Dev/1.1.0

CMakeLists.txt

@@ -234,6 +234,10 @@ set(Z_FEATURE_MULTICAST_TRANSPORT 1 CACHE STRING "Toggle multicast transport")
 set(Z_FEATURE_UNICAST_TRANSPORT 1 CACHE STRING "Toggle unicast transport")
 set(Z_FEATURE_RAWETH_TRANSPORT 0 CACHE STRING "Toggle raw ethernet transport")
 set(Z_FEATURE_TCP_NODELAY 1 CACHE STRING "Toggle TCP_NODELAY")
+set(Z_FEATURE_LOCAL_SUBSCRIBER 0 CACHE STRING "Toggle local subscriptions")
+set(Z_FEATURE_PUBLISHER_SESSION_CHECK 1 CACHE STRING "Toggle publisher session check")
+set(Z_FEATURE_BATCHING 1 CACHE STRING "Toggle batching")
+set(Z_FEATURE_RX_CACHE 0 CACHE STRING "Toggle RX_CACHE")
 
 # Add a warning message if someone tries to enable Z_FEATURE_LIVELINESS directly
 if(Z_FEATURE_LIVELINESS AND NOT Z_FEATURE_UNSTABLE_API)

GNUmakefile

@@ -63,7 +63,7 @@ Z_FEATURE_RAWETH_TRANSPORT?=0
 # Buffer sizes
 FRAG_MAX_SIZE?=300000
 BATCH_UNICAST_SIZE?=65535
-BATCH_MULTICAST_SIZE?=8096
+BATCH_MULTICAST_SIZE?=8192
 
 # zenoh-pico/ directory
 ROOT_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))

examples/unix/c11/z_get_attachment.c

@@ -68,12 +68,11 @@ void reply_handler(z_loaned_reply_t *reply, void *ctx) {
 
         // Check attachment
         const z_loaned_bytes_t *attachment = z_sample_attachment(sample);
-        if (attachment == NULL) {
-            return;
-        }
         ze_deserializer_t deserializer = ze_deserializer_from_bytes(attachment);
         size_t attachment_len;
-        ze_deserializer_deserialize_sequence_length(&deserializer, &attachment_len);
+        if (ze_deserializer_deserialize_sequence_length(&deserializer, &attachment_len) < 0) {
+            return;
+        }
         kv_pair_t *kvp = (kv_pair_t *)malloc(sizeof(kv_pair_t) * attachment_len);
         for (size_t i = 0; i < attachment_len; ++i) {
             ze_deserializer_deserialize_string(&deserializer, &kvp[i].key);
@@ -178,7 +177,7 @@ int main(int argc, char **argv) {
 
     ze_owned_serializer_t serializer;
     ze_serializer_empty(&serializer);
-    ze_serializer_serialize_sequence_length(z_loan_mut(serializer), 2);
+    ze_serializer_serialize_sequence_length(z_loan_mut(serializer), 1);
     for (size_t i = 0; i < 1; ++i) {
         ze_serializer_serialize_string(z_loan_mut(serializer), z_loan(kvs[i].key));
         ze_serializer_serialize_string(z_loan_mut(serializer), z_loan(kvs[i].value));

examples/unix/c11/z_queryable_attachment.c

@@ -68,10 +68,9 @@ void query_handler(z_loaned_query_t *query, void *ctx) {
 
     // Check attachment
     const z_loaned_bytes_t *attachment = z_query_attachment(query);
-    if (attachment != NULL) {
-        ze_deserializer_t deserializer = ze_deserializer_from_bytes(attachment);
-        size_t attachment_len;
-        ze_deserializer_deserialize_sequence_length(&deserializer, &attachment_len);
+    ze_deserializer_t deserializer = ze_deserializer_from_bytes(attachment);
+    size_t attachment_len;
+    if (ze_deserializer_deserialize_sequence_length(&deserializer, &attachment_len) == Z_OK) {
         kv_pair_t *kvp = (kv_pair_t *)malloc(sizeof(kv_pair_t) * attachment_len);
         for (size_t i = 0; i < attachment_len; ++i) {
             ze_deserializer_deserialize_string(&deserializer, &kvp[i].key);

examples/unix/c11/z_sub_attachment.c

@@ -64,12 +64,10 @@ void data_handler(z_loaned_sample_t *sample, void *ctx) {
         printf("    with timestamp: %" PRIu64 "\n", z_timestamp_ntp64_time(ts));
     }
     // Check attachment
-
     const z_loaned_bytes_t *attachment = z_sample_attachment(sample);
-    if (attachment != NULL) {
-        ze_deserializer_t deserializer = ze_deserializer_from_bytes(attachment);
-        size_t attachment_len;
-        ze_deserializer_deserialize_sequence_length(&deserializer, &attachment_len);
+    ze_deserializer_t deserializer = ze_deserializer_from_bytes(attachment);
+    size_t attachment_len;
+    if (ze_deserializer_deserialize_sequence_length(&deserializer, &attachment_len) == Z_OK) {
         kv_pair_t *kvp = (kv_pair_t *)malloc(sizeof(kv_pair_t) * attachment_len);
         for (size_t i = 0; i < attachment_len; ++i) {
             ze_deserializer_deserialize_string(&deserializer, &kvp[i].key);

include/zenoh-pico/api/primitives.h

@@ -2060,6 +2060,45 @@ z_result_t z_declare_background_subscriber(const z_loaned_session_t *zs, const z
 const z_loaned_keyexpr_t *z_subscriber_keyexpr(const z_loaned_subscriber_t *subscriber);
 #endif
 
+#ifdef Z_FEATURE_UNSTABLE_API
+#if Z_FEATURE_BATCHING == 1
+/**
+ * Activate the batching mechanism, any message that would have been sent on the network by a subsequent api call (e.g
+ * z_put, z_get) will be instead stored until the batch is full, flushed with :c:func:`zp_batch_flush` or batching is
+ * stopped with :c:func:`zp_batch_stop`.
+ *
+ * Parameters:
+ *   zs: Pointer to a :c:type:`z_loaned_session_t` that will start batching messages.
+ *
+ * Return:
+ *   ``0`` if batching started, ``negative value`` otherwise.
+ */
+z_result_t zp_batch_start(const z_loaned_session_t *zs);
+
+/**
+ * Send the currently batched messages on the network.
+ *
+ * Parameters:
+ *   zs: Pointer to a :c:type:`z_loaned_session_t` that will send its batched messages.
+ *
+ * Return:
+ *   ``0`` if batch successfully sent, ``negative value`` otherwise.
+ */
+z_result_t zp_batch_flush(const z_loaned_session_t *zs);
+
+/**
+ * Deactivate the batching mechanism and send the currently batched on the network.
+ *
+ * Parameters:
+ *   zs: Pointer to a :c:type:`z_loaned_session_t` that will stop batching messages.
+ *
+ * Return:
+ *   ``0`` if batching stopped and batch successfully sent, ``negative value`` otherwise.
+ */
+z_result_t zp_batch_stop(const z_loaned_session_t *zs);
+#endif
+#endif
+
 /************* Multi Thread Tasks helpers **************/
 /**
  * Builds a :c:type:`zp_task_read_options_t` with default value.

include/zenoh-pico/api/types.h

@@ -118,7 +118,7 @@ _Z_OWNED_TYPE_VALUE(_z_queryable_t, queryable)
 /**
  * Represents a Zenoh Query entity, received by Zenoh Queryable entities.
  */
-_Z_OWNED_TYPE_RC(_z_query_rc_t, query)
+_Z_OWNED_TYPE_VALUE(_z_query_t, query)
 
 /**
  * Represents the encoding of a payload, in a MIME-like format.

include/zenoh-pico/collections/arc_slice.h

@@ -28,29 +28,30 @@
 extern "C" {
 #endif
 
-_Z_REFCOUNT_DEFINE(_z_slice, _z_slice)
+_Z_SIMPLE_REFCOUNT_DEFINE(_z_slice, _z_slice)
 
 /*-------- ArcSlice --------*/
 /**
  * An atomically reference counted subslice.
  *
  * Members:
- *   _z_slice_rc_t len: Rc counted slice.
+ *   _z_slice_simple_rc_t len: Rc counted slice.
  *   size_t start: Offset to the subslice start.
  *   size_t len: Length of the subslice.
  */
 
 typedef struct {
-    _z_slice_rc_t slice;
+    _z_slice_simple_rc_t slice;
     size_t start;
     size_t len;
 } _z_arc_slice_t;
 
-_z_arc_slice_t _z_arc_slice_empty(void);
+static inline _z_arc_slice_t _z_arc_slice_empty(void) { return (_z_arc_slice_t){0}; }
+static inline size_t _z_arc_slice_len(const _z_arc_slice_t* s) { return s->len; }
+static inline bool _z_arc_slice_is_empty(const _z_arc_slice_t* s) { return _z_arc_slice_len(s) == 0; }
 _z_arc_slice_t _z_arc_slice_wrap(_z_slice_t s, size_t offset, size_t len);
+_z_arc_slice_t _z_arc_slice_wrap_slice_rc(_z_slice_simple_rc_t* slice_rc, size_t offset, size_t len);
 _z_arc_slice_t _z_arc_slice_get_subslice(const _z_arc_slice_t* s, size_t offset, size_t len);
-size_t _z_arc_slice_len(const _z_arc_slice_t* s);
-bool _z_arc_slice_is_empty(const _z_arc_slice_t* s);
 const uint8_t* _z_arc_slice_data(const _z_arc_slice_t* s);
 z_result_t _z_arc_slice_copy(_z_arc_slice_t* dst, const _z_arc_slice_t* src);
 z_result_t _z_arc_slice_move(_z_arc_slice_t* dst, _z_arc_slice_t* src);

include/zenoh-pico/collections/bytes.h

@@ -31,10 +31,7 @@ inline size_t _z_arc_slice_size(const _z_arc_slice_t *s) {
     (void)s;
     return sizeof(_z_arc_slice_t);
 }
-static inline void _z_arc_slice_elem_move(void *dst, void *src) {
-    _z_arc_slice_move((_z_arc_slice_t *)dst, (_z_arc_slice_t *)src);
-}
-_Z_ELEM_DEFINE(_z_arc_slice, _z_arc_slice_t, _z_arc_slice_size, _z_arc_slice_drop, _z_arc_slice_copy)
+_Z_ELEM_DEFINE(_z_arc_slice, _z_arc_slice_t, _z_arc_slice_size, _z_arc_slice_drop, _z_arc_slice_copy, _z_arc_slice_move)
 _Z_SVEC_DEFINE(_z_arc_slice, _z_arc_slice_t)
 
 /*-------- Bytes --------*/
@@ -49,14 +46,19 @@ typedef struct {
     _z_arc_slice_svec_t _slices;
 } _z_bytes_t;
 
+// Warning: None of the sub-types require a non-0 initialization. Add a init function if it changes.
+static inline _z_bytes_t _z_bytes_null(void) { return (_z_bytes_t){0}; }
+static inline void _z_bytes_alias_arc_slice(_z_bytes_t *dst, _z_arc_slice_t *s) {
+    dst->_slices = _z_arc_slice_svec_alias_element(s);
+}
 bool _z_bytes_check(const _z_bytes_t *bytes);
-_z_bytes_t _z_bytes_null(void);
 z_result_t _z_bytes_append_bytes(_z_bytes_t *dst, _z_bytes_t *src);
 z_result_t _z_bytes_append_slice(_z_bytes_t *dst, _z_arc_slice_t *s);
 z_result_t _z_bytes_copy(_z_bytes_t *dst, const _z_bytes_t *src);
 _z_bytes_t _z_bytes_duplicate(const _z_bytes_t *src);
 void _z_bytes_move(_z_bytes_t *dst, _z_bytes_t *src);
 void _z_bytes_drop(_z_bytes_t *bytes);
+void _z_bytes_aliased_drop(_z_bytes_t *bytes);
 void _z_bytes_free(_z_bytes_t **bs);
 size_t _z_bytes_num_slices(const _z_bytes_t *bs);
 _z_arc_slice_t *_z_bytes_get_slice(const _z_bytes_t *bs, size_t i);

include/zenoh-pico/collections/element.h

@@ -34,7 +34,7 @@ typedef void (*z_element_move_f)(void *dst, void *src);
 typedef void *(*z_element_clone_f)(const void *e);
 typedef bool (*z_element_eq_f)(const void *left, const void *right);
 
-#define _Z_ELEM_DEFINE(name, type, elem_size_f, elem_clear_f, elem_copy_f)                                     \
+#define _Z_ELEM_DEFINE(name, type, elem_size_f, elem_clear_f, elem_copy_f, elem_move_f)                        \
     typedef bool (*name##_eq_f)(const type *left, const type *right);                                          \
     static inline void name##_elem_clear(void *e) { elem_clear_f((type *)e); }                                 \
     static inline void name##_elem_free(void **e) {                                                            \
@@ -45,6 +45,7 @@ typedef bool (*z_element_eq_f)(const void *left, const void *right);
             *e = NULL;                                                                                         \
         }                                                                                                      \
     }                                                                                                          \
+    static inline void name##_elem_move(void *dst, void *src) { elem_move_f((type *)dst, (type *)src); }       \
     static inline void name##_elem_copy(void *dst, const void *src) { elem_copy_f((type *)dst, (type *)src); } \
     static inline void *name##_elem_clone(const void *src) {                                                   \
         type *dst = (type *)z_malloc(elem_size_f((type *)src));                                                \
@@ -76,7 +77,7 @@ static inline void _z_noop_move(void *dst, void *src) {
     _ZP_UNUSED(src);
 }
 
-_Z_ELEM_DEFINE(_z_noop, _z_noop_t, _z_noop_size, _z_noop_clear, _z_noop_copy)
+_Z_ELEM_DEFINE(_z_noop, _z_noop_t, _z_noop_size, _z_noop_clear, _z_noop_copy, _z_noop_move)
 
 #ifdef __cplusplus
 }