get_keyexpr() {
     KeyExpr ke("zenoh/test_publisher_keyexpr");
-    auto session = Session::open(Config::create_default());
+    auto session = Session::open(test_config());
     auto publisher = session.declare_publisher(ke);
     assert(publisher.get_keyexpr().as_string_view() == "zenoh/test_publisher_keyexpr");
 }