diff --git a/.github/workflows/build-check.yaml b/.github/workflows/build-check.yaml
index 144431572..be3e52d7e 100644
--- a/.github/workflows/build-check.yaml
+++ b/.github/workflows/build-check.yaml
@@ -34,13 +34,15 @@ jobs:
 
   check_format:
     name: Check codebase format with clang-format
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
 
       - name: Run clang-format dry-run
-        run: find include/ src/ tests/ examples/ -iname "*.ino" -o -iname "*.h" -o -iname "*.c" | xargs clang-format -n -Werror
+        run: |
+          clang-format --version
+          find include/ src/ tests/ examples/ -iname "*.ino" -o -iname "*.h" -o -iname "*.c" | xargs clang-format -n -Werror
 
   c99_build:
     name: Check c99 compilation
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 01fb354b2..e72186dbd 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -59,6 +59,7 @@ jobs:
       - name: Bump and tag project
         run: bash ci/scripts/bump-and-tag.bash
         env:
+          LIVE_RUN: ${{ inputs.live-run || false }}
           VERSION: ${{ steps.create-release-branch.outputs.version }}
           GIT_USER_NAME: eclipse-zenoh-bot
           GIT_USER_EMAIL: eclipse-zenoh-bot@users.noreply.github.com
@@ -150,6 +151,19 @@ jobs:
           name: ${{ steps.build-linux.outputs.archive-deb }}
           path: ${{ steps.build-linux.outputs.archive-deb }}
 
+  debian:
+    name: Publish Debian packages
+    needs: [tag, build-linux]
+    uses: eclipse-zenoh/ci/.github/workflows/release-crates-debian.yml@main
+    with:
+      no-build: true
+      live-run: ${{ inputs.live-run || false }}
+      version: ${{ needs.tag.outputs.version }}
+      repo: ${{ github.repository }}
+      branch: ${{ needs.tag.outputs.branch }}
+      installation-test: false
+    secrets: inherit
+
   eclipse:
     needs: [tag, build-macos, build-linux]
     runs-on: ubuntu-latest
@@ -160,8 +174,8 @@ jobs:
           version: ${{ needs.tag.outputs.version }}
           ssh-host: genie.zenoh@projects-storage.eclipse.org
           ssh-host-path: /home/data/httpd/download.eclipse.org/zenoh/zenoh-pico
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-          ssh-passphrase: ${{ secrets.SSH_PASSPHRASE }}
+          ssh-private-key: ${{ secrets.ORG_GPG_PRIVATE_KEY }}
+          ssh-passphrase: ${{ secrets.ORG_GPG_PASSPHRASE }}
           archive-patterns: '.*\.zip'
 
   github:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7f5d01971..9ef984042 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,17 +39,6 @@ configure_file(
   @ONLY
 )
 
-set(project_version "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
-if(NOT DEFINED PROJECT_VERSION_TWEAK)
-	set(project_version "${project_version}")
-elseif(PROJECT_VERSION_TWEAK EQUAL 0)
-	set(project_version "${project_version}-dev")
-elseif(PROJECT_VERSION_TWEAK GREATER 1)
-	set(project_version "${project_version}-pre.${PROJECT_VERSION_TWEAK}")
-endif()
-status_print(project_version)
-
-
 include(CMakePackageConfigHelpers)
 include(GNUInstallDirs)
 
@@ -69,6 +58,7 @@ if(CMAKE_SYSTEM_NAME MATCHES "Windows")
   endif()
 elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
   if(WITH_ZEPHYR)
+    set(PACKAGING OFF) # no packaging support for zephyr
     set(BUILD_SHARED_LIBS "OFF")
   endif()
 endif()
@@ -115,44 +105,83 @@ else()
   endif()
 endif()
 
+if (PACKAGING)
+  set(PICO_STATIC ON)
+  set(PICO_SHARED ON)
+endif()
+if(BUILD_SHARED_LIBS)
+  set(PICO_SHARED ON)
+else()
+  set(PICO_STATIC ON)
+endif()
+
 set(Libname "zenohpico")
-add_library(${Libname})
-add_library(zenohpico::lib ALIAS ${Libname})
+if(PICO_STATIC)
+  add_library(${Libname}_static STATIC)
+  set_target_properties(${Libname}_static PROPERTIES OUTPUT_NAME ${Libname})
+  add_library(zenohpico::static ALIAS ${Libname}_static)
+endif()
+if(PICO_SHARED)
+  add_library(${Libname}_shared SHARED)
+  set_target_properties(${Libname}_shared PROPERTIES OUTPUT_NAME ${Libname})
+  add_library(zenohpico::shared ALIAS ${Libname}_shared)
+endif()
+if(BUILD_SHARED_LIBS)
+  add_library(zenohpico::lib ALIAS ${Libname}_shared)
+else()
+  add_library(zenohpico::lib ALIAS ${Libname}_static)
+endif()
 
-function(add_definition value)
+function(pico_add_compile_definition value)
   add_definitions(-D${value})
-  target_compile_definitions(${Libname} PUBLIC ${value})
+  if(PICO_STATIC)
+    target_compile_definitions(zenohpico_static PUBLIC ${value})
+  endif()
+  if(PICO_SHARED)
+    target_compile_definitions(zenohpico_shared PUBLIC ${value})
+  endif()
 endfunction()
 
-add_definition(ZENOH_C_STANDARD=${CMAKE_C_STANDARD})
+function(pico_target_link_library value)
+  if(PICO_STATIC)
+    target_link_libraries(zenohpico_static ${value})
+  endif()
+  if(PICO_SHARED)
+    target_link_libraries(zenohpico_shared ${value})
+  endif()
+endfunction()
 
-# while in development, use timestamp for patch version:
-string(TIMESTAMP PROJECT_VERSION_PATCH "%Y%m%ddev")
-set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
+pico_add_compile_definition(ZENOH_C_STANDARD=${CMAKE_C_STANDARD})
+
+if (NOT CMAKE_BUILD_TYPE MATCHES "RELEASE" OR "Release") 
+  # while in development, use timestamp for patch version:
+  string(TIMESTAMP PROJECT_VERSION_PATCH "%Y%m%ddev")
+  set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
+endif()
 
 set(CHECK_THREADS "ON")
 
 # System definition
 if(CMAKE_SYSTEM_NAME MATCHES "Linux")
-  add_definition(ZENOH_LINUX)
+  pico_add_compile_definition(ZENOH_LINUX)
 elseif(POSIX_COMPATIBLE)
-  add_definition(ZENOH_LINUX)
+  pico_add_compile_definition(ZENOH_LINUX)
   set(CHECK_THREADS "OFF")
 elseif(CMAKE_SYSTEM_NAME MATCHES "BSD")
-  add_definition(ZENOH_BSD)
+  pico_add_compile_definition(ZENOH_BSD)
 elseif(CMAKE_SYSTEM_NAME MATCHES "Darwin")
-  add_definition(ZENOH_MACOS)
+  pico_add_compile_definition(ZENOH_MACOS)
   set(MACOSX_RPATH "ON")
 elseif(CMAKE_SYSTEM_NAME MATCHES "Emscripten")
-  add_definition(ZENOH_EMSCRIPTEN)
+  pico_add_compile_definition(ZENOH_EMSCRIPTEN)
 elseif(CMAKE_SYSTEM_NAME MATCHES "Windows")
-  add_definition(ZENOH_WINDOWS)
-  add_definition(_CRT_SECURE_NO_WARNINGS)
+  pico_add_compile_definition(ZENOH_WINDOWS)
+  pico_add_compile_definition(_CRT_SECURE_NO_WARNINGS)
 elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
   if(WITH_ZEPHYR)
-    add_definition(ZENOH_ZEPHYR)
+    pico_add_compile_definition(ZENOH_ZEPHYR)
   elseif(WITH_FREERTOS_PLUS_TCP)
-    add_definition(ZENOH_FREERTOS_PLUS_TCP)
+    pico_add_compile_definition(ZENOH_FREERTOS_PLUS_TCP)
   endif()
 else()
   message(FATAL_ERROR "zenoh-pico is not yet available on ${CMAKE_SYSTEM_NAME} platform")
@@ -162,18 +191,18 @@ endif()
 # Compiler definition
 message("Compilers in use: ${CMAKE_C_COMPILER_ID}, ${CMAKE_CXX_COMPILER_ID}")
 if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
-  add_definition(ZENOH_COMPILER_CLANG)
+  pico_add_compile_definition(ZENOH_COMPILER_CLANG)
 elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "GNU")
-  add_definition(ZENOH_COMPILER_GCC)
+  pico_add_compile_definition(ZENOH_COMPILER_GCC)
 elseif (CMAKE_CXX_COMPILER_ID STREQUAL "Intel" OR CMAKE_C_COMPILER_ID STREQUAL "Intel")
-  add_definition(ZENOH_COMPILER_INTEL)
+  pico_add_compile_definition(ZENOH_COMPILER_INTEL)
 elseif (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC" OR CMAKE_C_COMPILER_ID STREQUAL "MSVC")
-  add_definition(ZENOH_COMPILER_MSVC)
+  pico_add_compile_definition(ZENOH_COMPILER_MSVC)
 else()
-  add_definition(ZENOH_COMPILER_OTHER)
+  pico_add_compile_definition(ZENOH_COMPILER_OTHER)
 endif()
 
-add_definition(ZENOH_DEBUG=${ZENOH_DEBUG})
+pico_add_compile_definition(ZENOH_DEBUG=${ZENOH_DEBUG})
 
 
 # Zenoh pico feature configuration options
@@ -187,6 +216,7 @@ set(Z_FEATURE_PUBLICATION 1 CACHE STRING "Toggle publication feature")
 set(Z_FEATURE_SUBSCRIPTION 1 CACHE STRING "Toggle subscription feature")
 set(Z_FEATURE_QUERY 1 CACHE STRING "Toggle query feature")
 set(Z_FEATURE_QUERYABLE 1 CACHE STRING "Toggle queryable feature")
+set(Z_FEATURE_LIVELINESS 0 CACHE STRING "Toggle liveliness feature")
 set(Z_FEATURE_INTEREST 1 CACHE STRING "Toggle interests")
 set(Z_FEATURE_FRAGMENTATION 1 CACHE STRING "Toggle fragmentation")
 set(Z_FEATURE_ENCODING_VALUES 1 CACHE STRING "Toggle encoding values")
@@ -205,6 +235,12 @@ 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")
 
+# Add a warning message if someone tries to enable Z_FEATURE_LIVELINESS directly
+if(Z_FEATURE_LIVELINESS AND NOT Z_FEATURE_UNSTABLE_API)
+  message(WARNING "Z_FEATURE_LIVELINESS can only be enabled when Z_FEATURE_UNSTABLE_API is also enabled. Disabling Z_FEATURE_LIVELINESS.")
+  set(Z_FEATURE_LIVELINESS 0 CACHE STRING "Toggle liveliness feature" FORCE)
+endif()
+
 add_compile_definitions("Z_BUILD_DEBUG=$<CONFIG:Debug>")
 message(STATUS "Building with feature confing:\n\
 * UNSTABLE_API: ${Z_FEATURE_UNSTABLE_API}\n\
@@ -213,6 +249,7 @@ message(STATUS "Building with feature confing:\n\
 * SUBSCRIPTION: ${Z_FEATURE_SUBSCRIPTION}\n\
 * QUERY: ${Z_FEATURE_QUERY}\n\
 * QUERYABLE: ${Z_FEATURE_QUERYABLE}\n\
+* LIVELINESS: ${Z_FEATURE_LIVELINESS}\n\
 * INTEREST: ${Z_FEATURE_INTEREST}\n\
 * RAWETH: ${Z_FEATURE_RAWETH_TRANSPORT}")
 
@@ -266,10 +303,19 @@ file(GLOB_RECURSE PublicHeaders
   "include/zenoh-pico/utils/*.h"
   "include/zenoh-pico/config.h"
 )
-target_include_directories(${Libname}
-  PUBLIC
-    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>)
+if(PICO_STATIC)
+  target_include_directories(${Libname}_static
+    PUBLIC
+      $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>)
+endif()
+if(PICO_SHARED)
+  target_include_directories(${Libname}_shared
+    PUBLIC
+      $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>)
+endif()
+
 
 file(GLOB_RECURSE Sources
   "src/api/*.c"
@@ -303,18 +349,24 @@ endif()
 set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
 link_directories(${LIBRARY_OUTPUT_PATH})
 
-target_sources(${Libname} PRIVATE ${Sources})
+if(PICO_STATIC)
+  target_sources(zenohpico_static PRIVATE ${Sources})
+endif()
+if(PICO_SHARED)
+  target_sources(zenohpico_shared PRIVATE ${Sources})
+endif()
 
 if(CHECK_THREADS)
-  target_link_libraries(${Libname} Threads::Threads)
+  pico_target_link_library(Threads::Threads)
 endif()
 
 if(CMAKE_SYSTEM_NAME MATCHES "Linux")
-  target_link_libraries(${Libname} rt)
+  pico_target_link_library(rt)
 endif()
 
 if(CMAKE_SYSTEM_NAME MATCHES "Windows")
-  target_link_libraries(${Libname} Ws2_32 Iphlpapi)
+  pico_target_link_library(Ws2_32)
+  pico_target_link_library(Iphlpapi)
 endif()
 
 #
@@ -334,12 +386,22 @@ message(STATUS "Build tools: ${BUILD_TOOLS}")
 message(STATUS "Build tests: ${BUILD_TESTING}")
 message(STATUS "Build integration: ${BUILD_INTEGRATION}")
 
-install(TARGETS ${Libname}
+set(PICO_LIBS "")
+if(PICO_STATIC)
+  list(APPEND PICO_LIBS zenohpico_static)
+endif()
+if(PICO_SHARED)
+  list(APPEND PICO_LIBS zenohpico_shared)
+endif()
+
+install(TARGETS ${PICO_LIBS}
   EXPORT zenohpicoTargets
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION bin
-  COMPONENT Library
+  LIBRARY COMPONENT Runtime
+  ARCHIVE COMPONENT Dev
+  RUNTIME COMPONENT Runtime
 )
 install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/include/zenoh-pico.h
   DESTINATION include
@@ -373,17 +435,18 @@ install(
         "${CMAKE_CURRENT_BINARY_DIR}/zenohpicoConfigVersion.cmake"
   DESTINATION "${CMAKE_INSTALL_CMAKEDIR}"
   CONFIGURATIONS ${configurations}
-  COMPONENT dev)
+  COMPONENT Dev)
 
 # Generate <Package>Targets.cmake
 install(
   EXPORT zenohpicoTargets
   NAMESPACE zenohpico::
-  DESTINATION "${CMAKE_INSTALL_CMAKEDIR}")
+  DESTINATION "${CMAKE_INSTALL_CMAKEDIR}"
+  COMPONENT Dev)
 
 if(UNIX)
   configure_file("${CMAKE_SOURCE_DIR}/zenohpico.pc.in" "${CMAKE_SOURCE_DIR}/zenohpico.pc" @ONLY)
-  install(FILES "${CMAKE_SOURCE_DIR}/zenohpico.pc" CONFIGURATIONS Release RelWithDebInfo DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig")
+  install(FILES "${CMAKE_SOURCE_DIR}/zenohpico.pc" CONFIGURATIONS Release RelWithDebInfo DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig" COMPONENT Dev)
 endif()
 
 if(BUILD_EXAMPLES)
@@ -394,7 +457,7 @@ if(UNIX OR MSVC)
   if(BUILD_TOOLS)
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/tools)
     add_executable(z_keyexpr_canonizer ${PROJECT_SOURCE_DIR}/tools/z_keyexpr_canonizer.c)
-    target_link_libraries(z_keyexpr_canonizer ${Libname})
+    target_link_libraries(z_keyexpr_canonizer zenohpico::lib)
   endif()
 
   if(BUILD_TESTING AND CMAKE_C_STANDARD MATCHES "11")
@@ -418,23 +481,23 @@ if(UNIX OR MSVC)
     add_executable(z_api_encoding_test ${PROJECT_SOURCE_DIR}/tests/z_api_encoding_test.c)
     add_executable(z_refcount_test ${PROJECT_SOURCE_DIR}/tests/z_refcount_test.c)
 
-    target_link_libraries(z_data_struct_test ${Libname})
-    target_link_libraries(z_channels_test ${Libname})
-    target_link_libraries(z_collections_test ${Libname})
-    target_link_libraries(z_endpoint_test ${Libname})
-    target_link_libraries(z_iobuf_test ${Libname})
-    target_link_libraries(z_msgcodec_test ${Libname})
-    target_link_libraries(z_keyexpr_test ${Libname})
-    target_link_libraries(z_api_null_drop_test ${Libname})
-    target_link_libraries(z_api_double_drop_test ${Libname})
-    target_link_libraries(z_test_fragment_tx ${Libname})
-    target_link_libraries(z_test_fragment_rx ${Libname})
-    target_link_libraries(z_perf_tx ${Libname})
-    target_link_libraries(z_perf_rx ${Libname})
-    target_link_libraries(z_bytes_test ${Libname})
-    target_link_libraries(z_api_bytes_test ${Libname})
-    target_link_libraries(z_api_encoding_test ${Libname})
-    target_link_libraries(z_refcount_test ${Libname})
+    target_link_libraries(z_data_struct_test zenohpico::lib)
+    target_link_libraries(z_channels_test zenohpico::lib)
+    target_link_libraries(z_collections_test zenohpico::lib)
+    target_link_libraries(z_endpoint_test zenohpico::lib)
+    target_link_libraries(z_iobuf_test zenohpico::lib)
+    target_link_libraries(z_msgcodec_test zenohpico::lib)
+    target_link_libraries(z_keyexpr_test zenohpico::lib)
+    target_link_libraries(z_api_null_drop_test zenohpico::lib)
+    target_link_libraries(z_api_double_drop_test zenohpico::lib)
+    target_link_libraries(z_test_fragment_tx zenohpico::lib)
+    target_link_libraries(z_test_fragment_rx zenohpico::lib)
+    target_link_libraries(z_perf_tx zenohpico::lib)
+    target_link_libraries(z_perf_rx zenohpico::lib)
+    target_link_libraries(z_bytes_test zenohpico::lib)
+    target_link_libraries(z_api_bytes_test zenohpico::lib)
+    target_link_libraries(z_api_encoding_test zenohpico::lib)
+    target_link_libraries(z_refcount_test zenohpico::lib)
 
     configure_file(${PROJECT_SOURCE_DIR}/tests/modularity.py ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/modularity.py COPYONLY)
     configure_file(${PROJECT_SOURCE_DIR}/tests/raweth.py ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/raweth.py COPYONLY)
@@ -465,7 +528,7 @@ if(UNIX OR MSVC)
 
     if(CMAKE_C_STANDARD MATCHES "11")
       add_executable(z_peer_multicast_test ${PROJECT_SOURCE_DIR}/tests/z_peer_multicast_test.c)
-      target_link_libraries(z_peer_multicast_test ${Libname})
+      target_link_libraries(z_peer_multicast_test zenohpico::lib)
 
       configure_file(${PROJECT_SOURCE_DIR}/tests/multicast.sh ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/multicast.sh COPYONLY)
 
@@ -481,10 +544,12 @@ if(UNIX OR MSVC)
       add_executable(z_client_test ${PROJECT_SOURCE_DIR}/tests/z_client_test.c)
       add_executable(z_api_alignment_test ${PROJECT_SOURCE_DIR}/tests/z_api_alignment_test.c)
       add_executable(z_session_test ${PROJECT_SOURCE_DIR}/tests/z_session_test.c)
+      add_executable(z_api_liveliness_test ${PROJECT_SOURCE_DIR}/tests/z_api_liveliness_test.c)
 
-      target_link_libraries(z_client_test ${Libname})
-      target_link_libraries(z_api_alignment_test ${Libname})
-      target_link_libraries(z_session_test ${Libname})
+      target_link_libraries(z_client_test zenohpico::lib)
+      target_link_libraries(z_api_alignment_test zenohpico::lib)
+      target_link_libraries(z_session_test zenohpico::lib)
+      target_link_libraries(z_api_liveliness_test zenohpico::lib)
 
       configure_file(${PROJECT_SOURCE_DIR}/tests/routed.sh ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/routed.sh COPYONLY)
       configure_file(${PROJECT_SOURCE_DIR}/tests/api.sh ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/api.sh COPYONLY)
@@ -493,43 +558,51 @@ if(UNIX OR MSVC)
       add_test(z_client_test bash ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/routed.sh z_client_test)
       add_test(z_api_alignment_test bash ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/api.sh z_api_alignment_test)
       add_test(z_session_test bash ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/api.sh z_session_test)
+      add_test(z_api_liveliness_test bash ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/api.sh z_api_liveliness_test)
     endif()
   endif()
 endif()
 
 # For packaging
 if(PACKAGING)
+
   set(CPACK_PACKAGE_DIRECTORY "${CMAKE_BINARY_DIR}/packages")
 
-  set(CPACK_COMPONENTS_ALL Library Headers)
-  set(CPACK_COMPONENT_LIBRARY_GROUP "lib")
+  set(CPACK_COMPONENTS_ALL Runtime Headers Dev)
+
+  set(CPACK_COMPONENT_RUNTIME_GROUP "lib")
   set(CPACK_COMPONENT_HEADERS_GROUP "dev")
-  set(CPACK_COMPONENT_HEADERS_DEPENDS Library)
+  set(CPACK_COMPONENT_DEV_GROUP "dev")
+  set(CPACK_COMPONENT_HEADERS_DEPENDS Runtime)
+  set(CPACK_COMPONENT_DEV_DEPENDS Runtime)
 
   set(CPACK_PACKAGE_CHECKSUM MD5)
   set(CPACK_PACKAGE_VENDOR "The Eclipse Foundation")
-  set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
-  set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
-  set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
-  set(CPACK_COMPONENT_LIB_DESCRIPTION "The C client library for Eclipse zenoh targeting pico devices")
-  set(CPACK_COMPONENT_DEV_DESCRIPTION "${CPACK_COMPONENT_LIB_DESCRIPTION} - devel files")
+  if(NOT CPACK_PACKAGE_VERSION)
+      set(SEM_VER "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
+      if(PROJECT_VERSION_TWEAK STREQUAL "")
+          set(CPACK_PACKAGE_VERSION ${SEM_VER})
+      elseif(PROJECT_VERSION_TWEAK EQUAL 0)
+          set(CPACK_PACKAGE_VERSION "${SEM_VER}~dev-1")
+      elseif(PROJECT_VERSION_TWEAK GREATER 0)
+          set(CPACK_PACKAGE_VERSION "${SEM_VER}~pre.${PROJECT_VERSION_TWEAK}-1")
+      endif()
+  endif()
+  set(CPACK_COMPONENT_RUNTIME_DESCRIPTION "The C client library for Eclipse zenoh targeting pico devices")
+  set(CPACK_COMPONENT_HEADERS_DESCRIPTION "${CPACK_COMPONENT_LIB_DESCRIPTION} - headers")
+  set(CPACK_COMPONENT_DEV_DESCRIPTION "${CPACK_COMPONENT_LIB_DESCRIPTION} - config files")
 
   # Sources package
   set(CPACK_SOURCE_GENERATOR "TGZ")
-  set(CPACK_SOURCE_IGNORE_FILES "/.git/;/.github/;/build/;/crossbuilds/")
-  set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-src-${PROJECT_VERSION}")
+  set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-src-${project_version}")
+
+  set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_NAME}-${CPACK_PACKAGE_VERSION}-${CMAKE_SYSTEM_NAME}-${CMAKE_SYSTEM_PROCESSOR}")
 
   if(PACKAGING MATCHES "DEB")
     if(NOT DEBARCH)
-      execute_process(
-        COMMAND dpkg --print-architecture
-        OUTPUT_VARIABLE DEBARCH
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-      )
+      set(DEBARCH ${CMAKE_SYSTEM_PROCESSOR}-${CMAKE_SYSTEM_NAME})
     endif()
 
-    message(STATUS "Configure DEB packaging for Linux ${DEBARCH}")
-
     if(CPACK_GENERATOR)
       set(CPACK_GENERATOR "${CPACK_GENERATOR};DEB")
     else()
@@ -541,9 +614,10 @@ if(PACKAGING)
     set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE ${DEBARCH})
     set(CPACK_DEB_COMPONENT_INSTALL ON)
     set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
-    set(CPACK_DEBIAN_LIB_PACKAGE_NAME ${PROJECT_NAME}) # avoid "-lib" suffix for "lib" package
+    set(CPACK_DEBIAN_LIB_PACKAGE_NAME "lib${CPACK_PACKAGE_NAME}")
     set(CPACK_DEBIAN_LIB_PACKAGE_DEPENDS "libc6 (>=2.12)")
-    set(CPACK_DEBIAN_DEV_PACKAGE_DEPENDS "${CPACK_DEBIAN_LIB_PACKAGE_NAME} (=${PROJECT_VERSION})")
+    set(CPACK_DEBIAN_DEV_PACKAGE_NAME "lib${CPACK_PACKAGE_NAME}-dev")
+    set(CPACK_DEBIAN_DEV_PACKAGE_DEPENDS "${CPACK_DEBIAN_LIB_PACKAGE_NAME} (=${CPACK_PACKAGE_VERSION})")
   endif()
 
   if(PACKAGING MATCHES "RPM")
@@ -551,8 +625,6 @@ if(PACKAGING)
       set(RPMARCH ${CMAKE_SYSTEM_PROCESSOR})
     endif()
 
-    message(STATUS "Configure RPM packaging for Linux ${RPMARCH}")
-
     if(CPACK_GENERATOR)
       set(CPACK_GENERATOR "${CPACK_GENERATOR};RPM")
     else()
@@ -563,8 +635,8 @@ if(PACKAGING)
     set(CPACK_RPM_PACKAGE_ARCHITECTURE ${RPMARCH})
     set(CPACK_RPM_COMPONENT_INSTALL ON)
     set(CPACK_RPM_FILE_NAME RPM-DEFAULT)
-    set(CPACK_RPM_LIB_PACKAGE_NAME ${PROJECT_NAME}) # avoid "-lib" suffix for "lib" package
-    set(CPACK_RPM_DEV_PACKAGE_REQUIRES "${CPACK_RPM_LIB_PACKAGE_NAME} = ${PROJECT_VERSION}")
+    set(CPACK_RPM_LIB_PACKAGE_NAME ${CPACK_PACKAGE_NAME}) # avoid "-lib" suffix for "lib" package
+    set(CPACK_RPM_DEV_PACKAGE_REQUIRES "${CPACK_RPM_LIB_PACKAGE_NAME} = ${CPACK_PACKAGE_VERSION}")
   endif()
 
   include(CPack)
diff --git a/GNUmakefile b/GNUmakefile
index fcbbbb4d8..0a254575c 100644
--- a/GNUmakefile
+++ b/GNUmakefile
@@ -115,33 +115,33 @@ endif
 crossbuild: check-docker
 	@echo "FROM dockcross/$(CROSSIMG)\nRUN apt-get update && apt-get -y install rpm" | docker build -t $(CROSSIMG_PREFIX)$(CROSSIMG) -
 	docker run --rm -v $(ROOT_DIR):/workdir -w /workdir $(CROSSIMG_PREFIX)$(CROSSIMG) bash -c "\
-		cmake $(CMAKE_OPT) -DPACKAGING=DEB,RPM -DDEBARCH=$(DEBARCH) -DRPMARCH=$(RPMARCH) -B$(CROSSBUILD_DIR)/$(CROSSIMG) && \
+		cmake $(CMAKE_OPT) -DCPACK_PACKAGE_NAME=$(PACKAGE_NAME) -DPACKAGING=DEB,RPM -DDEBARCH=$(DEBARCH) -DRPMARCH=$(RPMARCH) -B$(CROSSBUILD_DIR)/$(CROSSIMG) && \
 		make VERBOSE=1 -C$(CROSSBUILD_DIR)/$(CROSSIMG) all package"
 	docker rmi $(CROSSIMG_PREFIX)$(CROSSIMG)
 
 linux-armv5:
-	CROSSIMG=$@ DEBARCH=arm RPMARCH=arm make crossbuild
+	PACKAGE_NAME="zenohpico" CROSSIMG=$@ DEBARCH=arm RPMARCH=arm make crossbuild
 
 linux-armv6:
-	CROSSIMG=$@ DEBARCH=arm RPMARCH=arm make crossbuild
+	PACKAGE_NAME="zenohpico-armv6" CROSSIMG=$@ DEBARCH=arm RPMARCH=arm make crossbuild
 
 linux-armv7:
-	CROSSIMG=$@ DEBARCH=armhf RPMARCH=armhf make crossbuild
+	PACKAGE_NAME="zenohpico" CROSSIMG=$@ DEBARCH=armhf RPMARCH=armhf make crossbuild
 
 linux-armv7a:
-	CROSSIMG=$@ DEBARCH=armhf RPMARCH=armhf make crossbuild
+	PACKAGE_NAME="zenohpico-armv7a" CROSSIMG=$@ DEBARCH=armhf RPMARCH=armhf make crossbuild
 
 linux-arm64:
-	CROSSIMG=$@ DEBARCH=arm64 RPMARCH=aarch64 make crossbuild
+	PACKAGE_NAME="zenohpico" CROSSIMG=$@ DEBARCH=arm64 RPMARCH=aarch64 make crossbuild
 
 linux-mips:
-	CROSSIMG=$@ DEBARCH=mips RPMARCH=mips make crossbuild
+	PACKAGE_NAME="zenohpico" CROSSIMG=$@ DEBARCH=mips RPMARCH=mips make crossbuild
 
 linux-x86:
-	CROSSIMG=$@ DEBARCH=i386 RPMARCH=x86 make crossbuild
+	PACKAGE_NAME="zenohpico" CROSSIMG=$@ DEBARCH=i386 RPMARCH=x86 make crossbuild
 
 linux-x64:
-	CROSSIMG=$@ DEBARCH=amd64 RPMARCH=x86_64 make crossbuild
+	PACKAGE_NAME="zenohpico" CROSSIMG=$@ DEBARCH=amd64 RPMARCH=x86_64 make crossbuild
 
 clean:
 	rm -fr $(BUILD_DIR)
diff --git a/PackageConfig.cmake.in b/PackageConfig.cmake.in
index 94e4777a4..55339d35e 100644
--- a/PackageConfig.cmake.in
+++ b/PackageConfig.cmake.in
@@ -15,4 +15,15 @@ endif()
 
 include("${CMAKE_CURRENT_LIST_DIR}/zenohpicoTargets.cmake")
 
-add_library(zenohpico::lib ALIAS zenohpico::zenohpico)
+if(@PICO_SHARED@)
+  add_library(zenohpico::shared ALIAS zenohpico::zenohpico_shared)
+endif()
+if(@PICO_STATIC@)
+  add_library(zenohpico::static ALIAS zenohpico::zenohpico_static)
+endif()
+
+if(@BUILD_SHARED_LIBS@)
+  add_library(zenohpico::lib ALIAS zenohpico::zenohpico_shared)
+else()
+  add_library(zenohpico::lib ALIAS zenohpico::zenohpico_static)
+endif()
diff --git a/README.md b/README.md
index 452643087..fed957104 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,6 @@
 <img src="https://raw.githubusercontent.com/eclipse-zenoh/zenoh/master/zenoh-dragon.png" height="150">
 
 ![Build](https://github.com/eclipse-zenoh/zenoh-pico/workflows/build/badge.svg)
-![Crossbuild](https://github.com/eclipse-zenoh/zenoh-pico/workflows/crossbuild/badge.svg)
 ![integration](https://github.com/eclipse-zenoh/zenoh-pico/workflows/integration/badge.svg)
 [![Documentation Status](https://readthedocs.org/projects/zenoh-pico/badge/?version=latest)](https://zenoh-pico.readthedocs.io/en/latest/?badge=latest)
 [![Discussion](https://img.shields.io/badge/discussion-on%20github-blue)](https://github.com/eclipse-zenoh/roadmap/discussions)
@@ -12,14 +11,14 @@
 # Eclipse Zenoh
 The Eclipse Zenoh: Zero Overhead Pub/sub, Store/Query and Compute.
 
-Zenoh (pronounce _/zeno/_) unifies data in motion, data at rest and computations. It carefully blends traditional pub/sub with geo-distributed storages, queries and computations, while retaining a level of time and space efficiency that is well beyond any of the mainstream stacks.
+Zenoh (pronounce _/zeno/_) unifies data in motion, data at rest, and computations. It carefully blends traditional pub/sub with geo-distributed storages, queries and computations, while retaining a level of time and space efficiency that is well beyond any of the mainstream stacks.
 
 Check the website [zenoh.io](http://zenoh.io) and the [roadmap](https://github.com/eclipse-zenoh/roadmap) for more detailed information.
 
 -------------------------------
 # Zenoh-Pico: native C library for constrained devices
 
-zenoh-pico is the [Eclipse zenoh](http://zenoh.io) implementation that targets constrained devices and offers a native C API.
+zenoh-pico is the [Eclipse zenoh](http://zenoh.io) implementation that targets constrained devices, offering a native C API.
 It is fully compatible with its main [Rust Zenoh implementation](https://github.com/eclipse-zenoh/zenoh), providing a lightweight implementation of most functionalities.
 
 Currently, zenoh-pico provides support for the following (RT)OSs and protocols:
@@ -42,11 +41,11 @@ Check the website [zenoh.io](http://zenoh.io) and the [roadmap](https://github.c
 ## 1. How to install it
 
 The Eclipse zenoh-pico library is available as **Debian**, **RPM**, and **tgz** packages in the [Eclipse zenoh-pico download area](https://download.eclipse.org/zenoh/zenoh-pico/).
-Those packages are built using manylinux2010 x86-32 and x86-64 to be compatible with most of the Linux platforms.
-There are 2 kind of packages:
+Those packages are built using manylinux2010 x86-32 and x86-64 for compatibility with most Linux platforms.
+There are two kind of packages:
 
 - **libzenohpico**: only contains the library file (.so)
-- **libzenohpico-dev**: contains the zenoh-pico header files for development. Depends on *libzenohpico* package
+- **libzenohpico-dev**: contains the zenoh-pico header files for development and depends on the *libzenohpico* package
 
 For other platforms - like RTOS for embedded systems / microcontrollers -, you will need to clone and build the sources. Check [below](#how-to-build-for-microcontrollers) for more details.
 
diff --git a/ci/scripts/build-linux.bash b/ci/scripts/build-linux.bash
index 3d3a33ca4..3ac09ccdc 100644
--- a/ci/scripts/build-linux.bash
+++ b/ci/scripts/build-linux.bash
@@ -9,13 +9,13 @@ readonly version=${VERSION:?input VERSION is required}
 # Build target
 readonly target=${TARGET:?input TARGET is required}
 
-BUILD_TYPE=RELEASE make "$target"
+BUILD_SHARED_LIBS=ON BUILD_TYPE=RELEASE make "$target"
 
 readonly out=$GITHUB_WORKSPACE
 readonly repo_name=${repo#*/}
-readonly archive_lib=$out/$repo_name-$version-$target.zip
-readonly archive_deb=$out/$repo_name-$version-$target-deb-pkgs.zip
-readonly archive_rpm=$out/$repo_name-$version-$target-rpm-pkgs.zip
+readonly archive_lib=$out/$repo_name-$version-$target-standalone.zip
+readonly archive_deb=$out/$repo_name-$version-$target-debian.zip
+readonly archive_rpm=$out/$repo_name-$version-$target-rpm.zip
 readonly archive_examples=$out/$repo_name-$version-$target-examples.zip
 
 cd crossbuilds/"$target"
@@ -24,8 +24,8 @@ cd -
 zip -r "$archive_lib" include
 
 cd crossbuilds/"$target"/packages
-zip "$archive_deb" ./*.deb
-zip "$archive_rpm" ./*.rpm
+zip -9 -j "$archive_deb" ./*.deb
+zip -9 -j "$archive_rpm" ./*.rpm
 cd -
 
 cd crossbuilds/"$target"/examples
diff --git a/ci/scripts/bump-and-tag.bash b/ci/scripts/bump-and-tag.bash
index 58883d627..f54d8953e 100644
--- a/ci/scripts/bump-and-tag.bash
+++ b/ci/scripts/bump-and-tag.bash
@@ -2,6 +2,7 @@
 
 set -xeo pipefail
 
+readonly live_run=${LIVE_RUN:-false}
 # Release number
 readonly version=${VERSION:-input VERSION is required}
 # Git actor name
@@ -18,7 +19,9 @@ export GIT_COMMITTER_EMAIL=$git_user_email
 printf '%s' "$version" > version.txt
 
 git commit version.txt -m "chore: Bump version to $version"
-git tag --force "$version" -m "v$version"
+if [[ ${live_run} ]]; then
+  git tag --force "$version" -m "v$version"
+fi
 git log -10
 git show-ref --tags
 git push --force origin
diff --git a/docs/api.rst b/docs/api.rst
index b2ff6cf4a..1a3893a0b 100644
--- a/docs/api.rst
+++ b/docs/api.rst
@@ -462,7 +462,16 @@ See details at :ref:`owned_types_concept`
 .. c:type:: z_owned_closure_sample_t
 .. c:type:: z_loaned_closure_sample_t
 .. c:type:: z_moved_closure_sample_t
-   
+
+.. c:type:: void (* z_closure_sample_callback_t)(z_loaned_sample_t * sample, void * arg);
+
+    Function pointer type for handling samples.
+    Represents a callback function that is invoked when a sample is available for processing.
+
+    Parameters:
+      - **sample** - Pointer to a :c:type:`z_loaned_sample_t` representing the sample to be processed.
+      - **arg** - A user-defined pointer to additional data that can be used during the processing of the sample.
+
 Functions
 ^^^^^^^^^
 .. autocfunction:: primitives.h::z_closure_sample
@@ -486,7 +495,16 @@ See details at :ref:`owned_types_concept`
 .. c:type:: z_owned_closure_query_t
 .. c:type:: z_loaned_closure_query_t
 .. c:type:: z_moved_closure_query_t
-   
+
+.. c:type:: void (* z_closure_query_callback_t)(z_loaned_query_t * query, void * arg);
+
+    Function pointer type for handling queries.
+    Represents a callback function that is invoked when a query is available for processing.
+
+    Parameters:
+      - **query** - Pointer to a :c:type:`z_loaned_query_t` representing the query to be processed.
+      - **arg** - A user-defined pointer to additional data that can be used during the processing of the query.
+
 Functions
 ^^^^^^^^^
 .. autocfunction:: primitives.h::z_closure_query
@@ -511,7 +529,16 @@ See details at :ref:`owned_types_concept`
 .. c:type:: z_owned_closure_reply_t
 .. c:type:: z_loaned_closure_reply_t
 .. c:type:: z_moved_closure_reply_t
-   
+ 
+.. c:type:: void (* z_closure_reply_callback_t)(z_loaned_reply_t * reply, void * arg);
+
+    Function pointer type for handling replies.
+    Represents a callback function that is invoked when a reply is available for processing.
+
+    Parameters:
+      - **reply** - Pointer to a :c:type:`z_loaned_reply_t` representing the reply to be processed.
+      - **arg** - A user-defined pointer to additional data that can be used during the processing of the reply.
+
 Functions
 ^^^^^^^^^
 .. autocfunction:: primitives.h::z_closure_reply
@@ -536,6 +563,15 @@ See details at :ref:`owned_types_concept`
 .. c:type:: z_owned_closure_hello_t
 .. c:type:: z_loaned_closure_hello_t
 .. c:type:: z_moved_closure_hello_t
+ 
+.. c:type:: void (* z_closure_hello_callback_t)(z_loaned_hello_t * hello, void * arg);
+
+    Function pointer type for handling scouting response.
+    Represents a callback function that is invoked when a hello is available for processing.
+
+    Parameters:
+      - **hello** - Pointer to a :c:type:`z_loaned_hello_t` representing the hello to be processed.
+      - **arg** - A user-defined pointer to additional data that can be used during the processing of the hello.
    
 Functions
 ^^^^^^^^^
@@ -561,6 +597,15 @@ See details at :ref:`owned_types_concept`
 .. c:type:: z_owned_closure_zid_t
 .. c:type:: z_loaned_closure_zid_t
 .. c:type:: z_moved_closure_zid_t
+ 
+.. c:type:: void (* z_closure_zid_callback_t)(z_loaned_zid_t * zid, void * arg);
+
+    Function pointer type for handling Zenoh ID routers response.
+    Represents a callback function that is invoked when a zid is available for processing.
+
+    Parameters:
+      - **zid** - Pointer to a :c:type:`z_loaned_zid_t` representing the zid to be processed.
+      - **arg** - A user-defined pointer to additional data that can be used during the processing of the zid.
    
 Functions
 ^^^^^^^^^
@@ -1192,6 +1237,7 @@ Functions
 .. autocfunction:: serialization.h::ze_serializer_serialize_buf
 .. autocfunction:: serialization.h::ze_serializer_serialize_string
 .. autocfunction:: serialization.h::ze_serializer_serialize_str
+.. autocfunction:: serialization.h::ze_serializer_serialize_substr
 .. autocfunction:: serialization.h::ze_serializer_serialize_sequence_length
 .. autocfunction:: serialization.h::ze_deserialize_int8
 .. autocfunction:: serialization.h::ze_deserialize_int16
@@ -1222,6 +1268,33 @@ Functions
 .. autocfunction:: serialization.h::ze_serialize_buf
 .. autocfunction:: serialization.h::ze_serialize_string
 .. autocfunction:: serialization.h::ze_serialize_str
+.. autocfunction:: serialization.h::ze_serialize_substr
+
+
+Liveliness
+========================
+Types
+-----
+.. autoctype:: liveliness.h::z_liveliness_token_options_t
+.. autoctype:: liveliness.h::z_liveliness_subscriber_options_t
+.. autoctype:: liveliness.h::z_liveliness_get_options_t
+
+Represents a Liveliness token entity.
+See details at :ref:`owned_types_concept`
+
+.. c:type:: z_owned_liveliness_token_t
+.. c:type:: z_loaned_liveliness_token_t
+.. c:type:: z_moved_liveliness_token_t
+
+
+Functions
+---------
+.. autocfunction:: liveliness.h::z_liveliness_token_options_default
+.. autocfunction:: liveliness.h::z_liveliness_declare_token
+.. autocfunction:: liveliness.h::z_liveliness_undeclare_token
+.. autocfunction:: liveliness.h::z_liveliness_subscriber_options_default
+.. autocfunction:: liveliness.h::z_liveliness_declare_subscriber
+.. autocfunction:: liveliness.h::z_liveliness_get
 
 
 Others
@@ -1230,8 +1303,6 @@ Others
 Data Structures
 ---------------
 
-.. autoctype:: types.h::z_zint_t
-   
 .. autoctype:: types.h::zp_task_read_options_t
 .. autoctype:: types.h::zp_task_lease_options_t
 .. autoctype:: types.h::zp_read_options_t
@@ -1270,10 +1341,52 @@ Functions
 .. autocfunction:: primitives.h::zp_send_join_options_default
 .. autocfunction:: primitives.h::zp_send_join
 
-.. TODO Logging
-.. TODO =======
+Logging
+=======
+
+.. warning:: This API has been marked as unstable: it works as advertised, but it may be changed in a future release.
+
+Zenoh-Pico provides a flexible logging system to assist with debugging and monitoring.
+By default, logging is disabled in release builds, but it can be enabled and configured 
+based on the desired level of verbosity.
+
+Logging Levels
+--------------
+
+Zenoh-Pico supports three logging levels:
+
+- **Error**: Only error messages are logged. This is the least verbose level.
+- **Info**: Logs informational messages and error messages.
+- **Debug**: Logs debug messages, informational messages, and error messages. This is the most verbose level.
+
+Enabling Logging
+----------------
+
+To enable logging, you can adjust the logging level by defining the ``ZENOH_DEBUG`` macro at compile time.
+
+- Set ``ZENOH_DEBUG`` to ``1`` to enable error messages.
+- Set ``ZENOH_DEBUG`` to ``2`` to enable informational messages.
+- Set ``ZENOH_DEBUG`` to ``3`` to enable debug messages (includes info and error).
+
+Additionally, logging can be automatically enabled in **debug builds** by defining the ``Z_BUILD_DEBUG`` macro.
+In release builds, logging is disabled unless ``ZENOH_DEBUG`` is explicitly set.
+
+Example of Enabling Logging
+---------------------------
+
+To enable **debug-level logging** in your build, you would add the following flags during compilation:
+
+.. code-block:: bash
+
+    gcc -DZENOH_DEBUG=3 -o my_program my_program.c
 
+This will enable the most verbose logging, printing debug, info, and error messages.
 
+Disabling Logging
+-----------------
 
+To disable all logging, set ``ZENOH_DEBUG`` to ``0`` or ensure it is undefined in release builds:
 
+.. code-block:: bash
 
+    gcc -DZENOH_DEBUG=0 -o my_program my_program.c
diff --git a/docs/conf.py b/docs/conf.py
index 9b980bcfb..e1ee877ba 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -36,7 +36,8 @@
     "-DZ_FEATURE_SUBSCRIPTION=1",
     "-DZ_FEATURE_QUERY=1",
     "-DZ_FEATURE_QUERYABLE=1",
-    "-DZ_FEATURE_ENCODING_VALUES=1"
+    "-DZ_FEATURE_ENCODING_VALUES=1",
+    "-DZ_FEATURE_LIVELINESS=1",
 ]
 
 # -- Options for HTML output -------------------------------------------------
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index a3fc911cd..96309c42c 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -14,7 +14,7 @@ endif()
 function(add_example name)
     add_executable(${name} ${ARGN})
     set_property(TARGET ${name} PROPERTY C_STANDARD 11)
-    target_link_libraries(${name} zenohpico)
+    target_link_libraries(${name} zenohpico::lib)
     add_dependencies(examples ${name})
 endfunction()
 
@@ -41,10 +41,12 @@ if(UNIX)
         add_example(z_sub_channel unix/c11/z_sub_channel.c)
         add_example(z_sub_st unix/c11/z_sub_st.c)
         add_example(z_sub_attachment unix/c11/z_sub_attachment.c)
+        add_example(z_sub_liveliness unix/c11/z_sub_liveliness.c)
         add_example(z_pull unix/c11/z_pull.c)
         add_example(z_get unix/c11/z_get.c)
         add_example(z_get_channel unix/c11/z_get_channel.c)
         add_example(z_get_attachment unix/c11/z_get_attachment.c)
+        add_example(z_get_liveliness unix/c11/z_get_liveliness.c)
         add_example(z_queryable unix/c11/z_queryable.c)
         add_example(z_queryable_channel unix/c11/z_queryable_channel.c)
         add_example(z_queryable_attachment unix/c11/z_queryable_attachment.c)
@@ -55,6 +57,7 @@ if(UNIX)
         add_example(z_pub_thr unix/c11/z_pub_thr.c)
         add_example(z_sub_thr unix/c11/z_sub_thr.c)
         add_example(z_bytes unix/c11/z_bytes.c)
+        add_example(z_liveliness unix/c11/z_liveliness.c)
     endif()
 elseif(MSVC)
     add_example(z_put windows/z_put.c)
diff --git a/examples/espidf/z_get.c b/examples/espidf/z_get.c
index 5142009b1..fcfb5f975 100644
--- a/examples/espidf/z_get.c
+++ b/examples/espidf/z_get.c
@@ -169,7 +169,7 @@ void app_main() {
             opts.payload = z_move(payload);
         }
         z_owned_closure_reply_t callback;
-        z_closure(&callback, reply_handler, reply_dropper);
+        z_closure(&callback, reply_handler, reply_dropper, NULL);
         z_view_keyexpr_t ke;
         z_view_keyexpr_from_str_unchecked(&ke, KEYEXPR);
         if (z_get(z_loan(s), z_loan(ke), "", z_move(callback), &opts) < 0) {
diff --git a/examples/espidf/z_queryable.c b/examples/espidf/z_queryable.c
index c95ca377e..0939bfac8 100644
--- a/examples/espidf/z_queryable.c
+++ b/examples/espidf/z_queryable.c
@@ -169,7 +169,7 @@ void app_main() {
     // Declare Zenoh queryable
     printf("Declaring Queryable on %s...", KEYEXPR);
     z_owned_closure_query_t callback;
-    z_closure(&callback, query_handler);
+    z_closure(&callback, query_handler, NULL, NULL);
     z_owned_queryable_t qable;
     z_view_keyexpr_t ke;
     z_view_keyexpr_from_str_unchecked(&ke, KEYEXPR);
diff --git a/examples/espidf/z_sub.c b/examples/espidf/z_sub.c
index 01bb61de2..d7ac968ae 100644
--- a/examples/espidf/z_sub.c
+++ b/examples/espidf/z_sub.c
@@ -151,7 +151,7 @@ void app_main() {
 
     printf("Declaring Subscriber on '%s'...", KEYEXPR);
     z_owned_closure_sample_t callback;
-    z_closure(&callback, data_handler);
+    z_closure(&callback, data_handler, NULL, NULL);
     z_owned_subscriber_t sub;
     z_view_keyexpr_t ke;
     z_view_keyexpr_from_str_unchecked(&ke, KEYEXPR);
diff --git a/examples/freertos_plus_tcp/CMakeLists.txt b/examples/freertos_plus_tcp/CMakeLists.txt
index 83f890f30..3a0d44b54 100644
--- a/examples/freertos_plus_tcp/CMakeLists.txt
+++ b/examples/freertos_plus_tcp/CMakeLists.txt
@@ -55,9 +55,9 @@ FetchContent_MakeAvailable(freertos_kernel freertos_plus_tcp)
 set(BUILD_SHARED_LIBS OFF)
 set(WITH_FREERTOS_PLUS_TCP ON)
 set(ZENOH_DEBUG 3)
-configure_include_project(ZENOHPICO zenohpico zenohpico "../.." zenohpico "https://github.com/eclipse-zenoh/zenoh-pico" "")
+configure_include_project(ZENOHPICO zenohpico zenohpico::lib "../.." zenohpico "https://github.com/eclipse-zenoh/zenoh-pico" "")
 
-target_link_libraries(zenohpico
+target_link_libraries(zenohpico_static
   freertos_kernel
   freertos_plus_tcp
 )
@@ -74,7 +74,7 @@ function(add_example name)
     main
     freertos_kernel
     freertos_plus_tcp
-    zenohpico
+    zenohpico::lib
   )
 endfunction()
 
diff --git a/examples/freertos_plus_tcp/z_get.c b/examples/freertos_plus_tcp/z_get.c
index 96931fcab..7d76d8de3 100644
--- a/examples/freertos_plus_tcp/z_get.c
+++ b/examples/freertos_plus_tcp/z_get.c
@@ -93,7 +93,7 @@ void app_main(void) {
             opts.payload = z_move(payload);
         }
         z_owned_closure_reply_t callback;
-        z_closure(&callback, reply_handler, reply_dropper);
+        z_closure(&callback, reply_handler, reply_dropper, NULL);
         if (z_get(z_loan(s), z_loan(ke), "", z_move(callback), &opts) < 0) {
             printf("Unable to send query.\n");
             return;
diff --git a/examples/freertos_plus_tcp/z_queryable.c b/examples/freertos_plus_tcp/z_queryable.c
index 34c1c2a94..a1f8634f8 100644
--- a/examples/freertos_plus_tcp/z_queryable.c
+++ b/examples/freertos_plus_tcp/z_queryable.c
@@ -85,7 +85,7 @@ void app_main(void) {
 
     printf("Creating Queryable on '%s'...\n", KEYEXPR);
     z_owned_closure_query_t callback;
-    z_closure(&callback, query_handler);
+    z_closure(&callback, query_handler, NULL, NULL);
     z_owned_queryable_t qable;
     if (z_declare_queryable(z_loan(s), &qable, z_loan(ke), z_move(callback), NULL) < 0) {
         printf("Unable to create queryable.\n");
diff --git a/examples/freertos_plus_tcp/z_sub.c b/examples/freertos_plus_tcp/z_sub.c
index 45f7c4775..4febeecf7 100644
--- a/examples/freertos_plus_tcp/z_sub.c
+++ b/examples/freertos_plus_tcp/z_sub.c
@@ -62,7 +62,7 @@ void app_main(void) {
     }
 
     z_owned_closure_sample_t callback;
-    z_closure(&callback, data_handler);
+    z_closure(&callback, data_handler, NULL, NULL);
     printf("Declaring Subscriber on '%s'...\n", KEYEXPR);
     z_view_keyexpr_t ke;
     z_view_keyexpr_from_str_unchecked(&ke, KEYEXPR);
diff --git a/examples/freertos_plus_tcp/z_sub_st.c b/examples/freertos_plus_tcp/z_sub_st.c
index 805a0c949..34ae7b6f4 100644
--- a/examples/freertos_plus_tcp/z_sub_st.c
+++ b/examples/freertos_plus_tcp/z_sub_st.c
@@ -59,7 +59,7 @@ void app_main(void) {
     }
 
     z_owned_closure_sample_t callback;
-    z_closure(&callback, data_handler);
+    z_closure(&callback, data_handler, NULL, NULL);
     printf("Declaring Subscriber on '%s'...\n", KEYEXPR);
     z_view_keyexpr_t ke;
     z_view_keyexpr_from_str_unchecked(&ke, KEYEXPR);
diff --git a/examples/unix/c11/z_get.c b/examples/unix/c11/z_get.c
index 034ddb2d5..3bf67421f 100644
--- a/examples/unix/c11/z_get.c
+++ b/examples/unix/c11/z_get.c
@@ -135,7 +135,7 @@ int main(int argc, char **argv) {
     }
 
     z_owned_closure_reply_t callback;
-    z_closure(&callback, reply_handler, reply_dropper);
+    z_closure(&callback, reply_handler, reply_dropper, NULL);
     if (z_get(z_loan(s), z_loan(ke), "", z_move(callback), &opts) < 0) {
         printf("Unable to send query.\n");
         return -1;
diff --git a/examples/unix/c11/z_get_attachment.c b/examples/unix/c11/z_get_attachment.c
index 842273fc2..f3b18037d 100644
--- a/examples/unix/c11/z_get_attachment.c
+++ b/examples/unix/c11/z_get_attachment.c
@@ -193,7 +193,7 @@ int main(int argc, char **argv) {
     opts.encoding = z_move(encoding);
 
     z_owned_closure_reply_t callback;
-    z_closure(&callback, reply_handler, reply_dropper);
+    z_closure(&callback, reply_handler, reply_dropper, NULL);
     if (z_get(z_loan(s), z_loan(ke), "", z_move(callback), &opts) < 0) {
         printf("Unable to send query.\n");
         return -1;
diff --git a/examples/unix/c11/z_get_liveliness.c b/examples/unix/c11/z_get_liveliness.c
new file mode 100644
index 000000000..cefa20175
--- /dev/null
+++ b/examples/unix/c11/z_get_liveliness.c
@@ -0,0 +1,116 @@
+//
+// 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>
+
+#include <stddef.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <zenoh-pico.h>
+
+#if Z_FEATURE_LIVELINESS == 1 && Z_FEATURE_QUERY == 1
+
+int main(int argc, char **argv) {
+    const char *keyexpr = "group1/**";
+    const char *mode = "client";
+    const char *clocator = NULL;
+    const char *llocator = NULL;
+
+    int opt;
+    while ((opt = getopt(argc, argv, "k:e:m:l:")) != -1) {
+        switch (opt) {
+            case 'k':
+                keyexpr = optarg;
+                break;
+            case 'e':
+                clocator = optarg;
+                break;
+            case 'm':
+                mode = optarg;
+                break;
+            case 'l':
+                llocator = optarg;
+                break;
+            case '?':
+                if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'v' || optopt == 'l') {
+                    fprintf(stderr, "Option -%c requires an argument.\n", optopt);
+                } else {
+                    fprintf(stderr, "Unknown option `-%c'.\n", optopt);
+                }
+                return 1;
+            default:
+                return -1;
+        }
+    }
+
+    z_owned_config_t config;
+    z_config_default(&config);
+    zp_config_insert(z_loan_mut(config), Z_CONFIG_MODE_KEY, mode);
+    if (clocator != NULL) {
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, clocator);
+    }
+    if (llocator != NULL) {
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, llocator);
+    }
+
+    printf("Opening session...\n");
+    z_owned_session_t s;
+    if (z_open(&s, z_move(config), NULL) < 0) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan_mut(s), NULL) < 0 || zp_start_lease_task(z_loan_mut(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        z_session_drop(z_session_move(&s));
+        return -1;
+    }
+
+    z_view_keyexpr_t ke;
+    if (z_view_keyexpr_from_str(&ke, keyexpr) < 0) {
+        printf("%s is not a valid key expression", keyexpr);
+        return -1;
+    }
+
+    printf("Sending liveliness query '%s'...\n", keyexpr);
+    z_owned_fifo_handler_reply_t handler;
+    z_owned_closure_reply_t closure;
+    z_fifo_channel_reply_new(&closure, &handler, 16);
+    if (z_liveliness_get(z_loan(s), z_loan(ke), z_move(closure), NULL) < 0) {
+        printf("Liveliness query failed");
+        return -1;
+    }
+    z_owned_reply_t reply;
+    for (z_result_t res = z_recv(z_loan(handler), &reply); res == Z_OK; res = 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_view_string_t key_str;
+            z_keyexpr_as_view_string(z_sample_keyexpr(sample), &key_str);
+            printf(">> Alive token ('%.*s')\n", (int)z_string_len(z_loan(key_str)), z_string_data(z_loan(key_str)));
+        } else {
+            printf("Received an error\n");
+        }
+    }
+
+    z_drop(z_move(reply));
+    z_drop(z_move(handler));
+    z_drop(z_move(s));
+    return 0;
+}
+#else
+int main(void) {
+    printf(
+        "ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY or Z_FEATURE_LIVELINESS but this example requires "
+        "them.\n");
+    return -2;
+}
+#endif
diff --git a/examples/unix/c11/z_info.c b/examples/unix/c11/z_info.c
index 94df7db68..fe4b61beb 100644
--- a/examples/unix/c11/z_info.c
+++ b/examples/unix/c11/z_info.c
@@ -86,14 +86,14 @@ int main(int argc, char **argv) {
 
     printf("Routers IDs:\n");
     z_owned_closure_zid_t callback;
-    z_closure(&callback, print_zid);
+    z_closure(&callback, print_zid, NULL, NULL);
     z_info_routers_zid(z_loan(s), z_move(callback));
 
     // `callback` has been `z_move`d just above, so it's safe to reuse the variable,
     // we'll just have to make sure we `z_move` it again to avoid mem-leaks.
     printf("Peers IDs:\n");
     z_owned_closure_zid_t callback2;
-    z_closure(&callback2, print_zid);
+    z_closure(&callback2, print_zid, NULL, NULL);
     z_info_peers_zid(z_loan(s), z_move(callback2));
 
     z_drop(z_move(s));
diff --git a/examples/unix/c11/z_liveliness.c b/examples/unix/c11/z_liveliness.c
new file mode 100644
index 000000000..0798621fe
--- /dev/null
+++ b/examples/unix/c11/z_liveliness.c
@@ -0,0 +1,121 @@
+//
+// 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>
+
+#include <signal.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <zenoh-pico.h>
+
+#if Z_FEATURE_LIVELINESS == 1
+
+static volatile int keepRunning = 1;
+
+void intHandler(int dummy) {
+    (void)dummy;
+    keepRunning = 0;
+}
+
+int main(int argc, char **argv) {
+    const char *keyexpr = "group1/zenoh-pico";
+    const char *mode = "client";
+    const char *clocator = NULL;
+    const char *llocator = NULL;
+
+    int opt;
+    while ((opt = getopt(argc, argv, "k:e:m:l:")) != -1) {
+        switch (opt) {
+            case 'k':
+                keyexpr = optarg;
+                break;
+            case 'e':
+                clocator = optarg;
+                break;
+            case 'm':
+                mode = optarg;
+                break;
+            case 'l':
+                llocator = optarg;
+                break;
+            case '?':
+                if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'v' || optopt == 'l') {
+                    fprintf(stderr, "Option -%c requires an argument.\n", optopt);
+                } else {
+                    fprintf(stderr, "Unknown option `-%c'.\n", optopt);
+                }
+                return 1;
+            default:
+                return -1;
+        }
+    }
+
+    z_owned_config_t config;
+    z_config_default(&config);
+    zp_config_insert(z_loan_mut(config), Z_CONFIG_MODE_KEY, mode);
+    if (clocator != NULL) {
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, clocator);
+    }
+    if (llocator != NULL) {
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, llocator);
+    }
+
+    printf("Opening session...\n");
+    z_owned_session_t s;
+    if (z_open(&s, z_move(config), NULL) < 0) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan_mut(s), NULL) < 0 || zp_start_lease_task(z_loan_mut(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        z_session_drop(z_session_move(&s));
+        return -1;
+    }
+
+    z_view_keyexpr_t ke;
+    if (z_view_keyexpr_from_str(&ke, keyexpr) < 0) {
+        printf("%s is not a valid key expression", keyexpr);
+        return -1;
+    }
+
+    printf("Declaring liveliness token '%s'...\n", keyexpr);
+    z_owned_liveliness_token_t token;
+    if (z_liveliness_declare_token(z_loan(s), &token, z_loan(ke), NULL) < 0) {
+        printf("Unable to create liveliness token!\n");
+        exit(-1);
+    }
+
+    printf("Press CTRL-C to undeclare liveliness token and quit...\n");
+    signal(SIGINT, intHandler);
+    while (keepRunning) {
+        z_sleep_s(1);
+    }
+
+    // LivelinessTokens are automatically closed when dropped
+    // Use the code below to manually undeclare it if needed
+    printf("Undeclaring liveliness token...\n");
+    z_drop(z_move(token));
+
+    z_drop(z_move(s));
+    return 0;
+}
+#else
+int main(void) {
+    printf(
+        "ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY or Z_FEATURE_MULTI_THREAD but this example requires "
+        "them.\n");
+    return -2;
+}
+#endif
diff --git a/examples/unix/c11/z_queryable.c b/examples/unix/c11/z_queryable.c
index 13ced6dfc..6ec72f517 100644
--- a/examples/unix/c11/z_queryable.c
+++ b/examples/unix/c11/z_queryable.c
@@ -146,7 +146,7 @@ int main(int argc, char **argv) {
 
     printf("Creating Queryable on '%s'...\n", keyexpr);
     z_owned_closure_query_t callback;
-    z_closure(&callback, query_handler);
+    z_closure(&callback, query_handler, NULL, NULL);
     z_owned_queryable_t qable;
     if (z_declare_queryable(z_loan(s), &qable, z_loan(ke), z_move(callback), NULL) < 0) {
         printf("Unable to create queryable.\n");
diff --git a/examples/unix/c11/z_queryable_attachment.c b/examples/unix/c11/z_queryable_attachment.c
index 20a2e9ad2..f915d7767 100644
--- a/examples/unix/c11/z_queryable_attachment.c
+++ b/examples/unix/c11/z_queryable_attachment.c
@@ -186,7 +186,7 @@ int main(int argc, char **argv) {
 
     printf("Creating Queryable on '%s'...\n", keyexpr);
     z_owned_closure_query_t callback;
-    z_closure(&callback, query_handler);
+    z_closure(&callback, query_handler, NULL, NULL);
     z_owned_queryable_t qable;
     if (z_declare_queryable(z_loan(s), &qable, z_loan(ke), z_move(callback), NULL) < 0) {
         printf("Unable to create queryable.\n");
diff --git a/examples/unix/c11/z_sub.c b/examples/unix/c11/z_sub.c
index 1c9df33b1..0d8b73e39 100644
--- a/examples/unix/c11/z_sub.c
+++ b/examples/unix/c11/z_sub.c
@@ -98,7 +98,7 @@ int main(int argc, char **argv) {
     }
 
     z_owned_closure_sample_t callback;
-    z_closure(&callback, data_handler);
+    z_closure(&callback, data_handler, NULL, NULL);
     printf("Declaring Subscriber on '%s'...\n", keyexpr);
     z_owned_subscriber_t sub;
     z_view_keyexpr_t ke;
diff --git a/examples/unix/c11/z_sub_attachment.c b/examples/unix/c11/z_sub_attachment.c
index 5720f86fd..73a320d4e 100644
--- a/examples/unix/c11/z_sub_attachment.c
+++ b/examples/unix/c11/z_sub_attachment.c
@@ -149,7 +149,7 @@ int main(int argc, char **argv) {
     }
 
     z_owned_closure_sample_t callback;
-    z_closure(&callback, data_handler);
+    z_closure(&callback, data_handler, NULL, NULL);
     printf("Declaring Subscriber on '%s'...\n", keyexpr);
     z_owned_subscriber_t sub;
     z_view_keyexpr_t ke;
diff --git a/examples/unix/c11/z_sub_liveliness.c b/examples/unix/c11/z_sub_liveliness.c
new file mode 100644
index 000000000..a302d10a3
--- /dev/null
+++ b/examples/unix/c11/z_sub_liveliness.c
@@ -0,0 +1,134 @@
+//
+// 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>
+//
+
+#include <stddef.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <zenoh-pico.h>
+
+#if Z_FEATURE_SUBSCRIPTION == 1 && Z_FEATURE_LIVELINESS == 1
+
+void data_handler(z_loaned_sample_t *sample, void *ctx) {
+    (void)(ctx);
+    z_view_string_t key_string;
+    z_keyexpr_as_view_string(z_sample_keyexpr(sample), &key_string);
+    switch (z_sample_kind(sample)) {
+        case Z_SAMPLE_KIND_PUT:
+            printf(">> [LivelinessSubscriber] New alive token ('%.*s')\n", (int)z_string_len(z_loan(key_string)),
+                   z_string_data(z_loan(key_string)));
+            break;
+        case Z_SAMPLE_KIND_DELETE:
+            printf(">> [LivelinessSubscriber] Dropped token ('%.*s')\n", (int)z_string_len(z_loan(key_string)),
+                   z_string_data(z_loan(key_string)));
+            break;
+    }
+}
+
+int main(int argc, char **argv) {
+    const char *keyexpr = "group1/**";
+    const char *mode = "client";
+    char *clocator = NULL;
+    char *llocator = NULL;
+    bool history = false;
+
+    int opt;
+    while ((opt = getopt(argc, argv, "k:e:m:l:n:h")) != -1) {
+        switch (opt) {
+            case 'k':
+                keyexpr = optarg;
+                break;
+            case 'e':
+                clocator = optarg;
+                break;
+            case 'm':
+                mode = optarg;
+                break;
+            case 'l':
+                llocator = optarg;
+                break;
+            case 'h':
+                history = true;
+                break;
+            case '?':
+                if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'l') {
+                    fprintf(stderr, "Option -%c requires an argument.\n", optopt);
+                } else {
+                    fprintf(stderr, "Unknown option `-%c'.\n", optopt);
+                }
+                return 1;
+            default:
+                return -1;
+        }
+    }
+
+    z_owned_config_t config;
+    z_config_default(&config);
+    zp_config_insert(z_loan_mut(config), Z_CONFIG_MODE_KEY, mode);
+    if (clocator != NULL) {
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, clocator);
+    }
+    if (llocator != NULL) {
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, llocator);
+    }
+
+    printf("Opening session...\n");
+    z_owned_session_t s;
+    if (z_open(&s, z_move(config), NULL) < 0) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan_mut(s), NULL) < 0 || zp_start_lease_task(z_loan_mut(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks\n");
+        z_session_drop(z_session_move(&s));
+        return -1;
+    }
+
+    printf("Declaring liveliness subscriber on '%s'...\n", keyexpr);
+    z_owned_closure_sample_t callback;
+    z_closure(&callback, data_handler, NULL, NULL);
+    z_owned_subscriber_t sub;
+
+    z_liveliness_subscriber_options_t sub_opt;
+    z_liveliness_subscriber_options_default(&sub_opt);
+    sub_opt.history = history;
+
+    z_view_keyexpr_t ke;
+    z_view_keyexpr_from_str(&ke, keyexpr);
+    if (z_liveliness_declare_subscriber(z_loan(s), &sub, z_loan(ke), z_move(callback), &sub_opt) < 0) {
+        printf("Unable to declare liveliness subscriber.\n");
+        exit(-1);
+    }
+
+    printf("Press CTRL-C to quit...\n");
+    while (1) {
+        z_sleep_s(1);
+    }
+
+    // Clean up
+    z_drop(z_move(sub));
+    z_drop(z_move(s));
+    return 0;
+}
+#else
+int main(void) {
+    printf(
+        "ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION and Z_FEATURE_LIVELINESS but this example "
+        "requires it.\n");
+    return -2;
+}
+#endif
diff --git a/examples/unix/c11/z_sub_st.c b/examples/unix/c11/z_sub_st.c
index 083d9465d..edc3b4e5e 100644
--- a/examples/unix/c11/z_sub_st.c
+++ b/examples/unix/c11/z_sub_st.c
@@ -90,7 +90,7 @@ int main(int argc, char **argv) {
     }
 
     z_owned_closure_sample_t callback;
-    z_closure(&callback, data_handler);
+    z_closure(&callback, data_handler, NULL, NULL);
     printf("Declaring Subscriber on '%s'...\n", keyexpr);
     z_owned_subscriber_t sub;
     z_view_keyexpr_t ke;
diff --git a/examples/windows/z_get.c b/examples/windows/z_get.c
index 3c5a3f338..dc4cfc862 100644
--- a/examples/windows/z_get.c
+++ b/examples/windows/z_get.c
@@ -92,7 +92,7 @@ int main(int argc, char **argv) {
         opts.payload = z_move(payload);
     }
     z_owned_closure_reply_t callback;
-    z_closure(&callback, reply_handler, reply_dropper);
+    z_closure(&callback, reply_handler, reply_dropper, NULL);
     if (z_get(z_loan(s), z_loan(ke), "", z_move(callback), &opts) < 0) {
         printf("Unable to send query.\n");
         return -1;
diff --git a/examples/windows/z_info.c b/examples/windows/z_info.c
index 96f8dcc62..62a459156 100644
--- a/examples/windows/z_info.c
+++ b/examples/windows/z_info.c
@@ -59,14 +59,14 @@ int main(int argc, char **argv) {
 
     printf("Routers IDs:\n");
     z_owned_closure_zid_t callback;
-    z_closure(&callback, print_zid);
+    z_closure(&callback, print_zid, NULL, NULL);
     z_info_routers_zid(z_loan(s), z_move(callback));
 
     // `callback` has been `z_move`d just above, so it's safe to reuse the variable,
     // we'll just have to make sure we `z_move` it again to avoid mem-leaks.
     printf("Peers IDs:\n");
     z_owned_closure_zid_t callback2;
-    z_closure(&callback2, print_zid);
+    z_closure(&callback2, print_zid, NULL, NULL);
     z_info_peers_zid(z_loan(s), z_move(callback2));
 
     z_drop(z_move(s));
diff --git a/examples/windows/z_queryable.c b/examples/windows/z_queryable.c
index 11a01d92e..4a1c2e469 100644
--- a/examples/windows/z_queryable.c
+++ b/examples/windows/z_queryable.c
@@ -79,7 +79,7 @@ int main(int argc, char **argv) {
 
     printf("Creating Queryable on '%s'...\n", keyexpr);
     z_owned_closure_query_t callback;
-    z_closure(&callback, query_handler);
+    z_closure(&callback, query_handler, NULL, NULL);
     z_owned_queryable_t qable;
     if (z_declare_queryable(z_loan(s), &qable, z_loan(ke), z_move(callback), NULL) < 0) {
         printf("Unable to create queryable.\n");
diff --git a/examples/windows/z_sub.c b/examples/windows/z_sub.c
index 166775ea1..8df2bb696 100644
--- a/examples/windows/z_sub.c
+++ b/examples/windows/z_sub.c
@@ -59,7 +59,7 @@ int main(int argc, char **argv) {
     }
 
     z_owned_closure_sample_t callback;
-    z_closure(&callback, data_handler);
+    z_closure(&callback, data_handler, NULL, NULL);
     printf("Declaring Subscriber on '%s'...\n", keyexpr);
     z_owned_subscriber_t sub;
     z_view_keyexpr_t ke;
diff --git a/examples/windows/z_sub_st.c b/examples/windows/z_sub_st.c
index 16507ef28..b1d2a6634 100644
--- a/examples/windows/z_sub_st.c
+++ b/examples/windows/z_sub_st.c
@@ -56,7 +56,7 @@ int main(int argc, char **argv) {
     }
 
     z_owned_closure_sample_t callback;
-    z_closure(&callback, data_handler);
+    z_closure(&callback, data_handler, NULL, NULL);
     printf("Declaring Subscriber on '%s'...\n", keyexpr);
     z_owned_subscriber_t sub;
     z_view_keyexpr_t ke;
diff --git a/examples/zephyr/z_get.c b/examples/zephyr/z_get.c
index 8d22aa0c7..c56049899 100644
--- a/examples/zephyr/z_get.c
+++ b/examples/zephyr/z_get.c
@@ -66,7 +66,7 @@ int main(int argc, char **argv) {
     z_owned_session_t s;
     if (z_open(&s, z_move(config), NULL) < 0) {
         printf("Unable to open session!\n");
-        exit(-1);
+        return -1;
     }
     printf("OK\n");
 
@@ -87,12 +87,12 @@ int main(int argc, char **argv) {
             opts.payload = z_move(payload);
         }
         z_owned_closure_reply_t callback;
-        z_closure(&callback, reply_handler, reply_dropper);
+        z_closure(&callback, reply_handler, reply_dropper, NULL);
         z_view_keyexpr_t ke;
         z_view_keyexpr_from_str_unchecked(&ke, KEYEXPR);
         if (z_get(z_loan(s), z_loan(ke), "", z_move(callback), &opts) < 0) {
             printf("Unable to send query.\n");
-            exit(-1);
+            return -1;
         }
     }
 
diff --git a/examples/zephyr/z_pub.c b/examples/zephyr/z_pub.c
index ce91c4d38..4f9f063b7 100644
--- a/examples/zephyr/z_pub.c
+++ b/examples/zephyr/z_pub.c
@@ -48,7 +48,7 @@ int main(int argc, char **argv) {
     z_owned_session_t s;
     if (z_open(&s, z_move(config), NULL) < 0) {
         printf("Unable to open session!\n");
-        exit(-1);
+        return -1;
     }
     printf("OK\n");
 
@@ -62,7 +62,7 @@ int main(int argc, char **argv) {
     z_owned_publisher_t pub;
     if (z_declare_publisher(z_loan(s), &pub, z_loan(ke), NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
-        exit(-1);
+        return -1;
     }
     printf("OK\n");
 
diff --git a/examples/zephyr/z_pull.c b/examples/zephyr/z_pull.c
index 06562eed6..e3be5f345 100644
--- a/examples/zephyr/z_pull.c
+++ b/examples/zephyr/z_pull.c
@@ -48,7 +48,7 @@ int main(int argc, char **argv) {
     z_owned_session_t s;
     if (z_open(&s, z_move(config), NULL) < 0) {
         printf("Unable to open session!\n");
-        exit(-1);
+        return -1;
     }
     printf("OK\n");
 
@@ -56,7 +56,7 @@ int main(int argc, char **argv) {
     if (zp_start_read_task(z_loan_mut(s), NULL) < 0 || zp_start_lease_task(z_loan_mut(s), NULL) < 0) {
         printf("Unable to start read and lease tasks\n");
         z_session_drop(z_session_move(&s));
-        exit(-1);
+        return -1;
     }
 
     printf("Declaring Subscriber on '%s'...\n", KEYEXPR);
@@ -68,7 +68,7 @@ int main(int argc, char **argv) {
     z_view_keyexpr_from_str(&ke, KEYEXPR);
     if (z_declare_subscriber(z_loan(s), &sub, z_loan(ke), z_move(closure), NULL) < 0) {
         printf("Unable to declare subscriber.\n");
-        exit(-1);
+        return -1;
     }
 
     printf("Pulling data every %zu ms... Ring size: %zd\n", INTERVAL, SIZE);
diff --git a/examples/zephyr/z_queryable.c b/examples/zephyr/z_queryable.c
index 0d34c4c03..1eafda347 100644
--- a/examples/zephyr/z_queryable.c
+++ b/examples/zephyr/z_queryable.c
@@ -71,7 +71,7 @@ int main(int argc, char **argv) {
     z_owned_session_t s;
     if (z_open(&s, z_move(config), NULL) < 0) {
         printf("Unable to open session!\n");
-        exit(-1);
+        return -1;
     }
     printf("OK\n");
 
@@ -82,13 +82,13 @@ int main(int argc, char **argv) {
     // Declare Zenoh queryable
     printf("Declaring Queryable on %s...", KEYEXPR);
     z_owned_closure_query_t callback;
-    z_closure(&callback, query_handler);
+    z_closure(&callback, query_handler, NULL, NULL);
     z_owned_queryable_t qable;
     z_view_keyexpr_t ke;
     z_view_keyexpr_from_str_unchecked(&ke, KEYEXPR);
     if (z_declare_queryable(z_loan(s), &qable, z_loan(ke), z_move(callback), NULL) < 0) {
         printf("Unable to declare queryable.\n");
-        exit(-1);
+        return -1;
     }
     printf("OK\n");
     printf("Zenoh setup finished!\n");
diff --git a/examples/zephyr/z_sub.c b/examples/zephyr/z_sub.c
index 68c0f46e1..c49668b3c 100644
--- a/examples/zephyr/z_sub.c
+++ b/examples/zephyr/z_sub.c
@@ -55,7 +55,7 @@ int main(int argc, char **argv) {
     z_owned_session_t s;
     if (z_open(&s, z_move(config), NULL) < 0) {
         printf("Unable to open session!\n");
-        exit(-1);
+        return -1;
     }
     printf("OK\n");
 
@@ -65,13 +65,13 @@ int main(int argc, char **argv) {
 
     printf("Declaring Subscriber on '%s'...", KEYEXPR);
     z_owned_closure_sample_t callback;
-    z_closure(&callback, data_handler);
+    z_closure(&callback, data_handler, NULL, NULL);
     z_view_keyexpr_t ke;
     z_view_keyexpr_from_str_unchecked(&ke, KEYEXPR);
     z_owned_subscriber_t sub;
     if (z_declare_subscriber(z_loan(s), &sub, z_loan(ke), z_move(callback), NULL) < 0) {
         printf("Unable to declare subscriber.\n");
-        exit(-1);
+        return -1;
     }
     printf("OK!\n");
 
diff --git a/include/zenoh-pico.h b/include/zenoh-pico.h
index b34291ca4..75d392ee9 100644
--- a/include/zenoh-pico.h
+++ b/include/zenoh-pico.h
@@ -26,6 +26,7 @@
 #include "zenoh-pico/api/constants.h"
 #include "zenoh-pico/api/encoding.h"
 #include "zenoh-pico/api/handlers.h"
+#include "zenoh-pico/api/liveliness.h"
 #include "zenoh-pico/api/macros.h"
 #include "zenoh-pico/api/primitives.h"
 #include "zenoh-pico/api/types.h"
diff --git a/include/zenoh-pico.h.in b/include/zenoh-pico.h.in
index bd4790b1e..b19efad0e 100644
--- a/include/zenoh-pico.h.in
+++ b/include/zenoh-pico.h.in
@@ -26,6 +26,7 @@
 #include "zenoh-pico/api/constants.h"
 #include "zenoh-pico/api/encoding.h"
 #include "zenoh-pico/api/handlers.h"
+#include "zenoh-pico/api/liveliness.h"
 #include "zenoh-pico/api/macros.h"
 #include "zenoh-pico/api/primitives.h"
 #include "zenoh-pico/api/types.h"
diff --git a/include/zenoh-pico/api/encoding.h b/include/zenoh-pico/api/encoding.h
index 3544693b8..7393ae259 100644
--- a/include/zenoh-pico/api/encoding.h
+++ b/include/zenoh-pico/api/encoding.h
@@ -78,84 +78,84 @@ extern const z_owned_encoding_t ZP_ENCODING_ZENOH_SERIALIZED;
  * Constant alias for string: `"application/octet-stream"`.
  */
 const z_loaned_encoding_t *z_encoding_application_octet_stream(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_OCTET_STREAM;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_OCTET_STREAM;
 
 /**
  * A textual file.
  * Constant alias for string: `"text/plain"`.
  */
 const z_loaned_encoding_t *z_encoding_text_plain(void);
-extern const z_owned_encoding_t ENCODING_TEXT_PLAIN;
+extern const z_owned_encoding_t ZP_ENCODING_TEXT_PLAIN;
 
 /**
  * JSON data intended to be consumed by an application.
  * Constant alias for string: `"application/json"`.
  */
 const z_loaned_encoding_t *z_encoding_application_json(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_JSON;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_JSON;
 
 /**
  * JSON data intended to be human readable.
  * Constant alias for string: `"text/json"`.
  */
 const z_loaned_encoding_t *z_encoding_text_json(void);
-extern const z_owned_encoding_t ENCODING_TEXT_JSON;
+extern const z_owned_encoding_t ZP_ENCODING_TEXT_JSON;
 
 /**
  * A Common Data Representation (CDR)-encoded data.
  * Constant alias for string: `"application/cdr"`.
  */
 const z_loaned_encoding_t *z_encoding_application_cdr(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_CDR;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_CDR;
 
 /**
  * A Concise Binary Object Representation (CBOR)-encoded data.
  * Constant alias for string: `"application/cbor"`.
  */
 const z_loaned_encoding_t *z_encoding_application_cbor(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_CBOR;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_CBOR;
 
 /**
  * YAML data intended to be consumed by an application.
  * Constant alias for string: `"application/yaml"`.
  */
 const z_loaned_encoding_t *z_encoding_application_yaml(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_YAML;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_YAML;
 
 /**
  * YAML data intended to be human readable.
  * Constant alias for string: `"text/yaml"`.
  */
 const z_loaned_encoding_t *z_encoding_text_yaml(void);
-extern const z_owned_encoding_t ENCODING_TEXT_YAML;
+extern const z_owned_encoding_t ZP_ENCODING_TEXT_YAML;
 
 /**
  * JSON5 encoded data that are human readable.
  * Constant alias for string: `"text/json5"`.
  */
 const z_loaned_encoding_t *z_encoding_text_json5(void);
-extern const z_owned_encoding_t ENCODING_TEXT_JSON5;
+extern const z_owned_encoding_t ZP_ENCODING_TEXT_JSON5;
 
 /**
  * A Python object serialized using `pickle <https://docs.python.org/3/library/pickle.html>`_.
  * Constant alias for string: `"application/python-serialized-object"`.
  */
 const z_loaned_encoding_t *z_encoding_application_python_serialized_object(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_PYTHON_SERIALIZED_OBJECT;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_PYTHON_SERIALIZED_OBJECT;
 
 /**
  * An application-specific protobuf-encoded data.
  * Constant alias for string: `"application/protobuf"`.
  */
 const z_loaned_encoding_t *z_encoding_application_protobuf(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_PROTOBUF;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_PROTOBUF;
 
 /**
  * A Java serialized object.
  * Constant alias for string: `"application/java-serialized-object"`.
  */
 const z_loaned_encoding_t *z_encoding_application_java_serialized_object(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_JAVA_SERIALIZED_OBJECT;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_JAVA_SERIALIZED_OBJECT;
 
 /**
  * An `openmetrics <https://github.com/OpenObservability/OpenMetrics>`_ data, commonly used by
@@ -163,266 +163,266 @@ extern const z_owned_encoding_t ENCODING_APPLICATION_JAVA_SERIALIZED_OBJECT;
  * Constant alias for string: `"application/openmetrics-text"`.
  */
 const z_loaned_encoding_t *z_encoding_application_openmetrics_text(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_OPENMETRICS_TEXT;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_OPENMETRICS_TEXT;
 
 /**
  * A Portable Network Graphics (PNG) image.
  * Constant alias for string: `"image/png"`.
  */
 const z_loaned_encoding_t *z_encoding_image_png(void);
-extern const z_owned_encoding_t ENCODING_IMAGE_PNG;
+extern const z_owned_encoding_t ZP_ENCODING_IMAGE_PNG;
 
 /**
  * A Joint Photographic Experts Group (JPEG) image.
  * Constant alias for string: `"image/jpeg"`.
  */
 const z_loaned_encoding_t *z_encoding_image_jpeg(void);
-extern const z_owned_encoding_t ENCODING_IMAGE_JPEG;
+extern const z_owned_encoding_t ZP_ENCODING_IMAGE_JPEG;
 
 /**
  * A Graphics Interchange Format (GIF) image.
  * Constant alias for string: `"image/gif"`.
  */
 const z_loaned_encoding_t *z_encoding_image_gif(void);
-extern const z_owned_encoding_t ENCODING_IMAGE_GIF;
+extern const z_owned_encoding_t ZP_ENCODING_IMAGE_GIF;
 
 /**
  * A BitMap (BMP) image.
  * Constant alias for string: `"image/bmp"`.
  */
 const z_loaned_encoding_t *z_encoding_image_bmp(void);
-extern const z_owned_encoding_t ENCODING_IMAGE_BMP;
+extern const z_owned_encoding_t ZP_ENCODING_IMAGE_BMP;
 
 /**
  * A Web Portable (WebP) image.
  * Constant alias for string: `"image/webp"`.
  */
 const z_loaned_encoding_t *z_encoding_image_webp(void);
-extern const z_owned_encoding_t ENCODING_IMAGE_WEBP;
+extern const z_owned_encoding_t ZP_ENCODING_IMAGE_WEBP;
 
 /**
  * An XML file intended to be consumed by an application.
  * Constant alias for string: `"application/xml"`.
  */
 const z_loaned_encoding_t *z_encoding_application_xml(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_XML;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_XML;
 
 /**
  * An encoded list of tuples, each consisting of a name and a value.
  * Constant alias for string: `"application/x-www-form-urlencoded"`.
  */
 const z_loaned_encoding_t *z_encoding_application_x_www_form_urlencoded(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_X_WWW_FORM_URLENCODED;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_X_WWW_FORM_URLENCODED;
 
 /**
  * An HTML file.
  * Constant alias for string: `"text/html"`.
  */
 const z_loaned_encoding_t *z_encoding_text_html(void);
-extern const z_owned_encoding_t ENCODING_TEXT_HTML;
+extern const z_owned_encoding_t ZP_ENCODING_TEXT_HTML;
 
 /**
  * An XML file that is human-readable.
  * Constant alias for string: `"text/xml"`.
  */
 const z_loaned_encoding_t *z_encoding_text_xml(void);
-extern const z_owned_encoding_t ENCODING_TEXT_XML;
+extern const z_owned_encoding_t ZP_ENCODING_TEXT_XML;
 
 /**
  * A CSS file.
  * Constant alias for string: `"text/css"`.
  */
 const z_loaned_encoding_t *z_encoding_text_css(void);
-extern const z_owned_encoding_t ENCODING_TEXT_CSS;
+extern const z_owned_encoding_t ZP_ENCODING_TEXT_CSS;
 
 /**
  * A JavaScript file.
  * Constant alias for string: `"text/javascript"`.
  */
 const z_loaned_encoding_t *z_encoding_text_javascript(void);
-extern const z_owned_encoding_t ENCODING_TEXT_JAVASCRIPT;
+extern const z_owned_encoding_t ZP_ENCODING_TEXT_JAVASCRIPT;
 
 /**
  * A Markdown file.
  * Constant alias for string: `"text/markdown"`.
  */
 const z_loaned_encoding_t *z_encoding_text_markdown(void);
-extern const z_owned_encoding_t ENCODING_TEXT_MARKDOWN;
+extern const z_owned_encoding_t ZP_ENCODING_TEXT_MARKDOWN;
 
 /**
  * A CSV file.
  * Constant alias for string: `"text/csv"`.
  */
 const z_loaned_encoding_t *z_encoding_text_csv(void);
-extern const z_owned_encoding_t ENCODING_TEXT_CSV;
+extern const z_owned_encoding_t ZP_ENCODING_TEXT_CSV;
 
 /**
  * An application-specific SQL query.
  * Constant alias for string: `"application/sql"`.
  */
 const z_loaned_encoding_t *z_encoding_application_sql(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_SQL;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_SQL;
 
 /**
  * Constrained Application Protocol (CoAP) data intended for CoAP-to-HTTP and HTTP-to-CoAP proxies.
  * Constant alias for string: `"application/coap-payload"`.
  */
 const z_loaned_encoding_t *z_encoding_application_coap_payload(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_COAP_PAYLOAD;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_COAP_PAYLOAD;
 
 /**
  * Defines a JSON document structure for expressing a sequence of operations to apply to a JSON document.
  * Constant alias for string: `"application/json-patch+json"`.
  */
 const z_loaned_encoding_t *z_encoding_application_json_patch_json(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_JSON_PATCH_JSON;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_JSON_PATCH_JSON;
 
 /**
  * A JSON text sequence consists of any number of JSON texts, all encoded in UTF-8.
  * Constant alias for string: `"application/json-seq"`.
  */
 const z_loaned_encoding_t *z_encoding_application_json_seq(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_JSON_SEQ;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_JSON_SEQ;
 
 /**
  * A JSONPath defines a string syntax for selecting and extracting JSON values from within a given JSON value.
  * Constant alias for string: `"application/jsonpath"`.
  */
 const z_loaned_encoding_t *z_encoding_application_jsonpath(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_JSONPATH;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_JSONPATH;
 
 /**
  * A JSON Web Token (JWT).
  * Constant alias for string: `"application/jwt"`.
  */
 const z_loaned_encoding_t *z_encoding_application_jwt(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_JWT;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_JWT;
 
 /**
  * An application-specific MPEG-4 encoded data, either audio or video.
  * Constant alias for string: `"application/mp4"`.
  */
 const z_loaned_encoding_t *z_encoding_application_mp4(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_MP4;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_MP4;
 
 /**
  * A SOAP 1.2 message serialized as XML 1.0.
  * Constant alias for string: `"application/soap+xml"`.
  */
 const z_loaned_encoding_t *z_encoding_application_soap_xml(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_SOAP_XML;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_SOAP_XML;
 
 /**
  * A YANG-encoded data commonly used by the Network Configuration Protocol (NETCONF).
  * Constant alias for string: `"application/yang"`.
  */
 const z_loaned_encoding_t *z_encoding_application_yang(void);
-extern const z_owned_encoding_t ENCODING_APPLICATION_YANG;
+extern const z_owned_encoding_t ZP_ENCODING_APPLICATION_YANG;
 
 /**
  * A MPEG-4 Advanced Audio Coding (AAC) media.
  * Constant alias for string: `"audio/aac"`.
  */
 const z_loaned_encoding_t *z_encoding_audio_aac(void);
-extern const z_owned_encoding_t ENCODING_AUDIO_AAC;
+extern const z_owned_encoding_t ZP_ENCODING_AUDIO_AAC;
 
 /**
  * A Free Lossless Audio Codec (FLAC) media.
  * Constant alias for string: `"audio/flac"`.
  */
 const z_loaned_encoding_t *z_encoding_audio_flac(void);
-extern const z_owned_encoding_t ENCODING_AUDIO_FLAC;
+extern const z_owned_encoding_t ZP_ENCODING_AUDIO_FLAC;
 
 /**
  * An audio codec defined in MPEG-1, MPEG-2, MPEG-4, or registered at the MP4 registration authority.
  * Constant alias for string: `"audio/mp4"`.
  */
 const z_loaned_encoding_t *z_encoding_audio_mp4(void);
-extern const z_owned_encoding_t ENCODING_AUDIO_MP4;
+extern const z_owned_encoding_t ZP_ENCODING_AUDIO_MP4;
 
 /**
  * An Ogg-encapsulated audio stream.
  * Constant alias for string: `"audio/ogg"`.
  */
 const z_loaned_encoding_t *z_encoding_audio_ogg(void);
-extern const z_owned_encoding_t ENCODING_AUDIO_OGG;
+extern const z_owned_encoding_t ZP_ENCODING_AUDIO_OGG;
 
 /**
  * A Vorbis-encoded audio stream.
  * Constant alias for string: `"audio/vorbis"`.
  */
 const z_loaned_encoding_t *z_encoding_audio_vorbis(void);
-extern const z_owned_encoding_t ENCODING_AUDIO_VORBIS;
+extern const z_owned_encoding_t ZP_ENCODING_AUDIO_VORBIS;
 
 /**
  * A h261-encoded video stream.
  * Constant alias for string: `"video/h261"`.
  */
 const z_loaned_encoding_t *z_encoding_video_h261(void);
-extern const z_owned_encoding_t ENCODING_VIDEO_H261;
+extern const z_owned_encoding_t ZP_ENCODING_VIDEO_H261;
 
 /**
  * A h263-encoded video stream.
  * Constant alias for string: `"video/h263"`.
  */
 const z_loaned_encoding_t *z_encoding_video_h263(void);
-extern const z_owned_encoding_t ENCODING_VIDEO_H263;
+extern const z_owned_encoding_t ZP_ENCODING_VIDEO_H263;
 
 /**
  * A h264-encoded video stream.
  * Constant alias for string: `"video/h264"`.
  */
 const z_loaned_encoding_t *z_encoding_video_h264(void);
-extern const z_owned_encoding_t ENCODING_VIDEO_H264;
+extern const z_owned_encoding_t ZP_ENCODING_VIDEO_H264;
 
 /**
  * A h265-encoded video stream.
  * Constant alias for string: `"video/h265"`.
  */
 const z_loaned_encoding_t *z_encoding_video_h265(void);
-extern const z_owned_encoding_t ENCODING_VIDEO_H265;
+extern const z_owned_encoding_t ZP_ENCODING_VIDEO_H265;
 
 /**
  * A h266-encoded video stream.
  * Constant alias for string: `"video/h266"`.
  */
 const z_loaned_encoding_t *z_encoding_video_h266(void);
-extern const z_owned_encoding_t ENCODING_VIDEO_H266;
+extern const z_owned_encoding_t ZP_ENCODING_VIDEO_H266;
 
 /**
  * A video codec defined in MPEG-1, MPEG-2, MPEG-4, or registered at the MP4 registration authority.
  * Constant alias for string: `"video/mp4"`.
  */
 const z_loaned_encoding_t *z_encoding_video_mp4(void);
-extern const z_owned_encoding_t ENCODING_VIDEO_MP4;
+extern const z_owned_encoding_t ZP_ENCODING_VIDEO_MP4;
 
 /**
  * An Ogg-encapsulated video stream.
  * Constant alias for string: `"video/ogg"`.
  */
 const z_loaned_encoding_t *z_encoding_video_ogg(void);
-extern const z_owned_encoding_t ENCODING_VIDEO_OGG;
+extern const z_owned_encoding_t ZP_ENCODING_VIDEO_OGG;
 
 /**
  * An uncompressed, studio-quality video stream.
  * Constant alias for string: `"video/raw"`.
  */
 const z_loaned_encoding_t *z_encoding_video_raw(void);
-extern const z_owned_encoding_t ENCODING_VIDEO_RAW;
+extern const z_owned_encoding_t ZP_ENCODING_VIDEO_RAW;
 
 /**
  * A VP8-encoded video stream.
  * Constant alias for string: `"video/vp8"`.
  */
 const z_loaned_encoding_t *z_encoding_video_vp8(void);
-extern const z_owned_encoding_t ENCODING_VIDEO_VP8;
+extern const z_owned_encoding_t ZP_ENCODING_VIDEO_VP8;
 
 /**
  * A VP9-encoded video stream.
  * Constant alias for string: `"video/vp9"`.
  */
 const z_loaned_encoding_t *z_encoding_video_vp9(void);
-extern const z_owned_encoding_t ENCODING_VIDEO_VP9;
+extern const z_owned_encoding_t ZP_ENCODING_VIDEO_VP9;
 
 /**
  * Returns a loaned default `z_loaned_encoding_t`.
diff --git a/include/zenoh-pico/api/handlers.h b/include/zenoh-pico/api/handlers.h
index 52e3f2ce4..e2d939162 100644
--- a/include/zenoh-pico/api/handlers.h
+++ b/include/zenoh-pico/api/handlers.h
@@ -140,27 +140,42 @@ extern "C" {
                            /* collection_close_f              */ _z_##kind_name##_mt_close,                 \
                            /* elem_owned_type                 */ z_owned_##item_name##_t,                   \
                            /* elem_loaned_type                */ z_loaned_##item_name##_t,                  \
-                           /* elem_clone_f                     */ z_##item_name##_clone,                    \
+                           /* elem_clone_f                    */ z_##item_name##_clone,                     \
                            /* elem_move_f                     */ z_##item_name##_move,                      \
                            /* elem_drop_f                     */ z_##item_name##_drop,                      \
-                           /* elem_null                       */ z_internal_##item_name##_null)
+                           /* elem_null_f                     */ z_internal_##item_name##_null)
 
-#define _Z_CHANNEL_DEFINE_DUMMY(item_name, kind_name)        \
-    typedef struct {                                         \
-        uint8_t _foo;                                        \
-    } z_owned_##kind_name##_handler_##item_name##_t;         \
-    typedef struct {                                         \
-        uint8_t _foo;                                        \
-    } z_loaned_##kind_name##_handler_##item_name##_t;        \
-    typedef struct {                                         \
-        z_owned_##kind_name##_handler_##item_name##_t *_ptr; \
-    } z_moved_##kind_name##_handler_##item_name##_t;         \
-    void *z_##kind_name##_handler_##item_name##_loan(void);  \
-    void *z_##kind_name##_handler_##item_name##_move(void);  \
-    void *z_##kind_name##_handler_##item_name##_drop(void);  \
-    void *z_##kind_name##_handler_##item_name##_recv(void);  \
-    void *z_##kind_name##_handler_##item_name##_take(void);  \
-    void *z_##kind_name##_handler_##item_name##_try_recv(void);
+#define _Z_CHANNEL_DUMMY_IMPL(handler_type, handler_name, item_name)                                    \
+    _Z_OWNED_TYPE_VALUE(handler_type, handler_name)                                                     \
+    static inline void _z_##handler_name##_clear(handler_type *handler) { _ZP_UNUSED(handler); }        \
+    static inline bool _z_##handler_name##_check(const handler_type *handler) {                         \
+        _ZP_UNUSED(handler);                                                                            \
+        return false;                                                                                   \
+    }                                                                                                   \
+    static inline handler_type _z_##handler_name##_null(void) {                                         \
+        handler_type h = {0};                                                                           \
+        return h;                                                                                       \
+    }                                                                                                   \
+    _Z_OWNED_FUNCTIONS_VALUE_NO_COPY_INLINE_IMPL(handler_type, handler_name, _z_##handler_name##_check, \
+                                                 _z_##handler_name##_null, _z_##handler_name##_clear)   \
+    static inline z_result_t z_##handler_name##_try_recv(const z_loaned_##handler_name##_t *handler,    \
+                                                         z_owned_##item_name##_t *e) {                  \
+        _ZP_UNUSED(handler);                                                                            \
+        _ZP_UNUSED(e);                                                                                  \
+        return Z_CHANNEL_DISCONNECTED;                                                                  \
+    }                                                                                                   \
+    static inline z_result_t z_##handler_name##_recv(const z_loaned_##handler_name##_t *handler,        \
+                                                     z_owned_##item_name##_t *e) {                      \
+        _ZP_UNUSED(handler);                                                                            \
+        _ZP_UNUSED(e);                                                                                  \
+        return Z_CHANNEL_DISCONNECTED;                                                                  \
+    }
+
+#define _Z_CHANNEL_DEFINE_DUMMY(item_name, kind_name) \
+    typedef struct {                                  \
+        uint8_t _foo;                                 \
+    } _z_##kind_name##_handler_##item_name##_t;       \
+    _Z_CHANNEL_DUMMY_IMPL(_z_##kind_name##_handler_##item_name##_t, kind_name##_handler_##item_name, item_name)
 
 // This macro defines:
 //   z_ring_channel_sample_new()
diff --git a/include/zenoh-pico/api/liveliness.h b/include/zenoh-pico/api/liveliness.h
new file mode 100644
index 000000000..d3751bc4f
--- /dev/null
+++ b/include/zenoh-pico/api/liveliness.h
@@ -0,0 +1,153 @@
+//
+// 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>
+//
+#ifndef INCLUDE_ZENOH_PICO_API_LIVELINESS_H
+#define INCLUDE_ZENOH_PICO_API_LIVELINESS_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "olv_macros.h"
+#include "zenoh-pico/api/types.h"
+#include "zenoh-pico/protocol/core.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct {
+    uint32_t _id;
+    _z_keyexpr_t _key;
+    _z_session_weak_t _zn;
+} _z_liveliness_token_t;
+
+_Z_OWNED_TYPE_VALUE(_z_liveliness_token_t, liveliness_token)
+_Z_OWNED_FUNCTIONS_DEF(liveliness_token)
+
+#if Z_FEATURE_LIVELINESS == 1
+
+/**************** Liveliness Token ****************/
+
+/**
+ * The options for :c:func:`z_liveliness_declare_token()`.
+ */
+typedef struct z_liveliness_token_options_t {
+    uint8_t __dummy;
+} z_liveliness_token_options_t;
+
+/**
+ * Constructs default value for :c:type:`z_liveliness_token_options_t`.
+ */
+z_result_t z_liveliness_token_options_default(z_liveliness_token_options_t *options);
+
+/**
+ * Constructs and declares a liveliness token on the network.
+ *
+ * Liveliness token subscribers on an intersecting key expression will receive a PUT sample when connectivity
+ * is achieved, and a DELETE sample if it's lost.
+ *
+ * Parameters:
+ *   zs: A Zenos session to declare the liveliness token.
+ *   token: An uninitialized memory location where liveliness token will be constructed.
+ *   keyexpr: A keyexpr to declare a liveliess token for.
+ *   options: Liveliness token declaration options.
+ *
+ * Return:
+ *   ``0`` if put operation is successful, ``negative value`` otherwise.
+ */
+z_result_t z_liveliness_declare_token(const z_loaned_session_t *zs, z_owned_liveliness_token_t *token,
+                                      const z_loaned_keyexpr_t *keyexpr, const z_liveliness_token_options_t *options);
+
+/**
+ * Undeclare a liveliness token, notifying subscribers of its destruction.
+ *
+ * Parameters:
+ *   token: Moved :c:type:`z_owned_liveliness_token_t` to undeclare.
+ *
+ * Return:
+ *   ``0`` if put operation is successful, ``negative value`` otherwise.
+ */
+z_result_t z_liveliness_undeclare_token(z_moved_liveliness_token_t *token);
+
+/**************** Liveliness Subscriber ****************/
+
+#if Z_FEATURE_SUBSCRIPTION == 1
+/**
+ * The options for :c:func:`z_liveliness_declare_subscriber()`
+ */
+typedef struct z_liveliness_subscriber_options_t {
+    bool history;
+} z_liveliness_subscriber_options_t;
+
+/**
+ * Constucts default value for :c:type:`z_liveliness_subscriber_options_t`.
+ */
+z_result_t z_liveliness_subscriber_options_default(z_liveliness_subscriber_options_t *options);
+
+/**
+ * Declares a subscriber on liveliness tokens that intersect `keyexpr`.
+ *
+ * Parameters:
+ *   zs: The Zenoh session.
+ *   sub: An uninitialized memory location where subscriber will be constructed.
+ *   keyexpr: The key expression to subscribe to.
+ *   callback: The callback function that will be called each time a liveliness token status is changed.
+ *   options: The options to be passed to the liveliness subscriber declaration.
+ *
+ * Return:
+ *   ``0`` if put operation is successful, ``negative value`` otherwise.
+ */
+z_result_t z_liveliness_declare_subscriber(const z_loaned_session_t *zs, z_owned_subscriber_t *sub,
+                                           const z_loaned_keyexpr_t *keyexpr, z_moved_closure_sample_t *callback,
+                                           z_liveliness_subscriber_options_t *options);
+#endif  // Z_FEATURE_SUBSCRIPTION == 1
+
+/**************** Liveliness Query ****************/
+
+#if Z_FEATURE_QUERY == 1
+/**
+ * The options for :c:func:`z_liveliness_get()`
+ */
+typedef struct z_liveliness_get_options_t {
+    uint32_t timeout_ms;
+} z_liveliness_get_options_t;
+
+/**
+ * Constructs default value :c:type:`z_liveliness_get_options_t`.
+ */
+z_result_t z_liveliness_get_options_default(z_liveliness_get_options_t *options);
+
+/**
+ * Queries liveliness tokens currently on the network with a key expression intersecting with `keyexpr`.
+ *
+ * Parameters:
+ *   zs: The Zenoh session.
+ *   keyexpr: The key expression to query liveliness tokens for.
+ *   callback: The callback function that will be called for each received reply.
+ *   options: Additional options for the liveliness get operation.
+ *
+ * Return:
+ *   ``0`` if put operation is successful, ``negative value`` otherwise.
+ */
+z_result_t z_liveliness_get(const z_loaned_session_t *zs, const z_loaned_keyexpr_t *keyexpr,
+                            z_moved_closure_reply_t *callback, z_liveliness_get_options_t *options);
+
+#endif  // Z_FEATURE_QUERY == 1
+
+#endif  // Z_FEATURE_LIVELINESS == 1
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // INCLUDE_ZENOH_PICO_API_LIVELINESS_H
diff --git a/include/zenoh-pico/api/macros.h b/include/zenoh-pico/api/macros.h
index 0d1c9aea8..f60ba22bd 100644
--- a/include/zenoh-pico/api/macros.h
+++ b/include/zenoh-pico/api/macros.h
@@ -15,6 +15,7 @@
 #define ZENOH_PICO_API_MACROS_H
 
 #include "zenoh-pico/api/handlers.h"
+#include "zenoh-pico/api/liveliness.h"
 #include "zenoh-pico/api/primitives.h"
 #include "zenoh-pico/api/serialization.h"
 #include "zenoh-pico/api/types.h"
@@ -43,6 +44,7 @@
                   z_owned_subscriber_t : z_subscriber_loan,                   \
                   z_owned_publisher_t : z_publisher_loan,                     \
                   z_owned_queryable_t : z_queryable_loan,                     \
+                  z_owned_liveliness_token_t : z_liveliness_token_loan,       \
                   z_owned_reply_t : z_reply_loan,                             \
                   z_owned_hello_t : z_hello_loan,                             \
                   z_owned_string_t : z_string_loan,                           \
@@ -74,28 +76,29 @@
             )(&x)
 
 #define z_loan_mut(x) _Generic((x), \
-                  z_owned_keyexpr_t : z_keyexpr_loan_mut,                 \
-                  z_owned_config_t : z_config_loan_mut,                   \
-                  z_owned_session_t : z_session_loan_mut,                 \
-                  z_owned_publisher_t : z_publisher_loan_mut,             \
-                  z_owned_queryable_t : z_queryable_loan_mut,             \
-                  z_owned_subscriber_t : z_subscriber_loan_mut,           \
-                  z_owned_reply_t : z_reply_loan_mut,                     \
-                  z_owned_hello_t : z_hello_loan_mut,                     \
-                  z_owned_string_t : z_string_loan_mut,                   \
-                  z_view_string_t : z_view_string_loan_mut,               \
-                  z_owned_string_array_t : z_string_array_loan_mut,       \
-                  z_owned_sample_t : z_sample_loan_mut,                   \
-                  z_owned_query_t : z_query_loan_mut,                     \
-                  z_owned_slice_t : z_slice_loan_mut,                     \
-                  z_view_slice_t : z_view_slice_loan_mut,                 \
-                  z_owned_bytes_t : z_bytes_loan_mut,                     \
-                  z_owned_task_t : z_task_loan_mut,                       \
-                  z_owned_mutex_t : z_mutex_loan_mut,                     \
-                  z_owned_condvar_t : z_condvar_loan_mut,                 \
-                  z_owned_reply_err_t : z_reply_err_loan_mut,             \
-                  ze_owned_serializer_t : ze_serializer_loan_mut,         \
-                  z_owned_bytes_writer_t : z_bytes_writer_loan_mut        \
+                  z_owned_keyexpr_t : z_keyexpr_loan_mut,                     \
+                  z_owned_config_t : z_config_loan_mut,                       \
+                  z_owned_session_t : z_session_loan_mut,                     \
+                  z_owned_publisher_t : z_publisher_loan_mut,                 \
+                  z_owned_queryable_t : z_queryable_loan_mut,                 \
+                  z_owned_liveliness_token_t : z_liveliness_token_loan_mut,   \
+                  z_owned_subscriber_t : z_subscriber_loan_mut,               \
+                  z_owned_reply_t : z_reply_loan_mut,                         \
+                  z_owned_hello_t : z_hello_loan_mut,                         \
+                  z_owned_string_t : z_string_loan_mut,                       \
+                  z_view_string_t : z_view_string_loan_mut,                   \
+                  z_owned_string_array_t : z_string_array_loan_mut,           \
+                  z_owned_sample_t : z_sample_loan_mut,                       \
+                  z_owned_query_t : z_query_loan_mut,                         \
+                  z_owned_slice_t : z_slice_loan_mut,                         \
+                  z_view_slice_t : z_view_slice_loan_mut,                     \
+                  z_owned_bytes_t : z_bytes_loan_mut,                         \
+                  z_owned_task_t : z_task_loan_mut,                           \
+                  z_owned_mutex_t : z_mutex_loan_mut,                         \
+                  z_owned_condvar_t : z_condvar_loan_mut,                     \
+                  z_owned_reply_err_t : z_reply_err_loan_mut,                 \
+                  ze_owned_serializer_t : ze_serializer_loan_mut,             \
+                  z_owned_bytes_writer_t : z_bytes_writer_loan_mut            \
             )(&x)
 
 /**
@@ -111,6 +114,7 @@
                   z_moved_subscriber_t* : z_subscriber_drop,                       \
                   z_moved_publisher_t* : z_publisher_drop,                         \
                   z_moved_queryable_t* : z_queryable_drop,                         \
+                  z_moved_liveliness_token_t* : z_liveliness_token_drop,           \
                   z_moved_reply_t* : z_reply_drop,                                 \
                   z_moved_hello_t* : z_hello_drop,                                 \
                   z_moved_string_t* : z_string_drop,                               \
@@ -150,29 +154,30 @@
  */
 
 #define z_internal_check(x) _Generic((x), \
-                  z_owned_keyexpr_t : z_internal_keyexpr_check,                 \
-                  z_owned_reply_err_t : z_internal_reply_err_check,             \
-                  z_owned_config_t : z_internal_config_check,                   \
-                  z_owned_session_t : z_internal_session_check,                 \
-                  z_owned_subscriber_t : z_internal_subscriber_check,           \
-                  z_owned_publisher_t : z_internal_publisher_check,             \
-                  z_owned_queryable_t : z_internal_queryable_check,             \
-                  z_owned_reply_t : z_internal_reply_check,                     \
-                  z_owned_hello_t : z_internal_hello_check,                     \
-                  z_owned_string_t : z_internal_string_check,                   \
-                  z_owned_string_array_t : z_internal_string_array_check,       \
-                  z_owned_closure_sample_t : z_internal_closure_sample_check,   \
-                  z_owned_closure_query_t : z_internal_closure_query_check,     \
-                  z_owned_closure_reply_t : z_internal_closure_reply_check,     \
-                  z_owned_closure_hello_t : z_internal_closure_hello_check,     \
-                  z_owned_closure_zid_t : z_internal_closure_zid_check,         \
-                  z_owned_slice_t : z_internal_slice_check,                     \
-                  z_owned_bytes_t : z_internal_bytes_check,                     \
-                  z_owned_sample_t : z_internal_sample_check,                   \
-                  z_owned_query_t : z_internal_query_check,                     \
-                  z_owned_encoding_t : z_internal_encoding_check,               \
-                  ze_owned_serializer_t : ze_internal_serializer_check,         \
-                  z_owned_bytes_writer_t : z_internal_bytes_writer_check        \
+                  z_owned_keyexpr_t : z_internal_keyexpr_check,                   \
+                  z_owned_reply_err_t : z_internal_reply_err_check,               \
+                  z_owned_config_t : z_internal_config_check,                     \
+                  z_owned_session_t : z_internal_session_check,                   \
+                  z_owned_subscriber_t : z_internal_subscriber_check,             \
+                  z_owned_publisher_t : z_internal_publisher_check,               \
+                  z_owned_queryable_t : z_internal_queryable_check,               \
+                  z_owned_liveliness_token_t : z_internal_liveliness_token_check, \
+                  z_owned_reply_t : z_internal_reply_check,                       \
+                  z_owned_hello_t : z_internal_hello_check,                       \
+                  z_owned_string_t : z_internal_string_check,                     \
+                  z_owned_string_array_t : z_internal_string_array_check,         \
+                  z_owned_closure_sample_t : z_internal_closure_sample_check,     \
+                  z_owned_closure_query_t : z_internal_closure_query_check,       \
+                  z_owned_closure_reply_t : z_internal_closure_reply_check,       \
+                  z_owned_closure_hello_t : z_internal_closure_hello_check,       \
+                  z_owned_closure_zid_t : z_internal_closure_zid_check,           \
+                  z_owned_slice_t : z_internal_slice_check,                       \
+                  z_owned_bytes_t : z_internal_bytes_check,                       \
+                  z_owned_sample_t : z_internal_sample_check,                     \
+                  z_owned_query_t : z_internal_query_check,                       \
+                  z_owned_encoding_t : z_internal_encoding_check,                 \
+                  ze_owned_serializer_t : ze_internal_serializer_check,           \
+                  z_owned_bytes_writer_t : z_internal_bytes_writer_check          \
             )(&x)
 
 /**
@@ -225,6 +230,7 @@
                   z_owned_subscriber_t : z_subscriber_move,                       \
                   z_owned_publisher_t : z_publisher_move,                         \
                   z_owned_queryable_t : z_queryable_move,                         \
+                  z_owned_liveliness_token_t : z_liveliness_token_move,           \
                   z_owned_reply_t : z_reply_move,                                 \
                   z_owned_hello_t : z_hello_move,                                 \
                   z_owned_string_t : z_string_move,                               \
@@ -283,6 +289,7 @@
         z_owned_publisher_t *: z_publisher_take,                    \
         z_owned_query_t *: z_query_take,                            \
         z_owned_queryable_t *: z_queryable_take,                    \
+        z_owned_liveliness_token_t *: z_liveliness_token_take,      \
         z_owned_reply_t *: z_reply_take,                            \
         z_owned_reply_err_t *: z_reply_err_take,                    \
         z_owned_ring_handler_query_t *: z_ring_handler_query_take,  \
@@ -336,6 +343,7 @@
                   z_owned_config_t * : z_internal_config_null,                               \
                   z_owned_subscriber_t * : z_internal_subscriber_null,                       \
                   z_owned_queryable_t * : z_internal_queryable_null,                         \
+                  z_owned_liveliness_token_t * : z_internal_liveliness_token_null,           \
                   z_owned_query_t * : z_internal_query_null,                                 \
                   z_owned_reply_t * : z_internal_reply_null,                                 \
                   z_owned_hello_t * : z_internal_hello_null,                                 \
@@ -389,6 +397,7 @@ inline const z_loaned_session_t* z_loan(const z_owned_session_t& x) { return z_s
 inline const z_loaned_subscriber_t* z_loan(const z_owned_subscriber_t& x) { return z_subscriber_loan(&x); }
 inline const z_loaned_publisher_t* z_loan(const z_owned_publisher_t& x) { return z_publisher_loan(&x); }
 inline const z_loaned_queryable_t* z_loan(const z_owned_queryable_t& x) { return z_queryable_loan(&x); }
+inline const z_loaned_liveliness_token_t* z_loan(const z_owned_liveliness_token_t& x) { return z_liveliness_token_loan(&x); }
 inline const z_loaned_reply_t* z_loan(const z_owned_reply_t& x) { return z_reply_loan(&x); }
 inline const z_loaned_hello_t* z_loan(const z_owned_hello_t& x) { return z_hello_loan(&x); }
 inline const z_loaned_string_t* z_loan(const z_owned_string_t& x) { return z_string_loan(&x); }
@@ -425,6 +434,7 @@ inline z_loaned_config_t* z_loan_mut(z_owned_config_t& x) { return z_config_loan
 inline z_loaned_session_t* z_loan_mut(z_owned_session_t& x) { return z_session_loan_mut(&x); }
 inline z_loaned_publisher_t* z_loan_mut(z_owned_publisher_t& x) { return z_publisher_loan_mut(&x); }
 inline z_loaned_queryable_t* z_loan_mut(z_owned_queryable_t& x) { return z_queryable_loan_mut(&x); }
+inline z_loaned_liveliness_token_t* z_loan_mut(z_owned_liveliness_token_t& x) { return z_liveliness_token_loan_mut(&x); }
 inline z_loaned_subscriber_t* z_loan_mut(z_owned_subscriber_t& x) { return z_subscriber_loan_mut(&x); }
 inline z_loaned_reply_t* z_loan_mut(z_owned_reply_t& x) { return z_reply_loan_mut(&x); }
 inline z_loaned_hello_t* z_loan_mut(z_owned_hello_t& x) { return z_hello_loan_mut(&x); }
@@ -451,6 +461,7 @@ inline void z_drop(z_moved_keyexpr_t* v) { z_keyexpr_drop(v); }
 inline void z_drop(z_moved_config_t* v) { z_config_drop(v); }
 inline void z_drop(z_moved_subscriber_t* v) { z_subscriber_drop(v); }
 inline void z_drop(z_moved_queryable_t* v) { z_queryable_drop(v); }
+inline void z_drop(z_moved_liveliness_token_t* v) { z_liveliness_token_drop(v); }
 inline void z_drop(z_moved_reply_t* v) { z_reply_drop(v); }
 inline void z_drop(z_moved_hello_t* v) { z_hello_drop(v); }
 inline void z_drop(z_moved_string_t* v) { z_string_drop(v); }
@@ -484,6 +495,7 @@ inline void z_internal_null(z_owned_keyexpr_t* v) { z_internal_keyexpr_null(v);
 inline void z_internal_null(z_owned_config_t* v) { z_internal_config_null(v); }
 inline void z_internal_null(z_owned_subscriber_t* v) { z_internal_subscriber_null(v); }
 inline void z_internal_null(z_owned_queryable_t* v) { z_internal_queryable_null(v); }
+inline void z_internal_null(z_owned_liveliness_token_t* v) { z_internal_liveliness_token_null(v); }
 inline void z_internal_null(z_owned_query_t* v) { z_internal_query_null(v); }
 inline void z_internal_null(z_owned_sample_t* v) { z_internal_sample_null(v); }
 inline void z_internal_null(z_owned_reply_t* v) { z_internal_reply_null(v); }
@@ -513,6 +525,7 @@ inline bool z_internal_check(const z_owned_keyexpr_t& v) { return z_internal_key
 inline bool z_internal_check(const z_owned_config_t& v) { return z_internal_config_check(&v); }
 inline bool z_internal_check(const z_owned_subscriber_t& v) { return z_internal_subscriber_check(&v); }
 inline bool z_internal_check(const z_owned_queryable_t& v) { return z_internal_queryable_check(&v); }
+inline bool z_internal_check(const z_owned_liveliness_token_t& v) { return z_internal_liveliness_token_check(&v); }
 inline bool z_internal_check(const z_owned_reply_t& v) { return z_internal_reply_check(&v); }
 inline bool z_internal_check(const z_owned_query_t& v) { return z_internal_query_check(&v); }
 inline bool z_internal_check(const z_owned_hello_t& v) { return z_internal_hello_check(&v); }
@@ -545,8 +558,8 @@ inline void z_call(const z_loaned_closure_zid_t &closure, const z_id_t *zid)
 inline void z_closure(
     z_owned_closure_hello_t* closure,
     void (*call)(z_loaned_hello_t*, void*),
-    void (*drop)(void*) = NULL,
-    void *context = NULL) {
+    void (*drop)(void*),
+    void *context) {
     closure->_val.context = context;
     closure->_val.drop = drop;
     closure->_val.call = call;
@@ -554,8 +567,8 @@ inline void z_closure(
 inline void z_closure(
     z_owned_closure_query_t* closure,
     void (*call)(z_loaned_query_t*, void*),
-    void (*drop)(void*) = NULL,
-    void *context = NULL) {
+    void (*drop)(void*),
+    void *context) {
     closure->_val.context = context;
     closure->_val.drop = drop;
     closure->_val.call = call;
@@ -563,8 +576,8 @@ inline void z_closure(
 inline void z_closure(
     z_owned_closure_reply_t* closure,
     void (*call)(z_loaned_reply_t*, void*),
-    void (*drop)(void*) = NULL,
-    void *context = NULL) {
+    void (*drop)(void*),
+    void *context) {
     closure->_val.context = context;
     closure->_val.drop = drop;
     closure->_val.call = call;
@@ -572,8 +585,8 @@ inline void z_closure(
 inline void z_closure(
     z_owned_closure_sample_t* closure,
     void (*call)(z_loaned_sample_t*, void*),
-    void (*drop)(void*) = NULL,
-    void *context = NULL) {
+    void (*drop)(void*),
+    void *context) {
     closure->_val.context = context;
     closure->_val.drop = drop;
     closure->_val.call = call;
@@ -581,8 +594,8 @@ inline void z_closure(
 inline void z_closure(
     z_owned_closure_zid_t* closure,
     void (*call)(const z_id_t*, void*),
-    void (*drop)(void*) = NULL,
-    void *context = NULL) {
+    void (*drop)(void*),
+    void *context) {
     closure->_val.context = context;
     closure->_val.drop = drop;
     closure->_val.call = call;
@@ -643,6 +656,7 @@ inline z_moved_keyexpr_t* z_move(z_owned_keyexpr_t& x) { return z_keyexpr_move(&
 inline z_moved_publisher_t* z_move(z_owned_publisher_t& x) { return z_publisher_move(&x); }
 inline z_moved_query_t* z_move(z_owned_query_t& x) { return z_query_move(&x); }
 inline z_moved_queryable_t* z_move(z_owned_queryable_t& x) { return z_queryable_move(&x); }
+inline z_moved_liveliness_token_t* z_move(z_owned_liveliness_token_t& x) { return z_liveliness_token_move(&x); }
 inline z_moved_reply_t* z_move(z_owned_reply_t& x) { return z_reply_move(&x); }
 inline z_moved_sample_t* z_move(z_owned_sample_t& x) { return z_sample_move(&x); }
 inline z_moved_session_t* z_move(z_owned_session_t& x) { return z_session_move(&x); }
@@ -670,6 +684,9 @@ inline void z_take(z_owned_keyexpr_t* this_, z_moved_keyexpr_t* v) { z_keyexpr_t
 inline void z_take(z_owned_config_t* this_, z_moved_config_t* v) { z_config_take(this_, v); }
 inline void z_take(z_owned_subscriber_t* this_, z_moved_subscriber_t* v) { return z_subscriber_take(this_, v); }
 inline void z_take(z_owned_queryable_t* this_, z_moved_queryable_t* v) { return z_queryable_take(this_, v); }
+inline void z_take(z_owned_liveliness_token_t* this_, z_moved_liveliness_token_t* v) {
+    return z_liveliness_token_take(this_, v);
+}
 inline void z_take(z_owned_reply_t* this_, z_moved_reply_t* v) { z_reply_take(this_, v); }
 inline void z_take(z_owned_hello_t* this_, z_moved_hello_t* v) { z_hello_take(this_, v); }
 inline void z_take(z_owned_string_t* this_, z_moved_string_t* v) { z_string_take(this_, v); }
@@ -803,6 +820,14 @@ struct z_owned_to_loaned_type_t<z_owned_queryable_t> {
     typedef z_loaned_queryable_t type;
 };
 template <>
+struct z_loaned_to_owned_type_t<z_loaned_liveliness_token_t> {
+    typedef z_owned_liveliness_token_t type;
+};
+template <>
+struct z_owned_to_loaned_type_t<z_owned_liveliness_token_t> {
+    typedef z_loaned_liveliness_token_t type;
+};
+template <>
 struct z_loaned_to_owned_type_t<z_loaned_reply_t> {
     typedef z_owned_reply_t type;
 };
diff --git a/include/zenoh-pico/api/primitives.h b/include/zenoh-pico/api/primitives.h
index 79a01f8c8..0ad1a5d6a 100644
--- a/include/zenoh-pico/api/primitives.h
+++ b/include/zenoh-pico/api/primitives.h
@@ -982,8 +982,8 @@ const z_loaned_keyexpr_t *z_query_keyexpr(const z_loaned_query_t *query);
  * Return:
  *   ``0`` in case of success, negative error code otherwise
  */
-z_result_t z_closure_sample(z_owned_closure_sample_t *closure, z_sample_handler_t call, z_dropper_handler_t drop,
-                            void *context);
+z_result_t z_closure_sample(z_owned_closure_sample_t *closure, z_closure_sample_callback_t call,
+                            z_closure_drop_callback_t drop, void *context);
 
 /**
  * Calls a sample closure.
@@ -1007,8 +1007,8 @@ void z_closure_sample_call(const z_loaned_closure_sample_t *closure, z_loaned_sa
  * Return:
  *   ``0`` in case of success, negative error code otherwise
  */
-z_result_t z_closure_query(z_owned_closure_query_t *closure, z_query_handler_t call, z_dropper_handler_t drop,
-                           void *context);
+z_result_t z_closure_query(z_owned_closure_query_t *closure, z_closure_query_callback_t call,
+                           z_closure_drop_callback_t drop, void *context);
 
 /**
  * Calls a query closure.
@@ -1032,8 +1032,8 @@ void z_closure_query_call(const z_loaned_closure_query_t *closure, z_loaned_quer
  * Return:
  *   ``0`` in case of success, negative error code otherwise
  */
-z_result_t z_closure_reply(z_owned_closure_reply_t *closure, z_reply_handler_t call, z_dropper_handler_t drop,
-                           void *context);
+z_result_t z_closure_reply(z_owned_closure_reply_t *closure, z_closure_reply_callback_t call,
+                           z_closure_drop_callback_t drop, void *context);
 
 /**
  * Calls a reply closure.
@@ -1057,8 +1057,8 @@ void z_closure_reply_call(const z_loaned_closure_reply_t *closure, z_loaned_repl
  * Return:
  *   ``0`` in case of success, negative error code otherwise
  */
-z_result_t z_closure_hello(z_owned_closure_hello_t *closure, z_loaned_hello_handler_t call, z_dropper_handler_t drop,
-                           void *context);
+z_result_t z_closure_hello(z_owned_closure_hello_t *closure, z_closure_hello_callback_t call,
+                           z_closure_drop_callback_t drop, void *context);
 
 /**
  * Calls a hello closure.
@@ -1074,7 +1074,7 @@ void z_closure_hello_call(const z_loaned_closure_hello_t *closure, z_loaned_hell
  * It consists on a structure that contains all the elements for stateful, memory-leak-free callbacks.
  *
  * Parameters:
- *   closure: Pointer to an uninitialized :c:type:`z_owned_closure_zit_t`.
+ *   closure: Pointer to an uninitialized :c:type:`z_owned_closure_zid_t`.
  *   call: Pointer to the callback function. ``context`` will be passed as its last argument.
  *   drop: Pointer to the function that will free the callback state. ``context`` will be passed as its last argument.
  *   context: Pointer to an arbitrary state.
@@ -1082,7 +1082,8 @@ void z_closure_hello_call(const z_loaned_closure_hello_t *closure, z_loaned_hell
  * Return:
  *   ``0`` in case of success, negative error code otherwise
  */
-z_result_t z_closure_zid(z_owned_closure_zid_t *closure, z_zid_handler_t call, z_dropper_handler_t drop, void *context);
+z_result_t z_closure_zid(z_owned_closure_zid_t *closure, z_closure_zid_callback_t call, z_closure_drop_callback_t drop,
+                         void *context);
 
 /**
  * Calls a zid closure.
@@ -1706,6 +1707,7 @@ const z_loaned_sample_t *z_reply_ok(const z_loaned_reply_t *reply);
  */
 const z_loaned_reply_err_t *z_reply_err(const z_loaned_reply_t *reply);
 
+#ifdef Z_FEATURE_UNSTABLE_API
 /**
  * Gets the id of the zenoh instance that answered this Reply.
  *
@@ -1716,7 +1718,9 @@ const z_loaned_reply_err_t *z_reply_err(const z_loaned_reply_t *reply);
  * 	 `true` if id is present
  */
 bool z_reply_replier_id(const z_loaned_reply_t *reply, z_id_t *out_id);
-#endif
+#endif  // Z_FEATURE_UNSTABLE_API
+
+#endif  // Z_FEATURE_QUERY == 1
 
 #if Z_FEATURE_QUERYABLE == 1
 /**
diff --git a/include/zenoh-pico/api/serialization.h b/include/zenoh-pico/api/serialization.h
index d6e579557..d8ff0d648 100644
--- a/include/zenoh-pico/api/serialization.h
+++ b/include/zenoh-pico/api/serialization.h
@@ -458,6 +458,7 @@ z_result_t ze_deserializer_deserialize_slice(ze_deserializer_t *deserializer, z_
 
 /**
  * Serializes a null-terminated string and writes it into an underlying :c:type:`z_owned_bytes_t`.
+ * The string should be a valid UTF-8.
  *
  * Parameters:
  *   serializer: A serializer instance.
@@ -468,8 +469,23 @@ z_result_t ze_deserializer_deserialize_slice(ze_deserializer_t *deserializer, z_
  */
 z_result_t ze_serializer_serialize_str(ze_loaned_serializer_t *serializer, const char *val);
 
+/**
+ * Serializes a substring and writes it into an underlying :c:type:`z_owned_bytes_t`.
+ * The substring should be a valid UTF-8.
+ *
+ * Parameters:
+ *   serializer: A serializer instance.
+ *   start: Pointer to the start of the substring to serialize.
+ *   len: Length of the substring to serialize.
+ *
+ * Return:
+ *   ``0`` if serialization is successful, ``negative value`` otherwise.
+ */
+z_result_t ze_serializer_serialize_substr(ze_loaned_serializer_t *serializer, const char *start, size_t len);
+
 /**
  * Serializes a string and writes it into an underlying :c:type:`z_owned_bytes_t`.
+ * The string should be a valid UTF-8.
  *
  * Parameters:
  *   serializer: A serializer instance.
@@ -523,7 +539,7 @@ z_result_t ze_deserializer_deserialize_sequence_length(ze_deserializer_t *deseri
  *
  * Parameters:
  *   bytes: An uninitialized :c:type:`z_owned_bytes_t` to contain the serialized data.
- *   data: Pointer to the data to serialize. Ownership is transferred to the `bytes`.
+ *   data: Pointer to the data to serialize.
  *   len: Number of bytes to serialize.
  *
  * Return:
@@ -534,6 +550,7 @@ z_result_t ze_serialize_buf(z_owned_bytes_t *bytes, const uint8_t *data, size_t
 /**
  * Serializes a string into a :c:type:`z_owned_bytes_t`.
  *
+ * The string should be a valid UTF-8.
  * Parameters:
  *   bytes: An uninitialized :c:type:`z_owned_bytes_t` to contain the serialized string.
  *   s: Pointer to the string to serialize.
@@ -545,16 +562,31 @@ z_result_t ze_serialize_string(z_owned_bytes_t *bytes, const z_loaned_string_t *
 
 /**
  * Serializes a null-terminated string into a :c:type:`z_owned_bytes_t`.
+ * The string should be a valid UTF-8.
  *
  * Parameters:
  *   bytes: An uninitialized :c:type:`z_owned_bytes_t` to contain the serialized string.
- *   value: Pointer to the string to serialize. Ownership is transferred to the `bytes`.
+ *   value: Pointer to the string to serialize.
  *
  * Return:
  *   ``0`` if serialization is successful, ``negative value`` otherwise.
  */
 z_result_t ze_serialize_str(z_owned_bytes_t *bytes, const char *value);
 
+/**
+ * Serializes a substring into a :c:type:`z_owned_bytes_t`.
+ * The substring should be a valid UTF-8.
+ *
+ * Parameters:
+ *   bytes: An uninitialized :c:type:`z_owned_bytes_t` to contain the serialized string.
+ *   start: Pointer to the the start of string to serialize.
+ *   len: Length of the substring to serialize.
+ *
+ * Return:
+ *   ``0`` if serialization is successful, ``negative value`` otherwise.
+ */
+z_result_t ze_serialize_substr(z_owned_bytes_t *bytes, const char *start, size_t len);
+
 /**
  * Serializes a slice into a :c:type:`z_owned_bytes_t`.
  *
diff --git a/include/zenoh-pico/api/types.h b/include/zenoh-pico/api/types.h
index 53010ece7..c5a76dbd8 100644
--- a/include/zenoh-pico/api/types.h
+++ b/include/zenoh-pico/api/types.h
@@ -34,13 +34,6 @@
 extern "C" {
 #endif
 
-/**
- * Represents a variable-length encoding unsigned integer.
- *
- * It is equivalent to the size of a ``size_t``.
- */
-typedef _z_zint_t z_zint_t;
-
 /**
  * Represents a Zenoh ID.
  *
@@ -417,13 +410,13 @@ _Z_OWNED_TYPE_VALUE(_z_reply_t, reply)
  */
 _Z_OWNED_TYPE_VALUE(_z_string_svec_t, string_array)
 
-typedef void (*z_dropper_handler_t)(void *arg);
-typedef _z_sample_handler_t z_sample_handler_t;
+typedef void (*z_closure_drop_callback_t)(void *arg);
+typedef _z_closure_sample_callback_t z_closure_sample_callback_t;
 
 typedef struct {
     void *context;
-    z_sample_handler_t call;
-    z_dropper_handler_t drop;
+    z_closure_sample_callback_t call;
+    z_closure_drop_callback_t drop;
 } _z_closure_sample_t;
 
 /**
@@ -431,12 +424,12 @@ typedef struct {
  */
 _Z_OWNED_TYPE_VALUE(_z_closure_sample_t, closure_sample)
 
-typedef _z_query_handler_t z_query_handler_t;
+typedef _z_closure_query_callback_t z_closure_query_callback_t;
 
 typedef struct {
     void *context;
-    z_query_handler_t call;
-    z_dropper_handler_t drop;
+    z_closure_query_callback_t call;
+    z_closure_drop_callback_t drop;
 } _z_closure_query_t;
 
 /**
@@ -444,12 +437,12 @@ typedef struct {
  */
 _Z_OWNED_TYPE_VALUE(_z_closure_query_t, closure_query)
 
-typedef _z_reply_handler_t z_reply_handler_t;
+typedef _z_closure_reply_callback_t z_closure_reply_callback_t;
 
 typedef struct {
     void *context;
-    z_reply_handler_t call;
-    z_dropper_handler_t drop;
+    z_closure_reply_callback_t call;
+    z_closure_drop_callback_t drop;
 } _z_closure_reply_t;
 
 /**
@@ -457,12 +450,12 @@ typedef struct {
  */
 _Z_OWNED_TYPE_VALUE(_z_closure_reply_t, closure_reply)
 
-typedef void (*z_loaned_hello_handler_t)(z_loaned_hello_t *hello, void *arg);
+typedef void (*z_closure_hello_callback_t)(z_loaned_hello_t *hello, void *arg);
 
 typedef struct {
     void *context;
-    z_loaned_hello_handler_t call;
-    z_dropper_handler_t drop;
+    z_closure_hello_callback_t call;
+    z_closure_drop_callback_t drop;
 } _z_closure_hello_t;
 
 /**
@@ -470,12 +463,12 @@ typedef struct {
  */
 _Z_OWNED_TYPE_VALUE(_z_closure_hello_t, closure_hello)
 
-typedef void (*z_zid_handler_t)(const z_id_t *id, void *arg);
+typedef void (*z_closure_zid_callback_t)(const z_id_t *id, void *arg);
 
 typedef struct {
     void *context;
-    z_zid_handler_t call;
-    z_dropper_handler_t drop;
+    z_closure_zid_callback_t call;
+    z_closure_drop_callback_t drop;
 } _z_closure_zid_t;
 
 /**
diff --git a/include/zenoh-pico/collections/arc_slice.h b/include/zenoh-pico/collections/arc_slice.h
index ce67d2975..7e03c936c 100644
--- a/include/zenoh-pico/collections/arc_slice.h
+++ b/include/zenoh-pico/collections/arc_slice.h
@@ -24,6 +24,10 @@
 #include "slice.h"
 #include "zenoh-pico/system/platform_common.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 _Z_REFCOUNT_DEFINE(_z_slice, _z_slice)
 
 /*-------- ArcSlice --------*/
@@ -52,4 +56,8 @@ 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);
 z_result_t _z_arc_slice_drop(_z_arc_slice_t* s);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_ARC_SLICE_H */
diff --git a/include/zenoh-pico/collections/array.h b/include/zenoh-pico/collections/array.h
index 0c08d9af2..b5d077433 100644
--- a/include/zenoh-pico/collections/array.h
+++ b/include/zenoh-pico/collections/array.h
@@ -19,6 +19,10 @@
 #include <stdint.h>
 #include <string.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Internal Array Macros ------------------*/
 #define _Z_ARRAY_DEFINE(name, type)                                                                 \
     typedef struct {                                                                                \
@@ -71,4 +75,8 @@
         }                                                                                           \
     }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_ARRAY_H */
diff --git a/include/zenoh-pico/collections/bytes.h b/include/zenoh-pico/collections/bytes.h
index b662ff613..05ab01e37 100644
--- a/include/zenoh-pico/collections/bytes.h
+++ b/include/zenoh-pico/collections/bytes.h
@@ -23,6 +23,10 @@
 #include "vec.h"
 #include "zenoh-pico/protocol/iobuf.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 inline size_t _z_arc_slice_size(const _z_arc_slice_t *s) {
     (void)s;
     return sizeof(_z_arc_slice_t);
@@ -94,4 +98,8 @@ void _z_bytes_writer_clear(_z_bytes_writer_t *writer);
 void _z_bytes_writer_move(_z_bytes_writer_t *dst, _z_bytes_writer_t *src);
 size_t _z_bytes_reader_remaining(const _z_bytes_reader_t *reader);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_BYTES_H */
diff --git a/include/zenoh-pico/collections/element.h b/include/zenoh-pico/collections/element.h
index ef5178ad1..bd5701187 100644
--- a/include/zenoh-pico/collections/element.h
+++ b/include/zenoh-pico/collections/element.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/system/platform.h"
 #include "zenoh-pico/utils/result.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- element functions --------*/
 typedef size_t (*z_element_size_f)(void *e);
 typedef void (*z_element_clear_f)(void *e);
@@ -74,4 +78,8 @@ static inline void _z_noop_move(void *dst, void *src) {
 
 _Z_ELEM_DEFINE(_z_noop, _z_noop_t, _z_noop_size, _z_noop_clear, _z_noop_copy)
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_ELEMENT_H */
diff --git a/include/zenoh-pico/collections/fifo.h b/include/zenoh-pico/collections/fifo.h
index 3e36bb509..0f4a887ce 100644
--- a/include/zenoh-pico/collections/fifo.h
+++ b/include/zenoh-pico/collections/fifo.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/collections/element.h"
 #include "zenoh-pico/collections/ring.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- Fifo Buffer --------*/
 typedef struct {
     _z_ring_t _ring;
@@ -60,4 +64,8 @@ void _z_fifo_free(_z_fifo_t **xs, z_element_free_f f_f);
     static inline void name##_fifo_clear(name##_fifo_t *r) { _z_fifo_clear(r, name##_elem_free); }         \
     static inline void name##_fifo_free(name##_fifo_t **r) { _z_fifo_free(r, name##_elem_free); }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_FIFO_H */
diff --git a/include/zenoh-pico/collections/intmap.h b/include/zenoh-pico/collections/intmap.h
index c897e2e50..98ea17379 100644
--- a/include/zenoh-pico/collections/intmap.h
+++ b/include/zenoh-pico/collections/intmap.h
@@ -22,11 +22,15 @@
 #include "zenoh-pico/collections/list.h"
 #include "zenoh-pico/utils/result.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- int-void map --------*/
 #define _Z_DEFAULT_INT_MAP_CAPACITY 16
 
 /**
- * An entry of an hashmap with integer keys.
+ * An entry of a hashmap with integer keys.
  *
  * Members:
  *   size_t key: the hashed key of the value
@@ -50,6 +54,17 @@ typedef struct {
     _z_list_t **_vals;
 } _z_int_void_map_t;
 
+/**
+ * An iterator of an hashmap with integer keys.
+ */
+typedef struct {
+    _z_int_void_map_entry_t *_entry;
+
+    const _z_int_void_map_t *_map;
+    size_t _idx;
+    _z_list_t *_list_ptr;
+} _z_int_void_map_iterator_t;
+
 void _z_int_void_map_init(_z_int_void_map_t *map, size_t capacity);
 _z_int_void_map_t _z_int_void_map_make(size_t capacity);
 
@@ -67,6 +82,11 @@ _z_int_void_map_t _z_int_void_map_clone(const _z_int_void_map_t *src, z_element_
 void _z_int_void_map_clear(_z_int_void_map_t *map, z_element_free_f f);
 void _z_int_void_map_free(_z_int_void_map_t **map, z_element_free_f f);
 
+_z_int_void_map_iterator_t _z_int_void_map_iterator_make(const _z_int_void_map_t *map);
+bool _z_int_void_map_iterator_next(_z_int_void_map_iterator_t *iter);
+size_t _z_int_void_map_iterator_key(const _z_int_void_map_iterator_t *iter);
+void *_z_int_void_map_iterator_value(const _z_int_void_map_iterator_t *iter);
+
 #define _Z_INT_MAP_DEFINE(name, type)                                                                           \
     typedef _z_int_void_map_entry_t name##_intmap_entry_t;                                                      \
     static inline void name##_intmap_entry_elem_free(void **e) {                                                \
@@ -85,6 +105,7 @@ void _z_int_void_map_free(_z_int_void_map_t **map, z_element_free_f f);
         return dst;                                                                                             \
     }                                                                                                           \
     typedef _z_int_void_map_t name##_intmap_t;                                                                  \
+    typedef _z_int_void_map_iterator_t name##_intmap_iterator_t;                                                \
     static inline void name##_intmap_init(name##_intmap_t *m) {                                                 \
         _z_int_void_map_init(m, _Z_DEFAULT_INT_MAP_CAPACITY);                                                   \
     }                                                                                                           \
@@ -111,6 +132,22 @@ void _z_int_void_map_free(_z_int_void_map_t **map, z_element_free_f f);
     }                                                                                                           \
     static inline void name##_intmap_free(name##_intmap_t **m) {                                                \
         _z_int_void_map_free(m, name##_intmap_entry_elem_free);                                                 \
+    }                                                                                                           \
+    static inline name##_intmap_iterator_t name##_intmap_iterator_make(const name##_intmap_t *m) {              \
+        return _z_int_void_map_iterator_make(m);                                                                \
+    }                                                                                                           \
+    static inline bool name##_intmap_iterator_next(name##_intmap_iterator_t *iter) {                            \
+        return _z_int_void_map_iterator_next(iter);                                                             \
+    }                                                                                                           \
+    static inline size_t name##_intmap_iterator_key(const name##_intmap_iterator_t *iter) {                     \
+        return _z_int_void_map_iterator_key(iter);                                                              \
+    }                                                                                                           \
+    static inline type *name##_intmap_iterator_value(const name##_intmap_iterator_t *iter) {                    \
+        return (type *)_z_int_void_map_iterator_value(iter);                                                    \
     }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_INTMAP_H */
diff --git a/include/zenoh-pico/collections/lifo.h b/include/zenoh-pico/collections/lifo.h
index cf696b994..b6142b05a 100644
--- a/include/zenoh-pico/collections/lifo.h
+++ b/include/zenoh-pico/collections/lifo.h
@@ -19,6 +19,10 @@
 
 #include "zenoh-pico/collections/element.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- Ring Buffer --------*/
 typedef struct {
     void **_val;
@@ -61,4 +65,8 @@ void _z_lifo_free(_z_lifo_t **xs, z_element_free_f f_f);
     static inline void name##_lifo_clear(name##_lifo_t *r) { _z_lifo_clear(r, name##_elem_free); }         \
     static inline void name##_lifo_free(name##_lifo_t **r) { _z_lifo_free(r, name##_elem_free); }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_LIFO_H */
diff --git a/include/zenoh-pico/collections/list.h b/include/zenoh-pico/collections/list.h
index a779706f0..590d0f32d 100644
--- a/include/zenoh-pico/collections/list.h
+++ b/include/zenoh-pico/collections/list.h
@@ -20,6 +20,10 @@
 
 #include "zenoh-pico/collections/element.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- Single-linked List --------*/
 /**
  * A single-linked list.
@@ -72,4 +76,8 @@ void _z_list_free(_z_list_t **xs, z_element_free_f f_f);
     static inline name##_list_t *name##_list_clone(name##_list_t *l) { return _z_list_clone(l, name##_elem_clone); } \
     static inline void name##_list_free(name##_list_t **l) { _z_list_free(l, name##_elem_free); }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_LIST_H */
diff --git a/include/zenoh-pico/collections/ring.h b/include/zenoh-pico/collections/ring.h
index de8743e58..d1e26ec57 100644
--- a/include/zenoh-pico/collections/ring.h
+++ b/include/zenoh-pico/collections/ring.h
@@ -19,6 +19,10 @@
 
 #include "zenoh-pico/collections/element.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- Ring Buffer --------*/
 typedef struct {
     void **_val;
@@ -65,4 +69,8 @@ void _z_ring_free(_z_ring_t **xs, z_element_free_f f_f);
     static inline void name##_ring_clear(name##_ring_t *r) { _z_ring_clear(r, name##_elem_free); }                     \
     static inline void name##_ring_free(name##_ring_t **r) { _z_ring_free(r, name##_elem_free); }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_RING_H */
diff --git a/include/zenoh-pico/collections/slice.h b/include/zenoh-pico/collections/slice.h
index 8027f6b1c..c57af6ff9 100644
--- a/include/zenoh-pico/collections/slice.h
+++ b/include/zenoh-pico/collections/slice.h
@@ -21,6 +21,10 @@
 
 #include "zenoh-pico/utils/result.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef struct {
     void (*deleter)(void *data, void *context);
     void *context;
@@ -67,4 +71,8 @@ void _z_slice_clear(_z_slice_t *bs);
 void _z_slice_free(_z_slice_t **bs);
 bool _z_slice_is_alloced(const _z_slice_t *s);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_SLICE_H */
diff --git a/include/zenoh-pico/collections/string.h b/include/zenoh-pico/collections/string.h
index f2ebd15ac..a54ac68dd 100644
--- a/include/zenoh-pico/collections/string.h
+++ b/include/zenoh-pico/collections/string.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/collections/slice.h"
 #include "zenoh-pico/collections/vec.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- str --------*/
 typedef char *_z_str_t;
 
@@ -90,9 +94,11 @@ void _z_string_clear(_z_string_t *s);
 void _z_string_free(_z_string_t **s);
 void _z_string_reset(_z_string_t *s);
 bool _z_string_equals(const _z_string_t *left, const _z_string_t *right);
-_z_string_t _z_string_convert_bytes(const _z_slice_t *bs);
+_z_string_t _z_string_convert_bytes_le(const _z_slice_t *bs);
 _z_string_t _z_string_preallocate(const size_t len);
 
+char *_z_str_from_string_clone(const _z_string_t *str);
+
 _Z_ELEM_DEFINE(_z_string, _z_string_t, _z_string_len, _z_string_clear, _z_string_copy)
 
 static inline void _z_string_elem_move(void *dst, void *src) { _z_string_move((_z_string_t *)dst, (_z_string_t *)src); }
@@ -100,4 +106,8 @@ _Z_SVEC_DEFINE(_z_string, _z_string_t)
 _Z_LIST_DEFINE(_z_string, _z_string_t)
 _Z_INT_MAP_DEFINE(_z_string, _z_string_t)
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_STRING_H */
diff --git a/include/zenoh-pico/collections/vec.h b/include/zenoh-pico/collections/vec.h
index d1c12ec6b..d89acd93c 100644
--- a/include/zenoh-pico/collections/vec.h
+++ b/include/zenoh-pico/collections/vec.h
@@ -19,6 +19,10 @@
 
 #include "zenoh-pico/collections/element.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- Dynamically allocated vector --------*/
 /**
  * A dynamically allocated vector. Elements are stored as pointers.
@@ -114,4 +118,8 @@ void _z_svec_release(_z_svec_t *v);
     static inline void name##_svec_clear(name##_svec_t *v) { _z_svec_clear(v, name##_elem_clear, sizeof(type)); }  \
     static inline void name##_svec_free(name##_svec_t **v) { _z_svec_free(v, name##_elem_clear, sizeof(type)); }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_VECTOR_H */
diff --git a/include/zenoh-pico/config.h b/include/zenoh-pico/config.h
index b3c5d3ec1..1578b1f50 100644
--- a/include/zenoh-pico/config.h
+++ b/include/zenoh-pico/config.h
@@ -27,6 +27,7 @@
 #define Z_FEATURE_SUBSCRIPTION 1
 #define Z_FEATURE_QUERY 1
 #define Z_FEATURE_QUERYABLE 1
+#define Z_FEATURE_LIVELINESS 0
 #define Z_FEATURE_RAWETH_TRANSPORT 0
 #define Z_FEATURE_INTEREST 1
 #define Z_FEATURE_DYNAMIC_MEMORY_ALLOCATION 0
diff --git a/include/zenoh-pico/config.h.in b/include/zenoh-pico/config.h.in
index 40941d9fa..175fc8fdf 100644
--- a/include/zenoh-pico/config.h.in
+++ b/include/zenoh-pico/config.h.in
@@ -27,6 +27,7 @@
 #define Z_FEATURE_SUBSCRIPTION @Z_FEATURE_SUBSCRIPTION@
 #define Z_FEATURE_QUERY @Z_FEATURE_QUERY@
 #define Z_FEATURE_QUERYABLE @Z_FEATURE_QUERYABLE@
+#define Z_FEATURE_LIVELINESS @Z_FEATURE_LIVELINESS@
 #define Z_FEATURE_RAWETH_TRANSPORT @Z_FEATURE_RAWETH_TRANSPORT@
 #define Z_FEATURE_INTEREST @Z_FEATURE_INTEREST@
 #define Z_FEATURE_DYNAMIC_MEMORY_ALLOCATION @Z_FEATURE_DYNAMIC_MEMORY_ALLOCATION@
diff --git a/include/zenoh-pico/link/config/bt.h b/include/zenoh-pico/link/config/bt.h
index 630b9ae41..fca0740d1 100644
--- a/include/zenoh-pico/link/config/bt.h
+++ b/include/zenoh-pico/link/config/bt.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_BLUETOOTH == 1
 
 #define BT_CONFIG_ARGC 3
@@ -50,4 +54,8 @@ z_result_t _z_bt_config_from_str(_z_str_intmap_t *strint, const char *s);
 z_result_t _z_bt_config_from_strn(_z_str_intmap_t *strint, const char *s, size_t n);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_CONFIG_BT_H */
diff --git a/include/zenoh-pico/link/config/raweth.h b/include/zenoh-pico/link/config/raweth.h
index c30cc6403..65700aaba 100644
--- a/include/zenoh-pico/link/config/raweth.h
+++ b/include/zenoh-pico/link/config/raweth.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/link/link.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define RAWETH_SCHEMA "reth"
 
 z_result_t _z_endpoint_raweth_valid(_z_endpoint_t *endpoint);
@@ -29,4 +33,8 @@ char *_z_raweth_config_to_str(const _z_str_intmap_t *s);
 z_result_t _z_raweth_config_from_strn(_z_str_intmap_t *strint, const char *s, size_t n);
 z_result_t _z_raweth_config_from_str(_z_str_intmap_t *strint, const char *s);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_CONFIG_RAWETH_H */
diff --git a/include/zenoh-pico/link/config/serial.h b/include/zenoh-pico/link/config/serial.h
index 6180d0a59..3b9f6530a 100644
--- a/include/zenoh-pico/link/config/serial.h
+++ b/include/zenoh-pico/link/config/serial.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_SERIAL == 1
 
 #define SERIAL_CONFIG_ARGC 1
@@ -66,4 +70,8 @@ z_result_t _z_serial_config_from_str(_z_str_intmap_t *strint, const char *s);
 z_result_t _z_serial_config_from_strn(_z_str_intmap_t *strint, const char *s, size_t n);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_CONFIG_SERIAL_H */
diff --git a/include/zenoh-pico/link/config/tcp.h b/include/zenoh-pico/link/config/tcp.h
index 51792c8ac..c521a1751 100644
--- a/include/zenoh-pico/link/config/tcp.h
+++ b/include/zenoh-pico/link/config/tcp.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_TCP == 1
 
 #define TCP_CONFIG_ARGC 1
@@ -40,4 +44,8 @@ z_result_t _z_tcp_config_from_str(_z_str_intmap_t *strint, const char *s);
 z_result_t _z_tcp_config_from_strn(_z_str_intmap_t *strint, const char *s, size_t n);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_CONFIG_TCP_H */
diff --git a/include/zenoh-pico/link/config/udp.h b/include/zenoh-pico/link/config/udp.h
index 8af8b5d47..87cd6655e 100644
--- a/include/zenoh-pico/link/config/udp.h
+++ b/include/zenoh-pico/link/config/udp.h
@@ -18,6 +18,10 @@
 #include "zenoh-pico/collections/intmap.h"
 #include "zenoh-pico/collections/string.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define UDP_CONFIG_ARGC 3
 
 #define UDP_CONFIG_IFACE_KEY 0x01
@@ -48,4 +52,8 @@ z_result_t _z_udp_config_from_str(_z_str_intmap_t *strint, const char *s);
 z_result_t _z_udp_config_from_strn(_z_str_intmap_t *strint, const char *s, size_t n);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_CONFIG_UDP_H */
diff --git a/include/zenoh-pico/link/config/ws.h b/include/zenoh-pico/link/config/ws.h
index e9c3e6be6..a845807c5 100644
--- a/include/zenoh-pico/link/config/ws.h
+++ b/include/zenoh-pico/link/config/ws.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_WS == 1
 
 #define WS_CONFIG_TOUT_KEY 0x01
@@ -39,4 +43,8 @@ z_result_t _z_ws_config_from_str(_z_str_intmap_t *strint, const char *s);
 z_result_t _z_ws_config_from_strn(_z_str_intmap_t *strint, const char *s, size_t n);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_CONFIG_WS_H */
diff --git a/include/zenoh-pico/link/endpoint.h b/include/zenoh-pico/link/endpoint.h
index 4868f4d44..d6b83e30a 100644
--- a/include/zenoh-pico/link/endpoint.h
+++ b/include/zenoh-pico/link/endpoint.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/utils/result.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Locator ------------------*/
 #if Z_FEATURE_LINK_TCP == 1
 #define TCP_SCHEMA "tcp"
@@ -72,4 +76,8 @@ z_result_t _z_endpoint_from_string(_z_endpoint_t *ep, _z_string_t *s);
 void _z_endpoint_clear(_z_endpoint_t *ep);
 void _z_endpoint_free(_z_endpoint_t **ep);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_ENDPOINT_H */
diff --git a/include/zenoh-pico/link/link.h b/include/zenoh-pico/link/link.h
index 6356af3cf..522721fe8 100644
--- a/include/zenoh-pico/link/link.h
+++ b/include/zenoh-pico/link/link.h
@@ -46,6 +46,10 @@
 
 #include "zenoh-pico/utils/result.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Link transport capability enum.
  *
@@ -144,4 +148,8 @@ z_result_t _z_link_send_wbuf(const _z_link_t *zl, const _z_wbuf_t *wbf);
 size_t _z_link_recv_zbuf(const _z_link_t *zl, _z_zbuf_t *zbf, _z_slice_t *addr);
 size_t _z_link_recv_exact_zbuf(const _z_link_t *zl, _z_zbuf_t *zbf, size_t len, _z_slice_t *addr);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_H */
diff --git a/include/zenoh-pico/link/manager.h b/include/zenoh-pico/link/manager.h
index e0aba1f93..7a962e68f 100644
--- a/include/zenoh-pico/link/manager.h
+++ b/include/zenoh-pico/link/manager.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/link/link.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_TCP == 1
 z_result_t _z_endpoint_tcp_valid(_z_endpoint_t *ep);
 z_result_t _z_new_link_tcp(_z_link_t *zl, _z_endpoint_t *ep);
@@ -44,4 +48,8 @@ z_result_t _z_endpoint_ws_valid(_z_endpoint_t *ep);
 z_result_t _z_new_link_ws(_z_link_t *zl, _z_endpoint_t *ep);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_MANAGER_H */
diff --git a/include/zenoh-pico/net/config.h b/include/zenoh-pico/net/config.h
index fabc7415f..4977f1b5c 100644
--- a/include/zenoh-pico/net/config.h
+++ b/include/zenoh-pico/net/config.h
@@ -18,6 +18,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/utils/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Create an empty set of properties for zenoh-net session configuration.
  *
@@ -50,4 +54,8 @@ z_result_t _z_config_default(_z_config_t *config);
  */
 z_result_t _z_config_client(_z_config_t *config, const char *locator);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_CONFIG_NETAPI_H */
diff --git a/include/zenoh-pico/net/encoding.h b/include/zenoh-pico/net/encoding.h
index 88ac5f0d1..0b35ce338 100644
--- a/include/zenoh-pico/net/encoding.h
+++ b/include/zenoh-pico/net/encoding.h
@@ -17,6 +17,10 @@
 #include "zenoh-pico/api/constants.h"
 #include "zenoh-pico/collections/string.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define _Z_ENCODING_ID_DEFAULT 0
 
 /**
@@ -36,4 +40,8 @@ z_result_t _z_encoding_copy(_z_encoding_t *dst, const _z_encoding_t *src);
 void _z_encoding_move(_z_encoding_t *dst, _z_encoding_t *src);
 _z_encoding_t _z_encoding_steal(_z_encoding_t *val);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_ENCODING_NETAPI_H */
diff --git a/include/zenoh-pico/net/filtering.h b/include/zenoh-pico/net/filtering.h
index 18023b66d..14461a322 100644
--- a/include/zenoh-pico/net/filtering.h
+++ b/include/zenoh-pico/net/filtering.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef enum {
     WRITE_FILTER_INIT = 0,
     WRITE_FILTER_ACTIVE = 1,
@@ -45,4 +49,8 @@ z_result_t _z_write_filter_create(_z_publisher_t *pub);
 z_result_t _z_write_filter_destroy(_z_publisher_t *pub);
 bool _z_write_filter_active(const _z_publisher_t *pub);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_FILTERING_NETAPI_H */
diff --git a/include/zenoh-pico/net/liveliness.h b/include/zenoh-pico/net/liveliness.h
new file mode 100644
index 000000000..2f1be9e9d
--- /dev/null
+++ b/include/zenoh-pico/net/liveliness.h
@@ -0,0 +1,84 @@
+//
+// 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>
+
+#ifndef INCLUDE_ZENOH_PICO_NET_LIVELINESS_H
+#define INCLUDE_ZENOH_PICO_NET_LIVELINESS_H
+
+#include "zenoh-pico/api/liveliness.h"
+#include "zenoh-pico/net/session.h"
+#include "zenoh-pico/net/subscribe.h"
+#include "zenoh-pico/protocol/core.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if Z_FEATURE_LIVELINESS == 1
+
+z_result_t _z_declare_liveliness_token(const _z_session_rc_t *zn, _z_liveliness_token_t *ret_token,
+                                       _z_keyexpr_t keyexpr);
+z_result_t _z_undeclare_liveliness_token(_z_liveliness_token_t *token);
+
+#if Z_FEATURE_SUBSCRIPTION == 1
+/**
+ * Declare a :c:type:`_z_subscriber_t` for the given liveliness key.
+ *
+ * Parameters:
+ *     zn: The zenoh-net session. The caller keeps its ownership.
+ *     keyexpr: The resource key to subscribe. The callee gets the ownership of any allocated value.
+ *     callback: The callback function that will be called each time a matching liveliness token changed.
+ *     history: Enable current interest to return history tokens.
+ *     arg: A pointer that will be passed to the **callback** on each call.
+ *
+ * Returns:
+ *     The created :c:type:`_z_subscriber_t` (in null state if the declaration failed).
+ */
+_z_subscriber_t _z_declare_liveliness_subscriber(const _z_session_rc_t *zn, _z_keyexpr_t keyexpr,
+                                                 _z_closure_sample_callback_t callback, _z_drop_handler_t dropper,
+                                                 bool history, void *arg);
+
+/**
+ * Undeclare a liveliness :c:type:`_z_subscriber_t`.
+ *
+ * Parameters:
+ *     sub: The :c:type:`_z_subscriber_t` to undeclare. The callee releases the
+ *          subscriber upon successful return.
+ * Returns:
+ *     0 if success, or a negative value identifying the error.
+ */
+z_result_t _z_undeclare_liveliness_subscriber(_z_subscriber_t *sub);
+#endif  // Z_FEATURE_SUBSCRIPTION == 1
+
+#if Z_FEATURE_QUERY == 1
+/**
+ * Query liveliness token state.
+ *
+ * Parameters:
+ *     zn: The zenoh-net session. The caller keeps its ownership.
+ *     keyexpr: The resource key to liveliness token.
+ *     callback: The callback function that will be called on reception of replies for this query.
+ *     dropper: The callback function that will be called on upon completion of the callback.
+ *     arg: A pointer that will be passed to the **callback** on each call.
+ *     timeout_ms: The timeout value of this query.
+ */
+z_result_t _z_liveliness_query(_z_session_t *zn, _z_keyexpr_t keyexpr, _z_closure_reply_callback_t callback,
+                               _z_drop_handler_t dropper, void *arg, uint64_t timeout_ms);
+#endif  // Z_FEATURE_QUERY == 1
+
+#endif  // Z_FEATURE_LIVELINESS == 1
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* INCLUDE_ZENOH_PICO_NET_LIVELINESS_H */
diff --git a/include/zenoh-pico/net/logger.h b/include/zenoh-pico/net/logger.h
index 73a4bede1..b9bbede1a 100644
--- a/include/zenoh-pico/net/logger.h
+++ b/include/zenoh-pico/net/logger.h
@@ -15,9 +15,17 @@
 #ifndef ZENOH_PICO_LOGGER_NETAPI_H
 #define ZENOH_PICO_LOGGER_NETAPI_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Initialise the zenoh runtime logger
  */
 void _z_init_logger(void);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LOGGER_NETAPI_H */
diff --git a/include/zenoh-pico/net/primitives.h b/include/zenoh-pico/net/primitives.h
index f5a27034a..b53a8f4e4 100644
--- a/include/zenoh-pico/net/primitives.h
+++ b/include/zenoh-pico/net/primitives.h
@@ -24,7 +24,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/net/subscribe.h"
 #include "zenoh-pico/protocol/core.h"
-#include "zenoh-pico/utils/config.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 /*------------------ Discovery ------------------*/
 
@@ -38,7 +41,7 @@
  *     timeout: The time that should be spent scouting before returning the results.
  */
 void _z_scout(const z_what_t what, const _z_id_t zid, _z_string_t *locator, const uint32_t timeout,
-              _z_hello_handler_t callback, void *arg_call, _z_drop_handler_t dropper, void *arg_drop);
+              _z_closure_hello_callback_t callback, void *arg_call, _z_drop_handler_t dropper, void *arg_drop);
 
 /*------------------ Declarations ------------------*/
 
@@ -72,6 +75,18 @@ uint16_t _z_declare_resource(_z_session_t *zn, _z_keyexpr_t keyexpr);
  */
 z_result_t _z_undeclare_resource(_z_session_t *zn, uint16_t rid);
 
+/**
+ * Declare keyexpr if it is necessary and allowed.
+ * Returns updated keyexpr.
+ *
+ * Parameters:
+ *     zn: The zenoh-net session. The caller keeps its ownership.
+ *     keyexpr: The resource key to declare.
+ * Returns:
+ *     Updated keyexpr.
+ */
+_z_keyexpr_t _z_update_keyexpr_to_declared(_z_session_t *zs, _z_keyexpr_t keyexpr);
+
 #if Z_FEATURE_PUBLICATION == 1
 /**
  * Declare a :c:type:`_z_publisher_t` for the given resource key.
@@ -144,8 +159,8 @@ z_result_t _z_write(_z_session_t *zn, const _z_keyexpr_t keyexpr, _z_bytes_t pay
  * Returns:
  *    The created :c:type:`_z_subscriber_t` (in null state if the declaration failed).
  */
-_z_subscriber_t _z_declare_subscriber(const _z_session_rc_t *zn, _z_keyexpr_t keyexpr, _z_sample_handler_t callback,
-                                      _z_drop_handler_t dropper, void *arg);
+_z_subscriber_t _z_declare_subscriber(const _z_session_rc_t *zn, _z_keyexpr_t keyexpr,
+                                      _z_closure_sample_callback_t callback, _z_drop_handler_t dropper, void *arg);
 
 /**
  * Undeclare a :c:type:`_z_subscriber_t`.
@@ -175,7 +190,7 @@ z_result_t _z_undeclare_subscriber(_z_subscriber_t *sub);
  *    The created :c:type:`_z_queryable_t` (in null state if the declaration failed)..
  */
 _z_queryable_t _z_declare_queryable(const _z_session_rc_t *zn, _z_keyexpr_t keyexpr, bool complete,
-                                    _z_query_handler_t callback, _z_drop_handler_t dropper, void *arg);
+                                    _z_closure_query_callback_t callback, _z_drop_handler_t dropper, void *arg);
 
 /**
  * Undeclare a :c:type:`_z_queryable_t`.
@@ -245,9 +260,10 @@ z_result_t _z_send_reply_err(const _z_query_t *query, const _z_session_rc_t *zsr
  *
  */
 z_result_t _z_query(_z_session_t *zn, _z_keyexpr_t keyexpr, const char *parameters, const z_query_target_t target,
-                    const z_consolidation_mode_t consolidation, const _z_value_t value, _z_reply_handler_t callback,
-                    _z_drop_handler_t dropper, void *arg, uint64_t timeout_ms, const _z_bytes_t attachment,
-                    z_congestion_control_t cong_ctrl, z_priority_t priority, bool is_express);
+                    const z_consolidation_mode_t consolidation, const _z_value_t value,
+                    _z_closure_reply_callback_t callback, _z_drop_handler_t dropper, void *arg, uint64_t timeout_ms,
+                    const _z_bytes_t attachment, z_congestion_control_t cong_ctrl, z_priority_t priority,
+                    bool is_express);
 #endif
 
 #if Z_FEATURE_INTEREST == 1
@@ -256,4 +272,8 @@ uint32_t _z_add_interest(_z_session_t *zn, _z_keyexpr_t keyexpr, _z_interest_han
 z_result_t _z_remove_interest(_z_session_t *zn, uint32_t interest_id);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_NET_PRIMITIVES_H */
diff --git a/include/zenoh-pico/net/publish.h b/include/zenoh-pico/net/publish.h
index 21a8b500f..2f29b0b05 100644
--- a/include/zenoh-pico/net/publish.h
+++ b/include/zenoh-pico/net/publish.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Return type when declaring a publisher.
  */
@@ -43,4 +47,8 @@ bool _z_publisher_check(const _z_publisher_t *publisher);
 _z_publisher_t _z_publisher_null(void);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_NET_PUBLISH_H */
diff --git a/include/zenoh-pico/net/query.h b/include/zenoh-pico/net/query.h
index 5e57c1eee..ed2c7579c 100644
--- a/include/zenoh-pico/net/query.h
+++ b/include/zenoh-pico/net/query.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * The query to be answered by a queryable.
  */
@@ -58,4 +62,8 @@ _z_queryable_t _z_queryable_null(void);
 bool _z_queryable_check(const _z_queryable_t *queryable);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_QUERY_NETAPI_H */
diff --git a/include/zenoh-pico/net/reply.h b/include/zenoh-pico/net/reply.h
index 14ef1b232..df2a2742e 100644
--- a/include/zenoh-pico/net/reply.h
+++ b/include/zenoh-pico/net/reply.h
@@ -23,6 +23,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/session/session.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Reply tag values.
  *
@@ -97,4 +101,8 @@ void _z_pending_reply_clear(_z_pending_reply_t *res);
 _Z_ELEM_DEFINE(_z_pending_reply, _z_pending_reply_t, _z_noop_size, _z_pending_reply_clear, _z_noop_copy)
 _Z_LIST_DEFINE(_z_pending_reply, _z_pending_reply_t)
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_REPLY_NETAPI_H */
diff --git a/include/zenoh-pico/net/sample.h b/include/zenoh-pico/net/sample.h
index 9fadfbc76..3133c9706 100644
--- a/include/zenoh-pico/net/sample.h
+++ b/include/zenoh-pico/net/sample.h
@@ -18,6 +18,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/session/session.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * A zenoh-net data sample.
  *
@@ -58,5 +62,8 @@ _z_sample_t _z_sample_duplicate(const _z_sample_t *src);
 _z_sample_t _z_sample_create(_z_keyexpr_t *key, const _z_bytes_t payload, const _z_timestamp_t *timestamp,
                              _z_encoding_t *encoding, const z_sample_kind_t kind, const _z_qos_t qos,
                              const _z_bytes_t attachment, z_reliability_t reliability);
+#ifdef __cplusplus
+}
+#endif
 
 #endif /* ZENOH_PICO_SAMPLE_NETAPI_H */
diff --git a/include/zenoh-pico/net/session.h b/include/zenoh-pico/net/session.h
index 6d7ede3a4..ba43ca095 100644
--- a/include/zenoh-pico/net/session.h
+++ b/include/zenoh-pico/net/session.h
@@ -21,9 +21,14 @@
 #include "zenoh-pico/collections/list.h"
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/protocol/core.h"
+#include "zenoh-pico/session/liveliness.h"
 #include "zenoh-pico/session/session.h"
 #include "zenoh-pico/utils/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * A zenoh-net session.
  */
@@ -50,8 +55,17 @@ typedef struct _z_session_t {
 
     // Session subscriptions
 #if Z_FEATURE_SUBSCRIPTION == 1
-    _z_subscription_rc_list_t *_local_subscriptions;
-    _z_subscription_rc_list_t *_remote_subscriptions;
+    _z_subscription_rc_list_t *_subscriptions;
+    _z_subscription_rc_list_t *_liveliness_subscriptions;
+#endif
+
+#if Z_FEATURE_LIVELINESS == 1
+    _z_keyexpr_intmap_t _local_tokens;
+    _z_keyexpr_intmap_t _remote_tokens;
+#if Z_FEATURE_QUERY == 1
+    uint32_t _liveliness_query_id;
+    _z_liveliness_pending_query_intmap_t _liveliness_pending_queries;
+#endif
 #endif
 
     // Session queryables
@@ -199,4 +213,8 @@ z_result_t _zp_start_lease_task(_z_session_t *z, z_task_attr_t *attr);
 z_result_t _zp_stop_lease_task(_z_session_t *z);
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_NET_SESSION_H */
diff --git a/include/zenoh-pico/net/subscribe.h b/include/zenoh-pico/net/subscribe.h
index 4cf0cb4d4..ae9fad18f 100644
--- a/include/zenoh-pico/net/subscribe.h
+++ b/include/zenoh-pico/net/subscribe.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Return type when declaring a subscriber.
  */
@@ -36,4 +40,8 @@ bool _z_subscriber_check(const _z_subscriber_t *subscriber);
 _z_subscriber_t _z_subscriber_null(void);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SUBSCRIBE_NETAPI_H */
diff --git a/include/zenoh-pico/protocol/codec/core.h b/include/zenoh-pico/protocol/codec/core.h
index c86d1b18c..00eec6890 100644
--- a/include/zenoh-pico/protocol/codec/core.h
+++ b/include/zenoh-pico/protocol/codec/core.h
@@ -24,6 +24,10 @@
 #include "zenoh-pico/utils/config.h"
 #include "zenoh-pico/utils/result.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef z_result_t (*__z_single_byte_reader_t)(uint8_t *, void *context);
 /*------------------ Internal Zenoh-net Macros ------------------*/
 z_result_t _z_consolidation_mode_encode(_z_wbuf_t *wbf, z_consolidation_mode_t en);
@@ -84,4 +88,8 @@ z_result_t _z_timestamp_encode(_z_wbuf_t *buf, const _z_timestamp_t *ts);
 z_result_t _z_timestamp_encode_ext(_z_wbuf_t *buf, const _z_timestamp_t *ts);
 z_result_t _z_timestamp_decode(_z_timestamp_t *ts, _z_zbuf_t *buf);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_CORE_H */
diff --git a/include/zenoh-pico/protocol/codec/declarations.h b/include/zenoh-pico/protocol/codec/declarations.h
index 86efb1a64..840061d92 100644
--- a/include/zenoh-pico/protocol/codec/declarations.h
+++ b/include/zenoh-pico/protocol/codec/declarations.h
@@ -17,6 +17,11 @@
 
 #include "zenoh-pico/protocol/definitions/declarations.h"
 #include "zenoh-pico/protocol/iobuf.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define _Z_DECL_KEXPR_MID 0
 #define _Z_DECL_KEXPR_FLAG_N 0x20
 #define _Z_UNDECL_KEXPR_MID 1
@@ -50,4 +55,8 @@ z_result_t _z_undecl_token_decode(_z_undecl_token_t *decl, _z_zbuf_t *zbf, uint8
 z_result_t _z_declaration_encode(_z_wbuf_t *wbf, const _z_declaration_t *decl);
 z_result_t _z_declaration_decode(_z_declaration_t *decl, _z_zbuf_t *zbf);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_DECLARATIONS_H */
diff --git a/include/zenoh-pico/protocol/codec/ext.h b/include/zenoh-pico/protocol/codec/ext.h
index 7efd7063e..cc339dd0d 100644
--- a/include/zenoh-pico/protocol/codec/ext.h
+++ b/include/zenoh-pico/protocol/codec/ext.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/protocol/ext.h"
 #include "zenoh-pico/protocol/iobuf.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Message Extension ------------------*/
 z_result_t _z_msg_ext_encode(_z_wbuf_t *wbf, const _z_msg_ext_t *ext, bool has_next);
 z_result_t _z_msg_ext_decode(_z_msg_ext_t *ext, _z_zbuf_t *zbf, bool *has_next);
@@ -66,4 +70,8 @@ z_result_t _z_msg_ext_encode_zbuf(_z_wbuf_t *wbf, const _z_msg_ext_zbuf_t *pld);
 z_result_t _z_msg_ext_decode_zbuf(_z_msg_ext_zbuf_t *pld, _z_zbuf_t *zbf);
 z_result_t _z_msg_ext_decode_zbuf_na(_z_msg_ext_zbuf_t *pld, _z_zbuf_t *zbf);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TEST_H */
diff --git a/include/zenoh-pico/protocol/codec/interest.h b/include/zenoh-pico/protocol/codec/interest.h
index 4e8aa4921..b8781efbe 100644
--- a/include/zenoh-pico/protocol/codec/interest.h
+++ b/include/zenoh-pico/protocol/codec/interest.h
@@ -18,7 +18,15 @@
 #include "zenoh-pico/protocol/definitions/interest.h"
 #include "zenoh-pico/protocol/iobuf.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_interest_encode(_z_wbuf_t *wbf, const _z_interest_t *interest, bool is_final);
 z_result_t _z_interest_decode(_z_interest_t *decl, _z_zbuf_t *zbf, bool is_final, bool has_ext);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_DECLARATIONS_H */
diff --git a/include/zenoh-pico/protocol/codec/message.h b/include/zenoh-pico/protocol/codec/message.h
index c9bd9c039..ae4b88567 100644
--- a/include/zenoh-pico/protocol/codec/message.h
+++ b/include/zenoh-pico/protocol/codec/message.h
@@ -18,6 +18,10 @@
 #include "zenoh-pico/protocol/definitions/network.h"
 #include "zenoh-pico/protocol/iobuf.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_push_body_encode(_z_wbuf_t *wbf, const _z_push_body_t *pshb);
 z_result_t _z_push_body_decode(_z_push_body_t *body, _z_zbuf_t *zbf, uint8_t header);
 
@@ -36,4 +40,8 @@ z_result_t _z_put_decode(_z_msg_put_t *put, _z_zbuf_t *zbf, uint8_t header);
 z_result_t _z_del_encode(_z_wbuf_t *wbf, const _z_msg_del_t *del);
 z_result_t _z_del_decode(_z_msg_del_t *del, _z_zbuf_t *zbf, uint8_t header);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_MESSAGE_H */
diff --git a/include/zenoh-pico/protocol/codec/network.h b/include/zenoh-pico/protocol/codec/network.h
index 64a5229c8..e74322eb0 100644
--- a/include/zenoh-pico/protocol/codec/network.h
+++ b/include/zenoh-pico/protocol/codec/network.h
@@ -19,6 +19,11 @@
 
 #include "zenoh-pico/protocol/definitions/network.h"
 #include "zenoh-pico/protocol/iobuf.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_push_encode(_z_wbuf_t *wbf, const _z_n_msg_push_t *msg);
 z_result_t _z_push_decode(_z_n_msg_push_t *msg, _z_zbuf_t *zbf, uint8_t header);
 z_result_t _z_request_encode(_z_wbuf_t *wbf, const _z_n_msg_request_t *msg);
@@ -35,4 +40,8 @@ z_result_t _z_n_interest_decode(_z_n_msg_interest_t *interest, _z_zbuf_t *zbf, u
 z_result_t _z_network_message_encode(_z_wbuf_t *wbf, const _z_network_message_t *msg);
 z_result_t _z_network_message_decode(_z_network_message_t *msg, _z_zbuf_t *zbf);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_NETWORK_H */
diff --git a/include/zenoh-pico/protocol/codec/transport.h b/include/zenoh-pico/protocol/codec/transport.h
index cd0e4a2c5..d7b4320a5 100644
--- a/include/zenoh-pico/protocol/codec/transport.h
+++ b/include/zenoh-pico/protocol/codec/transport.h
@@ -17,6 +17,11 @@
 
 #include "zenoh-pico/protocol/definitions/transport.h"
 #include "zenoh-pico/protocol/iobuf.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define _ZENOH_PICO_FRAME_MESSAGES_VEC_SIZE 32
 
 z_result_t _z_scouting_message_encode(_z_wbuf_t *buf, const _z_scouting_message_t *msg);
@@ -48,4 +53,9 @@ z_result_t _z_fragment_decode(_z_t_msg_fragment_t *msg, _z_zbuf_t *zbf, uint8_t
 
 z_result_t _z_transport_message_encode(_z_wbuf_t *wbf, const _z_transport_message_t *msg);
 z_result_t _z_transport_message_decode(_z_transport_message_t *msg, _z_zbuf_t *zbf);
+
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_TRANSPORT_H */
diff --git a/include/zenoh-pico/protocol/core.h b/include/zenoh-pico/protocol/core.h
index 7dcf49508..40dd8355e 100644
--- a/include/zenoh-pico/protocol/core.h
+++ b/include/zenoh-pico/protocol/core.h
@@ -29,6 +29,10 @@
 #include "zenoh-pico/net/encoding.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define _Z_OPTIONAL
 #define _Z_MOVE(x) x *
 
@@ -209,4 +213,8 @@ typedef struct {
     uint32_t _entity_id;
 } _z_reply_context_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CORE_H */
diff --git a/include/zenoh-pico/protocol/definitions/declarations.h b/include/zenoh-pico/protocol/definitions/declarations.h
index c33cab627..e6f715722 100644
--- a/include/zenoh-pico/protocol/definitions/declarations.h
+++ b/include/zenoh-pico/protocol/definitions/declarations.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/protocol/keyexpr.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef struct {
     uint16_t _id;
     _z_keyexpr_t _keyexpr;
@@ -113,4 +117,8 @@ _z_declaration_t _z_make_undecl_token(uint32_t id, _Z_OPTIONAL const _z_keyexpr_
 
 _z_declaration_t _z_make_decl_final(void);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_DEFINITIONS_DECLARATIONS_H */
diff --git a/include/zenoh-pico/protocol/definitions/interest.h b/include/zenoh-pico/protocol/definitions/interest.h
index ca2900874..7e0e849ae 100644
--- a/include/zenoh-pico/protocol/definitions/interest.h
+++ b/include/zenoh-pico/protocol/definitions/interest.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/protocol/keyexpr.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define _Z_INTEREST_FLAG_KEYEXPRS (1)
 #define _Z_INTEREST_FLAG_SUBSCRIBERS (1 << 1)
 #define _Z_INTEREST_FLAG_QUERYABLES (1 << 2)
@@ -43,4 +47,8 @@ void _z_interest_clear(_z_interest_t* decl);
 _z_interest_t _z_make_interest(_Z_MOVE(_z_keyexpr_t) key, uint32_t id, uint8_t flags);
 _z_interest_t _z_make_interest_final(uint32_t id);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_DEFINITIONS_INTEREST_H */
diff --git a/include/zenoh-pico/protocol/definitions/message.h b/include/zenoh-pico/protocol/definitions/message.h
index 5d43defa4..2cfa93cd3 100644
--- a/include/zenoh-pico/protocol/definitions/message.h
+++ b/include/zenoh-pico/protocol/definitions/message.h
@@ -18,6 +18,11 @@
 #include "zenoh-pico/net/encoding.h"
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/protocol/definitions/core.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /* Zenoh Messages */
 #define _Z_MID_Z_OAM 0x00
 #define _Z_MID_Z_PUT 0x01
@@ -140,4 +145,8 @@ typedef struct {
 void _z_msg_reply_clear(_z_msg_reply_t *msg);
 #define _Z_FLAG_Z_R_C 0x20
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_DEFINITIONS_MESSAGE_H */
diff --git a/include/zenoh-pico/protocol/definitions/network.h b/include/zenoh-pico/protocol/definitions/network.h
index f0cd40f01..489c996b3 100644
--- a/include/zenoh-pico/protocol/definitions/network.h
+++ b/include/zenoh-pico/protocol/definitions/network.h
@@ -25,6 +25,11 @@
 #include "zenoh-pico/protocol/definitions/message.h"
 #include "zenoh-pico/protocol/ext.h"
 #include "zenoh-pico/protocol/keyexpr.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /* Network Messages */
 #define _Z_MID_N_OAM 0x1f
 #define _Z_MID_N_DECLARE 0x1e
@@ -301,4 +306,8 @@ _z_network_message_t _z_n_msg_make_declare(_z_declaration_t declaration, bool ha
 _z_network_message_t _z_n_msg_make_push(_Z_MOVE(_z_keyexpr_t) key, _Z_MOVE(_z_push_body_t) body);
 _z_network_message_t _z_n_msg_make_interest(_z_interest_t interest);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_DEFINITIONS_NETWORK_H */
diff --git a/include/zenoh-pico/protocol/definitions/transport.h b/include/zenoh-pico/protocol/definitions/transport.h
index 7334f391a..261c61fc6 100644
--- a/include/zenoh-pico/protocol/definitions/transport.h
+++ b/include/zenoh-pico/protocol/definitions/transport.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/link/endpoint.h"
 #include "zenoh-pico/protocol/definitions/network.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define _Z_MID_SCOUT 0x01
 #define _Z_MID_HELLO 0x02
 
@@ -541,4 +545,8 @@ void _z_s_msg_copy(_z_scouting_message_t *clone, _z_scouting_message_t *msg);
 void _z_s_msg_copy_scout(_z_s_msg_scout_t *clone, _z_s_msg_scout_t *msg);
 void _z_s_msg_copy_hello(_z_s_msg_hello_t *clone, _z_s_msg_hello_t *msg);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_DEFINITIONS_TRANSPORT_H */
diff --git a/include/zenoh-pico/protocol/ext.h b/include/zenoh-pico/protocol/ext.h
index cba1ab55d..eb70ede42 100644
--- a/include/zenoh-pico/protocol/ext.h
+++ b/include/zenoh-pico/protocol/ext.h
@@ -20,6 +20,10 @@
 
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*=============================*/
 /*       Message header        */
 /*=============================*/
@@ -99,4 +103,8 @@ void _z_msg_ext_copy_zbuf(_z_msg_ext_zbuf_t *clone, const _z_msg_ext_zbuf_t *ext
 _Z_ELEM_DEFINE(_z_msg_ext, _z_msg_ext_t, _z_noop_size, _z_msg_ext_clear, _z_msg_ext_copy)
 _Z_VEC_DEFINE(_z_msg_ext, _z_msg_ext_t)
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_PROTOCOL_EXTENSION_H */
diff --git a/include/zenoh-pico/protocol/iobuf.h b/include/zenoh-pico/protocol/iobuf.h
index 888b69d46..abd5b1a36 100644
--- a/include/zenoh-pico/protocol/iobuf.h
+++ b/include/zenoh-pico/protocol/iobuf.h
@@ -23,6 +23,10 @@
 #include "zenoh-pico/collections/slice.h"
 #include "zenoh-pico/collections/vec.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ IOSli ------------------*/
 
 typedef struct {
@@ -129,4 +133,8 @@ void _z_wbuf_reset(_z_wbuf_t *wbf);
 void _z_wbuf_clear(_z_wbuf_t *wbf);
 void _z_wbuf_free(_z_wbuf_t **wbf);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_PROTOCOL_IOBUF_H */
diff --git a/include/zenoh-pico/protocol/keyexpr.h b/include/zenoh-pico/protocol/keyexpr.h
index f171ee32f..8d790f669 100644
--- a/include/zenoh-pico/protocol/keyexpr.h
+++ b/include/zenoh-pico/protocol/keyexpr.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/api/constants.h"
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 zp_keyexpr_canon_status_t _z_keyexpr_is_canon(const char *start, size_t len);
 zp_keyexpr_canon_status_t _z_keyexpr_canonize(char *start, size_t *len);
 bool _z_keyexpr_suffix_includes(const _z_keyexpr_t *left, const _z_keyexpr_t *right);
@@ -28,8 +32,10 @@ bool _z_keyexpr_suffix_equals(const _z_keyexpr_t *left, const _z_keyexpr_t *righ
 /*------------------ clone/Copy/Free helpers ------------------*/
 _z_keyexpr_t _z_keyexpr_from_string(uint16_t rid, _z_string_t *str);
 _z_keyexpr_t _z_keyexpr_from_substr(uint16_t rid, const char *str, size_t len);
+size_t _z_keyexpr_size(_z_keyexpr_t *p);
 z_result_t _z_keyexpr_copy(_z_keyexpr_t *dst, const _z_keyexpr_t *src);
 _z_keyexpr_t _z_keyexpr_duplicate(_z_keyexpr_t src);
+_z_keyexpr_t *_z_keyexpr_clone(const _z_keyexpr_t *src);
 _z_keyexpr_t _z_keyexpr_alias(_z_keyexpr_t src);
 /// Returns either keyexpr defined by id + mapping with null suffix if try_declared is true and id is non-zero,
 /// or keyexpr defined by its suffix only, with 0 id and no mapping. This is to be used only when forwarding
@@ -45,4 +51,8 @@ void _z_keyexpr_move(_z_keyexpr_t *dst, _z_keyexpr_t *src);
 void _z_keyexpr_clear(_z_keyexpr_t *rk);
 void _z_keyexpr_free(_z_keyexpr_t **rk);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_KEYEXPR_H */
diff --git a/include/zenoh-pico/session/interest.h b/include/zenoh-pico/session/interest.h
index 3e1f6d4da..d8792ca77 100644
--- a/include/zenoh-pico/session/interest.h
+++ b/include/zenoh-pico/session/interest.h
@@ -19,6 +19,10 @@
 
 #include "zenoh-pico/net/session.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_INTEREST == 1
 _z_session_interest_rc_t *_z_get_interest_by_id(_z_session_t *zn, const _z_zint_t id);
 _z_session_interest_rc_t *_z_register_interest(_z_session_t *zn, _z_session_interest_t *intr);
@@ -32,4 +36,8 @@ z_result_t _z_interest_process_declare_final(_z_session_t *zn, uint32_t id);
 z_result_t _z_interest_process_interest_final(_z_session_t *zn, uint32_t id);
 z_result_t _z_interest_process_interest(_z_session_t *zn, _z_keyexpr_t key, uint32_t id, uint8_t flags);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SESSION_INTEREST_H */
diff --git a/include/zenoh-pico/session/liveliness.h b/include/zenoh-pico/session/liveliness.h
new file mode 100644
index 000000000..3f375f70a
--- /dev/null
+++ b/include/zenoh-pico/session/liveliness.h
@@ -0,0 +1,71 @@
+//
+// 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>
+//
+
+#ifndef ZENOH_PICO_SESSION_LIVELINESS_H
+#define ZENOH_PICO_SESSION_LIVELINESS_H
+
+#include "zenoh-pico/session/session.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if Z_FEATURE_LIVELINESS == 1
+typedef struct _z_session_t _z_session_t;
+
+typedef struct {
+    _z_keyexpr_t _key;
+    _z_closure_reply_callback_t _callback;
+    _z_drop_handler_t _dropper;
+    void *_arg;
+} _z_liveliness_pending_query_t;
+
+void _z_liveliness_pending_query_clear(_z_liveliness_pending_query_t *res);
+void _z_liveliness_pending_query_copy(_z_liveliness_pending_query_t *dst, const _z_liveliness_pending_query_t *src);
+_z_liveliness_pending_query_t *_z_liveliness_pending_query_clone(const _z_liveliness_pending_query_t *src);
+
+_Z_ELEM_DEFINE(_z_liveliness_pending_query, _z_liveliness_pending_query_t, _z_noop_size,
+               _z_liveliness_pending_query_clear, _z_liveliness_pending_query_copy)
+_Z_INT_MAP_DEFINE(_z_liveliness_pending_query, _z_liveliness_pending_query_t)
+
+uint32_t _z_liveliness_get_query_id(_z_session_t *zn);
+
+z_result_t _z_liveliness_register_token(_z_session_t *zn, uint32_t id, const _z_keyexpr_t keyexpr);
+void _z_liveliness_unregister_token(_z_session_t *zn, uint32_t id);
+
+#if Z_FEATURE_SUBSCRIPTION == 1
+z_result_t _z_liveliness_subscription_declare(_z_session_t *zn, uint32_t id, const _z_keyexpr_t keyexpr,
+                                              const _z_timestamp_t *timestamp);
+z_result_t _z_liveliness_subscription_undeclare(_z_session_t *zn, uint32_t id, const _z_timestamp_t *timestamp);
+z_result_t _z_liveliness_subscription_trigger_history(_z_session_t *zn, _z_keyexpr_t keyexpr);
+#endif
+
+#if Z_FEATURE_QUERY == 1
+z_result_t _z_liveliness_register_pending_query(_z_session_t *zn, uint32_t id, _z_liveliness_pending_query_t *pen_qry);
+void _z_liveliness_unregister_pending_query(_z_session_t *zn, uint32_t id);
+#endif
+
+z_result_t _z_liveliness_process_token_declare(_z_session_t *zn, const _z_n_msg_declare_t *decl);
+z_result_t _z_liveliness_process_token_undeclare(_z_session_t *zn, const _z_n_msg_declare_t *decl);
+z_result_t _z_liveliness_process_declare_final(_z_session_t *zn, const _z_n_msg_declare_t *decl);
+
+void _z_liveliness_init(_z_session_t *zn);
+void _z_liveliness_clear(_z_session_t *zn);
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ZENOH_PICO_SESSION_LIVELINESS_H */
diff --git a/include/zenoh-pico/session/push.h b/include/zenoh-pico/session/push.h
index 5c774b704..49da5bf21 100644
--- a/include/zenoh-pico/session/push.h
+++ b/include/zenoh-pico/session/push.h
@@ -21,6 +21,14 @@
 #ifndef ZENOH_PICO_SESSION_PUSH_H
 #define ZENOH_PICO_SESSION_PUSH_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_trigger_push(_z_session_t *zn, _z_n_msg_push_t *push, z_reliability_t reliability);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SESSION_PUSH_H */
diff --git a/include/zenoh-pico/session/query.h b/include/zenoh-pico/session/query.h
index 1bf03b74d..c096bd793 100644
--- a/include/zenoh-pico/session/query.h
+++ b/include/zenoh-pico/session/query.h
@@ -18,6 +18,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_QUERY == 1
 /*------------------ Query ------------------*/
 _z_zint_t _z_get_query_id(_z_session_t *zn);
@@ -33,4 +37,8 @@ void _z_unregister_pending_query(_z_session_t *zn, _z_pending_query_t *pq);
 void _z_flush_pending_queries(_z_session_t *zn);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SESSION_QUERY_H */
diff --git a/include/zenoh-pico/session/reply.h b/include/zenoh-pico/session/reply.h
index c10aa0b28..6e5221f49 100644
--- a/include/zenoh-pico/session/reply.h
+++ b/include/zenoh-pico/session/reply.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/protocol/definitions/message.h"
 #include "zenoh-pico/protocol/definitions/network.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #ifndef ZENOH_PICO_SESSION_REPLY_H
 #define ZENOH_PICO_SESSION_REPLY_H
 
@@ -28,4 +32,8 @@ z_result_t _z_trigger_reply_err(_z_session_t *zn, _z_zint_t id, _z_msg_err_t *er
 
 z_result_t _z_trigger_reply_final(_z_session_t *zn, _z_n_msg_response_final_t *final);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SESSION_REPLY_H */
diff --git a/include/zenoh-pico/session/resource.h b/include/zenoh-pico/session/resource.h
index 3702a86cd..bedffac06 100644
--- a/include/zenoh-pico/session/resource.h
+++ b/include/zenoh-pico/session/resource.h
@@ -19,6 +19,10 @@
 
 #include "zenoh-pico/net/session.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Entity ------------------*/
 uint32_t _z_get_entity_id(_z_session_t *zn);
 
@@ -36,4 +40,8 @@ _z_keyexpr_t __unsafe_z_get_expanded_key_from_key(_z_session_t *zn, const _z_key
 _z_resource_t *__unsafe_z_get_resource_by_id(_z_session_t *zn, uint16_t mapping, _z_zint_t id);
 _z_resource_t *__unsafe_z_get_resource_matching_key(_z_session_t *zn, const _z_keyexpr_t *keyexpr);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_SESSION_RESOURCE_H */
diff --git a/include/zenoh-pico/session/session.h b/include/zenoh-pico/session/session.h
index 9d1d00038..3c1d50dbe 100644
--- a/include/zenoh-pico/session/session.h
+++ b/include/zenoh-pico/session/session.h
@@ -26,13 +26,19 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/transport/manager.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * The callback signature of the cleanup functions.
  */
 typedef void (*_z_drop_handler_t)(void *arg);
 
-#define _Z_RESOURCE_IS_REMOTE 0
-#define _Z_RESOURCE_IS_LOCAL 1
+typedef enum {
+    _Z_SUBSCRIBER_KIND_SUBSCRIBER = 0,
+    _Z_SUBSCRIBER_KIND_LIVELINESS_SUBSCRIBER = 1,
+} _z_subscriber_kind_t;
 
 typedef struct {
     _z_keyexpr_t _key;
@@ -44,23 +50,27 @@ bool _z_resource_eq(const _z_resource_t *one, const _z_resource_t *two);
 void _z_resource_clear(_z_resource_t *res);
 void _z_resource_copy(_z_resource_t *dst, const _z_resource_t *src);
 void _z_resource_free(_z_resource_t **res);
+size_t _z_resource_size(_z_resource_t *p);
 
-_Z_ELEM_DEFINE(_z_resource, _z_resource_t, _z_noop_size, _z_resource_clear, _z_resource_copy)
+_Z_ELEM_DEFINE(_z_resource, _z_resource_t, _z_resource_size, _z_resource_clear, _z_resource_copy)
 _Z_LIST_DEFINE(_z_resource, _z_resource_t)
 
+_Z_ELEM_DEFINE(_z_keyexpr, _z_keyexpr_t, _z_keyexpr_size, _z_keyexpr_clear, _z_keyexpr_copy)
+_Z_INT_MAP_DEFINE(_z_keyexpr, _z_keyexpr_t)
+
 // Forward declaration to avoid cyclical include
 typedef struct _z_sample_t _z_sample_t;
 
 /**
  * The callback signature of the functions handling data messages.
  */
-typedef void (*_z_sample_handler_t)(_z_sample_t *sample, void *arg);
+typedef void (*_z_closure_sample_callback_t)(_z_sample_t *sample, void *arg);
 
 typedef struct {
     _z_keyexpr_t _key;
     uint16_t _key_id;
     uint32_t _id;
-    _z_sample_handler_t _callback;
+    _z_closure_sample_callback_t _callback;
     _z_drop_handler_t _dropper;
     void *_arg;
 } _z_subscription_t;
@@ -85,12 +95,12 @@ typedef struct _z_query_rc_t _z_query_rc_t;
 /**
  * The callback signature of the functions handling query messages.
  */
-typedef void (*_z_query_handler_t)(_z_query_rc_t *query, void *arg);
+typedef void (*_z_closure_query_callback_t)(_z_query_rc_t *query, void *arg);
 
 typedef struct {
     _z_keyexpr_t _key;
     uint32_t _id;
-    _z_query_handler_t _callback;
+    _z_closure_query_callback_t _callback;
     _z_drop_handler_t _dropper;
     void *_arg;
     bool _complete;
@@ -114,12 +124,12 @@ typedef struct _z_reply_t _z_reply_t;
 /**
  * The callback signature of the functions handling query replies.
  */
-typedef void (*_z_reply_handler_t)(_z_reply_t *reply, void *arg);
+typedef void (*_z_closure_reply_callback_t)(_z_reply_t *reply, void *arg);
 
 typedef struct {
     _z_keyexpr_t _key;
     _z_zint_t _id;
-    _z_reply_handler_t _callback;
+    _z_closure_reply_callback_t _callback;
     _z_drop_handler_t _dropper;
     void *_arg;
     _z_pending_reply_list_t *_pending_replies;
@@ -142,11 +152,11 @@ typedef struct {
     _z_reply_data_list_t *_replies;
 } _z_pending_query_collect_t;
 
-struct __z_hello_handler_wrapper_t;  // Forward declaration to be used in _z_hello_handler_t
+struct __z_hello_handler_wrapper_t;  // Forward declaration to be used in _z_closure_hello_callback_t
 /**
  * The callback signature of the functions handling hello messages.
  */
-typedef void (*_z_hello_handler_t)(_z_hello_t *hello, struct __z_hello_handler_wrapper_t *arg);
+typedef void (*_z_closure_hello_callback_t)(_z_hello_t *hello, struct __z_hello_handler_wrapper_t *arg);
 
 z_result_t _z_session_generate_zid(_z_id_t *bs, uint8_t size);
 
@@ -203,4 +213,8 @@ void _z_declare_data_clear(_z_declare_data_t *data);
 _Z_ELEM_DEFINE(_z_declare_data, _z_declare_data_t, _z_noop_size, _z_declare_data_clear, _z_noop_copy)
 _Z_LIST_DEFINE(_z_declare_data, _z_declare_data_t)
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_SESSION_SESSION_H */
diff --git a/include/zenoh-pico/session/subscription.h b/include/zenoh-pico/session/subscription.h
index dd48ecb83..59c942554 100644
--- a/include/zenoh-pico/session/subscription.h
+++ b/include/zenoh-pico/session/subscription.h
@@ -18,21 +18,41 @@
 #include "zenoh-pico/net/encoding.h"
 #include "zenoh-pico/net/session.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Subscription ------------------*/
-void _z_trigger_local_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_bytes_t payload,
-                                    _z_encoding_t *encoding, const _z_n_qos_t qos, const _z_timestamp_t *timestamp,
-                                    const _z_bytes_t attachment, z_reliability_t reliability);
+z_result_t _z_trigger_subscriptions_put(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_bytes_t payload,
+                                        _z_encoding_t *encoding, const _z_timestamp_t *timestamp, const _z_n_qos_t qos,
+                                        const _z_bytes_t attachment, z_reliability_t reliability);
+
+z_result_t _z_trigger_subscriptions_del(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_timestamp_t *timestamp,
+                                        const _z_n_qos_t qos, const _z_bytes_t attachment, z_reliability_t reliability);
+
+z_result_t _z_trigger_liveliness_subscriptions_declare(_z_session_t *zn, const _z_keyexpr_t keyexpr,
+                                                       const _z_timestamp_t *timestamp);
+
+z_result_t _z_trigger_liveliness_subscriptions_undeclare(_z_session_t *zn, const _z_keyexpr_t keyexpr,
+                                                         const _z_timestamp_t *timestamp);
 
 #if Z_FEATURE_SUBSCRIPTION == 1
-_z_subscription_rc_t *_z_get_subscription_by_id(_z_session_t *zn, uint8_t is_local, const _z_zint_t id);
-_z_subscription_rc_list_t *_z_get_subscriptions_by_key(_z_session_t *zn, uint8_t is_local, const _z_keyexpr_t *keyexpr);
-
-_z_subscription_rc_t *_z_register_subscription(_z_session_t *zn, uint8_t is_local, _z_subscription_t *sub);
-z_result_t _z_trigger_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_bytes_t payload,
-                                    _z_encoding_t *encoding, const _z_zint_t kind, const _z_timestamp_t *timestamp,
-                                    const _z_n_qos_t qos, const _z_bytes_t attachment, z_reliability_t reliability);
-void _z_unregister_subscription(_z_session_t *zn, uint8_t is_local, _z_subscription_rc_t *sub);
+_z_subscription_rc_t *_z_get_subscription_by_id(_z_session_t *zn, _z_subscriber_kind_t kind, const _z_zint_t id);
+_z_subscription_rc_list_t *_z_get_subscriptions_by_key(_z_session_t *zn, _z_subscriber_kind_t kind,
+                                                       const _z_keyexpr_t *keyexpr);
+
+_z_subscription_rc_t *_z_register_subscription(_z_session_t *zn, _z_subscriber_kind_t kind, _z_subscription_t *sub);
+z_result_t _z_trigger_subscriptions_impl(_z_session_t *zn, _z_subscriber_kind_t subscriber_kind,
+                                         const _z_keyexpr_t keyexpr, const _z_bytes_t payload, _z_encoding_t *encoding,
+                                         const _z_zint_t sample_kind, const _z_timestamp_t *timestamp,
+                                         const _z_n_qos_t qos, const _z_bytes_t attachment,
+                                         z_reliability_t reliability);
+void _z_unregister_subscription(_z_session_t *zn, _z_subscriber_kind_t kind, _z_subscription_rc_t *sub);
 void _z_flush_subscriptions(_z_session_t *zn);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_SESSION_SUBSCRIPTION_H */
diff --git a/include/zenoh-pico/session/utils.h b/include/zenoh-pico/session/utils.h
index 75eaac2e8..97d4d11b3 100644
--- a/include/zenoh-pico/session/utils.h
+++ b/include/zenoh-pico/session/utils.h
@@ -22,6 +22,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Session ------------------*/
 _z_hello_list_t *_z_scout_inner(const z_what_t what, _z_id_t id, _z_string_t *locator, const uint32_t timeout,
                                 const bool exit_on_first);
@@ -37,4 +41,8 @@ z_result_t _z_send_n_msg(_z_session_t *zn, _z_network_message_t *n_msg, z_reliab
 void _zp_session_lock_mutex(_z_session_t *zn);
 void _zp_session_unlock_mutex(_z_session_t *zn);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_SESSION_UTILS_H */
diff --git a/include/zenoh-pico/system/link/raweth.h b/include/zenoh-pico/system/link/raweth.h
index d48bf1fa4..f7b106571 100644
--- a/include/zenoh-pico/system/link/raweth.h
+++ b/include/zenoh-pico/system/link/raweth.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_RAWETH_TRANSPORT == 1
 
 // Ethernet types (big endian)
@@ -92,4 +96,8 @@ uint16_t _z_raweth_htons(uint16_t val);
 
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_LINK_RAWETH_H */
diff --git a/include/zenoh-pico/system/link/serial.h b/include/zenoh-pico/system/link/serial.h
index 21d832c65..21679d996 100644
--- a/include/zenoh-pico/system/link/serial.h
+++ b/include/zenoh-pico/system/link/serial.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_SERIAL == 1
 
 #define _Z_SERIAL_MTU_SIZE 1500
@@ -43,4 +47,8 @@ size_t _z_send_serial(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t
 
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_LINK_BT_H */
diff --git a/include/zenoh-pico/system/link/tcp.h b/include/zenoh-pico/system/link/tcp.h
index 22bdc3efc..c6dcd7032 100644
--- a/include/zenoh-pico/system/link/tcp.h
+++ b/include/zenoh-pico/system/link/tcp.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_TCP == 1
 
 typedef struct {
@@ -38,4 +42,8 @@ size_t _z_read_tcp(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len);
 size_t _z_send_tcp(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t len);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_LINK_TCP_H */
diff --git a/include/zenoh-pico/system/link/udp.h b/include/zenoh-pico/system/link/udp.h
index 47899c04a..a0eb9cb01 100644
--- a/include/zenoh-pico/system/link/udp.h
+++ b/include/zenoh-pico/system/link/udp.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_UDP_UNICAST == 1 || Z_FEATURE_LINK_UDP_MULTICAST == 1
 
 typedef struct {
@@ -56,4 +60,8 @@ size_t _z_send_udp_multicast(const _z_sys_net_socket_t sock, const uint8_t *ptr,
                              const _z_sys_net_endpoint_t rep);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_LINK_UDP_H */
diff --git a/include/zenoh-pico/system/link/ws.h b/include/zenoh-pico/system/link/ws.h
index aa57fcbf8..c3fcadc14 100644
--- a/include/zenoh-pico/system/link/ws.h
+++ b/include/zenoh-pico/system/link/ws.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_WS == 1
 
 typedef struct {
@@ -38,4 +42,8 @@ size_t _z_read_ws(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len);
 size_t _z_send_ws(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t len);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_LINK_WS_H */
diff --git a/include/zenoh-pico/system/platform/arduino/esp32.h b/include/zenoh-pico/system/platform/arduino/esp32.h
index af09722a2..9e8df7a07 100644
--- a/include/zenoh-pico/system/platform/arduino/esp32.h
+++ b/include/zenoh-pico/system/platform/arduino/esp32.h
@@ -21,6 +21,10 @@
 #include <pthread.h>
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 typedef void *_z_task_t;
 typedef void *z_task_attr_t;  // Not used in ESP32
@@ -56,4 +60,8 @@ typedef struct {
     };
 } _z_sys_net_endpoint_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_ESP32_TYPES_H */
diff --git a/include/zenoh-pico/system/platform/arduino/opencr.h b/include/zenoh-pico/system/platform/arduino/opencr.h
index c9c374d2d..e1fa1da4a 100644
--- a/include/zenoh-pico/system/platform/arduino/opencr.h
+++ b/include/zenoh-pico/system/platform/arduino/opencr.h
@@ -20,6 +20,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 typedef void *_z_task_t;
 typedef void *z_task_attr_t;
@@ -60,4 +64,8 @@ typedef struct {
     bool _err;
 } _z_sys_net_endpoint_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_ARDUINO_OPENCR_TYPES_H */
diff --git a/include/zenoh-pico/system/platform/emscripten.h b/include/zenoh-pico/system/platform/emscripten.h
index edb9c6b44..068cca9f2 100644
--- a/include/zenoh-pico/system/platform/emscripten.h
+++ b/include/zenoh-pico/system/platform/emscripten.h
@@ -19,6 +19,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 #include <pthread.h>
 
@@ -50,4 +54,8 @@ typedef struct {
     };
 } _z_sys_net_endpoint_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_WASM_TYPES_H */
diff --git a/include/zenoh-pico/system/platform/espidf.h b/include/zenoh-pico/system/platform/espidf.h
index 1f35832a6..aadeb782f 100644
--- a/include/zenoh-pico/system/platform/espidf.h
+++ b/include/zenoh-pico/system/platform/espidf.h
@@ -22,6 +22,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 #include <pthread.h>
 
@@ -69,4 +73,8 @@ typedef struct {
     };
 } _z_sys_net_endpoint_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_ESPIDF_TYPES_H */
diff --git a/include/zenoh-pico/system/platform/flipper.h b/include/zenoh-pico/system/platform/flipper.h
index 4a51074f6..8eb94b4c7 100644
--- a/include/zenoh-pico/system/platform/flipper.h
+++ b/include/zenoh-pico/system/platform/flipper.h
@@ -21,6 +21,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define FLIPPER_DEFAULT_THREAD_STACK_SIZE 2048
 #define FLIPPER_SERIAL_STREAM_BUFFER_SIZE 512
 #define FLIPPER_SERIAL_STREAM_TRIGGERED_LEVEL 10
@@ -43,4 +47,8 @@ typedef struct {
 #endif
 } _z_sys_net_socket_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_FLIPPER_TYPES_H */
diff --git a/include/zenoh-pico/system/platform/freertos_plus_tcp.h b/include/zenoh-pico/system/platform/freertos_plus_tcp.h
index 7332889c5..31a2dfc83 100644
--- a/include/zenoh-pico/system/platform/freertos_plus_tcp.h
+++ b/include/zenoh-pico/system/platform/freertos_plus_tcp.h
@@ -18,6 +18,10 @@
 #include "FreeRTOS_IP.h"
 #include "semphr.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 typedef struct {
     const char *name;
@@ -58,4 +62,8 @@ typedef struct {
     };
 } _z_sys_net_endpoint_t;
 
-#endif
\ No newline at end of file
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/include/zenoh-pico/system/platform/mbed.h b/include/zenoh-pico/system/platform/mbed.h
index 08bb09c83..87fdb4626 100644
--- a/include/zenoh-pico/system/platform/mbed.h
+++ b/include/zenoh-pico/system/platform/mbed.h
@@ -20,6 +20,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef int _z_socket_t;
 
 #if Z_FEATURE_MULTI_THREAD == 1
@@ -61,4 +65,8 @@ typedef struct {
     };
 } _z_sys_net_endpoint_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_MBED_TYPES_H */
diff --git a/include/zenoh-pico/system/platform/unix.h b/include/zenoh-pico/system/platform/unix.h
index cea7b5868..b83dbb424 100644
--- a/include/zenoh-pico/system/platform/unix.h
+++ b/include/zenoh-pico/system/platform/unix.h
@@ -19,12 +19,17 @@
 #include <stddef.h>
 #include <stdint.h>
 #include <sys/time.h>
+#if Z_FEATURE_MULTI_THREAD == 1
+#include <pthread.h>
+#endif  // Z_FEATURE_MULTI_THREAD == 1
 
 #include "zenoh-pico/config.h"
 
-#if Z_FEATURE_MULTI_THREAD == 1
-#include <pthread.h>
+#ifdef __cplusplus
+extern "C" {
+#endif
 
+#if Z_FEATURE_MULTI_THREAD == 1
 typedef pthread_t _z_task_t;
 typedef pthread_attr_t z_task_attr_t;
 typedef pthread_mutex_t _z_mutex_t;
@@ -51,4 +56,8 @@ typedef struct {
     };
 } _z_sys_net_endpoint_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_UNIX_TYPES_H */
diff --git a/include/zenoh-pico/system/platform/void.h b/include/zenoh-pico/system/platform/void.h
index cda1b50ab..f46217281 100644
--- a/include/zenoh-pico/system/platform/void.h
+++ b/include/zenoh-pico/system/platform/void.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 typedef void *_z_task_t;
 typedef void *z_task_attr_t;
@@ -27,4 +31,8 @@ typedef void *_z_condvar_t;
 typedef void *z_clock_t;
 typedef void *z_time_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_VOID_H */
diff --git a/include/zenoh-pico/system/platform/windows.h b/include/zenoh-pico/system/platform/windows.h
index cb41f243d..7ccd38509 100644
--- a/include/zenoh-pico/system/platform/windows.h
+++ b/include/zenoh-pico/system/platform/windows.h
@@ -20,6 +20,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 typedef HANDLE *_z_task_t;
 typedef void *z_task_attr_t;  // Not used in Windows
@@ -48,4 +52,8 @@ typedef struct {
 
 inline void __asm__(char *instruction) { (void)(instruction); }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_VOID_H */
diff --git a/include/zenoh-pico/system/platform/zephyr.h b/include/zenoh-pico/system/platform/zephyr.h
index 966edaa52..1f25e839c 100644
--- a/include/zenoh-pico/system/platform/zephyr.h
+++ b/include/zenoh-pico/system/platform/zephyr.h
@@ -30,6 +30,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 typedef pthread_t _z_task_t;
 typedef pthread_attr_t z_task_attr_t;
@@ -59,4 +63,8 @@ typedef struct {
     };
 } _z_sys_net_endpoint_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_ZEPHYR_TYPES_H */
diff --git a/include/zenoh-pico/transport/common/lease.h b/include/zenoh-pico/transport/common/lease.h
index 900a2f887..858282636 100644
--- a/include/zenoh-pico/transport/common/lease.h
+++ b/include/zenoh-pico/transport/common/lease.h
@@ -17,7 +17,15 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_send_join(_z_transport_t *zt);
 z_result_t _z_send_keep_alive(_z_transport_t *zt);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_LEASE_H */
diff --git a/include/zenoh-pico/transport/common/read.h b/include/zenoh-pico/transport/common/read.h
index f298d1878..fe6b79b6a 100644
--- a/include/zenoh-pico/transport/common/read.h
+++ b/include/zenoh-pico/transport/common/read.h
@@ -17,7 +17,15 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_read(_z_transport_t *zt);
 void *_zp_read_task(void *zt_arg);  // The argument is void* to avoid incompatible pointer types in tasks
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_READ_H */
diff --git a/include/zenoh-pico/transport/common/rx.h b/include/zenoh-pico/transport/common/rx.h
index 147273816..e4f548c6e 100644
--- a/include/zenoh-pico/transport/common/rx.h
+++ b/include/zenoh-pico/transport/common/rx.h
@@ -18,8 +18,16 @@
 #include "zenoh-pico/link/link.h"
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Transmission and Reception helpers ------------------*/
 size_t _z_read_stream_size(_z_zbuf_t *zbuf);
 z_result_t _z_link_recv_t_msg(_z_transport_message_t *t_msg, const _z_link_t *zl);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_RX_H */
diff --git a/include/zenoh-pico/transport/common/tx.h b/include/zenoh-pico/transport/common/tx.h
index 1eb4abac1..05d22a89e 100644
--- a/include/zenoh-pico/transport/common/tx.h
+++ b/include/zenoh-pico/transport/common/tx.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 void __unsafe_z_prepare_wbuf(_z_wbuf_t *buf, uint8_t link_flow_capability);
 void __unsafe_z_finalize_wbuf(_z_wbuf_t *buf, uint8_t link_flow_capability);
 /*This function is unsafe because it operates in potentially concurrent
@@ -29,4 +33,8 @@ z_result_t __unsafe_z_serialize_zenoh_fragment(_z_wbuf_t *dst, _z_wbuf_t *src, z
 z_result_t _z_send_t_msg(_z_transport_t *zt, const _z_transport_message_t *t_msg);
 z_result_t _z_link_send_t_msg(const _z_link_t *zl, const _z_transport_message_t *t_msg);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_TX_H */
diff --git a/include/zenoh-pico/transport/manager.h b/include/zenoh-pico/transport/manager.h
index 8ac95dd7c..321bed3ac 100644
--- a/include/zenoh-pico/transport/manager.h
+++ b/include/zenoh-pico/transport/manager.h
@@ -19,7 +19,15 @@
 #include "zenoh-pico/link/manager.h"
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_new_transport(_z_transport_t *zt, _z_id_t *bs, _z_string_t *locator, z_whatami_t mode);
 void _z_free_transport(_z_transport_t **zt);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_TRANSPORT_MANAGER_H */
diff --git a/include/zenoh-pico/transport/multicast.h b/include/zenoh-pico/transport/multicast.h
index 487ef6dae..bdf939514 100644
--- a/include/zenoh-pico/transport/multicast.h
+++ b/include/zenoh-pico/transport/multicast.h
@@ -17,7 +17,15 @@
 
 #include "zenoh-pico/api/types.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 void _zp_multicast_fetch_zid(const _z_transport_t *zt, _z_closure_zid_t *callback);
 void _zp_multicast_info_session(const _z_transport_t *zt, _z_config_t *ps);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_MULTICAST_H */
diff --git a/include/zenoh-pico/transport/multicast/lease.h b/include/zenoh-pico/transport/multicast/lease.h
index 09a0b4135..71472bb55 100644
--- a/include/zenoh-pico/transport/multicast/lease.h
+++ b/include/zenoh-pico/transport/multicast/lease.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _zp_multicast_send_join(_z_transport_multicast_t *ztm);
 z_result_t _zp_multicast_send_keep_alive(_z_transport_multicast_t *ztm);
 z_result_t _zp_multicast_stop_lease_task(_z_transport_multicast_t *ztm);
@@ -28,4 +32,8 @@ z_result_t _zp_multicast_start_lease_task(_z_transport_multicast_t *ztm, z_task_
 z_result_t _zp_multicast_start_lease_task(_z_transport_multicast_t *ztm, void *attr, void *task);
 #endif /* Z_FEATURE_MULTI_THREAD == 1 &&  (Z_FEATURE_MULTICAST_TRANSPORT == 1 || Z_FEATURE_RAWETH_TRANSPORT == 1) */
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_MULTICAST_LEASE_H */
diff --git a/include/zenoh-pico/transport/multicast/read.h b/include/zenoh-pico/transport/multicast/read.h
index acaa82308..63c9a0eda 100644
--- a/include/zenoh-pico/transport/multicast/read.h
+++ b/include/zenoh-pico/transport/multicast/read.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _zp_multicast_read(_z_transport_multicast_t *ztm);
 z_result_t _zp_multicast_stop_read_task(_z_transport_t *zt);
 void *_zp_multicast_read_task(void *ztm_arg);  // The argument is void* to avoid incompatible pointer types in tasks
@@ -27,4 +31,8 @@ z_result_t _zp_multicast_start_read_task(_z_transport_t *zt, z_task_attr_t *attr
 z_result_t _zp_multicast_start_read_task(_z_transport_t *zt, void *attr, void *task);
 #endif /* #if Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_MULTICAST_TRANSPORT == 1 */
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_MULTICAST_READ_H */
diff --git a/include/zenoh-pico/transport/multicast/rx.h b/include/zenoh-pico/transport/multicast/rx.h
index 31a10e64a..c16ca82d4 100644
--- a/include/zenoh-pico/transport/multicast/rx.h
+++ b/include/zenoh-pico/transport/multicast/rx.h
@@ -17,8 +17,16 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_multicast_recv_t_msg(_z_transport_multicast_t *ztm, _z_transport_message_t *t_msg, _z_slice_t *addr);
 z_result_t _z_multicast_handle_transport_message(_z_transport_multicast_t *ztm, _z_transport_message_t *t_msg,
                                                  _z_slice_t *addr);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_LINK_RX_H */
diff --git a/include/zenoh-pico/transport/multicast/transport.h b/include/zenoh-pico/transport/multicast/transport.h
index fa9cd085c..ef8b73994 100644
--- a/include/zenoh-pico/transport/multicast/transport.h
+++ b/include/zenoh-pico/transport/multicast/transport.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/api/types.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_multicast_transport_create(_z_transport_t *zt, _z_link_t *zl,
                                          _z_transport_multicast_establish_param_t *param);
 z_result_t _z_multicast_open_peer(_z_transport_multicast_establish_param_t *param, const _z_link_t *zl,
@@ -26,4 +30,9 @@ z_result_t _z_multicast_open_client(_z_transport_multicast_establish_param_t *pa
 z_result_t _z_multicast_send_close(_z_transport_multicast_t *ztm, uint8_t reason, bool link_only);
 z_result_t _z_multicast_transport_close(_z_transport_multicast_t *ztm, uint8_t reason);
 void _z_multicast_transport_clear(_z_transport_t *zt);
+
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_MULTICAST_TRANSPORT_H */
diff --git a/include/zenoh-pico/transport/multicast/tx.h b/include/zenoh-pico/transport/multicast/tx.h
index c9721523a..903fc80cd 100644
--- a/include/zenoh-pico/transport/multicast/tx.h
+++ b/include/zenoh-pico/transport/multicast/tx.h
@@ -18,8 +18,16 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_multicast_send_n_msg(_z_session_t *zn, const _z_network_message_t *z_msg, z_reliability_t reliability,
                                    z_congestion_control_t cong_ctrl);
 z_result_t _z_multicast_send_t_msg(_z_transport_multicast_t *ztm, const _z_transport_message_t *t_msg);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_MULTICAST_TX_H */
diff --git a/include/zenoh-pico/transport/raweth/read.h b/include/zenoh-pico/transport/raweth/read.h
index 6ead7be9b..f5cc3a6ee 100644
--- a/include/zenoh-pico/transport/raweth/read.h
+++ b/include/zenoh-pico/transport/raweth/read.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _zp_raweth_read(_z_transport_multicast_t *ztm);
 z_result_t _zp_raweth_stop_read_task(_z_transport_t *zt);
 void *_zp_raweth_read_task(void *ztm_arg);  // The argument is void* to avoid incompatible pointer types in tasks
@@ -27,4 +31,8 @@ z_result_t _zp_raweth_start_read_task(_z_transport_t *zt, z_task_attr_t *attr, _
 z_result_t _zp_raweth_start_read_task(_z_transport_t *zt, void *attr, void *task);
 #endif /* Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_RAWETH_TRANSPORT == 1 */
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_RAWETH_READ_H */
diff --git a/include/zenoh-pico/transport/raweth/rx.h b/include/zenoh-pico/transport/raweth/rx.h
index 81874d633..5ebcfb0e1 100644
--- a/include/zenoh-pico/transport/raweth/rx.h
+++ b/include/zenoh-pico/transport/raweth/rx.h
@@ -17,7 +17,15 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_raweth_recv_t_msg(_z_transport_multicast_t *ztm, _z_transport_message_t *t_msg, _z_slice_t *addr);
 z_result_t _z_raweth_recv_t_msg_na(_z_transport_multicast_t *ztm, _z_transport_message_t *t_msg, _z_slice_t *addr);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_RAWETH_RX_H */
diff --git a/include/zenoh-pico/transport/raweth/tx.h b/include/zenoh-pico/transport/raweth/tx.h
index 83abdd9fb..4b191f2de 100644
--- a/include/zenoh-pico/transport/raweth/tx.h
+++ b/include/zenoh-pico/transport/raweth/tx.h
@@ -18,9 +18,17 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_raweth_link_send_t_msg(const _z_link_t *zl, const _z_transport_message_t *t_msg);
 z_result_t _z_raweth_send_n_msg(_z_session_t *zn, const _z_network_message_t *z_msg, z_reliability_t reliability,
                                 z_congestion_control_t cong_ctrl);
 z_result_t _z_raweth_send_t_msg(_z_transport_multicast_t *ztm, const _z_transport_message_t *t_msg);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_RAWETH_TX_H */
diff --git a/include/zenoh-pico/transport/transport.h b/include/zenoh-pico/transport/transport.h
index 4e013594e..1671786df 100644
--- a/include/zenoh-pico/transport/transport.h
+++ b/include/zenoh-pico/transport/transport.h
@@ -25,6 +25,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/protocol/definitions/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef struct {
 #if Z_FEATURE_FRAGMENTATION == 1
     // Defragmentation buffers
@@ -182,4 +186,8 @@ z_result_t _z_transport_close(_z_transport_t *zt, uint8_t reason);
 void _z_transport_clear(_z_transport_t *zt);
 void _z_transport_free(_z_transport_t **zt);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_TRANSPORT_TRANSPORT_H */
diff --git a/include/zenoh-pico/transport/unicast.h b/include/zenoh-pico/transport/unicast.h
index 652384e47..4c0d525bd 100644
--- a/include/zenoh-pico/transport/unicast.h
+++ b/include/zenoh-pico/transport/unicast.h
@@ -17,7 +17,15 @@
 
 #include "zenoh-pico/api/types.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 void _zp_unicast_fetch_zid(const _z_transport_t *zt, _z_closure_zid_t *callback);
 void _zp_unicast_info_session(const _z_transport_t *zt, _z_config_t *ps);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UNICAST_H */
diff --git a/include/zenoh-pico/transport/unicast/lease.h b/include/zenoh-pico/transport/unicast/lease.h
index 469fd1333..0d607afd6 100644
--- a/include/zenoh-pico/transport/unicast/lease.h
+++ b/include/zenoh-pico/transport/unicast/lease.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _zp_unicast_send_keep_alive(_z_transport_unicast_t *ztu);
 z_result_t _zp_unicast_stop_lease_task(_z_transport_t *zt);
 void *_zp_unicast_lease_task(void *ztu_arg);  // The argument is void* to avoid incompatible pointer types in tasks
@@ -27,4 +31,8 @@ z_result_t _zp_unicast_start_lease_task(_z_transport_t *zt, z_task_attr_t *attr,
 z_result_t _zp_unicast_start_lease_task(_z_transport_t *zt, void *attr, void *task);
 #endif /* Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_UNICAST_TRANSPORT == 1 */
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_LINK_TASK_LEASE_H */
diff --git a/include/zenoh-pico/transport/unicast/read.h b/include/zenoh-pico/transport/unicast/read.h
index 63a8976bb..e703a1ee1 100644
--- a/include/zenoh-pico/transport/unicast/read.h
+++ b/include/zenoh-pico/transport/unicast/read.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _zp_unicast_read(_z_transport_unicast_t *ztu);
 z_result_t _zp_unicast_stop_read_task(_z_transport_t *zt);
 void *_zp_unicast_read_task(void *ztu_arg);  // The argument is void* to avoid incompatible pointer types in tasks
@@ -27,4 +31,8 @@ z_result_t _zp_unicast_start_read_task(_z_transport_t *zt, z_task_attr_t *attr,
 z_result_t _zp_unicast_start_read_task(_z_transport_t *zt, void *attr, void *task);
 #endif /* Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_UNICAST_TRANSPORT == 1 */
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UNICAST_READ_H */
diff --git a/include/zenoh-pico/transport/unicast/rx.h b/include/zenoh-pico/transport/unicast/rx.h
index f36cb592c..6e948dc73 100644
--- a/include/zenoh-pico/transport/unicast/rx.h
+++ b/include/zenoh-pico/transport/unicast/rx.h
@@ -17,8 +17,16 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_unicast_recv_t_msg(_z_transport_unicast_t *ztu, _z_transport_message_t *t_msg);
 z_result_t _z_unicast_recv_t_msg_na(_z_transport_unicast_t *ztu, _z_transport_message_t *t_msg);
 z_result_t _z_unicast_handle_transport_message(_z_transport_unicast_t *ztu, _z_transport_message_t *t_msg);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UNICAST_RX_H */
diff --git a/include/zenoh-pico/transport/unicast/transport.h b/include/zenoh-pico/transport/unicast/transport.h
index 4b60b7c70..dc39cac54 100644
--- a/include/zenoh-pico/transport/unicast/transport.h
+++ b/include/zenoh-pico/transport/unicast/transport.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/api/types.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_unicast_transport_create(_z_transport_t *zt, _z_link_t *zl,
                                        _z_transport_unicast_establish_param_t *param);
 z_result_t _z_unicast_open_client(_z_transport_unicast_establish_param_t *param, const _z_link_t *zl,
@@ -26,4 +30,9 @@ z_result_t _z_unicast_open_peer(_z_transport_unicast_establish_param_t *param, c
 z_result_t _z_unicast_send_close(_z_transport_unicast_t *ztu, uint8_t reason, bool link_only);
 z_result_t _z_unicast_transport_close(_z_transport_unicast_t *ztu, uint8_t reason);
 void _z_unicast_transport_clear(_z_transport_t *zt);
+
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UNICAST_TRANSPORT_H */
diff --git a/include/zenoh-pico/transport/unicast/tx.h b/include/zenoh-pico/transport/unicast/tx.h
index 56a33bfdd..ade38faf0 100644
--- a/include/zenoh-pico/transport/unicast/tx.h
+++ b/include/zenoh-pico/transport/unicast/tx.h
@@ -18,8 +18,16 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_unicast_send_n_msg(_z_session_t *zn, const _z_network_message_t *z_msg, z_reliability_t reliability,
                                  z_congestion_control_t cong_ctrl);
 z_result_t _z_unicast_send_t_msg(_z_transport_unicast_t *ztu, const _z_transport_message_t *t_msg);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_LINK_TX_H */
diff --git a/include/zenoh-pico/transport/utils.h b/include/zenoh-pico/transport/utils.h
index aff81dc03..62fa319b4 100644
--- a/include/zenoh-pico/transport/utils.h
+++ b/include/zenoh-pico/transport/utils.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/protocol/definitions/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ SN helpers ------------------*/
 _z_zint_t _z_sn_max(uint8_t bits);
 _z_zint_t _z_sn_half(_z_zint_t sn);
@@ -31,4 +35,8 @@ _z_zint_t _z_sn_decrement(const _z_zint_t sn_resolution, const _z_zint_t sn);
 void _z_conduit_sn_list_copy(_z_conduit_sn_list_t *dst, const _z_conduit_sn_list_t *src);
 void _z_conduit_sn_list_decrement(const _z_zint_t sn_resolution, _z_conduit_sn_list_t *sns);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_UTILS_H */
diff --git a/include/zenoh-pico/utils/checksum.h b/include/zenoh-pico/utils/checksum.h
index b649ad02b..aad153f9c 100644
--- a/include/zenoh-pico/utils/checksum.h
+++ b/include/zenoh-pico/utils/checksum.h
@@ -18,6 +18,14 @@
 #include <stdint.h>
 #include <stdlib.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 uint32_t _z_crc32(const uint8_t *message, size_t len);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UTILS_CHECKSUM_H */
diff --git a/include/zenoh-pico/utils/config.h b/include/zenoh-pico/utils/config.h
index de17a1239..cf67d4189 100644
--- a/include/zenoh-pico/utils/config.h
+++ b/include/zenoh-pico/utils/config.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/utils/result.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 // Properties returned by _z_info()
 #define Z_INFO_PID_KEY 0x00
 #define Z_INFO_PEER_PID_KEY 0x01
@@ -46,6 +50,7 @@ z_result_t _z_config_init(_z_config_t *ps);
  *   value: The value of the property to add.
  */
 z_result_t _zp_config_insert(_z_config_t *ps, uint8_t key, const char *value);
+z_result_t _zp_config_insert_string(_z_config_t *ps, uint8_t key, const _z_string_t *value);
 
 /**
  * Get the property with the given key from a properties map.
@@ -109,4 +114,8 @@ char *_z_config_get(const _z_config_t *ps, uint8_t key);
  */
 #define _z_config_free _z_str_intmap_free
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UTILS_PROPERTY_H */
diff --git a/include/zenoh-pico/utils/encoding.h b/include/zenoh-pico/utils/encoding.h
index 266eb4db1..3ff2c6988 100644
--- a/include/zenoh-pico/utils/encoding.h
+++ b/include/zenoh-pico/utils/encoding.h
@@ -18,7 +18,15 @@
 #include <stdint.h>
 #include <stdlib.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 size_t _z_cobs_encode(const uint8_t *input, size_t input_len, uint8_t *output);
 size_t _z_cobs_decode(const uint8_t *input, size_t input_len, uint8_t *output);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UTILS_ENCODING_H */
diff --git a/include/zenoh-pico/utils/logging.h b/include/zenoh-pico/utils/logging.h
index 2c9f3ab0d..b50110bdf 100644
--- a/include/zenoh-pico/utils/logging.h
+++ b/include/zenoh-pico/utils/logging.h
@@ -19,6 +19,10 @@
 
 #include "zenoh-pico/system/platform_common.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 // Logging values
 #define _Z_LOG_LVL_ERROR 1
 #define _Z_LOG_LVL_INFO 2
@@ -72,4 +76,8 @@ static inline void __z_print_timestamp(void) {
     } while (false)
 #endif  // ZENOH_DEBUG == 0 && !defined(Z_BUILD_DEBUG)
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif  // ZENOH_PICO_UTILS_LOGGING_H
diff --git a/include/zenoh-pico/utils/pointers.h b/include/zenoh-pico/utils/pointers.h
index 7ce798c64..a5f5156df 100644
--- a/include/zenoh-pico/utils/pointers.h
+++ b/include/zenoh-pico/utils/pointers.h
@@ -18,6 +18,10 @@
 #include <stddef.h>
 #include <stdint.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Computes the distance between two ``uint8_t`` pointers as an absolute value.
  * Note that ``l_ptr`` must be higher than ``r_ptr``.
@@ -92,4 +96,8 @@ const char *_z_cptr_char_offset(const char *ptr, ptrdiff_t off);
  */
 char *_z_ptr_char_offset(char *ptr, ptrdiff_t off);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UTILS_POINTERS_H */
diff --git a/include/zenoh-pico/utils/result.h b/include/zenoh-pico/utils/result.h
index 4dd16f141..6b1061d21 100644
--- a/include/zenoh-pico/utils/result.h
+++ b/include/zenoh-pico/utils/result.h
@@ -17,6 +17,10 @@
 
 #include <stdint.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define _ZP_UNUSED(x) (void)(x)
 #define _ZP_ARRAY_SIZE(array) (sizeof(array) / sizeof(array[0]))
 
@@ -106,4 +110,8 @@ typedef enum {
 #define _Z_IS_OK(expr) (expr == _Z_RES_OK)
 #define _Z_IS_ERR(expr) (expr != _Z_RES_OK)
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UTILS_RESULT_H */
diff --git a/include/zenoh-pico/utils/string.h b/include/zenoh-pico/utils/string.h
index ca9b5a6b6..e4ffd69d2 100644
--- a/include/zenoh-pico/utils/string.h
+++ b/include/zenoh-pico/utils/string.h
@@ -12,10 +12,17 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
+#ifndef ZENOH_PICO_UTILS_STRING_H
+#define ZENOH_PICO_UTILS_STRING_H
+
 #include <stdbool.h>
 #include <stddef.h>
 #include <stdint.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef struct {
     char const *start;
     char const *end;
@@ -55,3 +62,9 @@ _z_str_se_t _z_splitstr_nextback(_z_splitstr_t *str);
 size_t _z_strcnt(char const *haystack_start, const char *harstack_end, const char *needle_start);
 
 size_t _z_str_startswith(const char *s, const char *needle);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ZENOH_PICO_UTILS_STRING_H */
diff --git a/include/zenoh-pico/utils/uuid.h b/include/zenoh-pico/utils/uuid.h
index 4bd581a91..13631460b 100644
--- a/include/zenoh-pico/utils/uuid.h
+++ b/include/zenoh-pico/utils/uuid.h
@@ -14,6 +14,16 @@
 
 #include <stdint.h>
 
+#include "zenoh-pico/collections/string.h"
+#include "zenoh-pico/protocol/core.h"
+
+#ifndef ZENOH_PICO_UTILS_UUID_H
+#define ZENOH_PICO_UTILS_UUID_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Converts an UUID in string format to a byte array.
  *
@@ -22,3 +32,20 @@
  *   uuid_str: A valid UUID string.
  */
 void _z_uuid_to_bytes(uint8_t *bytes, const char *uuid_str);
+
+/**
+ * Converts an Zenoh ID to string.
+ *
+ * Parameters:
+ *   id: Zenoh ID.
+ *
+ * Returns:
+ *   ID string representation
+ */
+_z_string_t _z_id_to_string(const _z_id_t *id);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ZENOH_PICO_UTILS_UUID_H */
diff --git a/src/api/api.c b/src/api/api.c
index d5404d691..8ff30c7cf 100644
--- a/src/api/api.c
+++ b/src/api/api.c
@@ -549,15 +549,15 @@ static _z_encoding_t _z_encoding_from_owned(const z_owned_encoding_t *encoding)
 _Z_OWNED_FUNCTIONS_VALUE_IMPL(_z_sample_t, sample, _z_sample_check, _z_sample_null, _z_sample_copy, _z_sample_clear)
 _Z_OWNED_FUNCTIONS_RC_IMPL(session)
 
-_Z_OWNED_FUNCTIONS_CLOSURE_IMPL(closure_sample, _z_sample_handler_t, z_dropper_handler_t)
-_Z_OWNED_FUNCTIONS_CLOSURE_IMPL(closure_query, _z_query_handler_t, z_dropper_handler_t)
-_Z_OWNED_FUNCTIONS_CLOSURE_IMPL(closure_reply, _z_reply_handler_t, z_dropper_handler_t)
-_Z_OWNED_FUNCTIONS_CLOSURE_IMPL(closure_hello, z_loaned_hello_handler_t, z_dropper_handler_t)
-_Z_OWNED_FUNCTIONS_CLOSURE_IMPL(closure_zid, z_zid_handler_t, z_dropper_handler_t)
+_Z_OWNED_FUNCTIONS_CLOSURE_IMPL(closure_sample, _z_closure_sample_callback_t, z_closure_drop_callback_t)
+_Z_OWNED_FUNCTIONS_CLOSURE_IMPL(closure_query, _z_closure_query_callback_t, z_closure_drop_callback_t)
+_Z_OWNED_FUNCTIONS_CLOSURE_IMPL(closure_reply, _z_closure_reply_callback_t, z_closure_drop_callback_t)
+_Z_OWNED_FUNCTIONS_CLOSURE_IMPL(closure_hello, z_closure_hello_callback_t, z_closure_drop_callback_t)
+_Z_OWNED_FUNCTIONS_CLOSURE_IMPL(closure_zid, z_closure_zid_callback_t, z_closure_drop_callback_t)
 
 /************* Primitives **************/
 typedef struct __z_hello_handler_wrapper_t {
-    z_loaned_hello_handler_t user_call;
+    z_closure_hello_callback_t user_call;
     void *ctx;
 } __z_hello_handler_wrapper_t;
 
@@ -715,8 +715,7 @@ z_result_t z_info_routers_zid(const z_loaned_session_t *zs, z_moved_closure_zid_
 z_id_t z_info_zid(const z_loaned_session_t *zs) { return _Z_RC_IN_VAL(zs)->_local_zid; }
 
 z_result_t z_id_to_string(const z_id_t *id, z_owned_string_t *str) {
-    _z_slice_t buf = _z_slice_alias_buf(id->id, sizeof(id->id));
-    str->_val = _z_string_convert_bytes(&buf);
+    str->_val = _z_id_to_string(id);
     if (!_z_string_check(&str->_val)) {
         return _Z_ERR_SYSTEM_OUT_OF_MEMORY;
     }
@@ -828,12 +827,12 @@ z_result_t z_put(const z_loaned_session_t *zs, const z_loaned_keyexpr_t *keyexpr
                    opt.priority, opt.is_express, opt.timestamp, _z_bytes_from_owned_bytes(&opt.attachment->_this),
                    reliability);
 
-    // Trigger local subscriptions
-    _z_trigger_local_subscriptions(
+    // Trigger subscriptions
+    _z_trigger_subscriptions_put(
         _Z_RC_IN_VAL(zs), keyexpr_aliased, _z_bytes_from_owned_bytes(&payload->_this),
-        opt.encoding == NULL ? NULL : &opt.encoding->_this._val,
+        opt.encoding == NULL ? NULL : &opt.encoding->_this._val, opt.timestamp,
         _z_n_qos_make(opt.is_express, opt.congestion_control == Z_CONGESTION_CONTROL_BLOCK, opt.priority),
-        opt.timestamp, _z_bytes_from_owned_bytes(&opt.attachment->_this), reliability);
+        _z_bytes_from_owned_bytes(&opt.attachment->_this), reliability);
     // Clean-up
     z_encoding_drop(opt.encoding);
     z_bytes_drop(opt.attachment);
@@ -961,11 +960,11 @@ z_result_t z_publisher_put(const z_loaned_publisher_t *pub, z_moved_bytes_t *pay
                            Z_SAMPLE_KIND_PUT, pub->_congestion_control, pub->_priority, pub->_is_express, opt.timestamp,
                            _z_bytes_from_owned_bytes(&opt.attachment->_this), reliability);
         }
-        // Trigger local subscriptions
-        _z_trigger_local_subscriptions(
-            _Z_RC_IN_VAL(&sess_rc), pub_keyexpr, _z_bytes_from_owned_bytes(&payload->_this), &encoding,
+        // Trigger subscriptions
+        _z_trigger_subscriptions_put(
+            _Z_RC_IN_VAL(&sess_rc), pub_keyexpr, _z_bytes_from_owned_bytes(&payload->_this), &encoding, opt.timestamp,
             _z_n_qos_make(pub->_is_express, pub->_congestion_control == Z_CONGESTION_CONTROL_BLOCK, pub->_priority),
-            opt.timestamp, _z_bytes_from_owned_bytes(&opt.attachment->_this), reliability);
+            _z_bytes_from_owned_bytes(&opt.attachment->_this), reliability);
 
         _z_session_rc_drop(&sess_rc);
     } else {
@@ -1087,6 +1086,7 @@ const z_loaned_sample_t *z_reply_ok(const z_loaned_reply_t *reply) { return &rep
 
 const z_loaned_reply_err_t *z_reply_err(const z_loaned_reply_t *reply) { return &reply->data._result.error; }
 
+#ifdef Z_FEATURE_UNSTABLE_API
 bool z_reply_replier_id(const z_loaned_reply_t *reply, z_id_t *out_id) {
     if (_z_id_check(reply->data.replier_id)) {
         *out_id = reply->data.replier_id;
@@ -1094,7 +1094,9 @@ bool z_reply_replier_id(const z_loaned_reply_t *reply, z_id_t *out_id) {
     }
     return false;
 }
-#endif
+#endif  // Z_FEATURE_UNSTABLE_API
+
+#endif  // Z_FEATURE_QUERY == 1
 
 #if Z_FEATURE_QUERYABLE == 1
 _Z_OWNED_FUNCTIONS_RC_IMPL(query)
@@ -1396,7 +1398,7 @@ z_result_t z_undeclare_subscriber(z_moved_subscriber_t *sub) {
 const z_loaned_keyexpr_t *z_subscriber_keyexpr(const z_loaned_subscriber_t *sub) {
     // Retrieve keyexpr from session
     uint32_t lookup = sub->_entity_id;
-    _z_subscription_rc_list_t *tail = _Z_RC_IN_VAL(&sub->_zn)->_local_subscriptions;
+    _z_subscription_rc_list_t *tail = _Z_RC_IN_VAL(&sub->_zn)->_subscriptions;
     while (tail != NULL) {
         _z_subscription_rc_t *head = _z_subscription_rc_list_head(tail);
         if (_Z_RC_IN_VAL(head)->_id == lookup) {
diff --git a/src/api/encoding.c b/src/api/encoding.c
index 8cbe24ae1..b4ff4cb18 100644
--- a/src/api/encoding.c
+++ b/src/api/encoding.c
@@ -262,4 +262,6 @@ z_result_t z_encoding_to_string(const z_loaned_encoding_t *encoding, z_owned_str
     return _Z_RES_OK;
 }
 
+#if Z_FEATURE_ENCODING_VALUES == 1
 const z_loaned_encoding_t *z_encoding_loan_default(void) { return z_encoding_zenoh_bytes(); }
+#endif
diff --git a/src/api/liveliness.c b/src/api/liveliness.c
new file mode 100644
index 000000000..3fb2c63b1
--- /dev/null
+++ b/src/api/liveliness.c
@@ -0,0 +1,144 @@
+//
+// 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>
+//
+
+#include "zenoh-pico/api/liveliness.h"
+
+#include "zenoh-pico/api/primitives.h"
+#include "zenoh-pico/net/liveliness.h"
+#include "zenoh-pico/net/primitives.h"
+#include "zenoh-pico/protocol/core.h"
+#include "zenoh-pico/protocol/keyexpr.h"
+#include "zenoh-pico/utils/result.h"
+
+#if Z_FEATURE_LIVELINESS == 1
+
+/**************** Liveliness Token ****************/
+
+_Bool _z_liveliness_token_check(const _z_liveliness_token_t *token) {
+    _z_keyexpr_check(&token->_key);
+    return true;
+}
+
+_z_liveliness_token_t _z_liveliness_token_null(void) {
+    _z_liveliness_token_t s = {0};
+    s._key = _z_keyexpr_null();
+    return s;
+}
+
+void _z_liveliness_token_clear(_z_liveliness_token_t *token) {
+    _z_session_rc_t sess_rc = _z_session_weak_upgrade_if_open(&token->_zn);
+    if (!_Z_RC_IS_NULL(&sess_rc)) {
+        _z_undeclare_liveliness_token(token);
+        _z_session_rc_drop(&sess_rc);
+    }
+    _z_keyexpr_clear(&token->_key);
+}
+
+_Z_OWNED_FUNCTIONS_VALUE_NO_COPY_IMPL(_z_liveliness_token_t, liveliness_token, _z_liveliness_token_check,
+                                      _z_liveliness_token_null, _z_liveliness_token_clear)
+
+z_result_t z_liveliness_token_options_default(z_liveliness_token_options_t *options) {
+    options->__dummy = 0;
+    return _Z_RES_OK;
+}
+
+z_result_t z_liveliness_declare_token(const z_loaned_session_t *zs, z_owned_liveliness_token_t *token,
+                                      const z_loaned_keyexpr_t *keyexpr, const z_liveliness_token_options_t *options) {
+    (void)options;
+
+    _z_keyexpr_t key = _z_update_keyexpr_to_declared(_Z_RC_IN_VAL(zs), *keyexpr);
+
+    return _z_declare_liveliness_token(zs, &token->_val, key);
+}
+
+z_result_t z_liveliness_undeclare_token(z_moved_liveliness_token_t *token) {
+    return _z_undeclare_liveliness_token(&token->_this._val);
+}
+
+/**************** Liveliness Subscriber ****************/
+
+#if Z_FEATURE_SUBSCRIPTION == 1
+z_result_t z_liveliness_subscriber_options_default(z_liveliness_subscriber_options_t *options) {
+    options->history = false;
+    return _Z_RES_OK;
+}
+
+z_result_t z_liveliness_declare_subscriber(const z_loaned_session_t *zs, z_owned_subscriber_t *sub,
+                                           const z_loaned_keyexpr_t *keyexpr, z_moved_closure_sample_t *callback,
+                                           z_liveliness_subscriber_options_t *options) {
+    void *ctx = callback->_this._val.context;
+    callback->_this._val.context = NULL;
+
+    z_liveliness_subscriber_options_t opt;
+    if (options == NULL) {
+        z_liveliness_subscriber_options_default(&opt);
+    } else {
+        opt = *options;
+    }
+
+    _z_keyexpr_t key = _z_update_keyexpr_to_declared(_Z_RC_IN_VAL(zs), *keyexpr);
+
+    _z_subscriber_t int_sub = _z_declare_liveliness_subscriber(zs, key, callback->_this._val.call,
+                                                               callback->_this._val.drop, opt.history, ctx);
+
+    z_internal_closure_sample_null(&callback->_this);
+    sub->_val = int_sub;
+
+    if (!_z_subscriber_check(&sub->_val)) {
+        return _Z_ERR_SYSTEM_OUT_OF_MEMORY;
+    }
+
+    if (opt.history) {
+        z_result_t ret = _z_liveliness_subscription_trigger_history(_Z_RC_IN_VAL(zs), *keyexpr);
+        if (ret != _Z_RES_OK) {
+            return ret;
+        }
+    }
+
+    return _Z_RES_OK;
+}
+#endif  // Z_FEATURE_SUBSCRIPTION == 1
+
+/**************** Liveliness Query ****************/
+
+#if Z_FEATURE_QUERY == 1
+z_result_t z_liveliness_get_options_default(z_liveliness_get_options_t *options) {
+    options->timeout_ms = Z_GET_TIMEOUT_DEFAULT;
+    return _Z_RES_OK;
+}
+
+z_result_t z_liveliness_get(const z_loaned_session_t *zs, const z_loaned_keyexpr_t *keyexpr,
+                            z_moved_closure_reply_t *callback, z_liveliness_get_options_t *options) {
+    z_result_t ret = _Z_RES_OK;
+
+    void *ctx = callback->_this._val.context;
+    callback->_this._val.context = NULL;
+
+    z_liveliness_get_options_t opt;
+    if (options == NULL) {
+        z_liveliness_get_options_default(&opt);
+    } else {
+        opt = *options;
+    }
+
+    ret = _z_liveliness_query(_Z_RC_IN_VAL(zs), *keyexpr, callback->_this._val.call, callback->_this._val.drop, ctx,
+                              opt.timeout_ms);
+
+    z_internal_closure_reply_null(
+        &callback->_this);  // call and drop passed to _z_liveliness_query, so we nullify the closure here
+    return ret;
+}
+#endif  // Z_FEATURE_QUERY == 1
+
+#endif  // Z_FEATURE_LIVELINESS == 1
diff --git a/src/api/serialization.c b/src/api/serialization.c
index b5ff623d6..c6b018593 100644
--- a/src/api/serialization.c
+++ b/src/api/serialization.c
@@ -84,9 +84,13 @@ z_result_t ze_deserializer_deserialize_slice(ze_deserializer_t *deserializer, z_
     return Z_OK;
 }
 
+z_result_t ze_serializer_serialize_substr(ze_loaned_serializer_t *serializer, const char *start, size_t len) {
+    // TODO: perform a UTF-8 correctness check.
+    return ze_serializer_serialize_buf(serializer, (const uint8_t *)start, len);
+}
+
 z_result_t ze_serializer_serialize_str(ze_loaned_serializer_t *serializer, const char *val) {
-    size_t len = strlen(val);
-    return ze_serializer_serialize_buf(serializer, (const uint8_t *)val, len);
+    return ze_serializer_serialize_substr(serializer, val, strlen(val));
 }
 
 z_result_t ze_serializer_serialize_string(ze_loaned_serializer_t *serializer, const z_loaned_string_t *val) {
@@ -121,6 +125,11 @@ z_result_t ze_deserialize_slice(const z_loaned_bytes_t *bytes, z_owned_slice_t *
     return ze_deserializer_deserialize_slice(&deserializer, data);
 }
 
+z_result_t ze_serialize_substr(z_owned_bytes_t *bytes, const char *start, size_t len) {
+    _Z_BUILD_BYTES_FROM_SERIALIZER(ze_serializer_serialize_substr(&serializer, start, len));
+    return _Z_RES_OK;
+}
+
 z_result_t ze_serialize_str(z_owned_bytes_t *bytes, const char *data) {
     _Z_BUILD_BYTES_FROM_SERIALIZER(ze_serializer_serialize_str(&serializer, data));
     return _Z_RES_OK;
diff --git a/src/collections/fifo_mt.c b/src/collections/fifo_mt.c
index e8d735f94..91c918673 100644
--- a/src/collections/fifo_mt.c
+++ b/src/collections/fifo_mt.c
@@ -17,6 +17,7 @@
 #include "zenoh-pico/protocol/codec/core.h"
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/utils/logging.h"
+#include "zenoh-pico/utils/result.h"
 
 /*-------- Fifo Buffer Multithreaded --------*/
 z_result_t _z_fifo_mt_init(_z_fifo_mt_t *fifo, size_t capacity) {
diff --git a/src/collections/intmap.c b/src/collections/intmap.c
index 004e61bdd..0d7eac9ad 100644
--- a/src/collections/intmap.c
+++ b/src/collections/intmap.c
@@ -68,6 +68,9 @@ z_result_t _z_int_void_map_copy(_z_int_void_map_t *dst, const _z_int_void_map_t
 
 _z_int_void_map_t _z_int_void_map_clone(const _z_int_void_map_t *src, z_element_clone_f f_c, z_element_free_f f_f) {
     _z_int_void_map_t dst = {._capacity = src->_capacity, ._vals = NULL};
+    if (src->_vals == NULL) {
+        return dst;
+    }
     // Lazily allocate and initialize to NULL all the pointers
     size_t len = dst._capacity * sizeof(_z_list_t *);
     dst._vals = (_z_list_t **)z_malloc(len);
@@ -144,6 +147,41 @@ void *_z_int_void_map_get(const _z_int_void_map_t *map, size_t k) {
     return ret;
 }
 
+_z_int_void_map_iterator_t _z_int_void_map_iterator_make(const _z_int_void_map_t *map) {
+    _z_int_void_map_iterator_t iter = {0};
+
+    iter._map = map;
+
+    return iter;
+}
+
+bool _z_int_void_map_iterator_next(_z_int_void_map_iterator_t *iter) {
+    if (iter->_map->_vals == NULL) {
+        return false;
+    }
+
+    while (iter->_idx < iter->_map->_capacity) {
+        if (iter->_list_ptr == NULL) {
+            iter->_list_ptr = iter->_map->_vals[iter->_idx];
+        } else {
+            iter->_list_ptr = _z_list_tail(iter->_list_ptr);
+        }
+        if (iter->_list_ptr == NULL) {
+            iter->_idx++;
+            continue;
+        }
+
+        iter->_entry = iter->_list_ptr->_val;
+
+        return true;
+    }
+    return false;
+}
+
+size_t _z_int_void_map_iterator_key(const _z_int_void_map_iterator_t *iter) { return iter->_entry->_key; }
+
+void *_z_int_void_map_iterator_value(const _z_int_void_map_iterator_t *iter) { return iter->_entry->_val; }
+
 void _z_int_void_map_clear(_z_int_void_map_t *map, z_element_free_f f_f) {
     if (map->_vals != NULL) {
         for (size_t idx = 0; idx < map->_capacity; idx++) {
diff --git a/src/collections/string.c b/src/collections/string.c
index 753c7cad5..e734ee79a 100644
--- a/src/collections/string.c
+++ b/src/collections/string.c
@@ -113,7 +113,7 @@ bool _z_string_equals(const _z_string_t *left, const _z_string_t *right) {
     return (strncmp(_z_string_data(left), _z_string_data(right), _z_string_len(left)) == 0);
 }
 
-_z_string_t _z_string_convert_bytes(const _z_slice_t *bs) {
+_z_string_t _z_string_convert_bytes_le(const _z_slice_t *bs) {
     _z_string_t s = _z_string_null();
     size_t len = bs->len * (size_t)2;
     char *s_val = (char *)z_malloc((len) * sizeof(char));
@@ -121,10 +121,11 @@ _z_string_t _z_string_convert_bytes(const _z_slice_t *bs) {
         return s;
     }
 
-    const char c[] = "0123456789ABCDEF";
+    const char c[] = "0123456789abcdef";
+    size_t pos = bs->len * 2;
     for (size_t i = 0; i < bs->len; i++) {
-        s_val[i * (size_t)2] = c[(bs->start[i] & (uint8_t)0xF0) >> (uint8_t)4];
-        s_val[(i * (size_t)2) + 1] = c[bs->start[i] & (uint8_t)0x0F];
+        s_val[--pos] = c[bs->start[i] & (uint8_t)0x0F];
+        s_val[--pos] = c[(bs->start[i] & (uint8_t)0xF0) >> (uint8_t)4];
     }
     s._slice = _z_slice_from_buf_custom_deleter((const uint8_t *)s_val, len, _z_delete_context_default());
     return s;
@@ -220,4 +221,8 @@ char *_z_str_n_clone(const char *src, size_t len) {
     return dst;
 }
 
+char *_z_str_from_string_clone(const _z_string_t *str) {
+    return _z_str_n_clone((const char *)str->_slice.start, str->_slice.len);
+}
+
 bool _z_str_eq(const char *left, const char *right) { return strcmp(left, right) == 0; }
diff --git a/src/net/liveliness.c b/src/net/liveliness.c
new file mode 100644
index 000000000..45966698f
--- /dev/null
+++ b/src/net/liveliness.c
@@ -0,0 +1,173 @@
+//
+// 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>
+
+#include "zenoh-pico/api/liveliness.h"
+
+#include "zenoh-pico/net/primitives.h"
+#include "zenoh-pico/protocol/definitions/interest.h"
+#include "zenoh-pico/protocol/definitions/network.h"
+#include "zenoh-pico/protocol/keyexpr.h"
+#include "zenoh-pico/session/resource.h"
+#include "zenoh-pico/session/session.h"
+#include "zenoh-pico/session/subscription.h"
+#include "zenoh-pico/session/utils.h"
+#include "zenoh-pico/utils/result.h"
+
+#if Z_FEATURE_LIVELINESS == 1
+
+/**************** Liveliness Token ****************/
+
+z_result_t _z_declare_liveliness_token(const _z_session_rc_t *zn, _z_liveliness_token_t *ret_token,
+                                       _z_keyexpr_t keyexpr) {
+    z_result_t ret;
+
+    uint32_t id = _z_get_entity_id(_Z_RC_IN_VAL(zn));
+
+    _z_declaration_t declaration = _z_make_decl_token(&keyexpr, id);
+    _z_network_message_t n_msg = _z_n_msg_make_declare(declaration, false, 0);
+    ret = _z_send_n_msg(_Z_RC_IN_VAL(zn), &n_msg, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK);
+    _z_n_msg_clear(&n_msg);
+
+    _z_liveliness_register_token(_Z_RC_IN_VAL(zn), id, keyexpr);
+
+    ret_token->_id = id;
+    _z_keyexpr_move(&ret_token->_key, &keyexpr);
+    ret_token->_zn = _z_session_rc_clone_as_weak(zn);
+    return ret;
+}
+
+z_result_t _z_undeclare_liveliness_token(_z_liveliness_token_t *token) {
+    if (token == NULL || _Z_RC_IS_NULL(&token->_zn)) {
+        return _Z_ERR_ENTITY_UNKNOWN;
+    }
+
+    z_result_t ret;
+
+    _z_liveliness_unregister_token(_Z_RC_IN_VAL(&token->_zn), token->_id);
+
+    _z_declaration_t declaration = _z_make_undecl_token(token->_id, &token->_key);
+    _z_network_message_t n_msg = _z_n_msg_make_declare(declaration, false, 0);
+    ret = _z_send_n_msg(_Z_RC_IN_VAL(&token->_zn), &n_msg, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK);
+    _z_n_msg_clear(&n_msg);
+
+    return ret;
+}
+
+/**************** Liveliness Subscriber ****************/
+
+#if Z_FEATURE_SUBSCRIPTION == 1
+_z_subscriber_t _z_declare_liveliness_subscriber(const _z_session_rc_t *zn, _z_keyexpr_t keyexpr,
+                                                 _z_closure_sample_callback_t callback, _z_drop_handler_t dropper,
+                                                 bool history, void *arg) {
+    _z_subscription_t s;
+    s._id = _z_get_entity_id(_Z_RC_IN_VAL(zn));
+    s._key_id = keyexpr._id;
+    s._key = _z_get_expanded_key_from_key(_Z_RC_IN_VAL(zn), &keyexpr);
+    s._callback = callback;
+    s._dropper = dropper;
+    s._arg = arg;
+
+    _z_subscriber_t ret = _z_subscriber_null();
+    // Register subscription, stored at session-level, do not drop it by the end of this function.
+    _z_subscription_rc_t *sp_s =
+        _z_register_subscription(_Z_RC_IN_VAL(zn), _Z_SUBSCRIBER_KIND_LIVELINESS_SUBSCRIBER, &s);
+    if (sp_s == NULL) {
+        _z_subscriber_clear(&ret);
+        return ret;
+    }
+    // Build the declare message to send on the wire
+    uint8_t mode = history ? (_Z_INTEREST_FLAG_CURRENT | _Z_INTEREST_FLAG_FUTURE) : _Z_INTEREST_FLAG_FUTURE;
+    _z_interest_t interest = _z_make_interest(
+        &keyexpr, s._id, _Z_INTEREST_FLAG_KEYEXPRS | _Z_INTEREST_FLAG_TOKENS | _Z_INTEREST_FLAG_RESTRICTED | mode);
+
+    _z_network_message_t n_msg = _z_n_msg_make_interest(interest);
+    if (_z_send_n_msg(_Z_RC_IN_VAL(zn), &n_msg, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK) != _Z_RES_OK) {
+        _z_unregister_subscription(_Z_RC_IN_VAL(zn), _Z_SUBSCRIBER_KIND_LIVELINESS_SUBSCRIBER, sp_s);
+        _z_subscriber_clear(&ret);
+        return ret;
+    }
+    _z_n_msg_clear(&n_msg);
+
+    ret._entity_id = s._id;
+    ret._zn = _z_session_rc_clone_as_weak(zn);
+    return ret;
+}
+
+z_result_t _z_undeclare_liveliness_subscriber(_z_subscriber_t *sub) {
+    if (sub == NULL || _Z_RC_IS_NULL(&sub->_zn)) {
+        return _Z_ERR_ENTITY_UNKNOWN;
+    }
+
+    _z_subscription_rc_t *s =
+        _z_get_subscription_by_id(_Z_RC_IN_VAL(&sub->_zn), _Z_SUBSCRIBER_KIND_LIVELINESS_SUBSCRIBER, sub->_entity_id);
+    if (s == NULL) {
+        return _Z_ERR_ENTITY_UNKNOWN;
+    }
+
+    _z_interest_t interest = _z_make_interest_final(s->_val->_id);
+    _z_network_message_t n_msg = _z_n_msg_make_interest(interest);
+    if (_z_send_n_msg(_Z_RC_IN_VAL(&sub->_zn), &n_msg, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK) !=
+        _Z_RES_OK) {
+        return _Z_ERR_TRANSPORT_TX_FAILED;
+    }
+    _z_n_msg_clear(&n_msg);
+
+    _z_undeclare_resource(_Z_RC_IN_VAL(&sub->_zn), _Z_RC_IN_VAL(s)->_key_id);
+    _z_unregister_subscription(_Z_RC_IN_VAL(&sub->_zn), _Z_SUBSCRIBER_KIND_LIVELINESS_SUBSCRIBER, s);
+    return _Z_RES_OK;
+}
+#endif  // Z_FEATURE_SUBSCRIPTION == 1
+
+/**************** Liveliness Query ****************/
+
+#if Z_FEATURE_QUERY == 1
+z_result_t _z_liveliness_query(_z_session_t *zn, _z_keyexpr_t keyexpr, _z_closure_reply_callback_t callback,
+                               _z_drop_handler_t dropper, void *arg, uint64_t timeout_ms) {
+    z_result_t ret = _Z_RES_OK;
+
+    // Create the pending liveliness query object
+    _z_liveliness_pending_query_t *pq =
+        (_z_liveliness_pending_query_t *)z_malloc(sizeof(_z_liveliness_pending_query_t));
+    if (pq != NULL) {
+        uint32_t id = _z_liveliness_get_query_id(zn);
+        pq->_key = _z_get_expanded_key_from_key(zn, &keyexpr);
+        pq->_callback = callback;
+        pq->_dropper = dropper;
+        pq->_arg = arg;
+
+        ret = _z_liveliness_register_pending_query(zn, id, pq);
+        if (ret == _Z_RES_OK) {
+            _ZP_UNUSED(timeout_ms);  // Current interest in pico don't support timeout
+
+            _z_interest_t interest = _z_make_interest(&keyexpr, id,
+                                                      _Z_INTEREST_FLAG_KEYEXPRS | _Z_INTEREST_FLAG_TOKENS |
+                                                          _Z_INTEREST_FLAG_RESTRICTED | _Z_INTEREST_FLAG_CURRENT);
+
+            _z_network_message_t n_msg = _z_n_msg_make_interest(interest);
+            if (_z_send_n_msg(zn, &n_msg, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK) != _Z_RES_OK) {
+                _z_liveliness_unregister_pending_query(zn, id);
+                ret = _Z_ERR_TRANSPORT_TX_FAILED;
+            }
+
+            _z_n_msg_clear(&n_msg);
+
+        } else {
+            _z_liveliness_pending_query_clear(pq);
+        }
+    }
+
+    return ret;
+}
+#endif  // Z_FEATURE_QUERY == 1
+
+#endif  // Z_FEATURE_LIVELINESS == 1
diff --git a/src/net/primitives.c b/src/net/primitives.c
index b2b8d9d7d..13a78eea8 100644
--- a/src/net/primitives.c
+++ b/src/net/primitives.c
@@ -21,16 +21,17 @@
 #include "zenoh-pico/collections/slice.h"
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/net/filtering.h"
-#include "zenoh-pico/net/logger.h"
-#include "zenoh-pico/net/sample.h"
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/protocol/definitions/declarations.h"
+#include "zenoh-pico/protocol/definitions/interest.h"
 #include "zenoh-pico/protocol/definitions/network.h"
 #include "zenoh-pico/protocol/keyexpr.h"
 #include "zenoh-pico/session/interest.h"
+#include "zenoh-pico/session/liveliness.h"
 #include "zenoh-pico/session/query.h"
 #include "zenoh-pico/session/queryable.h"
 #include "zenoh-pico/session/resource.h"
+#include "zenoh-pico/session/session.h"
 #include "zenoh-pico/session/subscription.h"
 #include "zenoh-pico/session/utils.h"
 #include "zenoh-pico/utils/logging.h"
@@ -38,7 +39,7 @@
 
 /*------------------ Scouting ------------------*/
 void _z_scout(const z_what_t what, const _z_id_t zid, _z_string_t *locator, const uint32_t timeout,
-              _z_hello_handler_t callback, void *arg_call, _z_drop_handler_t dropper, void *arg_drop) {
+              _z_closure_hello_callback_t callback, void *arg_call, _z_drop_handler_t dropper, void *arg_drop) {
     _z_hello_list_t *hellos = _z_scout_inner(what, zid, locator, timeout, false);
 
     while (hellos != NULL) {
@@ -100,6 +101,27 @@ z_result_t _z_undeclare_resource(_z_session_t *zn, uint16_t rid) {
     return ret;
 }
 
+// TODO(sashacmc): currently used only for liveliness, because it have little bit different behavior from others
+// It seems also correct for z_declare_queryable and z_declare_publisher, but it need to be verified
+_z_keyexpr_t _z_update_keyexpr_to_declared(_z_session_t *zs, _z_keyexpr_t keyexpr) {
+    _z_keyexpr_t keyexpr_aliased = _z_keyexpr_alias_from_user_defined(keyexpr, true);
+    _z_keyexpr_t key = keyexpr_aliased;
+
+    // TODO: Currently, if resource declarations are done over multicast transports, the current protocol definition
+    //       lacks a way to convey them to later-joining nodes. Thus, in the current version automatic
+    //       resource declarations are only performed on unicast transports.
+    if (zs->_tp._type == _Z_TRANSPORT_UNICAST_TYPE) {
+        _z_resource_t *r = _z_get_resource_by_key(zs, &keyexpr_aliased);
+        if (r != NULL) {
+            key = _z_rid_with_suffix(r->_id, NULL);
+        } else {
+            uint16_t id = _z_declare_resource(zs, keyexpr_aliased);
+            key = _z_rid_with_suffix(id, NULL);
+        }
+    }
+    return key;
+}
+
 #if Z_FEATURE_PUBLICATION == 1
 /*------------------  Publisher Declaration ------------------*/
 _z_publisher_t _z_declare_publisher(const _z_session_rc_t *zn, _z_keyexpr_t keyexpr, _z_encoding_t *encoding,
@@ -192,8 +214,8 @@ z_result_t _z_write(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_bytes
 
 #if Z_FEATURE_SUBSCRIPTION == 1
 /*------------------ Subscriber Declaration ------------------*/
-_z_subscriber_t _z_declare_subscriber(const _z_session_rc_t *zn, _z_keyexpr_t keyexpr, _z_sample_handler_t callback,
-                                      _z_drop_handler_t dropper, void *arg) {
+_z_subscriber_t _z_declare_subscriber(const _z_session_rc_t *zn, _z_keyexpr_t keyexpr,
+                                      _z_closure_sample_callback_t callback, _z_drop_handler_t dropper, void *arg) {
     _z_subscription_t s;
     s._id = _z_get_entity_id(_Z_RC_IN_VAL(zn));
     s._key_id = keyexpr._id;
@@ -204,7 +226,7 @@ _z_subscriber_t _z_declare_subscriber(const _z_session_rc_t *zn, _z_keyexpr_t ke
 
     _z_subscriber_t ret = _z_subscriber_null();
     // Register subscription, stored at session-level, do not drop it by the end of this function.
-    _z_subscription_rc_t *sp_s = _z_register_subscription(_Z_RC_IN_VAL(zn), _Z_RESOURCE_IS_LOCAL, &s);
+    _z_subscription_rc_t *sp_s = _z_register_subscription(_Z_RC_IN_VAL(zn), _Z_SUBSCRIBER_KIND_SUBSCRIBER, &s);
     if (sp_s == NULL) {
         _z_subscriber_clear(&ret);
         return ret;
@@ -213,7 +235,7 @@ _z_subscriber_t _z_declare_subscriber(const _z_session_rc_t *zn, _z_keyexpr_t ke
     _z_declaration_t declaration = _z_make_decl_subscriber(&keyexpr, s._id);
     _z_network_message_t n_msg = _z_n_msg_make_declare(declaration, false, 0);
     if (_z_send_n_msg(_Z_RC_IN_VAL(zn), &n_msg, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK) != _Z_RES_OK) {
-        _z_unregister_subscription(_Z_RC_IN_VAL(zn), _Z_RESOURCE_IS_LOCAL, sp_s);
+        _z_unregister_subscription(_Z_RC_IN_VAL(zn), _Z_SUBSCRIBER_KIND_SUBSCRIBER, sp_s);
         _z_subscriber_clear(&ret);
         return ret;
     }
@@ -229,7 +251,8 @@ z_result_t _z_undeclare_subscriber(_z_subscriber_t *sub) {
         return _Z_ERR_ENTITY_UNKNOWN;
     }
     // Find subscription entry
-    _z_subscription_rc_t *s = _z_get_subscription_by_id(_Z_RC_IN_VAL(&sub->_zn), _Z_RESOURCE_IS_LOCAL, sub->_entity_id);
+    _z_subscription_rc_t *s =
+        _z_get_subscription_by_id(_Z_RC_IN_VAL(&sub->_zn), _Z_SUBSCRIBER_KIND_SUBSCRIBER, sub->_entity_id);
     if (s == NULL) {
         return _Z_ERR_ENTITY_UNKNOWN;
     }
@@ -248,7 +271,7 @@ z_result_t _z_undeclare_subscriber(_z_subscriber_t *sub) {
     _z_n_msg_clear(&n_msg);
     // Only if message is successfully send, local subscription state can be removed
     _z_undeclare_resource(_Z_RC_IN_VAL(&sub->_zn), _Z_RC_IN_VAL(s)->_key_id);
-    _z_unregister_subscription(_Z_RC_IN_VAL(&sub->_zn), _Z_RESOURCE_IS_LOCAL, s);
+    _z_unregister_subscription(_Z_RC_IN_VAL(&sub->_zn), _Z_SUBSCRIBER_KIND_SUBSCRIBER, s);
     return _Z_RES_OK;
 }
 #endif
@@ -256,7 +279,7 @@ z_result_t _z_undeclare_subscriber(_z_subscriber_t *sub) {
 #if Z_FEATURE_QUERYABLE == 1
 /*------------------ Queryable Declaration ------------------*/
 _z_queryable_t _z_declare_queryable(const _z_session_rc_t *zn, _z_keyexpr_t keyexpr, bool complete,
-                                    _z_query_handler_t callback, _z_drop_handler_t dropper, void *arg) {
+                                    _z_closure_query_callback_t callback, _z_drop_handler_t dropper, void *arg) {
     _z_session_queryable_t q;
     q._id = _z_get_entity_id(_Z_RC_IN_VAL(zn));
     q._key = _z_get_expanded_key_from_key(_Z_RC_IN_VAL(zn), &keyexpr);
@@ -452,7 +475,7 @@ z_result_t _z_send_reply_err(const _z_query_t *query, const _z_session_rc_t *zsr
 #if Z_FEATURE_QUERY == 1
 /*------------------ Query ------------------*/
 z_result_t _z_query(_z_session_t *zn, _z_keyexpr_t keyexpr, const char *parameters, const z_query_target_t target,
-                    const z_consolidation_mode_t consolidation, _z_value_t value, _z_reply_handler_t callback,
+                    const z_consolidation_mode_t consolidation, _z_value_t value, _z_closure_reply_callback_t callback,
                     _z_drop_handler_t dropper, void *arg, uint64_t timeout_ms, const _z_bytes_t attachment,
                     z_congestion_control_t cong_ctrl, z_priority_t priority, bool is_express) {
     z_result_t ret = _Z_RES_OK;
diff --git a/src/net/session.c b/src/net/session.c
index 0e8fcac4e..a71cbcc3e 100644
--- a/src/net/session.c
+++ b/src/net/session.c
@@ -166,11 +166,8 @@ _z_config_t *_z_info(const _z_session_t *zn) {
     _z_config_t *ps = (_z_config_t *)z_malloc(sizeof(_z_config_t));
     if (ps != NULL) {
         _z_config_init(ps);
-        _z_slice_t local_zid = _z_slice_alias_buf(zn->_local_zid.id, _z_id_len(zn->_local_zid));
-        // TODO(sasahcmc): is it zero terminated???
-        // rework it!!!
-        _z_string_t s = _z_string_convert_bytes(&local_zid);
-        _zp_config_insert(ps, Z_INFO_PID_KEY, _z_string_data(&s));
+        _z_string_t s = _z_id_to_string(&zn->_local_zid);
+        _zp_config_insert_string(ps, Z_INFO_PID_KEY, &s);
         _z_string_clear(&s);
 
         switch (zn->_tp._type) {
diff --git a/src/protocol/config.c b/src/protocol/config.c
index dcdb4f904..1cfcff9c3 100644
--- a/src/protocol/config.c
+++ b/src/protocol/config.c
@@ -19,6 +19,7 @@
 #include <stdio.h>
 #include <string.h>
 
+#include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/utils/pointers.h"
 
 z_result_t _z_config_init(_z_config_t *ps) {
@@ -37,6 +38,18 @@ z_result_t _zp_config_insert(_z_config_t *ps, uint8_t key, const char *value) {
     return ret;
 }
 
+z_result_t _zp_config_insert_string(_z_config_t *ps, uint8_t key, const _z_string_t *value) {
+    z_result_t ret = _Z_RES_OK;
+    char *str = _z_str_from_string_clone(value);
+    char *res = _z_str_intmap_insert(ps, key, str);
+    if (strcmp(res, str) != 0) {
+        ret = _Z_ERR_CONFIG_FAILED_INSERT;
+    }
+    z_free(str);
+
+    return ret;
+}
+
 char *_z_config_get(const _z_config_t *ps, uint8_t key) { return _z_str_intmap_get(ps, key); }
 
 /*------------------ int-string map ------------------*/
diff --git a/src/protocol/keyexpr.c b/src/protocol/keyexpr.c
index a097b2c40..e27180f63 100644
--- a/src/protocol/keyexpr.c
+++ b/src/protocol/keyexpr.c
@@ -48,6 +48,11 @@ _z_keyexpr_t _z_keyexpr_from_substr(uint16_t rid, const char *str, size_t len) {
     };
 }
 
+size_t _z_keyexpr_size(_z_keyexpr_t *p) {
+    _ZP_UNUSED(p);
+    return sizeof(_z_keyexpr_t);
+}
+
 z_result_t _z_keyexpr_copy(_z_keyexpr_t *dst, const _z_keyexpr_t *src) {
     *dst = _z_keyexpr_null();
     dst->_id = src->_id;
@@ -65,17 +70,21 @@ _z_keyexpr_t _z_keyexpr_duplicate(_z_keyexpr_t src) {
     return dst;
 }
 
+_z_keyexpr_t *_z_keyexpr_clone(const _z_keyexpr_t *src) {
+    _z_keyexpr_t *dst = z_malloc(sizeof(_z_keyexpr_t));
+    if (dst != NULL) {
+        _z_keyexpr_copy(dst, src);
+    }
+    return dst;
+}
+
 _z_keyexpr_t _z_keyexpr_steal(_Z_MOVE(_z_keyexpr_t) src) {
     _z_keyexpr_t stolen = *src;
     *src = _z_keyexpr_null();
     return stolen;
 }
 
-void _z_keyexpr_move(_z_keyexpr_t *dst, _z_keyexpr_t *src) {
-    dst->_id = src->_id;
-    dst->_mapping = src->_mapping;
-    _z_string_move(&dst->_suffix, &src->_suffix);
-}
+void _z_keyexpr_move(_z_keyexpr_t *dst, _z_keyexpr_t *src) { *dst = _z_keyexpr_steal(src); }
 
 void _z_keyexpr_clear(_z_keyexpr_t *rk) {
     rk->_id = 0;
diff --git a/src/session/interest.c b/src/session/interest.c
index a16884ee7..d0d7e407d 100644
--- a/src/session/interest.c
+++ b/src/session/interest.c
@@ -21,10 +21,12 @@
 #include "zenoh-pico/net/query.h"
 #include "zenoh-pico/protocol/codec/core.h"
 #include "zenoh-pico/protocol/core.h"
+#include "zenoh-pico/protocol/definitions/declarations.h"
 #include "zenoh-pico/protocol/definitions/network.h"
 #include "zenoh-pico/protocol/keyexpr.h"
 #include "zenoh-pico/session/queryable.h"
 #include "zenoh-pico/session/resource.h"
+#include "zenoh-pico/session/session.h"
 #include "zenoh-pico/session/utils.h"
 #include "zenoh-pico/utils/logging.h"
 
@@ -117,7 +119,7 @@ static z_result_t _z_interest_send_decl_resource(_z_session_t *zn, uint32_t inte
 #if Z_FEATURE_SUBSCRIPTION == 1
 static z_result_t _z_interest_send_decl_subscriber(_z_session_t *zn, uint32_t interest_id) {
     _zp_session_lock_mutex(zn);
-    _z_subscription_rc_list_t *sub_list = _z_subscription_rc_list_clone(zn->_local_subscriptions);
+    _z_subscription_rc_list_t *sub_list = _z_subscription_rc_list_clone(zn->_subscriptions);
     _zp_session_unlock_mutex(zn);
     _z_subscription_rc_list_t *xs = sub_list;
     while (xs != NULL) {
@@ -173,6 +175,35 @@ static z_result_t _z_interest_send_decl_queryable(_z_session_t *zn, uint32_t int
 }
 #endif
 
+#if Z_FEATURE_LIVELINESS == 1
+static z_result_t _z_interest_send_decl_token(_z_session_t *zn, uint32_t interest_id) {
+    _zp_session_lock_mutex(zn);
+    _z_keyexpr_intmap_t token_list = _z_keyexpr_intmap_clone(&zn->_local_tokens);
+    _zp_session_unlock_mutex(zn);
+    _z_keyexpr_intmap_iterator_t iter = _z_keyexpr_intmap_iterator_make(&token_list);
+    while (_z_keyexpr_intmap_iterator_next(&iter)) {
+        // Build the declare message to send on the wire
+        uint32_t id = (uint32_t)_z_keyexpr_intmap_iterator_key(&iter);
+        _z_keyexpr_t key = *_z_keyexpr_intmap_iterator_value(&iter);
+        _z_declaration_t declaration = _z_make_decl_token(&key, id);
+        _z_network_message_t n_msg = _z_n_msg_make_declare(declaration, true, interest_id);
+        if (_z_send_n_msg(zn, &n_msg, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK) != _Z_RES_OK) {
+            return _Z_ERR_TRANSPORT_TX_FAILED;
+        }
+        _z_n_msg_clear(&n_msg);
+    }
+    _z_keyexpr_intmap_clear(&token_list);
+
+    return _Z_RES_OK;
+}
+#else
+static z_result_t _z_interest_send_decl_token(_z_session_t *zn, uint32_t interest_id) {
+    _ZP_UNUSED(zn);
+    _ZP_UNUSED(interest_id);
+    return _Z_RES_OK;
+}
+#endif
+
 static z_result_t _z_interest_send_declare_final(_z_session_t *zn, uint32_t interest_id) {
     _z_declaration_t decl = _z_make_decl_final();
     _z_network_message_t n_msg = _z_n_msg_make_declare(decl, true, interest_id);
@@ -265,6 +296,13 @@ z_result_t _z_interest_process_declares(_z_session_t *zn, const _z_declaration_t
             decl_type = _Z_DECLARE_TYPE_QUERYABLE;
             flags = _Z_INTEREST_FLAG_QUERYABLES;
             break;
+        case _Z_DECL_TOKEN:
+            msg.type = _Z_INTEREST_MSG_TYPE_DECL_TOKEN;
+            msg.id = decl->_body._decl_token._id;
+            decl_key = &decl->_body._decl_token._keyexpr;
+            decl_type = _Z_DECLARE_TYPE_TOKEN;
+            flags = _Z_INTEREST_FLAG_TOKENS;
+            break;
         default:
             return _Z_ERR_MESSAGE_ZENOH_DECLARATION_UNKNOWN;
     }
@@ -312,6 +350,12 @@ z_result_t _z_interest_process_undeclares(_z_session_t *zn, const _z_declaration
             decl_type = _Z_DECLARE_TYPE_QUERYABLE;
             flags = _Z_INTEREST_FLAG_QUERYABLES;
             break;
+        case _Z_UNDECL_TOKEN:
+            msg.type = _Z_INTEREST_MSG_TYPE_UNDECL_TOKEN;
+            msg.id = decl->_body._undecl_token._id;
+            decl_type = _Z_DECLARE_TYPE_TOKEN;
+            flags = _Z_INTEREST_FLAG_TOKENS;
+            break;
         default:
             return _Z_ERR_MESSAGE_ZENOH_DECLARATION_UNKNOWN;
     }
@@ -402,7 +446,8 @@ z_result_t _z_interest_process_interest(_z_session_t *zn, _z_keyexpr_t key, uint
             _Z_RETURN_IF_ERR(_z_interest_send_decl_queryable(zn, id));
         }
         if (_Z_HAS_FLAG(flags, _Z_INTEREST_FLAG_TOKENS)) {
-            // Zenoh pico doesn't support liveliness token for now
+            _Z_DEBUG("Sending declare tokens");
+            _Z_RETURN_IF_ERR(_z_interest_send_decl_token(zn, id));
         }
         // Send final declare
         _Z_RETURN_IF_ERR(_z_interest_send_declare_final(zn, id));
diff --git a/src/session/liveliness.c b/src/session/liveliness.c
new file mode 100644
index 000000000..a02a99cc3
--- /dev/null
+++ b/src/session/liveliness.c
@@ -0,0 +1,336 @@
+//
+// 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>
+//
+
+#include "zenoh-pico/api/liveliness.h"
+
+#include <stddef.h>
+#include <stdint.h>
+
+#include "zenoh-pico/api/primitives.h"
+#include "zenoh-pico/collections/bytes.h"
+#include "zenoh-pico/config.h"
+#include "zenoh-pico/net/reply.h"
+#include "zenoh-pico/protocol/core.h"
+#include "zenoh-pico/protocol/keyexpr.h"
+#include "zenoh-pico/session/resource.h"
+#include "zenoh-pico/session/session.h"
+#include "zenoh-pico/session/subscription.h"
+#include "zenoh-pico/session/utils.h"
+#include "zenoh-pico/utils/logging.h"
+#include "zenoh-pico/utils/result.h"
+
+#if Z_FEATURE_LIVELINESS == 1
+
+/**************** Liveliness Token ****************/
+
+z_result_t _z_liveliness_register_token(_z_session_t *zn, uint32_t id, const _z_keyexpr_t keyexpr) {
+    z_result_t ret = _Z_RES_OK;
+
+    _Z_DEBUG("Register liveliness token (%i:%.*s)", (int)id, (int)_z_string_len(&keyexpr._suffix),
+             _z_string_data(&keyexpr._suffix));
+
+    _zp_session_lock_mutex(zn);
+
+    const _z_keyexpr_t *pkeyexpr = _z_keyexpr_intmap_get(&zn->_local_tokens, id);
+    if (pkeyexpr != NULL) {
+        _Z_ERROR("Duplicate token id %i", (int)id);
+        ret = _Z_ERR_ENTITY_DECLARATION_FAILED;
+    } else {
+        _z_keyexpr_intmap_insert(&zn->_local_tokens, id, _z_keyexpr_clone(&keyexpr));
+    }
+
+    _zp_session_unlock_mutex(zn);
+
+    return ret;
+}
+
+void _z_liveliness_unregister_token(_z_session_t *zn, uint32_t id) {
+    _zp_session_lock_mutex(zn);
+
+    _Z_DEBUG("Unregister liveliness token (%i)", (int)id);
+
+    _z_keyexpr_intmap_remove(&zn->_local_tokens, id);
+
+    _zp_session_unlock_mutex(zn);
+}
+
+/**************** Liveliness Subscriber ****************/
+
+#if Z_FEATURE_SUBSCRIPTION == 1
+z_result_t _z_liveliness_subscription_declare(_z_session_t *zn, uint32_t id, const _z_keyexpr_t keyexpr,
+                                              const _z_timestamp_t *timestamp) {
+    z_result_t ret = _Z_RES_OK;
+
+    _zp_session_lock_mutex(zn);
+
+    const _z_keyexpr_t *pkeyexpr = _z_keyexpr_intmap_get(&zn->_remote_tokens, id);
+    if (pkeyexpr != NULL) {
+        _Z_ERROR("Duplicate token id %i", (int)id);
+        ret = _Z_ERR_ENTITY_DECLARATION_FAILED;
+    } else {
+        _z_keyexpr_intmap_insert(&zn->_remote_tokens, id, _z_keyexpr_clone(&keyexpr));
+    }
+
+    _zp_session_unlock_mutex(zn);
+
+    if (ret == _Z_RES_OK) {
+        ret = _z_trigger_liveliness_subscriptions_declare(zn, keyexpr, timestamp);
+    }
+
+    return ret;
+}
+
+z_result_t _z_liveliness_subscription_undeclare(_z_session_t *zn, uint32_t id, const _z_timestamp_t *timestamp) {
+    z_result_t ret = _Z_RES_OK;
+
+    _z_keyexpr_t *key = NULL;
+    _zp_session_lock_mutex(zn);
+    const _z_keyexpr_t *keyexpr = _z_keyexpr_intmap_get(&zn->_remote_tokens, id);
+    if (keyexpr != NULL) {
+        key = _z_keyexpr_clone(keyexpr);
+        _z_keyexpr_intmap_remove(&zn->_remote_tokens, id);
+    } else {
+        ret = _Z_ERR_ENTITY_UNKNOWN;
+    }
+    _zp_session_unlock_mutex(zn);
+
+    if (key != NULL) {
+        ret = _z_trigger_liveliness_subscriptions_undeclare(zn, *key, timestamp);
+        _z_keyexpr_clear(key);
+    }
+
+    return ret;
+}
+
+z_result_t _z_liveliness_subscription_trigger_history(_z_session_t *zn, _z_keyexpr_t keyexpr) {
+    z_result_t ret = _Z_RES_OK;
+
+    _Z_DEBUG("Retrieve liveliness history for %.*s", (int)_z_string_len(&keyexpr._suffix),
+             _z_string_data(&keyexpr._suffix));
+
+    _zp_session_lock_mutex(zn);
+    _z_keyexpr_intmap_t token_list = _z_keyexpr_intmap_clone(&zn->_remote_tokens);
+    _zp_session_unlock_mutex(zn);
+
+    _z_keyexpr_intmap_iterator_t iter = _z_keyexpr_intmap_iterator_make(&token_list);
+    _z_timestamp_t tm = _z_timestamp_null();
+    while (_z_keyexpr_intmap_iterator_next(&iter)) {
+        _z_keyexpr_t key = *_z_keyexpr_intmap_iterator_value(&iter);
+        if (_z_keyexpr_suffix_intersects(&key, &keyexpr)) {
+            ret = _z_trigger_liveliness_subscriptions_declare(zn, key, &tm);
+            if (ret != _Z_RES_OK) {
+                break;
+            }
+        }
+    }
+    _z_keyexpr_intmap_clear(&token_list);
+
+    return ret;
+}
+#endif  // Z_FEATURE_SUBSCRIPTION == 1
+
+/**************** Liveliness Query ****************/
+
+#if Z_FEATURE_QUERY == 1
+
+void _z_liveliness_pending_query_clear(_z_liveliness_pending_query_t *pen_qry) {
+    if (pen_qry->_dropper != NULL) {
+        pen_qry->_dropper(pen_qry->_arg);
+    }
+    _z_keyexpr_clear(&pen_qry->_key);
+}
+
+void _z_liveliness_pending_query_copy(_z_liveliness_pending_query_t *dst, const _z_liveliness_pending_query_t *src) {
+    dst->_arg = src->_arg;
+    dst->_callback = src->_callback;
+    dst->_dropper = src->_dropper;
+    _z_keyexpr_copy(&dst->_key, &src->_key);
+}
+
+_z_liveliness_pending_query_t *_z_liveliness_pending_query_clone(const _z_liveliness_pending_query_t *src) {
+    _z_liveliness_pending_query_t *dst = z_malloc(sizeof(_z_liveliness_pending_query_t));
+    if (dst != NULL) {
+        _z_liveliness_pending_query_copy(dst, src);
+    }
+    return dst;
+}
+
+uint32_t _z_liveliness_get_query_id(_z_session_t *zn) { return zn->_liveliness_query_id++; }
+
+z_result_t _z_liveliness_register_pending_query(_z_session_t *zn, uint32_t id, _z_liveliness_pending_query_t *pen_qry) {
+    z_result_t ret = _Z_RES_OK;
+
+    _Z_DEBUG("Register liveliness query for (%ju:%.*s)", (uintmax_t)pen_qry->_key._id,
+             (int)_z_string_len(&pen_qry->_key._suffix), _z_string_data(&pen_qry->_key._suffix));
+
+    _zp_session_lock_mutex(zn);
+
+    const _z_liveliness_pending_query_t *pq =
+        _z_liveliness_pending_query_intmap_get(&zn->_liveliness_pending_queries, id);
+    if (pq != NULL) {
+        _Z_ERROR("Duplicate liveliness query id %i", (int)id);
+        ret = _Z_ERR_ENTITY_DECLARATION_FAILED;
+    } else {
+        _z_liveliness_pending_query_intmap_insert(&zn->_liveliness_pending_queries, id,
+                                                  _z_liveliness_pending_query_clone(pen_qry));
+    }
+
+    _zp_session_unlock_mutex(zn);
+
+    return ret;
+}
+
+z_result_t _z_liveliness_pending_query_reply(_z_session_t *zn, uint32_t interest_id, const _z_keyexpr_t keyexpr,
+                                             const _z_timestamp_t *timestamp) {
+    z_result_t ret = _Z_RES_OK;
+
+    _zp_session_lock_mutex(zn);
+
+    const _z_liveliness_pending_query_t *pq =
+        _z_liveliness_pending_query_intmap_get(&zn->_liveliness_pending_queries, interest_id);
+    if (pq == NULL) {
+        ret = _Z_ERR_ENTITY_UNKNOWN;
+    }
+
+    _Z_DEBUG("Liveliness pending query reply %i resolve result %i", (int)interest_id, ret);
+
+    if (ret == _Z_RES_OK) {
+        _Z_DEBUG("Resolving %d - %.*s on mapping 0x%x", keyexpr._id, (int)_z_string_len(&keyexpr._suffix),
+                 _z_string_data(&keyexpr._suffix), _z_keyexpr_mapping_id(&keyexpr));
+        _z_keyexpr_t expanded_ke = __unsafe_z_get_expanded_key_from_key(zn, &keyexpr);
+        _Z_DEBUG("Reply liveliness query for %d - %.*s", expanded_ke._id, (int)_z_string_len(&expanded_ke._suffix),
+                 _z_string_data(&expanded_ke._suffix));
+
+        if (!_z_keyexpr_suffix_intersects(&pq->_key, &expanded_ke)) {
+            ret = _Z_ERR_QUERY_NOT_MATCH;
+        }
+
+        if (ret == _Z_RES_OK) {
+            _z_encoding_t encoding = _z_encoding_null();
+            _z_reply_t reply = _z_reply_create(expanded_ke, zn->_local_zid, _z_bytes_null(), timestamp, &encoding,
+                                               Z_SAMPLE_KIND_PUT, _z_bytes_null());
+
+            pq->_callback(&reply, pq->_arg);
+            _z_reply_clear(&reply);
+        }
+    }
+
+    _zp_session_unlock_mutex(zn);
+
+    return ret;
+}
+
+z_result_t _z_liveliness_pending_query_drop(_z_session_t *zn, uint32_t interest_id) {
+    z_result_t ret = _Z_RES_OK;
+
+    _zp_session_lock_mutex(zn);
+
+    const _z_liveliness_pending_query_t *pq =
+        _z_liveliness_pending_query_intmap_get(&zn->_liveliness_pending_queries, interest_id);
+    if (pq == NULL) {
+        ret = _Z_ERR_ENTITY_UNKNOWN;
+    }
+
+    _Z_DEBUG("Liveliness pending query drop %i resolve result %i", (int)interest_id, ret);
+
+    if (ret == _Z_RES_OK) {
+        _z_liveliness_pending_query_intmap_remove(&zn->_liveliness_pending_queries, interest_id);
+    }
+
+    _zp_session_unlock_mutex(zn);
+
+    return ret;
+}
+
+void _z_liveliness_unregister_pending_query(_z_session_t *zn, uint32_t id) {
+    _zp_session_lock_mutex(zn);
+
+    _z_liveliness_pending_query_intmap_remove(&zn->_liveliness_pending_queries, id);
+
+    _zp_session_unlock_mutex(zn);
+}
+
+#endif  // Z_FEATURE_QUERY == 1
+
+/**************** Interest processing ****************/
+
+z_result_t _z_liveliness_process_token_declare(_z_session_t *zn, const _z_n_msg_declare_t *decl) {
+#if Z_FEATURE_QUERY == 1
+    if (decl->has_interest_id) {
+        _z_liveliness_pending_query_reply(zn, decl->_interest_id, decl->_decl._body._decl_token._keyexpr,
+                                          &decl->_ext_timestamp);
+    }
+#endif
+
+#if Z_FEATURE_SUBSCRIPTION == 1
+    return _z_liveliness_subscription_declare(zn, decl->_decl._body._decl_token._id,
+                                              decl->_decl._body._decl_token._keyexpr, &decl->_ext_timestamp);
+#else
+    _ZP_UNUSED(zn);
+    _ZP_UNUSED(decl);
+    return _Z_RES_OK;
+#endif
+}
+
+z_result_t _z_liveliness_process_token_undeclare(_z_session_t *zn, const _z_n_msg_declare_t *decl) {
+#if Z_FEATURE_SUBSCRIPTION == 1
+    return _z_liveliness_subscription_undeclare(zn, decl->_decl._body._undecl_token._id, &decl->_ext_timestamp);
+#else
+    _ZP_UNUSED(zn);
+    _ZP_UNUSED(decl);
+    return _Z_RES_OK;
+#endif
+}
+
+z_result_t _z_liveliness_process_declare_final(_z_session_t *zn, const _z_n_msg_declare_t *decl) {
+#if Z_FEATURE_QUERY == 1
+    if (decl->has_interest_id) {
+        _z_liveliness_pending_query_drop(zn, decl->_interest_id);
+    }
+    return _Z_RES_OK;
+#else
+    _ZP_UNUSED(zn);
+    _ZP_UNUSED(decl);
+    return _Z_RES_OK;
+#endif
+}
+
+/**************** Init/Clear ****************/
+
+void _z_liveliness_init(_z_session_t *zn) {
+    _zp_session_lock_mutex(zn);
+
+    zn->_remote_tokens = _z_keyexpr_intmap_make();
+    zn->_local_tokens = _z_keyexpr_intmap_make();
+#if Z_FEATURE_QUERY == 1
+    zn->_liveliness_query_id = 1;
+    zn->_liveliness_pending_queries = _z_liveliness_pending_query_intmap_make();
+#endif
+
+    _zp_session_unlock_mutex(zn);
+}
+
+void _z_liveliness_clear(_z_session_t *zn) {
+    _zp_session_lock_mutex(zn);
+
+#if Z_FEATURE_QUERY == 1
+    _z_liveliness_pending_query_intmap_clear(&zn->_liveliness_pending_queries);
+#endif
+    _z_keyexpr_intmap_clear(&zn->_local_tokens);
+    _z_keyexpr_intmap_clear(&zn->_remote_tokens);
+
+    _zp_session_unlock_mutex(zn);
+}
+
+#endif  // Z_FEATURE_LIVELINESS == 1
diff --git a/src/session/push.c b/src/session/push.c
index 6b45de25b..6f0a6c371 100644
--- a/src/session/push.c
+++ b/src/session/push.c
@@ -27,17 +27,14 @@ z_result_t _z_trigger_push(_z_session_t *zn, _z_n_msg_push_t *push, z_reliabilit
 
     // TODO check body to know where to dispatch
 
-    size_t kind = push->_body._is_put ? Z_SAMPLE_KIND_PUT : Z_SAMPLE_KIND_DELETE;
     if (push->_body._is_put) {
         _z_msg_put_t *put = &push->_body._body._put;
-        ret = _z_trigger_subscriptions(zn, push->_key, put->_payload, &put->_encoding, kind, &put->_commons._timestamp,
-                                       push->_qos, put->_attachment, reliability);
+        ret = _z_trigger_subscriptions_put(zn, push->_key, put->_payload, &put->_encoding, &put->_commons._timestamp,
+                                           push->_qos, put->_attachment, reliability);
     } else {
-        _z_encoding_t encoding = _z_encoding_null();
-        _z_bytes_t payload = _z_bytes_null();
         _z_msg_del_t *del = &push->_body._body._del;
-        ret = _z_trigger_subscriptions(zn, push->_key, payload, &encoding, kind, &del->_commons._timestamp, push->_qos,
-                                       del->_attachment, reliability);
+        ret = _z_trigger_subscriptions_del(zn, push->_key, &del->_commons._timestamp, push->_qos, del->_attachment,
+                                           reliability);
     }
     return ret;
 }
diff --git a/src/session/resource.c b/src/session/resource.c
index b573e600a..ec8f90703 100644
--- a/src/session/resource.c
+++ b/src/session/resource.c
@@ -31,6 +31,11 @@ bool _z_resource_eq(const _z_resource_t *other, const _z_resource_t *this_) { re
 
 void _z_resource_clear(_z_resource_t *res) { _z_keyexpr_clear(&res->_key); }
 
+size_t _z_resource_size(_z_resource_t *p) {
+    _ZP_UNUSED(p);
+    return sizeof(_z_resource_t);
+}
+
 void _z_resource_copy(_z_resource_t *dst, const _z_resource_t *src) {
     _z_keyexpr_copy(&dst->_key, &src->_key);
     dst->_id = src->_id;
diff --git a/src/session/rx.c b/src/session/rx.c
index afacc75d7..df53fe63e 100644
--- a/src/session/rx.c
+++ b/src/session/rx.c
@@ -25,11 +25,11 @@
 #include "zenoh-pico/protocol/definitions/network.h"
 #include "zenoh-pico/protocol/keyexpr.h"
 #include "zenoh-pico/session/interest.h"
+#include "zenoh-pico/session/liveliness.h"
 #include "zenoh-pico/session/push.h"
 #include "zenoh-pico/session/queryable.h"
 #include "zenoh-pico/session/reply.h"
 #include "zenoh-pico/session/resource.h"
-#include "zenoh-pico/session/session.h"
 #include "zenoh-pico/session/subscription.h"
 #include "zenoh-pico/session/utils.h"
 #include "zenoh-pico/utils/logging.h"
@@ -41,8 +41,8 @@ z_result_t _z_handle_network_message(_z_session_rc_t *zsrc, _z_zenoh_message_t *
 
     switch (msg->_tag) {
         case _Z_N_DECLARE: {
-            _Z_DEBUG("Handling _Z_N_DECLARE");
             _z_n_msg_declare_t *decl = &msg->_body._declare;
+            _Z_DEBUG("Handling _Z_N_DECLARE: %i", decl->_decl._tag);
             switch (decl->_decl._tag) {
                 case _Z_DECL_KEXPR: {
                     if (_z_register_resource(zn, decl->_decl._body._decl_kexpr._keyexpr,
@@ -59,19 +59,28 @@ z_result_t _z_handle_network_message(_z_session_rc_t *zsrc, _z_zenoh_message_t *
                 case _Z_DECL_QUERYABLE: {
                     _z_interest_process_declares(zn, &decl->_decl);
                 } break;
+                case _Z_DECL_TOKEN: {
+#if Z_FEATURE_LIVELINESS == 1
+                    _z_liveliness_process_token_declare(zn, decl);
+#endif
+                    _z_interest_process_declares(zn, &decl->_decl);
+                } break;
                 case _Z_UNDECL_SUBSCRIBER: {
                     _z_interest_process_undeclares(zn, &decl->_decl);
                 } break;
                 case _Z_UNDECL_QUERYABLE: {
                     _z_interest_process_undeclares(zn, &decl->_decl);
                 } break;
-                case _Z_DECL_TOKEN: {
-                    // TODO: add support or explicitly discard
-                } break;
                 case _Z_UNDECL_TOKEN: {
-                    // TODO: add support or explicitly discard
+#if Z_FEATURE_LIVELINESS == 1
+                    _z_liveliness_process_token_undeclare(zn, decl);
+#endif
+                    _z_interest_process_undeclares(zn, &decl->_decl);
                 } break;
                 case _Z_DECL_FINAL: {
+#if Z_FEATURE_LIVELINESS == 1
+                    _z_liveliness_process_declare_final(zn, decl);
+#endif
                     // Check that interest id is valid
                     if (!decl->has_interest_id) {
                         return _Z_ERR_MESSAGE_ZENOH_DECLARATION_UNKNOWN;
@@ -101,9 +110,9 @@ z_result_t _z_handle_network_message(_z_session_rc_t *zsrc, _z_zenoh_message_t *
                 case _Z_REQUEST_PUT: {
 #if Z_FEATURE_SUBSCRIPTION == 1
                     _z_msg_put_t put = req->_body._put;
-                    ret = _z_trigger_subscriptions(zn, req->_key, put._payload, &put._encoding, Z_SAMPLE_KIND_PUT,
-                                                   &put._commons._timestamp, req->_ext_qos, put._attachment,
-                                                   msg->_reliability);
+                    ret = _z_trigger_subscriptions_put(zn, req->_key, put._payload, &put._encoding,
+                                                       &put._commons._timestamp, req->_ext_qos, put._attachment,
+                                                       msg->_reliability);
 #endif
                     if (ret == _Z_RES_OK) {
                         _z_network_message_t final = _z_n_msg_make_response_final(req->_rid);
@@ -113,10 +122,8 @@ z_result_t _z_handle_network_message(_z_session_rc_t *zsrc, _z_zenoh_message_t *
                 case _Z_REQUEST_DEL: {
 #if Z_FEATURE_SUBSCRIPTION == 1
                     _z_msg_del_t del = req->_body._del;
-                    _z_encoding_t encoding = _z_encoding_null();
-                    ret = _z_trigger_subscriptions(zn, req->_key, _z_bytes_null(), &encoding, Z_SAMPLE_KIND_DELETE,
-                                                   &del._commons._timestamp, req->_ext_qos, del._attachment,
-                                                   msg->_reliability);
+                    ret = _z_trigger_subscriptions_del(zn, req->_key, &del._commons._timestamp, req->_ext_qos,
+                                                       del._attachment, msg->_reliability);
 #endif
                     if (ret == _Z_RES_OK) {
                         _z_network_message_t final = _z_n_msg_make_response_final(req->_rid);
diff --git a/src/session/subscription.c b/src/session/subscription.c
index b7bf19f26..eb611815e 100644
--- a/src/session/subscription.c
+++ b/src/session/subscription.c
@@ -17,6 +17,7 @@
 #include <stddef.h>
 #include <stdint.h>
 
+#include "zenoh-pico/api/constants.h"
 #include "zenoh-pico/api/types.h"
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/net/sample.h"
@@ -78,9 +79,10 @@ _z_subscription_rc_list_t *__z_get_subscriptions_by_key(_z_subscription_rc_list_
  * Make sure that the following mutexes are locked before calling this function:
  *  - zn->_mutex_inner
  */
-_z_subscription_rc_t *__unsafe_z_get_subscription_by_id(_z_session_t *zn, uint8_t is_local, const _z_zint_t id) {
+_z_subscription_rc_t *__unsafe_z_get_subscription_by_id(_z_session_t *zn, _z_subscriber_kind_t kind,
+                                                        const _z_zint_t id) {
     _z_subscription_rc_list_t *subs =
-        (is_local == _Z_RESOURCE_IS_LOCAL) ? zn->_local_subscriptions : zn->_remote_subscriptions;
+        (kind == _Z_SUBSCRIBER_KIND_SUBSCRIBER) ? zn->_subscriptions : zn->_liveliness_subscriptions;
     return __z_get_subscription_by_id(subs, id);
 }
 
@@ -89,34 +91,35 @@ _z_subscription_rc_t *__unsafe_z_get_subscription_by_id(_z_session_t *zn, uint8_
  * Make sure that the following mutexes are locked before calling this function:
  *  - zn->_mutex_inner
  */
-_z_subscription_rc_list_t *__unsafe_z_get_subscriptions_by_key(_z_session_t *zn, uint8_t is_local,
+_z_subscription_rc_list_t *__unsafe_z_get_subscriptions_by_key(_z_session_t *zn, _z_subscriber_kind_t kind,
                                                                const _z_keyexpr_t *key) {
     _z_subscription_rc_list_t *subs =
-        (is_local == _Z_RESOURCE_IS_LOCAL) ? zn->_local_subscriptions : zn->_remote_subscriptions;
+        (kind == _Z_SUBSCRIBER_KIND_SUBSCRIBER) ? zn->_subscriptions : zn->_liveliness_subscriptions;
     return __z_get_subscriptions_by_key(subs, key);
 }
 
-_z_subscription_rc_t *_z_get_subscription_by_id(_z_session_t *zn, uint8_t is_local, const _z_zint_t id) {
+_z_subscription_rc_t *_z_get_subscription_by_id(_z_session_t *zn, _z_subscriber_kind_t kind, const _z_zint_t id) {
     _zp_session_lock_mutex(zn);
 
-    _z_subscription_rc_t *sub = __unsafe_z_get_subscription_by_id(zn, is_local, id);
+    _z_subscription_rc_t *sub = __unsafe_z_get_subscription_by_id(zn, kind, id);
 
     _zp_session_unlock_mutex(zn);
 
     return sub;
 }
 
-_z_subscription_rc_list_t *_z_get_subscriptions_by_key(_z_session_t *zn, uint8_t is_local, const _z_keyexpr_t *key) {
+_z_subscription_rc_list_t *_z_get_subscriptions_by_key(_z_session_t *zn, _z_subscriber_kind_t kind,
+                                                       const _z_keyexpr_t *key) {
     _zp_session_lock_mutex(zn);
 
-    _z_subscription_rc_list_t *subs = __unsafe_z_get_subscriptions_by_key(zn, is_local, key);
+    _z_subscription_rc_list_t *subs = __unsafe_z_get_subscriptions_by_key(zn, kind, key);
 
     _zp_session_unlock_mutex(zn);
 
     return subs;
 }
 
-_z_subscription_rc_t *_z_register_subscription(_z_session_t *zn, uint8_t is_local, _z_subscription_t *s) {
+_z_subscription_rc_t *_z_register_subscription(_z_session_t *zn, _z_subscriber_kind_t kind, _z_subscription_t *s) {
     _Z_DEBUG(">>> Allocating sub decl for (%ju:%.*s)", (uintmax_t)s->_key._id, (int)_z_string_len(&s->_key._suffix),
              _z_string_data(&s->_key._suffix));
     _z_subscription_rc_t *ret = NULL;
@@ -126,10 +129,10 @@ _z_subscription_rc_t *_z_register_subscription(_z_session_t *zn, uint8_t is_loca
     ret = (_z_subscription_rc_t *)z_malloc(sizeof(_z_subscription_rc_t));
     if (ret != NULL) {
         *ret = _z_subscription_rc_new_from_val(s);
-        if (is_local == _Z_RESOURCE_IS_LOCAL) {
-            zn->_local_subscriptions = _z_subscription_rc_list_push(zn->_local_subscriptions, ret);
+        if (kind == _Z_SUBSCRIBER_KIND_SUBSCRIBER) {
+            zn->_subscriptions = _z_subscription_rc_list_push(zn->_subscriptions, ret);
         } else {
-            zn->_remote_subscriptions = _z_subscription_rc_list_push(zn->_remote_subscriptions, ret);
+            zn->_liveliness_subscriptions = _z_subscription_rc_list_push(zn->_liveliness_subscriptions, ret);
         }
     }
 
@@ -138,17 +141,42 @@ _z_subscription_rc_t *_z_register_subscription(_z_session_t *zn, uint8_t is_loca
     return ret;
 }
 
-void _z_trigger_local_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_bytes_t payload,
-                                    _z_encoding_t *encoding, const _z_n_qos_t qos, const _z_timestamp_t *timestamp,
-                                    const _z_bytes_t attachment, z_reliability_t reliability) {
-    z_result_t ret = _z_trigger_subscriptions(zn, keyexpr, payload, encoding, Z_SAMPLE_KIND_PUT, timestamp, qos,
-                                              attachment, reliability);
-    (void)ret;
+z_result_t _z_trigger_subscriptions_put(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_bytes_t payload,
+                                        _z_encoding_t *encoding, const _z_timestamp_t *timestamp, const _z_n_qos_t qos,
+                                        const _z_bytes_t attachment, z_reliability_t reliability) {
+    return _z_trigger_subscriptions_impl(zn, _Z_SUBSCRIBER_KIND_SUBSCRIBER, keyexpr, payload, encoding,
+                                         Z_SAMPLE_KIND_PUT, timestamp, qos, attachment, reliability);
 }
 
-z_result_t _z_trigger_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_bytes_t payload,
-                                    _z_encoding_t *encoding, const _z_zint_t kind, const _z_timestamp_t *timestamp,
-                                    const _z_n_qos_t qos, const _z_bytes_t attachment, z_reliability_t reliability) {
+z_result_t _z_trigger_subscriptions_del(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_timestamp_t *timestamp,
+                                        const _z_n_qos_t qos, const _z_bytes_t attachment,
+                                        z_reliability_t reliability) {
+    _z_encoding_t encoding = _z_encoding_null();
+    return _z_trigger_subscriptions_impl(zn, _Z_SUBSCRIBER_KIND_SUBSCRIBER, keyexpr, _z_bytes_null(), &encoding,
+                                         Z_SAMPLE_KIND_DELETE, timestamp, qos, attachment, reliability);
+}
+
+z_result_t _z_trigger_liveliness_subscriptions_declare(_z_session_t *zn, const _z_keyexpr_t keyexpr,
+                                                       const _z_timestamp_t *timestamp) {
+    _z_encoding_t encoding = _z_encoding_null();
+    return _z_trigger_subscriptions_impl(zn, _Z_SUBSCRIBER_KIND_LIVELINESS_SUBSCRIBER, keyexpr, _z_bytes_null(),
+                                         &encoding, Z_SAMPLE_KIND_PUT, timestamp, _Z_N_QOS_DEFAULT, _z_bytes_null(),
+                                         Z_RELIABILITY_RELIABLE);
+}
+
+z_result_t _z_trigger_liveliness_subscriptions_undeclare(_z_session_t *zn, const _z_keyexpr_t keyexpr,
+                                                         const _z_timestamp_t *timestamp) {
+    _z_encoding_t encoding = _z_encoding_null();
+    return _z_trigger_subscriptions_impl(zn, _Z_SUBSCRIBER_KIND_LIVELINESS_SUBSCRIBER, keyexpr, _z_bytes_null(),
+                                         &encoding, Z_SAMPLE_KIND_DELETE, timestamp, _Z_N_QOS_DEFAULT, _z_bytes_null(),
+                                         Z_RELIABILITY_RELIABLE);
+}
+
+z_result_t _z_trigger_subscriptions_impl(_z_session_t *zn, _z_subscriber_kind_t subscriber_kind,
+                                         const _z_keyexpr_t keyexpr, const _z_bytes_t payload, _z_encoding_t *encoding,
+                                         const _z_zint_t sample_kind, const _z_timestamp_t *timestamp,
+                                         const _z_n_qos_t qos, const _z_bytes_t attachment,
+                                         z_reliability_t reliability) {
     z_result_t ret = _Z_RES_OK;
 
     _zp_session_lock_mutex(zn);
@@ -158,12 +186,13 @@ z_result_t _z_trigger_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr
     _z_keyexpr_t key = __unsafe_z_get_expanded_key_from_key(zn, &keyexpr);
     _Z_DEBUG("Triggering subs for %d - %.*s", key._id, (int)_z_string_len(&key._suffix), _z_string_data(&key._suffix));
     if (_z_keyexpr_has_suffix(&key)) {
-        _z_subscription_rc_list_t *subs = __unsafe_z_get_subscriptions_by_key(zn, _Z_RESOURCE_IS_LOCAL, &key);
+        _z_subscription_rc_list_t *subs = __unsafe_z_get_subscriptions_by_key(zn, subscriber_kind, &key);
 
         _zp_session_unlock_mutex(zn);
 
         // Build the sample
-        _z_sample_t sample = _z_sample_create(&key, payload, timestamp, encoding, kind, qos, attachment, reliability);
+        _z_sample_t sample =
+            _z_sample_create(&key, payload, timestamp, encoding, sample_kind, qos, attachment, reliability);
         // Parse subscription list
         _z_subscription_rc_list_t *xs = subs;
         _Z_DEBUG("Triggering %ju subs", (uintmax_t)_z_subscription_rc_list_len(xs));
@@ -183,15 +212,14 @@ z_result_t _z_trigger_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr
     return ret;
 }
 
-void _z_unregister_subscription(_z_session_t *zn, uint8_t is_local, _z_subscription_rc_t *sub) {
+void _z_unregister_subscription(_z_session_t *zn, _z_subscriber_kind_t kind, _z_subscription_rc_t *sub) {
     _zp_session_lock_mutex(zn);
 
-    if (is_local == _Z_RESOURCE_IS_LOCAL) {
-        zn->_local_subscriptions =
-            _z_subscription_rc_list_drop_filter(zn->_local_subscriptions, _z_subscription_rc_eq, sub);
+    if (kind == _Z_SUBSCRIBER_KIND_SUBSCRIBER) {
+        zn->_subscriptions = _z_subscription_rc_list_drop_filter(zn->_subscriptions, _z_subscription_rc_eq, sub);
     } else {
-        zn->_remote_subscriptions =
-            _z_subscription_rc_list_drop_filter(zn->_remote_subscriptions, _z_subscription_rc_eq, sub);
+        zn->_liveliness_subscriptions =
+            _z_subscription_rc_list_drop_filter(zn->_liveliness_subscriptions, _z_subscription_rc_eq, sub);
     }
 
     _zp_session_unlock_mutex(zn);
@@ -200,16 +228,16 @@ void _z_unregister_subscription(_z_session_t *zn, uint8_t is_local, _z_subscript
 void _z_flush_subscriptions(_z_session_t *zn) {
     _zp_session_lock_mutex(zn);
 
-    _z_subscription_rc_list_free(&zn->_local_subscriptions);
-    _z_subscription_rc_list_free(&zn->_remote_subscriptions);
+    _z_subscription_rc_list_free(&zn->_subscriptions);
+    _z_subscription_rc_list_free(&zn->_liveliness_subscriptions);
 
     _zp_session_unlock_mutex(zn);
 }
 #else  // Z_FEATURE_SUBSCRIPTION == 0
 
-void _z_trigger_local_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_bytes_t payload,
-                                    _z_encoding_t *encoding, const _z_n_qos_t qos, const _z_timestamp_t *timestamp,
-                                    const _z_bytes_t attachment, z_reliability_t reliability) {
+z_result_t _z_trigger_subscriptions_put(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_bytes_t payload,
+                                        _z_encoding_t *encoding, const _z_timestamp_t *timestamp, const _z_n_qos_t qos,
+                                        const _z_bytes_t attachment, z_reliability_t reliability) {
     _ZP_UNUSED(zn);
     _ZP_UNUSED(keyexpr);
     _ZP_UNUSED(payload);
@@ -218,6 +246,39 @@ void _z_trigger_local_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr
     _ZP_UNUSED(timestamp);
     _ZP_UNUSED(attachment);
     _ZP_UNUSED(reliability);
+
+    return _Z_RES_OK;
+}
+
+z_result_t _z_trigger_subscriptions_del(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_timestamp_t *timestamp,
+                                        const _z_n_qos_t qos, const _z_bytes_t attachment,
+                                        z_reliability_t reliability) {
+    _ZP_UNUSED(zn);
+    _ZP_UNUSED(keyexpr);
+    _ZP_UNUSED(qos);
+    _ZP_UNUSED(timestamp);
+    _ZP_UNUSED(attachment);
+    _ZP_UNUSED(reliability);
+
+    return _Z_RES_OK;
+}
+
+z_result_t _z_trigger_liveliness_subscriptions_declare(_z_session_t *zn, const _z_keyexpr_t keyexpr,
+                                                       const _z_timestamp_t *timestamp) {
+    _ZP_UNUSED(zn);
+    _ZP_UNUSED(keyexpr);
+    _ZP_UNUSED(timestamp);
+
+    return _Z_RES_OK;
+}
+
+z_result_t _z_trigger_liveliness_subscriptions_undeclare(_z_session_t *zn, const _z_keyexpr_t keyexpr,
+                                                         const _z_timestamp_t *timestamp) {
+    _ZP_UNUSED(zn);
+    _ZP_UNUSED(keyexpr);
+    _ZP_UNUSED(timestamp);
+
+    return _Z_RES_OK;
 }
 
 #endif  // Z_FEATURE_SUBSCRIPTION == 1
diff --git a/src/session/utils.c b/src/session/utils.c
index d82f9d84c..44874a115 100644
--- a/src/session/utils.c
+++ b/src/session/utils.c
@@ -19,11 +19,11 @@
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/session/interest.h"
+#include "zenoh-pico/session/liveliness.h"
 #include "zenoh-pico/session/query.h"
 #include "zenoh-pico/session/queryable.h"
 #include "zenoh-pico/session/resource.h"
 #include "zenoh-pico/session/subscription.h"
-#include "zenoh-pico/utils/logging.h"
 
 /*------------------ clone helpers ------------------*/
 _z_timestamp_t _z_timestamp_duplicate(const _z_timestamp_t *tstamp) {
@@ -60,8 +60,8 @@ z_result_t _z_session_init(_z_session_rc_t *zsrc, _z_id_t *zid) {
     zn->_local_resources = NULL;
     zn->_remote_resources = NULL;
 #if Z_FEATURE_SUBSCRIPTION == 1
-    zn->_local_subscriptions = NULL;
-    zn->_remote_subscriptions = NULL;
+    zn->_subscriptions = NULL;
+    zn->_liveliness_subscriptions = NULL;
 #endif
 #if Z_FEATURE_QUERYABLE == 1
     zn->_local_queryable = NULL;
@@ -78,6 +78,10 @@ z_result_t _z_session_init(_z_session_rc_t *zsrc, _z_id_t *zid) {
     }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
+#if Z_FEATURE_LIVELINESS == 1
+    _z_liveliness_init(zn);
+#endif
+
     zn->_local_zid = *zid;
     // Note session in transport
     switch (zn->_tp._type) {
@@ -119,6 +123,9 @@ void _z_session_clear(_z_session_t *zn) {
 #endif
 #if Z_FEATURE_QUERY == 1
     _z_flush_pending_queries(zn);
+#endif
+#if Z_FEATURE_LIVELINESS == 1
+    _z_liveliness_clear(zn);
 #endif
     _z_flush_interest(zn);
 
diff --git a/src/system/emscripten/system.c b/src/system/emscripten/system.c
index 9bfa8f7d6..52065d2db 100644
--- a/src/system/emscripten/system.c
+++ b/src/system/emscripten/system.c
@@ -55,11 +55,7 @@ z_result_t _z_task_detach(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_detach(*ta
 
 z_result_t _z_task_cancel(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_cancel(*task)); }
 
-void _z_task_free(_z_task_t **task) {
-    _z_task_t *ptr = *task;
-    z_free(ptr);
-    *task = NULL;
-}
+void _z_task_free(_z_task_t **task) { *task = NULL; }
 
 /*------------------ Mutex ------------------*/
 z_result_t _z_mutex_init(_z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_mutex_init(m, 0)); }
diff --git a/src/system/unix/system.c b/src/system/unix/system.c
index beb78ceef..d1c0c5886 100644
--- a/src/system/unix/system.c
+++ b/src/system/unix/system.c
@@ -114,11 +114,7 @@ z_result_t _z_task_detach(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_detach(*ta
 
 z_result_t _z_task_cancel(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_cancel(*task)); }
 
-void _z_task_free(_z_task_t **task) {
-    _z_task_t *ptr = *task;
-    z_free(ptr);
-    *task = NULL;
-}
+void _z_task_free(_z_task_t **task) { *task = NULL; }
 
 /*------------------ Mutex ------------------*/
 z_result_t _z_mutex_init(_z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_mutex_init(m, 0)); }
diff --git a/src/system/zephyr/system.c b/src/system/zephyr/system.c
index c76e26a02..7818c9993 100644
--- a/src/system/zephyr/system.c
+++ b/src/system/zephyr/system.c
@@ -89,11 +89,7 @@ z_result_t _z_task_detach(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_detach(*ta
 
 z_result_t _z_task_cancel(_z_task_t *task) { _Z_CHECK_SYS_ERR(pthread_cancel(*task)); }
 
-void _z_task_free(_z_task_t **task) {
-    _z_task_t *ptr = *task;
-    z_free(ptr);
-    *task = NULL;
-}
+void _z_task_free(_z_task_t **task) { *task = NULL; }
 
 /*------------------ Mutex ------------------*/
 z_result_t _z_mutex_init(_z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_mutex_init(m, 0)); }
diff --git a/src/transport/multicast.c b/src/transport/multicast.c
index 42059f6dc..6c8db89d0 100644
--- a/src/transport/multicast.c
+++ b/src/transport/multicast.c
@@ -19,15 +19,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "zenoh-pico/link/link.h"
-#include "zenoh-pico/transport/common/lease.h"
-#include "zenoh-pico/transport/common/read.h"
-#include "zenoh-pico/transport/common/tx.h"
-#include "zenoh-pico/transport/multicast/rx.h"
-#include "zenoh-pico/transport/multicast/tx.h"
-#include "zenoh-pico/transport/unicast/rx.h"
-#include "zenoh-pico/transport/utils.h"
-#include "zenoh-pico/utils/logging.h"
+#include "zenoh-pico/utils/uuid.h"
 
 #if Z_FEATURE_MULTICAST_TRANSPORT == 1
 void _zp_multicast_fetch_zid(const _z_transport_t *zt, _z_closure_zid_t *callback) {
@@ -45,9 +37,8 @@ void _zp_multicast_info_session(const _z_transport_t *zt, _z_config_t *ps) {
     _z_transport_peer_entry_list_t *xs = zt->_transport._multicast._peers;
     while (xs != NULL) {
         _z_transport_peer_entry_t *peer = _z_transport_peer_entry_list_head(xs);
-        _z_slice_t remote_zid = _z_slice_alias_buf(peer->_remote_zid.id, _z_id_len(peer->_remote_zid));
-        _z_string_t remote_zid_str = _z_string_convert_bytes(&remote_zid);
-        _zp_config_insert(ps, Z_INFO_PEER_PID_KEY, _z_string_data(&remote_zid_str));
+        _z_string_t remote_zid_str = _z_id_to_string(&peer->_remote_zid);
+        _zp_config_insert_string(ps, Z_INFO_PEER_PID_KEY, &remote_zid_str);
         _z_string_clear(&remote_zid_str);
 
         xs = _z_transport_peer_entry_list_tail(xs);
diff --git a/src/transport/multicast/transport.c b/src/transport/multicast/transport.c
index d0f6abb3a..091539fbb 100644
--- a/src/transport/multicast/transport.c
+++ b/src/transport/multicast/transport.c
@@ -185,11 +185,11 @@ void _z_multicast_transport_clear(_z_transport_t *zt) {
     // Clean up tasks
     if (ztm->_read_task != NULL) {
         _z_task_join(ztm->_read_task);
-        _z_task_free(&ztm->_read_task);
+        z_free(ztm->_read_task);
     }
     if (ztm->_lease_task != NULL) {
         _z_task_join(ztm->_lease_task);
-        _z_task_free(&ztm->_lease_task);
+        z_free(ztm->_lease_task);
     }
     // Clean up the mutexes
     _z_mutex_drop(&ztm->_mutex_tx);
diff --git a/src/transport/unicast.c b/src/transport/unicast.c
index dca9ae0ea..f194b4ee3 100644
--- a/src/transport/unicast.c
+++ b/src/transport/unicast.c
@@ -16,19 +16,8 @@
 #include <stdbool.h>
 #include <stddef.h>
 #include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "zenoh-pico/link/link.h"
-#include "zenoh-pico/transport/common/rx.h"
-#include "zenoh-pico/transport/common/tx.h"
-#include "zenoh-pico/transport/multicast/rx.h"
-#include "zenoh-pico/transport/unicast/lease.h"
-#include "zenoh-pico/transport/unicast/read.h"
-#include "zenoh-pico/transport/unicast/rx.h"
-#include "zenoh-pico/transport/unicast/tx.h"
-#include "zenoh-pico/transport/utils.h"
-#include "zenoh-pico/utils/logging.h"
+
+#include "zenoh-pico/utils/uuid.h"
 
 #if Z_FEATURE_UNICAST_TRANSPORT == 1
 void _zp_unicast_fetch_zid(const _z_transport_t *zt, _z_closure_zid_t *callback) {
@@ -39,9 +28,9 @@ void _zp_unicast_fetch_zid(const _z_transport_t *zt, _z_closure_zid_t *callback)
 
 void _zp_unicast_info_session(const _z_transport_t *zt, _z_config_t *ps) {
     _z_id_t remote_zid = zt->_transport._unicast._remote_zid;
-    _z_slice_t remote_zid_bytes = _z_slice_alias_buf(remote_zid.id, _z_id_len(remote_zid));
-    _z_string_t remote_zid_str = _z_string_convert_bytes(&remote_zid_bytes);
-    _zp_config_insert(ps, Z_INFO_ROUTER_PID_KEY, _z_string_data(&remote_zid_str));
+
+    _z_string_t remote_zid_str = _z_id_to_string(&remote_zid);
+    _zp_config_insert_string(ps, Z_INFO_ROUTER_PID_KEY, &remote_zid_str);
     _z_string_clear(&remote_zid_str);
 }
 
diff --git a/src/transport/unicast/transport.c b/src/transport/unicast/transport.c
index c4433ac1a..01c19ce91 100644
--- a/src/transport/unicast/transport.c
+++ b/src/transport/unicast/transport.c
@@ -281,11 +281,11 @@ void _z_unicast_transport_clear(_z_transport_t *zt) {
     // Clean up tasks
     if (ztu->_read_task != NULL) {
         _z_task_join(ztu->_read_task);
-        _z_task_free(&ztu->_read_task);
+        z_free(ztu->_read_task);
     }
     if (ztu->_lease_task != NULL) {
         _z_task_join(ztu->_lease_task);
-        _z_task_free(&ztu->_lease_task);
+        z_free(ztu->_lease_task);
     }
 
     // Clean up the mutexes
diff --git a/src/utils/uuid.c b/src/utils/uuid.c
index 7b9984871..1f2d97fe6 100644
--- a/src/utils/uuid.c
+++ b/src/utils/uuid.c
@@ -17,6 +17,7 @@
 #include <stdint.h>
 #include <stdlib.h>
 
+#include "zenoh-pico/api/types.h"
 #include "zenoh-pico/utils/pointers.h"
 
 #define UUID_SIZE 16
@@ -32,3 +33,8 @@ void _z_uuid_to_bytes(uint8_t *bytes, const char *uuid_str) {
         bytes = _z_ptr_u8_offset(bytes, 1);
     }
 }
+
+_z_string_t _z_id_to_string(const z_id_t *id) {
+    _z_slice_t buf = _z_slice_alias_buf(id->id, sizeof(id->id));
+    return _z_string_convert_bytes_le(&buf);
+}
diff --git a/tests/z_api_alignment_test.c b/tests/z_api_alignment_test.c
index a8b48eb3e..abef93a46 100644
--- a/tests/z_api_alignment_test.c
+++ b/tests/z_api_alignment_test.c
@@ -132,11 +132,9 @@ int main(int argc, char **argv) {
     zc_init_logger();
     const char *encoding_expected =
         z_sample_kind(sample) == Z_SAMPLE_KIND_PUT ? "zenoh/bytes" : "zenoh/bytes;test_encoding";
-    z_pu
 #endif
 
-        z_view_keyexpr_t key_demo_example,
-        key_demo_example_a, key_demo_example_starstar;
+    z_view_keyexpr_t key_demo_example, key_demo_example_a, key_demo_example_starstar;
     z_view_keyexpr_from_str(&key_demo_example, "demo/example");
     z_view_keyexpr_from_str(&key_demo_example_a, "demo/example/a");
     z_view_keyexpr_from_str(&key_demo_example_starstar, "demo/example/**");
@@ -199,10 +197,9 @@ int main(int argc, char **argv) {
     assert(z_internal_check(s1));
     z_id_t _ret_zid = z_info_zid(z_loan(s1));
     printf("Session 1 with PID: 0x");
-    for (unsigned long i = 0; i < sizeof(_ret_zid); i++) {
-        printf("%.2X", _ret_zid.id[i]);
-    }
-    printf("\n");
+    z_owned_string_t id_str;
+    z_id_to_string(&_ret_zid, &id_str);
+    printf("%.*s\n", (int)z_string_len(z_loan(id_str)), z_string_data(z_loan(id_str)));
 
     z_owned_closure_zid_t _ret_closure_zid;
     z_closure(&_ret_closure_zid, zid_handler, NULL, NULL);
@@ -243,10 +240,8 @@ int main(int argc, char **argv) {
     assert(z_internal_check(s2));
     _ret_zid = z_info_zid(z_loan(s2));
     printf("Session 2 with PID: 0x");
-    for (unsigned long i = 0; i < sizeof(_ret_zid); i++) {
-        printf("%.2X", _ret_zid.id[i]);
-    }
-    printf("\n");
+    z_id_to_string(&_ret_zid, &id_str);
+    printf("%.*s\n", (int)z_string_len(z_loan(id_str)), z_string_data(z_loan(id_str)));
 
 #ifdef ZENOH_PICO
     zp_start_read_task(z_loan_mut(s2), NULL);
diff --git a/tests/z_api_liveliness_test.c b/tests/z_api_liveliness_test.c
new file mode 100644
index 000000000..2cf4c350e
--- /dev/null
+++ b/tests/z_api_liveliness_test.c
@@ -0,0 +1,229 @@
+//
+// 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>
+
+#include <assert.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+
+#include "zenoh-pico.h"
+#include "zenoh-pico/api/handlers.h"
+#include "zenoh-pico/api/liveliness.h"
+#include "zenoh-pico/api/primitives.h"
+#include "zenoh-pico/api/types.h"
+
+#if Z_FEATURE_LIVELINESS == 1 && Z_FEATURE_SUBSCRIPTION == 1 && Z_FEATURE_QUERY == 1
+
+#undef NDEBUG
+#include <assert.h>
+typedef struct context_t {
+    bool token1_put;
+    bool token2_put;
+    bool token1_drop;
+    bool token2_drop;
+} context_t;
+
+#define assert_ok(x)                            \
+    {                                           \
+        int ret = (int)x;                       \
+        if (ret != Z_OK) {                      \
+            printf("%s failed: %d\n", #x, ret); \
+            assert(false);                      \
+        }                                       \
+    }
+
+const char* token1_expr = "zenoh-pico/liveliness/test/1";
+const char* token2_expr = "zenoh-pico/liveliness/test/2";
+
+void on_receive(z_loaned_sample_t* s, void* context) {
+    context_t* c = (context_t*)context;
+    const z_loaned_keyexpr_t* k = z_sample_keyexpr(s);
+    z_view_string_t ks;
+    z_keyexpr_as_view_string(k, &ks);
+
+    if (z_sample_kind(s) == Z_SAMPLE_KIND_PUT) {
+        if (strncmp(token1_expr, z_string_data(z_view_string_loan(&ks)), z_string_len(z_view_string_loan(&ks))) == 0) {
+            c->token1_put = true;
+        } else if (strncmp(token2_expr, z_string_data(z_view_string_loan(&ks)),
+                           z_string_len(z_view_string_loan(&ks))) == 0) {
+            c->token2_put = true;
+        }
+    } else if (z_sample_kind(s) == Z_SAMPLE_KIND_DELETE) {
+        if (strncmp(token1_expr, z_string_data(z_view_string_loan(&ks)), z_string_len(z_view_string_loan(&ks))) == 0) {
+            c->token1_drop = true;
+        } else if (strncmp(token2_expr, z_string_data(z_view_string_loan(&ks)),
+                           z_string_len(z_view_string_loan(&ks))) == 0) {
+            c->token2_drop = true;
+        }
+    }
+}
+
+void test_liveliness_sub(bool multicast, bool history) {
+    printf("test_liveliness_sub: multicast=%d, history=%d\n", multicast, history);
+    const char* expr = "zenoh-pico/liveliness/test/*";
+
+    z_owned_session_t s1, s2;
+    z_owned_config_t c1, c2;
+    z_config_default(&c1);
+    z_config_default(&c2);
+    z_view_keyexpr_t k, k1, k2;
+    z_view_keyexpr_from_str(&k, expr);
+    z_view_keyexpr_from_str(&k1, token1_expr);
+    z_view_keyexpr_from_str(&k2, token2_expr);
+
+    if (multicast) {
+        zp_config_insert(z_loan_mut(c1), Z_CONFIG_MODE_KEY, "peer");
+        zp_config_insert(z_loan_mut(c1), Z_CONFIG_LISTEN_KEY, "udp/224.0.0.224:7447#iface=lo");
+
+        zp_config_insert(z_loan_mut(c2), Z_CONFIG_MODE_KEY, "client");
+        zp_config_insert(z_loan_mut(c2), Z_CONFIG_LISTEN_KEY, "udp/224.0.0.224:7447#iface=lo");
+    }
+
+    assert_ok(z_open(&s1, z_config_move(&c1), NULL));
+    assert_ok(z_open(&s2, z_config_move(&c2), NULL));
+
+    assert_ok(zp_start_read_task(z_loan_mut(s1), NULL));
+    assert_ok(zp_start_read_task(z_loan_mut(s2), NULL));
+    assert_ok(zp_start_lease_task(z_loan_mut(s1), NULL));
+    assert_ok(zp_start_lease_task(z_loan_mut(s2), NULL));
+
+    z_owned_liveliness_token_t t1, t2;
+    // In history mode we can declare token before subsribing
+    if (history) {
+        assert_ok(z_liveliness_declare_token(z_session_loan(&s2), &t1, z_view_keyexpr_loan(&k1), NULL));
+        assert_ok(z_liveliness_declare_token(z_session_loan(&s2), &t2, z_view_keyexpr_loan(&k2), NULL));
+    }
+
+    z_sleep_s(1);
+    z_owned_closure_sample_t closure;
+    context_t context = {false, false, false, false};
+    z_closure_sample(&closure, on_receive, NULL, (void*)(&context));
+
+    z_owned_subscriber_t sub;
+    z_liveliness_subscriber_options_t sub_opt;
+    z_liveliness_subscriber_options_default(&sub_opt);
+    sub_opt.history = history;
+    assert_ok(z_liveliness_declare_subscriber(z_session_loan(&s1), &sub, z_view_keyexpr_loan(&k),
+                                              z_closure_sample_move(&closure), &sub_opt));
+
+    z_sleep_s(1);
+    if (!history) {
+        assert_ok(z_liveliness_declare_token(z_session_loan(&s2), &t1, z_view_keyexpr_loan(&k1), NULL));
+        assert_ok(z_liveliness_declare_token(z_session_loan(&s2), &t2, z_view_keyexpr_loan(&k2), NULL));
+    }
+
+    z_sleep_s(1);
+
+    assert(context.token1_put);
+    assert(context.token2_put);
+
+    assert_ok(z_liveliness_undeclare_token(z_liveliness_token_move(&t1)));
+    z_sleep_s(1);
+
+    assert(context.token1_drop);
+    assert(!context.token2_drop);
+
+    assert_ok(z_liveliness_undeclare_token(z_liveliness_token_move(&t2)));
+    z_sleep_s(1);
+    assert(context.token2_drop);
+
+    assert_ok(zp_stop_read_task(z_loan_mut(s1)));
+    assert_ok(zp_stop_read_task(z_loan_mut(s2)));
+    assert_ok(zp_stop_lease_task(z_loan_mut(s1)));
+    assert_ok(zp_stop_lease_task(z_loan_mut(s2)));
+
+    z_session_drop(z_session_move(&s1));
+    z_session_drop(z_session_move(&s2));
+}
+
+void test_liveliness_get(void) {
+    const char* expr = "zenoh-pico/liveliness/test/*";
+
+    z_owned_session_t s1, s2;
+    z_owned_config_t c1, c2;
+    z_config_default(&c1);
+    z_config_default(&c2);
+    z_view_keyexpr_t k, k1;
+    z_view_keyexpr_from_str(&k, expr);
+    z_view_keyexpr_from_str(&k1, token1_expr);
+
+    assert_ok(z_open(&s1, z_config_move(&c1), NULL));
+    assert_ok(z_open(&s2, z_config_move(&c2), NULL));
+
+    assert_ok(zp_start_read_task(z_loan_mut(s1), NULL));
+    assert_ok(zp_start_read_task(z_loan_mut(s2), NULL));
+    assert_ok(zp_start_lease_task(z_loan_mut(s1), NULL));
+    assert_ok(zp_start_lease_task(z_loan_mut(s2), NULL));
+
+    z_sleep_s(1);
+    z_owned_liveliness_token_t t1;
+    assert_ok(z_liveliness_declare_token(z_session_loan(&s1), &t1, z_view_keyexpr_loan(&k1), NULL));
+    z_sleep_s(1);
+
+    z_owned_fifo_handler_reply_t handler;
+    z_owned_closure_reply_t cb;
+    assert_ok(z_fifo_channel_reply_new(&cb, &handler, 3));
+
+    assert_ok(z_liveliness_get(z_session_loan(&s2), z_view_keyexpr_loan(&k), z_closure_reply_move(&cb), NULL));
+    z_owned_reply_t reply;
+    assert_ok(z_fifo_handler_reply_recv(z_fifo_handler_reply_loan(&handler), &reply));
+    assert(z_reply_is_ok(z_reply_loan(&reply)));
+    const z_loaned_keyexpr_t* reply_keyexpr = z_sample_keyexpr(z_reply_ok(z_reply_loan(&reply)));
+    z_view_string_t reply_keyexpr_s;
+    z_keyexpr_as_view_string(reply_keyexpr, &reply_keyexpr_s);
+    assert(strlen(token1_expr) == z_string_len(z_view_string_loan(&reply_keyexpr_s)));
+    assert(strncmp(token1_expr, z_string_data(z_view_string_loan(&reply_keyexpr_s)),
+                   z_string_len(z_view_string_loan(&reply_keyexpr_s))) == 0);
+
+    z_reply_drop(z_reply_move(&reply));
+    assert(z_fifo_handler_reply_recv(z_fifo_handler_reply_loan(&handler), &reply) == Z_CHANNEL_DISCONNECTED);
+
+    z_liveliness_token_drop(z_liveliness_token_move(&t1));
+    z_fifo_handler_reply_drop(z_fifo_handler_reply_move(&handler));
+    z_sleep_s(1);
+    assert_ok(z_fifo_channel_reply_new(&cb, &handler, 3));
+
+    z_liveliness_get(z_session_loan(&s2), z_view_keyexpr_loan(&k), z_closure_reply_move(&cb), NULL);
+    assert(z_fifo_handler_reply_recv(z_fifo_handler_reply_loan(&handler), &reply) == Z_CHANNEL_DISCONNECTED);
+
+    z_fifo_handler_reply_drop(z_fifo_handler_reply_move(&handler));
+
+    assert_ok(zp_stop_read_task(z_loan_mut(s1)));
+    assert_ok(zp_stop_read_task(z_loan_mut(s2)));
+    assert_ok(zp_stop_lease_task(z_loan_mut(s1)));
+    assert_ok(zp_stop_lease_task(z_loan_mut(s2)));
+
+    z_session_drop(z_session_move(&s1));
+    z_session_drop(z_session_move(&s2));
+}
+
+int main(int argc, char** argv) {
+    (void)argc;
+    (void)argv;
+#if defined(ZENOH_LINUX)
+    test_liveliness_sub(true, false);
+    test_liveliness_sub(true, true);
+#endif
+    test_liveliness_sub(false, false);
+    test_liveliness_sub(false, true);
+    test_liveliness_get();
+}
+
+#else
+int main(int argc, char** argv) {
+    (void)argc;
+    (void)argv;
+}
+#endif
diff --git a/tests/z_client_test.c b/tests/z_client_test.c
index d073bc554..ca230002c 100644
--- a/tests/z_client_test.c
+++ b/tests/z_client_test.c
@@ -20,6 +20,7 @@
 #include "zenoh-pico.h"
 #include "zenoh-pico/api/types.h"
 #include "zenoh-pico/collections/string.h"
+#include "zenoh-pico/utils/uuid.h"
 
 #undef NDEBUG
 #include <assert.h>
@@ -116,11 +117,6 @@ void data_handler(z_loaned_sample_t *sample, void *arg) {
     free(res);
 }
 
-_z_string_t format_id(const z_id_t *id) {
-    _z_slice_t id_as_bytes = _z_slice_alias_buf(id->id, _z_id_len(*id));
-    return _z_string_convert_bytes(&id_as_bytes);
-}
-
 int main(int argc, char **argv) {
     setvbuf(stdout, NULL, _IOLBF, 1024);
 
@@ -137,8 +133,8 @@ int main(int argc, char **argv) {
 
     z_owned_session_t s1;
     assert(z_open(&s1, z_move(config), NULL) == Z_OK);
-    _z_string_t zid1 = format_id(&(_Z_RC_IN_VAL(z_loan(s1))->_local_zid));
-    printf("Session 1 with PID: %s\n", _z_string_data(&zid1));
+    _z_string_t zid1 = _z_id_to_string(&(_Z_RC_IN_VAL(z_loan(s1))->_local_zid));
+    printf("Session 1 with PID: %*.s\n", (int)_z_string_len(&zid1), _z_string_data(&zid1));
     _z_string_clear(&zid1);
 
     // Start the read session session lease loops
@@ -153,8 +149,8 @@ int main(int argc, char **argv) {
     z_owned_session_t s2;
     assert(z_open(&s2, z_move(config), NULL) == Z_OK);
     assert(z_internal_check(s2));
-    _z_string_t zid2 = format_id(&(_Z_RC_IN_VAL(z_loan(s2))->_local_zid));
-    printf("Session 2 with PID: %s\n", _z_string_data(&zid2));
+    _z_string_t zid2 = _z_id_to_string(&(_Z_RC_IN_VAL(z_loan(s2))->_local_zid));
+    printf("Session 2 with PID: %*.s\n", (int)_z_string_len(&zid2), _z_string_data(&zid2));
     _z_string_clear(&zid2);
 
     // Start the read session session lease loops
@@ -213,7 +209,7 @@ int main(int argc, char **argv) {
         z_view_keyexpr_t ke;
         z_view_keyexpr_from_str(&ke, s1_res);
         assert(z_declare_queryable(z_loan(s2), qle, z_loan(ke), z_move(callback), NULL) == _Z_RES_OK);
-        printf("Declared queryable on session 2: %ju %zu %s\n", (uintmax_t)qle->_val._entity_id, (z_zint_t)0, s1_res);
+        printf("Declared queryable on session 2: %ju %i %s\n", (uintmax_t)qle->_val._entity_id, 0, s1_res);
         qles2 = _z_list_push(qles2, qle);
     }
 
@@ -315,7 +311,7 @@ int main(int argc, char **argv) {
             z_view_keyexpr_t ke;
             z_view_keyexpr_from_str(&ke, s1_res);
             z_get(z_loan(s1), z_loan(ke), "", z_move(callback), NULL);
-            printf("Queried data from session 1: %zu %s\n", (z_zint_t)0, s1_res);
+            printf("Queried data from session 1: %i %s\n", 0, s1_res);
         }
     }
 
diff --git a/tests/z_collections_test.c b/tests/z_collections_test.c
index ec103b444..8bb54007f 100644
--- a/tests/z_collections_test.c
+++ b/tests/z_collections_test.c
@@ -18,6 +18,7 @@
 
 #include "zenoh-pico/collections/fifo.h"
 #include "zenoh-pico/collections/lifo.h"
+#include "zenoh-pico/collections/list.h"
 #include "zenoh-pico/collections/ring.h"
 #include "zenoh-pico/collections/string.h"
 
@@ -308,6 +309,46 @@ void fifo_test_init_free(void) {
     assert(r == NULL);
 }
 
+void int_map_iterator_test(void) {
+    _z_str_intmap_t map;
+
+    map = _z_str_intmap_make();
+    _z_str_intmap_insert(&map, 10, "A");
+    _z_str_intmap_insert(&map, 20, "B");
+    _z_str_intmap_insert(&map, 30, "C");
+    _z_str_intmap_insert(&map, 40, "D");
+
+#define TEST_MAP(map)                                                      \
+    {                                                                      \
+        _z_str_intmap_iterator_t iter = _z_str_intmap_iterator_make(&map); \
+        assert(_z_str_intmap_iterator_next(&iter));                        \
+        assert(_z_str_intmap_iterator_key(&iter) == 20);                   \
+        assert(strcmp(_z_str_intmap_iterator_value(&iter), "B") == 0);     \
+                                                                           \
+        assert(_z_str_intmap_iterator_next(&iter));                        \
+        assert(_z_str_intmap_iterator_key(&iter) == 40);                   \
+        assert(strcmp(_z_str_intmap_iterator_value(&iter), "D") == 0);     \
+                                                                           \
+        assert(_z_str_intmap_iterator_next(&iter));                        \
+        assert(_z_str_intmap_iterator_key(&iter) == 10);                   \
+        assert(strcmp(_z_str_intmap_iterator_value(&iter), "A") == 0);     \
+                                                                           \
+        assert(_z_str_intmap_iterator_next(&iter));                        \
+        assert(_z_str_intmap_iterator_key(&iter) == 30);                   \
+        assert(strcmp(_z_str_intmap_iterator_value(&iter), "C") == 0);     \
+                                                                           \
+        assert(!_z_str_intmap_iterator_next(&iter));                       \
+    }
+
+    TEST_MAP(map);
+
+    _z_str_intmap_t map2 = _z_str_intmap_clone(&map);
+
+    TEST_MAP(map2);
+
+#undef TEST_MAP
+}
+
 int main(void) {
     ring_test();
     ring_test_init_free();
@@ -315,4 +356,6 @@ int main(void) {
     lifo_test_init_free();
     fifo_test();
     fifo_test_init_free();
+
+    int_map_iterator_test();
 }
diff --git a/tests/z_data_struct_test.c b/tests/z_data_struct_test.c
index 0b7cfa702..e3dff0fa5 100644
--- a/tests/z_data_struct_test.c
+++ b/tests/z_data_struct_test.c
@@ -233,11 +233,24 @@ void z_string_array_test(void) {
     z_string_array_drop(z_string_array_move(&a));
 }
 
+void z_id_to_string_test(void) {
+    z_id_t id;
+    for (uint8_t i = 0; i < sizeof(id.id); i++) {
+        id.id[i] = i;
+    }
+    z_owned_string_t id_str;
+    z_id_to_string(&id, &id_str);
+    assert(z_string_len(z_string_loan(&id_str)) == 32);
+    assert(strncmp("0f0e0d0c0b0a09080706050403020100", z_string_data(z_string_loan(&id_str)),
+                   z_string_len(z_string_loan(&id_str))) == 0);
+}
+
 int main(void) {
     entry_list_test();
     str_vec_list_intmap_test();
     z_slice_custom_delete_test();
     z_string_array_test();
+    z_id_to_string_test();
 
     return 0;
 }
diff --git a/tests/z_msgcodec_test.c b/tests/z_msgcodec_test.c
index 81f16f50c..59237b3b2 100644
--- a/tests/z_msgcodec_test.c
+++ b/tests/z_msgcodec_test.c
@@ -842,6 +842,49 @@ void queryable_declaration(void) {
     _z_wbuf_clear(&wbf);
 }
 
+/*------------------ Token declaration ------------------*/
+_z_decl_token_t gen_token_declaration(void) {
+    _z_decl_token_t e_qd = {._keyexpr = gen_keyexpr(), ._id = (uint32_t)gen_uint64()};
+
+    return e_qd;
+}
+
+void assert_eq_token_declaration(const _z_decl_token_t *left, const _z_decl_token_t *right) {
+    assert_eq_keyexpr(&left->_keyexpr, &right->_keyexpr);
+    assert(left->_id == right->_id);
+}
+
+void token_declaration(void) {
+    printf("\n>> Queryable declaration\n");
+    _z_wbuf_t wbf = gen_wbuf(UINT16_MAX);
+
+    // Initialize
+    _z_decl_token_t e_qd = gen_token_declaration();
+
+    // Encode
+    int8_t res = _z_decl_token_encode(&wbf, &e_qd);
+    assert(res == _Z_RES_OK);
+    (void)(res);
+
+    // Decode
+    _z_zbuf_t zbf = _z_wbuf_to_zbuf(&wbf);
+    _z_decl_token_t d_qd;
+    uint8_t e_hdr = 0;
+    _z_uint8_decode(&e_hdr, &zbf);
+    res = _z_decl_token_decode(&d_qd, &zbf, e_hdr);
+    assert(res == _Z_RES_OK);
+
+    printf("   ");
+    assert_eq_token_declaration(&e_qd, &d_qd);
+    printf("\n");
+
+    // Free
+    _z_keyexpr_clear(&e_qd._keyexpr);
+    _z_keyexpr_clear(&d_qd._keyexpr);
+    _z_zbuf_clear(&zbf);
+    _z_wbuf_clear(&wbf);
+}
+
 /*------------------ Forget Resource declaration ------------------*/
 _z_undecl_kexpr_t gen_forget_resource_declaration(void) {
     _z_undecl_kexpr_t e_frd;
@@ -969,12 +1012,52 @@ void forget_queryable_declaration(void) {
     _z_wbuf_clear(&wbf);
 }
 
+/*------------------ Forget Token declaration ------------------*/
+_z_undecl_token_t gen_forget_token_declaration(void) {
+    _z_undecl_token_t e_fqd = {._ext_keyexpr = gen_keyexpr(), ._id = (uint32_t)gen_zint()};
+    return e_fqd;
+}
+
+void assert_eq_forget_token_declaration(const _z_undecl_token_t *left, const _z_undecl_token_t *right) {
+    assert_eq_keyexpr(&left->_ext_keyexpr, &right->_ext_keyexpr);
+    assert(left->_id == right->_id);
+}
+
+void forget_token_declaration(void) {
+    printf("\n>> Forget token declaration\n");
+    _z_wbuf_t wbf = gen_wbuf(UINT16_MAX);
+
+    // Initialize
+    _z_undecl_token_t e_fqd = gen_forget_token_declaration();
+
+    // Encode
+    int8_t res = _z_undecl_token_encode(&wbf, &e_fqd);
+    assert(res == _Z_RES_OK);
+    (void)(res);
+
+    // Decode
+    _z_zbuf_t zbf = _z_wbuf_to_zbuf(&wbf);
+    uint8_t e_hdr = 0;
+    _z_uint8_decode(&e_hdr, &zbf);
+    _z_undecl_token_t d_fqd = {._ext_keyexpr = _z_keyexpr_null()};
+    res = _z_undecl_token_decode(&d_fqd, &zbf, e_hdr);
+    assert(res == _Z_RES_OK);
+
+    printf("   ");
+    assert_eq_forget_token_declaration(&e_fqd, &d_fqd);
+    printf("\n");
+
+    // Free
+    _z_keyexpr_clear(&e_fqd._ext_keyexpr);
+    _z_keyexpr_clear(&d_fqd._ext_keyexpr);
+    _z_zbuf_clear(&zbf);
+    _z_wbuf_clear(&wbf);
+}
+
 /*------------------ Declaration ------------------*/
 _z_declaration_t gen_declaration(void) {
-    uint8_t decl[] = {
-        _Z_DECL_KEXPR,        _Z_UNDECL_KEXPR,   _Z_DECL_SUBSCRIBER,
-        _Z_UNDECL_SUBSCRIBER, _Z_DECL_QUERYABLE, _Z_UNDECL_QUERYABLE,
-    };
+    uint8_t decl[] = {_Z_DECL_KEXPR,     _Z_UNDECL_KEXPR,     _Z_DECL_SUBSCRIBER, _Z_UNDECL_SUBSCRIBER,
+                      _Z_DECL_QUERYABLE, _Z_UNDECL_QUERYABLE, _Z_DECL_TOKEN,      _Z_UNDECL_TOKEN};
 
     _z_declaration_t d;
     d._tag = decl[gen_uint8() % (sizeof(decl) / sizeof(uint8_t))];
@@ -998,6 +1081,12 @@ _z_declaration_t gen_declaration(void) {
         case _Z_UNDECL_QUERYABLE: {
             d._body._undecl_queryable = gen_forget_queryable_declaration();
         } break;
+        case _Z_DECL_TOKEN: {
+            d._body._decl_token = gen_token_declaration();
+        } break;
+        case _Z_UNDECL_TOKEN: {
+            d._body._undecl_token = gen_forget_token_declaration();
+        } break;
         default:
             assert(false);
     }
@@ -1020,6 +1109,9 @@ void assert_eq_declaration(const _z_declaration_t *left, const _z_declaration_t
         case _Z_DECL_QUERYABLE:
             assert_eq_queryable_declaration(&left->_body._decl_queryable, &right->_body._decl_queryable);
             break;
+        case _Z_DECL_TOKEN:
+            assert_eq_token_declaration(&left->_body._decl_token, &right->_body._decl_token);
+            break;
         case _Z_UNDECL_KEXPR:
             assert_eq_forget_resource_declaration(&left->_body._undecl_kexpr, &right->_body._undecl_kexpr);
             break;
@@ -1029,6 +1121,9 @@ void assert_eq_declaration(const _z_declaration_t *left, const _z_declaration_t
         case _Z_UNDECL_QUERYABLE:
             assert_eq_forget_queryable_declaration(&left->_body._undecl_queryable, &right->_body._undecl_queryable);
             break;
+        case _Z_UNDECL_TOKEN:
+            assert_eq_forget_token_declaration(&left->_body._undecl_token, &right->_body._undecl_token);
+            break;
         default:
             assert(false);
     }
diff --git a/tests/z_peer_multicast_test.c b/tests/z_peer_multicast_test.c
index 383ba799d..d558eccc8 100644
--- a/tests/z_peer_multicast_test.c
+++ b/tests/z_peer_multicast_test.c
@@ -20,6 +20,7 @@
 #include "zenoh-pico.h"
 #include "zenoh-pico/collections/slice.h"
 #include "zenoh-pico/protocol/core.h"
+#include "zenoh-pico/utils/uuid.h"
 
 #undef NDEBUG
 #include <assert.h>
@@ -76,10 +77,8 @@ int main(int argc, char **argv) {
 
     z_owned_session_t s1;
     assert(z_open(&s1, z_move(config), NULL) == Z_OK);
-    _z_slice_t id_as_bytes =
-        _z_slice_alias_buf(_Z_RC_IN_VAL(z_loan(s1))->_local_zid.id, _z_id_len(_Z_RC_IN_VAL(z_loan(s1))->_local_zid));
-    _z_string_t zid1 = _z_string_convert_bytes(&id_as_bytes);
-    printf("Session 1 with PID: %s\n", z_string_data(&zid1));
+    _z_string_t zid1 = _z_id_to_string(&(_Z_RC_IN_VAL(z_loan(s1))->_local_zid));
+    printf("Session 1 with PID: %*.s\n", (int)_z_string_len(&zid1), _z_string_data(&zid1));
     _z_string_clear(&zid1);
 
     // Start the read session session lease loops
@@ -95,10 +94,8 @@ int main(int argc, char **argv) {
     z_owned_session_t s2;
     assert(z_open(&s2, z_move(config), NULL) == Z_OK);
 
-    id_as_bytes =
-        _z_slice_alias_buf(_Z_RC_IN_VAL(z_loan(s2))->_local_zid.id, _z_id_len(_Z_RC_IN_VAL(z_loan(s2))->_local_zid));
-    _z_string_t zid2 = _z_string_convert_bytes(&id_as_bytes);
-    printf("Session 2 with PID: %s\n", z_string_data(&zid2));
+    _z_string_t zid2 = _z_id_to_string(&(_Z_RC_IN_VAL(z_loan(s2))->_local_zid));
+    printf("Session 2 with PID: %*.s\n", (int)_z_string_len(&zid2), _z_string_data(&zid2));
     _z_string_clear(&zid2);
 
     // Start the read session session lease loops
@@ -119,8 +116,8 @@ int main(int argc, char **argv) {
         z_view_keyexpr_from_str(&ke, s1_res);
         z_result_t res = z_declare_subscriber(z_loan(s2), sub, z_loan(ke), z_move(callback), NULL);
         assert(res == _Z_RES_OK);
-        printf("Declared subscription on session 2: %ju %zu %s\n", (uintmax_t)z_subscriber_loan(sub)->_entity_id,
-               (z_zint_t)0, s1_res);
+        printf("Declared subscription on session 2: %ju %i %s\n", (uintmax_t)z_subscriber_loan(sub)->_entity_id, 0,
+               s1_res);
         subs2 = _z_list_push(subs2, sub);
     }
 
diff --git a/tests/z_test_fragment_rx.c b/tests/z_test_fragment_rx.c
index 21184df52..d5dde99a3 100644
--- a/tests/z_test_fragment_rx.c
+++ b/tests/z_test_fragment_rx.c
@@ -80,7 +80,7 @@ int main(int argc, char **argv) {
     }
     // Declare subscriber
     z_owned_closure_sample_t callback;
-    z_closure(&callback, data_handler);
+    z_closure(&callback, data_handler, NULL, NULL);
     z_owned_subscriber_t sub;
     z_view_keyexpr_t ke;
     z_view_keyexpr_from_str(&ke, keyexpr);
diff --git a/zenohpico.pc b/zenohpico.pc
index f3f450c20..1e3b39ae2 100644
--- a/zenohpico.pc
+++ b/zenohpico.pc
@@ -3,6 +3,6 @@ prefix=/usr/local
 Name: zenohpico
 Description: 
 URL: 
-Version: 1.0.20241004dev
+Version: 1.0.20241018dev
 Cflags: -I${prefix}/include
 Libs: -L${prefix}/lib -lzenohpico
diff --git a/zephyr/CMakeLists.txt b/zephyr/CMakeLists.txt
index 3559a1c90..f358d4659 100644
--- a/zephyr/CMakeLists.txt
+++ b/zephyr/CMakeLists.txt
@@ -37,6 +37,7 @@ file(GLOB_RECURSE Sources
   "../src/session/*.c"
   "../src/transport/*.c"
   "../src/utils/*.c"
+  "../src/system/platform_common.c"
 )
 
 file (GLOB Sources_Zephyr "../src/system/zephyr/*.c")