From ad4c4a9567cf5153e2c66b2120ed0b9ad6d8eedd Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Tue, 25 Feb 2025 11:47:16 +0100
Subject: [PATCH 01/16] latest zenoh-c/zenoh-cpp

---
 zenoh-c    | 2 +-
 zenoh-pico | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/zenoh-c b/zenoh-c
index 2614936..fd8567b 160000
--- a/zenoh-c
+++ b/zenoh-c
@@ -1 +1 @@
-Subproject commit 261493682c7dc54db3a07079315e009a2e7c1573
+Subproject commit fd8567b631c8836f1239714029c1f395213bb095
diff --git a/zenoh-pico b/zenoh-pico
index 5d7a490..0d10b49 160000
--- a/zenoh-pico
+++ b/zenoh-pico
@@ -1 +1 @@
-Subproject commit 5d7a4902d23a69e28cfe0499140dc5d4fb1c3a3e
+Subproject commit 0d10b492d49c6e68525e03a3f7739e8932caa84d

From 1b8409a0c40c195179e11eddf6c3799e45ace599 Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Tue, 25 Feb 2025 12:11:58 +0100
Subject: [PATCH 02/16] script fix: allow TRUE and 1 as true valuie

---
 scripts/install_from_git.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/install_from_git.sh b/scripts/install_from_git.sh
index e235c3f..439f3c8 100755
--- a/scripts/install_from_git.sh
+++ b/scripts/install_from_git.sh
@@ -36,7 +36,7 @@ mkdir -p $1
 absolute_install_location=$(cd $1; pwd)
 #build zenoh-c
 bash $SCRIPT_DIR/install_local.sh $SCRIPT_DIR/../zenoh-c $absolute_install_location -DZENOHC_BUILD_WITH_UNSTABLE_API=$USE_UNSTABLE -DZENOHC_BUILD_WITH_SHARED_MEMORY=$USE_SHARED_MEMORY
-if [ "$BUILD_PICO" == "ON" ]; then
+if [ "$BUILD_PICO" == "ON" ] || [ "$BUILD_PICO" == "TRUE" ] || [ "$BUILD_PICO" == "1" ]; then
     #build zenoh-pico
     bash $SCRIPT_DIR/install_local.sh $SCRIPT_DIR/../zenoh-pico $absolute_install_location -DZ_FEATURE_UNSTABLE_API=$USE_UNSTABLE_PICO
 fi

From 870a3dd747b7fedc0d214a1faa571f3aeba60e72 Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Tue, 25 Feb 2025 12:15:53 +0100
Subject: [PATCH 03/16] script fix

---
 scripts/build_standalone_examples.sh | 2 +-
 scripts/install_from_git.sh          | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/scripts/build_standalone_examples.sh b/scripts/build_standalone_examples.sh
index 2b84e5d..4826c91 100755
--- a/scripts/build_standalone_examples.sh
+++ b/scripts/build_standalone_examples.sh
@@ -15,7 +15,7 @@ absolute_install_location=$(cd $1; pwd)
 
 bash $SCRIPT_DIR/build_local.sh $SCRIPT_DIR/../examples/simple/zenohc $absolute_install_location
 
-if [ "$BUILD_PICO" == "ON" ]; then
+if [ "$BUILD_PICO" == "ON" ] || [ "$BUILD_PICO" == "TRUE" ] || [ "$BUILD_PICO" == "1" ]; then
     #build examples requiring zenoh-pico
     bash $SCRIPT_DIR/build_local.sh $SCRIPT_DIR/../examples/simple/universal $absolute_install_location
     bash $SCRIPT_DIR/build_local.sh $SCRIPT_DIR/../examples/simple/zenohpico $absolute_install_location
diff --git a/scripts/install_from_git.sh b/scripts/install_from_git.sh
index 439f3c8..fa14041 100755
--- a/scripts/install_from_git.sh
+++ b/scripts/install_from_git.sh
@@ -20,7 +20,7 @@ if [ "$#" -ge 3 ]; then
     USE_SHARED_MEMORY=$3
 fi
 
-if [ "$USE_UNSTABLE" == "TRUE" ]; then
+if [ "$USE_UNSTABLE" == "TRUE" ] || [ "$USE_UNSTABLE" == "ON" ] || [ "$USE_UNSTABLE" == "1" ]; then
     USE_UNSTABLE_PICO="1"
 fi
 

From 393f14c8e2d25668ff279f8bfcdec29f0b027119 Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Tue, 25 Feb 2025 13:13:23 +0100
Subject: [PATCH 04/16] use_take_from_loaned template parameter

---
 include/zenoh/api/base.hxx  | 33 ++++++++++++++++++++++++++++++++-
 include/zenoh/api/hello.hxx |  2 +-
 2 files changed, 33 insertions(+), 2 deletions(-)

diff --git a/include/zenoh/api/base.hxx b/include/zenoh/api/base.hxx
index aa6eb89..d1fb6ac 100644
--- a/include/zenoh/api/base.hxx
+++ b/include/zenoh/api/base.hxx
@@ -60,7 +60,8 @@ class Copyable {
 
 /// Base type for C++ wrappers of Zenoh owned structures
 /// @tparam ZC_OWNED_TYPE - zenoh-c owned type ::z_owned_XXX_t
-template <typename ZC_OWNED_TYPE>
+/// @tparam USE_TAKE_FROM_LOANED - boolean template parameter to switch between variants
+template <typename ZC_OWNED_TYPE, bool USE_TAKE_FROM_LOANED = false>
 class Owned {
    protected:
     typedef ZC_OWNED_TYPE OwnedType;
@@ -91,6 +92,36 @@ class Owned {
     }
 };
 
+// Specialization for USE_TAKE_FROM_LOANED = true
+template <typename ZC_OWNED_TYPE>
+class Owned<ZC_OWNED_TYPE, true> {
+   protected:
+    typedef ZC_OWNED_TYPE OwnedType;
+
+   protected:
+    /// Move constructor.
+    Owned(Owned&& v) : Owned(&v._0) {}
+    /// Move assignment.
+    Owned& operator=(Owned&& v) {
+        if (this != &v) {
+            ::z_drop(::z_move(this->_0));
+            ::z_take_from_loaned(&this->_0, ::z_loan_mut(v._0));
+        }
+        return *this;
+    }
+    /// Destructor drops owned value using z_drop from zenoh API
+    ~Owned() { ::z_drop(::z_move(_0)); }
+
+    OwnedType _0;
+
+    explicit Owned(OwnedType* pv) {
+        if (pv != nullptr) {
+            ::z_take_from_loaned(&this->_0, ::z_loan_mut(*pv));
+        } else
+            ::z_internal_null(&this->_0);
+    }
+};
+
 namespace detail {
 struct null_object_t {};
 inline constexpr null_object_t null_object{};
diff --git a/include/zenoh/api/hello.hxx b/include/zenoh/api/hello.hxx
index 78b4dc2..ecceecb 100644
--- a/include/zenoh/api/hello.hxx
+++ b/include/zenoh/api/hello.hxx
@@ -24,7 +24,7 @@
 namespace zenoh {
 /// ``Hello`` message returned by a zenoh entity as a reply to a "scout"
 /// message.
-class Hello : public Owned<::z_owned_hello_t> {
+class Hello : public Owned<::z_owned_hello_t, true> {
    public:
     /// @name Methods
 

From 38d9cfebc843652750537f82ed32c3f61377320b Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Tue, 25 Feb 2025 13:36:33 +0100
Subject: [PATCH 05/16] auto selection

---
 include/zenoh/api/base.hxx  | 55 ++++++++++++++++---------------------
 include/zenoh/api/hello.hxx |  2 +-
 2 files changed, 25 insertions(+), 32 deletions(-)

diff --git a/include/zenoh/api/base.hxx b/include/zenoh/api/base.hxx
index d1fb6ac..a5b37a0 100644
--- a/include/zenoh/api/base.hxx
+++ b/include/zenoh/api/base.hxx
@@ -60,12 +60,17 @@ class Copyable {
 
 /// Base type for C++ wrappers of Zenoh owned structures
 /// @tparam ZC_OWNED_TYPE - zenoh-c owned type ::z_owned_XXX_t
-/// @tparam USE_TAKE_FROM_LOANED - boolean template parameter to switch between variants
-template <typename ZC_OWNED_TYPE, bool USE_TAKE_FROM_LOANED = false>
+template <typename ZC_OWNED_TYPE>
 class Owned {
    protected:
     typedef ZC_OWNED_TYPE OwnedType;
 
+    template <typename T, typename = void>
+    struct has_take_from_loaned : std::false_type {};
+
+    template <typename T>
+    struct has_take_from_loaned<T, std::void_t<decltype(::z_take_from_loaned(std::declval<T*>(), ::z_owned_to_loaned_type_t<T>{}))>> : std::true_type {};
+
    protected:
     /// Move constructor.
     Owned(Owned&& v) : Owned(&v._0) {}
@@ -73,8 +78,7 @@ class Owned {
     Owned& operator=(Owned&& v) {
         if (this != &v) {
             ::z_drop(::z_move(this->_0));
-            _0 = v._0;
-            ::z_internal_null(&v._0);
+            assign_impl(v, has_take_from_loaned<OwnedType>{});
         }
         return *this;
     }
@@ -85,40 +89,29 @@ class Owned {
 
     explicit Owned(OwnedType* pv) {
         if (pv != nullptr) {
-            _0 = *pv;
-            ::z_internal_null(pv);
-        } else
+            construct_impl(pv, has_take_from_loaned<OwnedType>{});
+        } else {
             ::z_internal_null(&this->_0);
+        }
     }
-};
 
-// Specialization for USE_TAKE_FROM_LOANED = true
-template <typename ZC_OWNED_TYPE>
-class Owned<ZC_OWNED_TYPE, true> {
-   protected:
-    typedef ZC_OWNED_TYPE OwnedType;
+   private:
+    void construct_impl(OwnedType* pv, std::true_type) {
+        ::z_take_from_loaned(&this->_0, ::z_loan_mut(*pv));
+    }
 
-   protected:
-    /// Move constructor.
-    Owned(Owned&& v) : Owned(&v._0) {}
-    /// Move assignment.
-    Owned& operator=(Owned&& v) {
-        if (this != &v) {
-            ::z_drop(::z_move(this->_0));
-            ::z_take_from_loaned(&this->_0, ::z_loan_mut(v._0));
-        }
-        return *this;
+    void construct_impl(OwnedType* pv, std::false_type) {
+        _0 = *pv;
+        ::z_internal_null(pv);
     }
-    /// Destructor drops owned value using z_drop from zenoh API
-    ~Owned() { ::z_drop(::z_move(_0)); }
 
-    OwnedType _0;
+    void assign_impl(Owned& v, std::true_type) {
+        ::z_take_from_loaned(&this->_0, ::z_loan_mut(v._0));
+    }
 
-    explicit Owned(OwnedType* pv) {
-        if (pv != nullptr) {
-            ::z_take_from_loaned(&this->_0, ::z_loan_mut(*pv));
-        } else
-            ::z_internal_null(&this->_0);
+    void assign_impl(Owned& v, std::false_type) {
+        _0 = v._0;
+        ::z_internal_null(&v._0);
     }
 };
 
diff --git a/include/zenoh/api/hello.hxx b/include/zenoh/api/hello.hxx
index ecceecb..78b4dc2 100644
--- a/include/zenoh/api/hello.hxx
+++ b/include/zenoh/api/hello.hxx
@@ -24,7 +24,7 @@
 namespace zenoh {
 /// ``Hello`` message returned by a zenoh entity as a reply to a "scout"
 /// message.
-class Hello : public Owned<::z_owned_hello_t, true> {
+class Hello : public Owned<::z_owned_hello_t> {
    public:
     /// @name Methods
 

From 3112791be564fa4c13298829817b869a528cd645 Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Tue, 25 Feb 2025 16:40:34 +0100
Subject: [PATCH 06/16] moved take_from_loaned check to interop.h

---
 include/zenoh/api/base.hxx    | 10 ++--------
 include/zenoh/api/interop.hxx | 11 +++++++++--
 2 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/include/zenoh/api/base.hxx b/include/zenoh/api/base.hxx
index a5b37a0..8470e06 100644
--- a/include/zenoh/api/base.hxx
+++ b/include/zenoh/api/base.hxx
@@ -65,12 +65,6 @@ class Owned {
    protected:
     typedef ZC_OWNED_TYPE OwnedType;
 
-    template <typename T, typename = void>
-    struct has_take_from_loaned : std::false_type {};
-
-    template <typename T>
-    struct has_take_from_loaned<T, std::void_t<decltype(::z_take_from_loaned(std::declval<T*>(), ::z_owned_to_loaned_type_t<T>{}))>> : std::true_type {};
-
    protected:
     /// Move constructor.
     Owned(Owned&& v) : Owned(&v._0) {}
@@ -78,7 +72,7 @@ class Owned {
     Owned& operator=(Owned&& v) {
         if (this != &v) {
             ::z_drop(::z_move(this->_0));
-            assign_impl(v, has_take_from_loaned<OwnedType>{});
+            assign_impl(v, is_take_from_loaned_available<OwnedType>{});
         }
         return *this;
     }
@@ -89,7 +83,7 @@ class Owned {
 
     explicit Owned(OwnedType* pv) {
         if (pv != nullptr) {
-            construct_impl(pv, has_take_from_loaned<OwnedType>{});
+            construct_impl(pv, is_take_from_loaned_available<OwnedType>{});
         } else {
             ::z_internal_null(&this->_0);
         }
diff --git a/include/zenoh/api/interop.hxx b/include/zenoh/api/interop.hxx
index 811fb43..af2b63a 100644
--- a/include/zenoh/api/interop.hxx
+++ b/include/zenoh/api/interop.hxx
@@ -24,7 +24,7 @@ struct is_loan_available : std::false_type {};
 template <typename T>
 struct is_loan_available<T, std::void_t<decltype(::z_loan(std::declval<const T&>()))>> : std::true_type {};
 
-template <class T>
+template <typename T>
 inline constexpr bool is_loan_available_v = is_loan_available<T>::value;
 
 template <typename T, typename = void>
@@ -33,9 +33,16 @@ struct is_loan_mut_available : std::false_type {};
 template <typename T>
 struct is_loan_mut_available<T, std::void_t<decltype(::z_loan_mut(std::declval<T&>()))>> : std::true_type {};
 
-template <class T>
+template <typename T>
 inline constexpr bool is_loan_mut_available_v = is_loan_mut_available<T>::value;
 
+template <typename T, typename = void>
+struct is_take_from_loaned_available : std::false_type {};
+
+template <typename T>
+struct is_take_from_loaned_available<T, std::void_t<decltype(::z_take_from_loaned(std::declval<T*>(), ::z_owned_to_loaned_type_t<T>{}))>>
+    : std::true_type {};
+
 }  // namespace zenoh::detail
 
 namespace zenoh::interop {

From adf700bc164a54aca4d4049e1a97194192b68000 Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Tue, 25 Feb 2025 17:00:10 +0100
Subject: [PATCH 07/16] build fix:  detail namespace in separate file

---
 include/zenoh/api/base.hxx    |  5 ++--
 include/zenoh/api/detail.hxx  | 48 +++++++++++++++++++++++++++++++++++
 include/zenoh/api/interop.hxx | 29 +--------------------
 3 files changed, 52 insertions(+), 30 deletions(-)
 create mode 100644 include/zenoh/api/detail.hxx

diff --git a/include/zenoh/api/base.hxx b/include/zenoh/api/base.hxx
index 8470e06..1af3f00 100644
--- a/include/zenoh/api/base.hxx
+++ b/include/zenoh/api/base.hxx
@@ -18,6 +18,7 @@
 #include <stdexcept>
 #include <string>
 
+#include "detail.hxx"
 #include "../zenohc.hxx"
 
 namespace zenoh {
@@ -72,7 +73,7 @@ class Owned {
     Owned& operator=(Owned&& v) {
         if (this != &v) {
             ::z_drop(::z_move(this->_0));
-            assign_impl(v, is_take_from_loaned_available<OwnedType>{});
+            assign_impl(v, detail::is_take_from_loaned_available<OwnedType>{});
         }
         return *this;
     }
@@ -83,7 +84,7 @@ class Owned {
 
     explicit Owned(OwnedType* pv) {
         if (pv != nullptr) {
-            construct_impl(pv, is_take_from_loaned_available<OwnedType>{});
+            construct_impl(pv, detail::is_take_from_loaned_available<OwnedType>{});
         } else {
             ::z_internal_null(&this->_0);
         }
diff --git a/include/zenoh/api/detail.hxx b/include/zenoh/api/detail.hxx
new file mode 100644
index 0000000..b502bf1
--- /dev/null
+++ b/include/zenoh/api/detail.hxx
@@ -0,0 +1,48 @@
+//
+// Copyright (c) 2024 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
+// http://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
+//
+// Contributors:
+//   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+#pragma once
+
+#include <optional>
+#include <type_traits>
+
+#include "../zenohc.hxx"
+
+// namespace zenoh::detail
+namespace zenoh::detail {
+template <typename T, typename = void>
+struct is_loan_available : std::false_type {};
+
+template <typename T>
+struct is_loan_available<T, std::void_t<decltype(::z_loan(std::declval<const T&>()))>> : std::true_type {};
+
+template <typename T>
+inline constexpr bool is_loan_available_v = is_loan_available<T>::value;
+
+template <typename T, typename = void>
+struct is_loan_mut_available : std::false_type {};
+
+template <typename T>
+struct is_loan_mut_available<T, std::void_t<decltype(::z_loan_mut(std::declval<T&>()))>> : std::true_type {};
+
+template <typename T>
+inline constexpr bool is_loan_mut_available_v = is_loan_mut_available<T>::value;
+
+template <typename T, typename = void>
+struct is_take_from_loaned_available : std::false_type {};
+
+template <typename T>
+struct is_take_from_loaned_available<T, std::void_t<decltype(::z_take_from_loaned(std::declval<T*>(), ::z_owned_to_loaned_type_t<T>{}))>>
+    : std::true_type {};
+
+}  // namespace zenoh::detail
+
diff --git a/include/zenoh/api/interop.hxx b/include/zenoh/api/interop.hxx
index af2b63a..7707c49 100644
--- a/include/zenoh/api/interop.hxx
+++ b/include/zenoh/api/interop.hxx
@@ -15,36 +15,9 @@
 #include <optional>
 #include <type_traits>
 
+#include "detail.hxx"
 #include "base.hxx"
 
-namespace zenoh::detail {
-template <typename T, typename = void>
-struct is_loan_available : std::false_type {};
-
-template <typename T>
-struct is_loan_available<T, std::void_t<decltype(::z_loan(std::declval<const T&>()))>> : std::true_type {};
-
-template <typename T>
-inline constexpr bool is_loan_available_v = is_loan_available<T>::value;
-
-template <typename T, typename = void>
-struct is_loan_mut_available : std::false_type {};
-
-template <typename T>
-struct is_loan_mut_available<T, std::void_t<decltype(::z_loan_mut(std::declval<T&>()))>> : std::true_type {};
-
-template <typename T>
-inline constexpr bool is_loan_mut_available_v = is_loan_mut_available<T>::value;
-
-template <typename T, typename = void>
-struct is_take_from_loaned_available : std::false_type {};
-
-template <typename T>
-struct is_take_from_loaned_available<T, std::void_t<decltype(::z_take_from_loaned(std::declval<T*>(), ::z_owned_to_loaned_type_t<T>{}))>>
-    : std::true_type {};
-
-}  // namespace zenoh::detail
-
 namespace zenoh::interop {
 
 /// @brief Get zenoh-c representation of trivially copyable zenoh-cpp object.

From a31b35d4df632bba478262c5ee3907f7f587373e Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Tue, 25 Feb 2025 17:05:45 +0100
Subject: [PATCH 08/16] detail namespace joined

---
 include/zenoh/api/base.hxx   | 5 -----
 include/zenoh/api/detail.hxx | 3 +++
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/include/zenoh/api/base.hxx b/include/zenoh/api/base.hxx
index 1af3f00..7a06db8 100644
--- a/include/zenoh/api/base.hxx
+++ b/include/zenoh/api/base.hxx
@@ -110,9 +110,4 @@ class Owned {
     }
 };
 
-namespace detail {
-struct null_object_t {};
-inline constexpr null_object_t null_object{};
-}  // namespace detail
-
 }  // namespace zenoh
diff --git a/include/zenoh/api/detail.hxx b/include/zenoh/api/detail.hxx
index b502bf1..1801d87 100644
--- a/include/zenoh/api/detail.hxx
+++ b/include/zenoh/api/detail.hxx
@@ -44,5 +44,8 @@ template <typename T>
 struct is_take_from_loaned_available<T, std::void_t<decltype(::z_take_from_loaned(std::declval<T*>(), ::z_owned_to_loaned_type_t<T>{}))>>
     : std::true_type {};
 
+struct null_object_t {};
+inline constexpr null_object_t null_object{};
+
 }  // namespace zenoh::detail
 

From 938e26d5097a2b55b520ff791dd0ff24de260401 Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Tue, 25 Feb 2025 17:13:39 +0100
Subject: [PATCH 09/16] removed proxy methods

---
 include/zenoh/api/base.hxx | 33 ++++++++++++---------------------
 1 file changed, 12 insertions(+), 21 deletions(-)

diff --git a/include/zenoh/api/base.hxx b/include/zenoh/api/base.hxx
index 7a06db8..b635e41 100644
--- a/include/zenoh/api/base.hxx
+++ b/include/zenoh/api/base.hxx
@@ -73,7 +73,12 @@ class Owned {
     Owned& operator=(Owned&& v) {
         if (this != &v) {
             ::z_drop(::z_move(this->_0));
-            assign_impl(v, detail::is_take_from_loaned_available<OwnedType>{});
+            if constexpr (detail::is_take_from_loaned_available<OwnedType>::value) {
+                ::z_take_from_loaned(&this->_0, ::z_loan_mut(v._0));
+            } else {
+                _0 = v._0;
+                ::z_internal_null(&v._0);
+            }
         }
         return *this;
     }
@@ -84,30 +89,16 @@ class Owned {
 
     explicit Owned(OwnedType* pv) {
         if (pv != nullptr) {
-            construct_impl(pv, detail::is_take_from_loaned_available<OwnedType>{});
+            if constexpr (detail::is_take_from_loaned_available<OwnedType>::value) {
+                ::z_take_from_loaned(&this->_0, ::z_loan_mut(*pv));
+            } else {
+                _0 = *pv;
+                ::z_internal_null(pv);
+            }
         } else {
             ::z_internal_null(&this->_0);
         }
     }
-
-   private:
-    void construct_impl(OwnedType* pv, std::true_type) {
-        ::z_take_from_loaned(&this->_0, ::z_loan_mut(*pv));
-    }
-
-    void construct_impl(OwnedType* pv, std::false_type) {
-        _0 = *pv;
-        ::z_internal_null(pv);
-    }
-
-    void assign_impl(Owned& v, std::true_type) {
-        ::z_take_from_loaned(&this->_0, ::z_loan_mut(v._0));
-    }
-
-    void assign_impl(Owned& v, std::false_type) {
-        _0 = v._0;
-        ::z_internal_null(&v._0);
-    }
 };
 
 }  // namespace zenoh

From d9ff9f99fcdcbdc6731b991eefd80bca95a8eb83 Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Tue, 25 Feb 2025 17:21:32 +0100
Subject: [PATCH 10/16] clang format

---
 include/zenoh/api/base.hxx    | 2 +-
 include/zenoh/api/detail.hxx  | 4 ++--
 include/zenoh/api/interop.hxx | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/include/zenoh/api/base.hxx b/include/zenoh/api/base.hxx
index b635e41..1ee354c 100644
--- a/include/zenoh/api/base.hxx
+++ b/include/zenoh/api/base.hxx
@@ -18,8 +18,8 @@
 #include <stdexcept>
 #include <string>
 
-#include "detail.hxx"
 #include "../zenohc.hxx"
+#include "detail.hxx"
 
 namespace zenoh {
 
diff --git a/include/zenoh/api/detail.hxx b/include/zenoh/api/detail.hxx
index 1801d87..36cd4f6 100644
--- a/include/zenoh/api/detail.hxx
+++ b/include/zenoh/api/detail.hxx
@@ -41,11 +41,11 @@ template <typename T, typename = void>
 struct is_take_from_loaned_available : std::false_type {};
 
 template <typename T>
-struct is_take_from_loaned_available<T, std::void_t<decltype(::z_take_from_loaned(std::declval<T*>(), ::z_owned_to_loaned_type_t<T>{}))>>
+struct is_take_from_loaned_available<
+    T, std::void_t<decltype(::z_take_from_loaned(std::declval<T*>(), ::z_owned_to_loaned_type_t<T>{}))>>
     : std::true_type {};
 
 struct null_object_t {};
 inline constexpr null_object_t null_object{};
 
 }  // namespace zenoh::detail
-
diff --git a/include/zenoh/api/interop.hxx b/include/zenoh/api/interop.hxx
index 7707c49..1f233d8 100644
--- a/include/zenoh/api/interop.hxx
+++ b/include/zenoh/api/interop.hxx
@@ -15,8 +15,8 @@
 #include <optional>
 #include <type_traits>
 
-#include "detail.hxx"
 #include "base.hxx"
+#include "detail.hxx"
 
 namespace zenoh::interop {
 

From 24ce0ac66380e5b624419bb19fb662f2a61358fd Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Tue, 25 Feb 2025 18:24:56 +0100
Subject: [PATCH 11/16] template fixed, test for template added

---
 include/zenoh/api/base.hxx   |  4 ++--
 include/zenoh/api/detail.hxx |  5 ++++-
 tests/universal/details.cxx  | 25 +++++++++++++++++++++++++
 3 files changed, 31 insertions(+), 3 deletions(-)
 create mode 100644 tests/universal/details.cxx

diff --git a/include/zenoh/api/base.hxx b/include/zenoh/api/base.hxx
index 1ee354c..aaf1ce0 100644
--- a/include/zenoh/api/base.hxx
+++ b/include/zenoh/api/base.hxx
@@ -73,7 +73,7 @@ class Owned {
     Owned& operator=(Owned&& v) {
         if (this != &v) {
             ::z_drop(::z_move(this->_0));
-            if constexpr (detail::is_take_from_loaned_available<OwnedType>::value) {
+            if constexpr (detail::is_take_from_loaned_available_v<OwnedType>) {
                 ::z_take_from_loaned(&this->_0, ::z_loan_mut(v._0));
             } else {
                 _0 = v._0;
@@ -89,7 +89,7 @@ class Owned {
 
     explicit Owned(OwnedType* pv) {
         if (pv != nullptr) {
-            if constexpr (detail::is_take_from_loaned_available<OwnedType>::value) {
+            if constexpr (detail::is_take_from_loaned_available_v<OwnedType>) {
                 ::z_take_from_loaned(&this->_0, ::z_loan_mut(*pv));
             } else {
                 _0 = *pv;
diff --git a/include/zenoh/api/detail.hxx b/include/zenoh/api/detail.hxx
index 36cd4f6..5889bbe 100644
--- a/include/zenoh/api/detail.hxx
+++ b/include/zenoh/api/detail.hxx
@@ -42,9 +42,12 @@ struct is_take_from_loaned_available : std::false_type {};
 
 template <typename T>
 struct is_take_from_loaned_available<
-    T, std::void_t<decltype(::z_take_from_loaned(std::declval<T*>(), ::z_owned_to_loaned_type_t<T>{}))>>
+    T, std::void_t<decltype(::z_take_from_loaned(std::declval<T*>(), std::declval<typename ::z_owned_to_loaned_type_t<T>::type*>()))>>
     : std::true_type {};
 
+template <typename T>
+inline constexpr bool is_take_from_loaned_available_v = is_take_from_loaned_available<T>::value;
+
 struct null_object_t {};
 inline constexpr null_object_t null_object{};
 
diff --git a/tests/universal/details.cxx b/tests/universal/details.cxx
new file mode 100644
index 0000000..34a65f1
--- /dev/null
+++ b/tests/universal/details.cxx
@@ -0,0 +1,25 @@
+//
+// Copyright (c) 2025 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
+// http://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
+//
+// Contributors:
+//   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+//
+
+#include "zenoh.hxx"
+
+using namespace zenoh;
+
+static_assert(detail::is_take_from_loaned_available_v<::z_owned_session_t> == false);
+static_assert(detail::is_take_from_loaned_available_v<::z_owned_hello_t>);
+static_assert(detail::is_take_from_loaned_available_v<::z_owned_sample_t>);
+static_assert(detail::is_take_from_loaned_available_v<::z_owned_reply_t>);
+static_assert(detail::is_take_from_loaned_available_v<::z_owned_query_t>);
+
+int main() { return 0; }
\ No newline at end of file

From 123e5230c493dc60f07fb3251c63242674775765 Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Tue, 25 Feb 2025 18:30:04 +0100
Subject: [PATCH 12/16] clang format fix

---
 include/zenoh/api/detail.hxx | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/zenoh/api/detail.hxx b/include/zenoh/api/detail.hxx
index 5889bbe..f86f74b 100644
--- a/include/zenoh/api/detail.hxx
+++ b/include/zenoh/api/detail.hxx
@@ -42,8 +42,8 @@ struct is_take_from_loaned_available : std::false_type {};
 
 template <typename T>
 struct is_take_from_loaned_available<
-    T, std::void_t<decltype(::z_take_from_loaned(std::declval<T*>(), std::declval<typename ::z_owned_to_loaned_type_t<T>::type*>()))>>
-    : std::true_type {};
+    T, std::void_t<decltype(::z_take_from_loaned(
+           std::declval<T*>(), std::declval<typename ::z_owned_to_loaned_type_t<T>::type*>()))>> : std::true_type {};
 
 template <typename T>
 inline constexpr bool is_take_from_loaned_available_v = is_take_from_loaned_available<T>::value;

From 8ad62fedc2e0ff0c586bfe969ff3da66d9fa8c7d Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Wed, 26 Feb 2025 16:38:15 +0100
Subject: [PATCH 13/16] submodule updated

---
 zenoh-pico | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/zenoh-pico b/zenoh-pico
index 0d10b49..128f980 160000
--- a/zenoh-pico
+++ b/zenoh-pico
@@ -1 +1 @@
-Subproject commit 0d10b492d49c6e68525e03a3f7739e8932caa84d
+Subproject commit 128f980a30e3155bdc9477c2b4de07ca7c2dc241

From b98537db657269c9ec9c871a5155dcccdb7a5797 Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Wed, 26 Feb 2025 17:05:41 +0100
Subject: [PATCH 14/16] moved utlity header to detail folder

---
 include/zenoh/api/base.hxx                                      | 2 +-
 include/zenoh/api/interop.hxx                                   | 1 -
 .../zenoh/{api/detail.hxx => detail/availability_checks.hxx}    | 0
 3 files changed, 1 insertion(+), 2 deletions(-)
 rename include/zenoh/{api/detail.hxx => detail/availability_checks.hxx} (100%)

diff --git a/include/zenoh/api/base.hxx b/include/zenoh/api/base.hxx
index aaf1ce0..c39e474 100644
--- a/include/zenoh/api/base.hxx
+++ b/include/zenoh/api/base.hxx
@@ -19,7 +19,7 @@
 #include <string>
 
 #include "../zenohc.hxx"
-#include "detail.hxx"
+#include "../detail/availability_checks.hxx"
 
 namespace zenoh {
 
diff --git a/include/zenoh/api/interop.hxx b/include/zenoh/api/interop.hxx
index 1f233d8..24d18d6 100644
--- a/include/zenoh/api/interop.hxx
+++ b/include/zenoh/api/interop.hxx
@@ -16,7 +16,6 @@
 #include <type_traits>
 
 #include "base.hxx"
-#include "detail.hxx"
 
 namespace zenoh::interop {
 
diff --git a/include/zenoh/api/detail.hxx b/include/zenoh/detail/availability_checks.hxx
similarity index 100%
rename from include/zenoh/api/detail.hxx
rename to include/zenoh/detail/availability_checks.hxx

From 5a3675a14192d098be5ade2a85b048ea38d5a850 Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Wed, 26 Feb 2025 17:07:38 +0100
Subject: [PATCH 15/16] clang format

---
 include/zenoh/api/base.hxx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/zenoh/api/base.hxx b/include/zenoh/api/base.hxx
index c39e474..d96b154 100644
--- a/include/zenoh/api/base.hxx
+++ b/include/zenoh/api/base.hxx
@@ -18,8 +18,8 @@
 #include <stdexcept>
 #include <string>
 
-#include "../zenohc.hxx"
 #include "../detail/availability_checks.hxx"
+#include "../zenohc.hxx"
 
 namespace zenoh {
 

From 2bd3b5ec3a81a9da3691f9a25d7312484cbc9274 Mon Sep 17 00:00:00 2001
From: Michael Ilyin <milyin@gmail.com>
Date: Fri, 28 Feb 2025 15:20:01 +0100
Subject: [PATCH 16/16] submodules updated

---
 zenoh-c    | 2 +-
 zenoh-pico | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/zenoh-c b/zenoh-c
index fd8567b..af53af3 160000
--- a/zenoh-c
+++ b/zenoh-c
@@ -1 +1 @@
-Subproject commit fd8567b631c8836f1239714029c1f395213bb095
+Subproject commit af53af345cf7263b13954b4553b654c1d9c5cfb5
diff --git a/zenoh-pico b/zenoh-pico
index 128f980..1238f04 160000
--- a/zenoh-pico
+++ b/zenoh-pico
@@ -1 +1 @@
-Subproject commit 128f980a30e3155bdc9477c2b4de07ca7c2dc241
+Subproject commit 1238f04f5fd14161b6d0009b067a1f4a8a3a2acf