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

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merged 3 commits into from
Jan 29, 2025
Merged

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

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6e8ec5b
Add Zenoh-Pico matching support and rename Zenoh-C methods
sashacmc Jan 29, 2025
fd62ea0
Update precompiler definitions check
sashacmc Jan 29, 2025
432c482
Update zenoh-c
sashacmc Jan 29, 2025
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4 changes: 2 additions & 2 deletions examples/universal/z_pub.cxx
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Original file line number Diff line number Diff line change
Expand Up @@ -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();
Expand All @@ -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) {
Expand Down
4 changes: 2 additions & 2 deletions examples/universal/z_querier.cxx
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Original file line number Diff line number Diff line change
Expand Up @@ -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();
Expand All @@ -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) {
Expand Down
8 changes: 4 additions & 4 deletions include/zenoh/api/ext/advanced_publisher.hxx
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Original file line number Diff line number Diff line change
Expand Up @@ -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&>;
Expand Down Expand Up @@ -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));
Expand All @@ -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&>;
Expand All @@ -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};
Expand Down
12 changes: 6 additions & 6 deletions include/zenoh/api/matching.hxx
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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");
}
};
Expand Down Expand Up @@ -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);
}
Expand Down Expand Up @@ -154,4 +154,4 @@ auto move_to_c_obj(MatchingListener<Handler>&& m) {
}
} // namespace interop

} // namespace zenoh
} // namespace zenoh
24 changes: 13 additions & 11 deletions include/zenoh/api/publisher.hxx
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand Down Expand Up @@ -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
Expand All @@ -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;
}
Expand All @@ -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));
Expand All @@ -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");
}

Expand All @@ -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
24 changes: 14 additions & 10 deletions include/zenoh/api/querier.hxx
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand Down Expand Up @@ -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
Expand All @@ -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;
}
Expand All @@ -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>>(
Expand All @@ -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");
}

Expand All @@ -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};
}
Expand Down
2 changes: 1 addition & 1 deletion zenoh-c
Open in desktop
Submodule zenoh-c updated 13 files
+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
2 changes: 1 addition & 1 deletion zenoh-pico
Open in desktop
Submodule zenoh-pico updated 17 files
+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
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