merge

.github/workflows/build-check.yaml

@@ -77,7 +77,7 @@ jobs:
         uses: eclipse-zenoh/ci/build-crates-standalone@main
         with:
           repo: eclipse-zenoh/zenoh
-          branch: interests
+          branch: dev/1.0.0
           artifact-patterns: |
             ^zenohd$
             ^libzenoh_plugin_rest.so$

.github/workflows/integration.yaml

@@ -50,4 +50,4 @@ jobs:
           BUILD_TESTING: OFF # Workaround for Windows as it seems the previous step is being ignored
           BUILD_MULTICAST: OFF # Workaround for Windows as it seems the previous step is being ignored
           BUILD_INTEGRATION: ON # Workaround for Windows as it seems the previous step is being ignored
-          ZENOH_BRANCH: interests
+          ZENOH_BRANCH: dev/1.0.0

.github/workflows/multicast.yaml

@@ -40,7 +40,7 @@ jobs:
           BUILD_TESTING: OFF
           BUILD_MULTICAST: ON
           BUILD_INTEGRATION: OFF
-          ZENOH_BRANCH: interests
+          ZENOH_BRANCH: dev/1.0.0
 
       - name: Test debug
         run: make test

CMakeLists.txt

@@ -38,6 +38,42 @@ elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
   endif()
 endif()
 
+# Language options
+if(NOT CMAKE_C_STANDARD)
+  if(c_std_11 IN_LIST CMAKE_C_COMPILE_FEATURES)
+    set(CMAKE_C_STANDARD 11)
+    message(STATUS "Setting C11 as the C Standard")
+  else()
+    # C99 pedantic doesn't like unix header anonymous structure
+    set(CMAKE_C_STANDARD 99)
+    message(STATUS "Setting C99 as the C Standard")
+  endif()
+endif()
+set(CMAKE_C_STANDARD_REQUIRED TRUE)
+
+# Compile options
+if(CMAKE_BUILD_TYPE MATCHES "RELEASE" OR "Release")
+  if(UNIX)
+    add_compile_options(-pipe -O3)
+  elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
+    add_compile_options(-pipe -O3)
+  endif()
+else()
+  if(UNIX)
+    add_compile_options(-c -Wall -Wextra -Werror -Wshadow -Wunused -Wstrict-prototypes -pipe -g -O0)
+    # C99 pedantic doesn't like struct anonymous in unix header
+    if (NOT CMAKE_C_STANDARD STREQUAL "99")
+      add_compile_options(-Wpedantic)
+    endif()
+    # add_compile_options(-Wconversion)
+    # add_link_options(-fsanitize=address)
+  elseif(MSVC)
+    add_compile_options(/W4 /WX /Od /wd4127)
+  elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
+    add_compile_options(-Wall -Wextra -Wno-unused-parameter -Wmissing-prototypes -pipe -g -O0)
+  endif()
+endif()
+
 set(Libname "zenohpico")
 if(BUILD_SHARED_LIBS)
   add_library(${Libname} SHARED)
@@ -50,16 +86,6 @@ function(add_definition value)
   target_compile_definitions(${Libname} PUBLIC ${value})
 endfunction()
 
-if(NOT CMAKE_C_STANDARD)
-  if(c_std_11 IN_LIST CMAKE_C_COMPILE_FEATURES)
-    set(CMAKE_C_STANDARD 11)
-    message(STATUS "Setting C11 as the C Standard")
-  else()
-    set(CMAKE_C_STANDARD 99)
-    message(STATUS "Setting C99 as the C Standard")
-  endif()
-endif()
-set(CMAKE_C_STANDARD_REQUIRED TRUE)
 add_definition(ZENOH_C_STANDARD=${CMAKE_C_STANDARD})
 
 # while in development, use timestamp for patch version:
@@ -175,31 +201,11 @@ if(CHECK_THREADS)
   find_package(Threads REQUIRED)
 endif()
 
-if(CMAKE_BUILD_TYPE MATCHES "DEBUG")
-  if(UNIX)
-    # FIXME: seems to not apply to library files, Issue #422
-    add_compile_options(-c -Wall -Wextra -Werror -Wshadow -Wpedantic -Wunused -Wstrict-prototypes -pipe -g -O0)
-    # add_compile_options(-Wconversion)
-    # add_link_options(-fsanitize=address)
-  elseif(MSVC)
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /std:c11 /experimental:c11atomics")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /std:c++latest /experimental:c11atomics")
-    add_compile_options(/W4 /WX /Od /wd4127)
-  elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
-    add_compile_options(-Wall -Wextra -Wno-unused-parameter -Wmissing-prototypes -pipe -g -O0)
-  endif()
-elseif(CMAKE_BUILD_TYPE MATCHES "RELEASE")
-  if(UNIX)
-    add_compile_options(-pipe -O3)
-  elseif(MSVC)
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /std:c11 /experimental:c11atomics")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /std:c++latest /experimental:c11atomics")
-  elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
-    add_compile_options(-pipe -O3)
-  endif()
+if(MSVC)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /std:c11 /experimental:c11atomics")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /std:c++latest /experimental:c11atomics")
 endif()
 
-
 file(GLOB_RECURSE PublicHeaders
   "include/zenoh-pico/api/*.h"
   "include/zenoh-pico/collections/*.h"
@@ -216,7 +222,6 @@ target_include_directories(${Libname} PUBLIC ${PROJECT_SOURCE_DIR}/include)
 file(GLOB_RECURSE Sources
   "src/api/*.c"
   "src/collections/*.c"
-  "src/deprecated/*.c"
   "src/link/*.c"
   "src/net/*.c"
   "src/protocol/*.c"

docs/api.rst

@@ -109,9 +109,9 @@ TODO: owned type description
 
   Represents the encoding of a payload, in a MIME-like format.
 
-.. c:type:: z_owned_value_t
+.. c:type:: z_owned_reply_err_t
 
-  Represents a Zenoh value.
+  Represents a Zenoh reply error value.
 
 .. c:type:: z_owned_sample_t
 
@@ -182,9 +182,9 @@ TODO: loaned type description
 
   Represents the encoding of a payload, in a MIME-like format.
 
-.. c:type:: z_loaned_value_t
+.. c:type:: z_loaned_reply_err_t
 
-  Represents a Zenoh value.
+  Represents a Zenoh reply error.
 
 .. c:type:: z_loaned_sample_t
 
@@ -287,9 +287,11 @@ Primitives
 .. autocfunction:: primitives.h::z_encoding_check
 .. autocfunction:: primitives.h::z_encoding_drop
 .. autocfunction:: primitives.h::z_encoding_loan
+.. autocfunction:: primitives.h::z_encoding_loan_mut
 .. autocfunction:: primitives.h::z_encoding_move
 .. autocfunction:: primitives.h::z_encoding_null
-.. autocfunction:: primitives.h::z_value_payload
+.. autocfunction:: primitives.h::z_reply_err_payload
+.. autocfunction:: primitives.h::z_reply_err_encoding
 .. autocfunction:: primitives.h::z_slice_data
 .. autocfunction:: primitives.h::z_slice_len
 .. autocfunction:: primitives.h::z_bytes_deserialize_into_int8
@@ -326,7 +328,8 @@ Primitives
 .. autocfunction:: primitives.h::z_query_consolidation_monotonic
 .. autocfunction:: primitives.h::z_query_consolidation_none
 .. autocfunction:: primitives.h::z_query_parameters
-.. autocfunction:: primitives.h::z_query_value
+.. autocfunction:: primitives.h::z_query_payload
+.. autocfunction:: primitives.h::z_query_encoding
 .. autocfunction:: primitives.h::z_query_attachment
 .. autocfunction:: primitives.h::z_query_keyexpr
 .. autocfunction:: primitives.h::z_closure_sample

examples/arduino/z_pub.ino

@@ -99,13 +99,18 @@ void loop() {
     delay(1000);
     char buf[256];
     sprintf(buf, "[%4d] %s", idx++, VALUE);
+
     Serial.print("Writing Data ('");
     Serial.print(KEYEXPR);
     Serial.print("': '");
     Serial.print(buf);
     Serial.println("')");
 
-    if (z_publisher_put(z_publisher_loan(&pub), (const uint8_t *)buf, strlen(buf), NULL) < 0) {
+    // Create payload
+    z_owned_bytes_t payload;
+    z_bytes_serialize_from_string(&payload, buf);
+
+    if (z_publisher_put(z_publisher_loan(&pub), z_bytes_move(&payload), NULL) < 0) {
         Serial.println("Error while publishing data");
     }
 }

examples/arduino/z_queryable.ino

@@ -44,7 +44,7 @@ void query_handler(const z_loaned_query_t *query, void *arg) {
 
     // Process value
     z_owned_string_t payload_string;
-    z_bytes_deserialize_into_string(z_value_payload(z_query_value(query)), &payload_string);
+    z_bytes_deserialize_into_string(z_query_payload(query), &payload_string);
     if (z_string_len(z_string_loan(&payload_string)) > 1) {
         Serial.print("     with value '");
         Serial.print(z_string_data(z_string_loan(&payload_string)));

examples/espidf/z_pub.c

@@ -154,7 +154,12 @@ void app_main() {
         sleep(1);
         sprintf(buf, "[%4d] %s", idx, VALUE);
         printf("Putting Data ('%s': '%s')...\n", KEYEXPR, buf);
-        z_publisher_put(z_loan(pub), (const uint8_t*)buf, strlen(buf), NULL);
+
+        // Create payload
+        z_owned_bytes_t payload;
+        z_bytes_serialize_from_string(&payload, buf);
+
+        z_publisher_put(z_loan(pub), z_move(payload), NULL);
     }
 
     printf("Closing Zenoh Session...");

examples/espidf/z_queryable.c

@@ -111,7 +111,7 @@ void query_handler(const z_loaned_query_t *query, void *ctx) {
            z_loan(params)->val);
     // Process value
     z_owned_string_t payload_string;
-    z_bytes_deserialize_into_string(z_value_payload(z_query_value(query)), &payload_string);
+    z_bytes_deserialize_into_string(z_query_payload(query), &payload_string);
     if (z_string_len(z_loan(payload_string)) > 1) {
         printf("     with value '%s'\n", z_string_data(z_loan(payload_string)));
     }

examples/freertos_plus_tcp/z_pub.c

@@ -97,9 +97,13 @@ void app_main(void) {
         snprintf(buf, 256, "[%4d] %s", idx, VALUE);
         printf("Putting Data ('%s': '%s')...\n", KEYEXPR, buf);
 
+        // Create payload
+        z_owned_bytes_t payload;
+        z_bytes_serialize_from_string(&payload, buf);
+
         z_publisher_put_options_t options;
         z_publisher_put_options_default(&options);
-        z_publisher_put(z_loan(pub), (const uint8_t *)buf, strlen(buf), &options);
+        z_publisher_put(z_loan(pub), z_move(payload), &options);
     }
 
     // Clean-up

examples/freertos_plus_tcp/z_pub_st.c

@@ -62,7 +62,12 @@ void app_main(void) {
         if (z_clock_elapsed_ms(&now) > 1000) {
             snprintf(buf, 256, "[%4d] %s", idx, VALUE);
             printf("Putting Data ('%s': '%s')...\n", KEYEXPR, buf);
-            z_publisher_put(z_loan(pub), (const uint8_t *)buf, strlen(buf), NULL);
+
+            // Create payload
+            z_owned_bytes_t payload;
+            z_bytes_serialize_from_string(&payload, buf);
+
+            z_publisher_put(z_loan(pub), z_move(payload), NULL);
             ++idx;
 
             now = z_clock_now();

examples/freertos_plus_tcp/z_put.c

@@ -66,7 +66,12 @@ void app_main(void) {
     printf("Putting Data ('%s': '%s')...\n", KEYEXPR, VALUE);
     z_put_options_t options;
     z_put_options_default(&options);
-    if (z_put(z_loan(s), z_loan(ke), (const uint8_t *)VALUE, strlen(VALUE), &options) < 0) {
+
+    // Create payload
+    z_owned_bytes_t payload;
+    z_bytes_serialize_from_string(&payload, VALUE);
+
+    if (z_put(z_loan(s), z_loan(ke), z_move(payload), &options) < 0) {
         printf("Oh no! Put has failed...\n");
     }
 

examples/freertos_plus_tcp/z_queryable.c

@@ -39,7 +39,7 @@ void query_handler(const z_loaned_query_t *query, void *ctx) {
            z_loan(params)->val);
     // Process value
     z_owned_string_t payload_string;
-    z_bytes_deserialize_into_string(z_value_payload(z_query_value(query)), &payload_string);
+    z_bytes_deserialize_into_string(z_query_payload(query), &payload_string);
     if (z_string_len(z_loan(payload_string)) > 1) {
         printf("     with value '%s'\n", z_string_data(z_loan(payload_string)));
     }

examples/mbed/z_pub.cpp

@@ -74,7 +74,12 @@ int main(int argc, char **argv) {
         z_sleep_s(1);
         sprintf(buf, "[%4d] %s", idx, VALUE);
         printf("Putting Data ('%s': '%s')...\n", KEYEXPR, buf);
-        z_publisher_put(z_publisher_loan(&pub), (const uint8_t *)buf, strlen(buf), NULL);
+
+        // Create payload
+        z_owned_bytes_t payload;
+        z_bytes_serialize_from_string(&payload, buf);
+
+        z_publisher_put(z_publisher_loan(&pub), z_bytes_move(&payload), NULL);
     }
 
     printf("Closing Zenoh Session...");

examples/mbed/z_queryable.cpp

@@ -41,7 +41,7 @@ void query_handler(const z_loaned_query_t *query, void *ctx) {
            (int)z_view_string_loan(&pred)->len, z_view_string_loan(&pred)->val);
     // Process value
     z_owned_string_t payload_string;
-    z_bytes_deserialize_into_string(z_value_payload(z_query_value(query)), &payload_string);
+    z_bytes_deserialize_into_string(z_query_payload(query), &payload_string);
     if (z_string_len(z_string_loan(&payload_string)) > 1) {
         printf("     with value '%s'\n", z_string_data(z_string_loan(&payload_string)));
     }

examples/unix/c11/z_get_channel.c

@@ -96,16 +96,17 @@ int main(int argc, char **argv) {
         z_bytes_serialize_from_string(&payload, value);
         opts.payload = &payload;
     }
-    z_owned_reply_ring_channel_t channel;
-    z_reply_ring_channel_new(&channel, 1);
-    if (z_get(z_loan(s), z_loan(ke), "", z_move(channel.send), &opts) < 0) {
+    z_owned_closure_reply_t closure;
+    z_owned_ring_handler_reply_t handler;
+    z_ring_channel_reply_new(&closure, &handler, 1);
+    if (z_get(z_loan(s), z_loan(ke), "", z_move(closure), &opts) < 0) {
         printf("Unable to send query.\n");
         return -1;
     }
 
     z_owned_reply_t reply;
     z_null(&reply);
-    for (z_call(channel.recv, &reply); z_check(reply); z_call(channel.recv, &reply)) {
+    for (z_recv(z_loan(handler), &reply); z_check(reply); z_recv(z_loan(handler), &reply)) {
         if (z_reply_is_ok(z_loan(reply))) {
             const z_loaned_sample_t *sample = z_reply_ok(z_loan(reply));
             z_owned_string_t keystr;
@@ -121,7 +122,7 @@ int main(int argc, char **argv) {
         }
     }
 
-    z_drop(z_move(channel));
+    z_drop(z_move(handler));
 
     // Stop read and lease tasks for zenoh-pico
     zp_stop_read_task(z_loan_mut(s));

examples/unix/c11/z_ping.c

@@ -106,15 +106,23 @@ int main(int argc, char** argv) {
         z_clock_t warmup_start = z_clock_now();
         unsigned long elapsed_us = 0;
         while (elapsed_us < args.warmup_ms * 1000) {
-            z_publisher_put(z_loan(pub), data, args.size, NULL);
+            // Create payload
+            z_owned_bytes_t payload;
+            z_bytes_serialize_from_slice(&payload, data, args.size);
+
+            z_publisher_put(z_loan(pub), z_move(payload), NULL);
             z_condvar_wait(&cond, &mutex);
             elapsed_us = z_clock_elapsed_us(&warmup_start);
         }
     }
     unsigned long* results = z_malloc(sizeof(unsigned long) * args.number_of_pings);
     for (unsigned int i = 0; i < args.number_of_pings; i++) {
         z_clock_t measure_start = z_clock_now();
-        z_publisher_put(z_loan(pub), data, args.size, NULL);
+        // Create payload
+        z_owned_bytes_t payload;
+        z_bytes_serialize_from_slice(&payload, data, args.size);
+
+        z_publisher_put(z_loan(pub), z_move(payload), NULL);
         z_condvar_wait(&cond, &mutex);
         results[i] = z_clock_elapsed_us(&measure_start);
     }

examples/unix/c11/z_pong.c

@@ -20,7 +20,9 @@ void callback(const z_loaned_sample_t* sample, void* context) {
     const z_loaned_publisher_t* pub = z_loan(*(z_owned_publisher_t*)context);
     z_owned_slice_t value;
     z_bytes_deserialize_into_slice(z_sample_payload(sample), &value);
-    z_publisher_put(pub, z_slice_data(z_loan(value)), z_slice_len(z_loan(value)), NULL);
+    z_owned_bytes_t payload;
+    z_bytes_serialize_from_slice(&payload, z_slice_data(z_loan(value)), z_slice_len(z_loan(value)));
+    z_publisher_put(pub, z_move(payload), NULL);
     z_drop(z_move(value));
 }
 void drop(void* context) {

examples/unix/c11/z_pub.c

@@ -112,14 +112,18 @@ int main(int argc, char **argv) {
         sprintf(buf, "[%4d] %s", idx, value);
         printf("Putting Data ('%s': '%s')...\n", keyexpr, buf);
 
+        // Create payload
+        z_owned_bytes_t payload;
+        z_bytes_serialize_from_string(&payload, buf);
+
         // Create encoding
         z_owned_encoding_t encoding;
         zp_encoding_make(&encoding, Z_ENCODING_ID_TEXT_PLAIN, "utf8");
         z_publisher_put_options_t options;
         z_publisher_put_options_default(&options);
         options.encoding = z_move(encoding);
 
-        z_publisher_put(z_loan(pub), (const uint8_t *)buf, strlen(buf), &options);
+        z_publisher_put(z_loan(pub), z_move(payload), &options);
     }
     // Clean up
     z_undeclare_publisher(z_move(pub));