Add Zenoh-Pico matching support and rename Zenoh-C methods (#389)

* Add Zenoh-Pico matching support and rename Zenoh-C methods * Update precompiler definitions check * Update zenoh-c
eclipse-zenoh · Jan 29, 2025 · a444049 · a444049
1 parent db872cb
commit a444049
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Showing 8 changed files with 43 additions and 37 deletions.
diff --git a/examples/universal/z_pub.cxx b/examples/universal/z_pub.cxx
@@ -42,7 +42,7 @@ int _main(int argc, char **argv) {
             .named_value({"k", "key"}, "KEY_EXPRESSION", "Key expression to publish to (string)", default_keyexpr)
             .named_value({"p", "payload"}, "PAYLOAD", "Payload to publish (string)", default_value)
             .named_value({"a", "attach"}, "ATTACHMENT", "Attachment to add to each put (string)", "")
-#if defined(Z_FEATURE_UNSTABLE_API) && defined(ZENOHCXX_ZENOHC)
+#if defined(Z_FEATURE_UNSTABLE_API) && (defined(ZENOHCXX_ZENOHC) || Z_FEATURE_MATCHING == 1)
             .named_flag({"add-matching-listener"}, "Add matching listener")
 #endif
             .run();
@@ -56,7 +56,7 @@ int _main(int argc, char **argv) {
 
     std::cout << "Declaring Publisher on '" << keyexpr << "'..." << std::endl;
     auto pub = session.declare_publisher(KeyExpr(keyexpr));
-#if defined(Z_FEATURE_UNSTABLE_API) && defined(ZENOHCXX_ZENOHC)
+#if defined(Z_FEATURE_UNSTABLE_API) && (defined(ZENOHCXX_ZENOHC) || Z_FEATURE_MATCHING == 1)
     if (args.flag("add-matching-listener")) {
         pub.declare_background_matching_listener(
             [](const MatchingStatus &s) {

diff --git a/examples/universal/z_querier.cxx b/examples/universal/z_querier.cxx
@@ -34,7 +34,7 @@ int _main(int argc, char **argv) {
             .named_value({"t", "target"}, "TARGET", "Query target (BEST_MATCHING | ALL | ALL_COMPLETE)",
                          "BEST_MATCHING")
             .named_value({"o", "timeout"}, "TIMEOUT", "Timeout in ms (number)", "10000")
-#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+#if defined(Z_FEATURE_UNSTABLE_API) && (defined(ZENOHCXX_ZENOHC) || Z_FEATURE_MATCHING == 1)
             .named_flag({"add-matching-listener"}, "Add matching listener")
 #endif
             .run();
@@ -53,7 +53,7 @@ int _main(int argc, char **argv) {
     options.timeout_ms = timeout_ms;
     auto querier = session.declare_querier(selector.key_expr, std::move(options));
 
-#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+#if defined(Z_FEATURE_UNSTABLE_API) && (defined(ZENOHCXX_ZENOHC) || Z_FEATURE_MATCHING == 1)
     if (args.flag("add-matching-listener")) {
         querier.declare_background_matching_listener(
             [](const MatchingStatus &s) {

diff --git a/include/zenoh/api/ext/advanced_publisher.hxx b/include/zenoh/api/ext/advanced_publisher.hxx
@@ -160,7 +160,7 @@ class AdvancedPublisher : public Owned<::ze_owned_advanced_publisher_t> {
                       "zenoh::MatchingStatus& status)");
         static_assert(std::is_invocable_r<void, D>::value,
                       "on_drop should be callable with the following signature: void on_drop()");
-        ::zc_owned_closure_matching_status_t c_closure;
+        ::z_owned_closure_matching_status_t c_closure;
         using Cval = std::remove_reference_t<C>;
         using Dval = std::remove_reference_t<D>;
         using ClosureType = typename zenoh::detail::closures::Closure<Cval, Dval, void, const zenoh::MatchingStatus&>;
@@ -190,7 +190,7 @@ class AdvancedPublisher : public Owned<::ze_owned_advanced_publisher_t> {
         Channel channel, zenoh::ZResult* err = nullptr) const {
         auto cb_handler_pair = channel.template into_cb_handler_pair<Query>();
         auto m = zenoh::interop::detail::null<MatchingListener<void>>();
-        zenoh::ZResult res = ::zc_publisher_declare_matching_listener(
+        zenoh::ZResult res = ::z_publisher_declare_matching_listener(
             interop::as_loaned_c_ptr(*this), interop::as_owned_c_ptr(m), ::z_move(cb_handler_pair.first));
         __ZENOH_RESULT_CHECK(res, err, "Failed to declare Matching Listener");
         if (res != Z_OK) ::z_drop(zenoh::interop::as_moved_c_ptr(cb_handler_pair.second));
@@ -216,7 +216,7 @@ class AdvancedPublisher : public Owned<::ze_owned_advanced_publisher_t> {
                       "zenoh::MatchingStatus& status)");
         static_assert(std::is_invocable_r<void, D>::value,
                       "on_drop should be callable with the following signature: void on_drop()");
-        ::zc_owned_closure_matching_status_t c_closure;
+        ::z_owned_closure_matching_status_t c_closure;
         using Cval = std::remove_reference_t<C>;
         using Dval = std::remove_reference_t<D>;
         using ClosureType = typename zenoh::detail::closures::Closure<Cval, Dval, void, const zenoh::MatchingStatus&>;
@@ -235,7 +235,7 @@ class AdvancedPublisher : public Owned<::ze_owned_advanced_publisher_t> {
     /// thrown in case of error.
     /// @note Zenoh-c only.
     MatchingStatus get_matching_status(zenoh::ZResult* err = nullptr) const {
-        ::zc_matching_status_t m;
+        ::z_matching_status_t m;
         zenoh::ZResult res = ::ze_advanced_publisher_get_matching_status(zenoh::interop::as_loaned_c_ptr(*this), &m);
         __ZENOH_RESULT_CHECK(res, err, "Failed to get matching status");
         return {m.matching};

diff --git a/include/zenoh/api/matching.hxx b/include/zenoh/api/matching.hxx
@@ -36,17 +36,17 @@ struct MatchingStatus {
 
 namespace detail::closures {
 extern "C" {
-inline void _zenoh_on_status_change_call(const ::zc_matching_status_t* status, void* context) {
+inline void _zenoh_on_status_change_call(const ::z_matching_status_t* status, void* context) {
     IClosure<void, const MatchingStatus&>::call_from_context(context, MatchingStatus{status->matching});
 }
 }
 }  // namespace detail::closures
 
 namespace detail {
-class MatchingListenerBase : public Owned<::zc_owned_matching_listener_t> {
+class MatchingListenerBase : public Owned<::z_owned_matching_listener_t> {
    protected:
     MatchingListenerBase(zenoh::detail::null_object_t) : Owned(nullptr){};
-    MatchingListenerBase(::zc_owned_matching_listener_t* m) : Owned(m){};
+    MatchingListenerBase(::z_owned_matching_listener_t* m) : Owned(m){};
     friend struct interop::detail::Converter;
 };
 }  // namespace detail
@@ -68,7 +68,7 @@ class MatchingListener<void> : public detail::MatchingListenerBase {
     /// @param err if not null, the result code will be written to this location, otherwise ZException exception will be
     /// thrown in case of error.
     void undeclare(ZResult* err = nullptr) && {
-        __ZENOH_RESULT_CHECK(::zc_undeclare_matching_listener(interop::as_moved_c_ptr(*this)), err,
+        __ZENOH_RESULT_CHECK(::z_undeclare_matching_listener(interop::as_moved_c_ptr(*this)), err,
                              "Failed to undeclare matching listener");
     }
 };
@@ -103,7 +103,7 @@ class MatchingListener : public detail::MatchingListenerBase {
     /// @param err if not null, the result code will be written to this location, otherwise ZException exception will be
     /// thrown in case of error.
     Handler undeclare(ZResult* err = nullptr) && {
-        __ZENOH_RESULT_CHECK(::zc_undeclare_matching_listener(interop::as_moved_c_ptr(*this)), err,
+        __ZENOH_RESULT_CHECK(::z_undeclare_matching_listener(interop::as_moved_c_ptr(*this)), err,
                              "Failed to undeclare matching listener");
         return std::move(this->_handler);
     }
@@ -154,4 +154,4 @@ auto move_to_c_obj(MatchingListener<Handler>&& m) {
 }
 }  // namespace interop
 
-}  // namespace zenoh
+}  // namespace zenoh
diff --git a/include/zenoh/api/publisher.hxx b/include/zenoh/api/publisher.hxx
@@ -23,8 +23,10 @@
 #include "interop.hxx"
 #include "keyexpr.hxx"
 #include "timestamp.hxx"
-#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+#if defined(Z_FEATURE_UNSTABLE_API) && (defined(ZENOHCXX_ZENOHC) || Z_FEATURE_MATCHING == 1)
 #include "matching.hxx"
+#endif
+#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
 #include "source_info.hxx"
 #endif
 #include <optional>
@@ -145,7 +147,7 @@ class Publisher : public Owned<::z_owned_publisher_t> {
     }
 #endif
 
-#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+#if defined(Z_FEATURE_UNSTABLE_API) && (defined(ZENOHCXX_ZENOHC) || Z_FEATURE_MATCHING == 1)
     /// @warning This API has been marked as unstable: it works as advertised, but it may be changed in a future
     /// release.
     /// @brief Construct matching listener, registering a callback for notifying subscribers matching with a given
@@ -166,16 +168,16 @@ class Publisher : public Owned<::z_owned_publisher_t> {
                       "zenoh::MatchingStatus& status)");
         static_assert(std::is_invocable_r<void, D>::value,
                       "on_drop should be callable with the following signature: void on_drop()");
-        ::zc_owned_closure_matching_status_t c_closure;
+        ::z_owned_closure_matching_status_t c_closure;
         using Cval = std::remove_reference_t<C>;
         using Dval = std::remove_reference_t<D>;
         using ClosureType = typename detail::closures::Closure<Cval, Dval, void, const MatchingStatus&>;
         auto closure = ClosureType::into_context(std::forward<C>(on_status_change), std::forward<D>(on_drop));
         ::z_closure(&c_closure, detail::closures::_zenoh_on_status_change_call, detail::closures::_zenoh_on_drop,
                     closure);
         MatchingListener<void> m(zenoh::detail::null_object);
-        ZResult res = ::zc_publisher_declare_matching_listener(interop::as_loaned_c_ptr(*this),
-                                                               interop::as_owned_c_ptr(m), ::z_move(c_closure));
+        ZResult res = ::z_publisher_declare_matching_listener(interop::as_loaned_c_ptr(*this),
+                                                              interop::as_owned_c_ptr(m), ::z_move(c_closure));
         __ZENOH_RESULT_CHECK(res, err, "Failed to declare Matching Listener");
         return m;
     }
@@ -196,7 +198,7 @@ class Publisher : public Owned<::z_owned_publisher_t> {
         Channel channel, ZResult* err = nullptr) const {
         auto cb_handler_pair = channel.template into_cb_handler_pair<Query>();
         MatchingListener<void> m(zenoh::detail::null_object);
-        ZResult res = ::zc_publisher_declare_matching_listener(
+        ZResult res = ::z_publisher_declare_matching_listener(
             interop::as_loaned_c_ptr(*this), interop::as_owned_c_ptr(m), ::z_move(cb_handler_pair.first));
         __ZENOH_RESULT_CHECK(res, err, "Failed to declare Matching Listener");
         if (res != Z_OK) ::z_drop(interop::as_moved_c_ptr(cb_handler_pair.second));
@@ -222,15 +224,15 @@ class Publisher : public Owned<::z_owned_publisher_t> {
                       "zenoh::MatchingStatus& status)");
         static_assert(std::is_invocable_r<void, D>::value,
                       "on_drop should be callable with the following signature: void on_drop()");
-        ::zc_owned_closure_matching_status_t c_closure;
+        ::z_owned_closure_matching_status_t c_closure;
         using Cval = std::remove_reference_t<C>;
         using Dval = std::remove_reference_t<D>;
         using ClosureType = typename detail::closures::Closure<Cval, Dval, void, const MatchingStatus&>;
         auto closure = ClosureType::into_context(std::forward<C>(on_status_change), std::forward<D>(on_drop));
         ::z_closure(&c_closure, detail::closures::_zenoh_on_status_change_call, detail::closures::_zenoh_on_drop,
                     closure);
         ZResult res =
-            ::zc_publisher_declare_background_matching_listener(interop::as_loaned_c_ptr(*this), ::z_move(c_closure));
+            ::z_publisher_declare_background_matching_listener(interop::as_loaned_c_ptr(*this), ::z_move(c_closure));
         __ZENOH_RESULT_CHECK(res, err, "Failed to declare background Matching Listener");
     }
 
@@ -241,13 +243,13 @@ class Publisher : public Owned<::z_owned_publisher_t> {
     /// thrown in case of error.
     /// @note Zenoh-c only.
     MatchingStatus get_matching_status(ZResult* err = nullptr) const {
-        ::zc_matching_status_t m;
-        ZResult res = ::zc_publisher_get_matching_status(interop::as_loaned_c_ptr(*this), &m);
+        ::z_matching_status_t m;
+        ZResult res = ::z_publisher_get_matching_status(interop::as_loaned_c_ptr(*this), &m);
         __ZENOH_RESULT_CHECK(res, err, "Failed to get matching status");
         return {m.matching};
     }
 #endif
 };
 
 }  // namespace zenoh
-#endif
+#endif
diff --git a/include/zenoh/api/querier.hxx b/include/zenoh/api/querier.hxx
@@ -23,8 +23,10 @@
 #include "interop.hxx"
 #include "keyexpr.hxx"
 #include "reply.hxx"
-#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+#if defined(Z_FEATURE_UNSTABLE_API) && (defined(ZENOHCXX_ZENOHC) || Z_FEATURE_MATCHING == 1)
 #include "matching.hxx"
+#endif
+#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
 #include "source_info.hxx"
 #endif
 #include <optional>
@@ -148,7 +150,9 @@ class Querier : public Owned<::z_owned_querier_t> {
     EntityGlobalId get_id() const {
         return interop::into_copyable_cpp_obj<EntityGlobalId>(::z_querier_id(interop::as_loaned_c_ptr(*this)));
     }
+#endif
 
+#if defined(Z_FEATURE_UNSTABLE_API) && (defined(ZENOHCXX_ZENOHC) || Z_FEATURE_MATCHING == 1)
     /// @warning This API has been marked as unstable: it works as advertised, but it may be changed in a future
     /// release.
     /// @brief Construct matching listener, registering a callback for notifying queryables matching with a given
@@ -169,16 +173,16 @@ class Querier : public Owned<::z_owned_querier_t> {
                       "zenoh::MatchingStatus& status)");
         static_assert(std::is_invocable_r<void, D>::value,
                       "on_drop should be callable with the following signature: void on_drop()");
-        ::zc_owned_closure_matching_status_t c_closure;
+        ::z_owned_closure_matching_status_t c_closure;
         using Cval = std::remove_reference_t<C>;
         using Dval = std::remove_reference_t<D>;
         using ClosureType = typename detail::closures::Closure<Cval, Dval, void, const MatchingStatus&>;
         auto closure = ClosureType::into_context(std::forward<C>(on_status_change), std::forward<D>(on_drop));
         ::z_closure(&c_closure, detail::closures::_zenoh_on_status_change_call, detail::closures::_zenoh_on_drop,
                     closure);
         MatchingListener<void> m(zenoh::detail::null_object);
-        ZResult res = ::zc_querier_declare_matching_listener(interop::as_loaned_c_ptr(*this),
-                                                             interop::as_owned_c_ptr(m), ::z_move(c_closure));
+        ZResult res = ::z_querier_declare_matching_listener(interop::as_loaned_c_ptr(*this), interop::as_owned_c_ptr(m),
+                                                            ::z_move(c_closure));
         __ZENOH_RESULT_CHECK(res, err, "Failed to declare Matching Listener");
         return m;
     }
@@ -199,8 +203,8 @@ class Querier : public Owned<::z_owned_querier_t> {
         Channel channel, ZResult* err = nullptr) const {
         auto cb_handler_pair = channel.template into_cb_handler_pair<Query>();
         MatchingListener<void> m(zenoh::detail::null_object);
-        ZResult res = ::zc_querier_declare_matching_listener(
-            interop::as_loaned_c_ptr(*this), interop::as_owned_c_ptr(m), ::z_move(cb_handler_pair.first));
+        ZResult res = ::z_querier_declare_matching_listener(interop::as_loaned_c_ptr(*this), interop::as_owned_c_ptr(m),
+                                                            ::z_move(cb_handler_pair.first));
         __ZENOH_RESULT_CHECK(res, err, "Failed to declare Matching Listener");
         if (res != Z_OK) ::z_drop(interop::as_moved_c_ptr(cb_handler_pair.second));
         return MatchingListener<typename Channel::template HandlerType<MatchingStatus>>(
@@ -225,15 +229,15 @@ class Querier : public Owned<::z_owned_querier_t> {
                       "zenoh::MatchingStatus& status)");
         static_assert(std::is_invocable_r<void, D>::value,
                       "on_drop should be callable with the following signature: void on_drop()");
-        ::zc_owned_closure_matching_status_t c_closure;
+        ::z_owned_closure_matching_status_t c_closure;
         using Cval = std::remove_reference_t<C>;
         using Dval = std::remove_reference_t<D>;
         using ClosureType = typename detail::closures::Closure<Cval, Dval, void, const MatchingStatus&>;
         auto closure = ClosureType::into_context(std::forward<C>(on_status_change), std::forward<D>(on_drop));
         ::z_closure(&c_closure, detail::closures::_zenoh_on_status_change_call, detail::closures::_zenoh_on_drop,
                     closure);
         ZResult res =
-            ::zc_querier_declare_background_matching_listener(interop::as_loaned_c_ptr(*this), ::z_move(c_closure));
+            ::z_querier_declare_background_matching_listener(interop::as_loaned_c_ptr(*this), ::z_move(c_closure));
         __ZENOH_RESULT_CHECK(res, err, "Failed to declare background Matching Listener");
     }
 
@@ -244,8 +248,8 @@ class Querier : public Owned<::z_owned_querier_t> {
     /// thrown in case of error.
     /// @note Zenoh-c only.
     MatchingStatus get_matching_status(ZResult* err = nullptr) const {
-        ::zc_matching_status_t m;
-        ZResult res = ::zc_querier_get_matching_status(interop::as_loaned_c_ptr(*this), &m);
+        ::z_matching_status_t m;
+        ZResult res = ::z_querier_get_matching_status(interop::as_loaned_c_ptr(*this), &m);
         __ZENOH_RESULT_CHECK(res, err, "Failed to get matching status");
         return {m.matching};
     }

diff --git a/zenoh-c b/zenoh-c
diff --git a/zenoh-pico b/zenoh-pico
+1 −1		build-resources/opaque-types/src/lib.rs
+15 −15		docs/api.rst
+3 −3		examples/z_pub.c
+3 −3		examples/z_pub_shm.c
+3 −3		examples/z_querier.c
+222 −222		include/zenoh_commons.h
+47 −47		include/zenoh_macros.h
+2 −2		splitguide.yaml
+12 −12		src/advanced_publisher.rs
+36 −38		src/closures/matching_status_closure.rs
+9 −11		src/matching.rs
+15 −15		src/publisher.rs
+15 −15		src/querier.rs
+12 −0		.github/release.yml
+3 −0		docs/api.rst
+27 −1		examples/unix/c11/z_querier.c
+49 −0		include/zenoh-pico/api/primitives.h
+4 −5		include/zenoh-pico/net/filtering.h
+3 −3		include/zenoh-pico/net/matching.h
+4 −0		include/zenoh-pico/net/query.h
+3 −0		include/zenoh-pico/session/matching.h
+56 −12		src/api/api.c
+2 −0		src/link/unicast/serial.c
+31 −33		src/net/filtering.c
+14 −10		src/net/matching.c
+5 −1		src/net/primitives.c
+2 −4		src/net/session.c
+1 −1		src/session/matching.c
+8 −5		tests/routed.sh
+187 −31		tests/z_api_matching_test.c