Methods reordering / modular build

eclipse-zenoh · Nov 5, 2024 · 009fb00 · 009fb00
1 parent b648506
commit 009fb00
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Showing 4 changed files with 212 additions and 146 deletions.
diff --git a/include/zenoh-pico/api/liveliness.h b/include/zenoh-pico/api/liveliness.h
@@ -21,6 +21,8 @@
 #include "zenoh-pico/api/types.h"
 #include "zenoh-pico/protocol/core.h"
 
+#if Z_FEATURE_LIVELINESS == 1
+
 typedef struct {
     uint32_t _id;
     _z_keyexpr_t _key;
@@ -30,13 +32,53 @@ typedef struct {
 _Z_OWNED_TYPE_VALUE(_z_liveliness_token_t, liveliness_token)
 _Z_OWNED_FUNCTIONS_DEF(liveliness_token)
 
+/**************** Liveliness Token ****************/
+
 /**
  * The options for `z_liveliness_declare_token()`.
  */
 typedef struct z_liveliness_declaration_options_t {
     uint8_t __dummy;
 } z_liveliness_declaration_options_t;
 
+/**
+ * Constructs default value for `z_liveliness_declaration_options_t`.
+ */
+z_result_t z_liveliness_declaration_options_default(z_liveliness_declaration_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:
+ *   token: An uninitialized memory location where liveliness token will be constructed.
+ *   zs: A Zenos session to declare the liveliness token.
+ *   keyexpr: A keyexpr to declare a liveliess token for.
+ *   options: Liveliness token declaration properties.
+ *
+ * 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_declaration_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 `z_liveliness_declare_subscriber()`
  */
@@ -45,50 +87,37 @@ typedef struct z_liveliness_subscriber_options_t {
 } z_liveliness_subscriber_options_t;
 
 /**
- * The options for `z_liveliness_get()`
- */
-typedef struct z_liveliness_get_options_t {
-    uint32_t timeout_ms;
-} z_liveliness_get_options_t;
-
-/**
- * Constucts default value for `z_liveliness_declare_subscriber_options_t`.
+ * Constucts default value for `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`.
  *
- * @param token: An uninitialized memory location where subscriber will be constructed.
- * @param zs: The Zenoh session.
- * @param keyexpr: The key expression to subscribe to.
- * @param callback: The callback function that will be called each time a liveliness token status is changed.
- * @param _options: The options to be passed to the liveliness subscriber declaration.
+ * Parameters:
+ *   token: An uninitialized memory location where subscriber will be constructed.
+ *   zs: The Zenoh session.
+ *   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 in case of success, negative error values otherwise.
+ * 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);
-/**
- * Constructs default value for `z_liveliness_declaration_options_t`.
- */
-z_result_t z_liveliness_declaration_options_default(z_liveliness_declaration_options_t *options);
+#endif  // Z_FEATURE_SUBSCRIPTION == 1
 
+/**************** Liveliness Query ****************/
+
+#if Z_FEATURE_QUERY == 1
 /**
- * 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.
- *
- * @param token: An uninitialized memory location where liveliness token will be constructed.
- * @param zs: A Zenos session to declare the liveliness token.
- * @param keyexpr: A keyexpr to declare a liveliess token for.
- * @param _options: Liveliness token declaration properties.
+ * The options for `z_liveliness_get()`
  */
-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_declaration_options_t *options);
+typedef struct z_liveliness_get_options_t {
+    uint32_t timeout_ms;
+} z_liveliness_get_options_t;
 
 /**
  * Constructs default value `z_liveliness_get_options_t`.
@@ -98,22 +127,20 @@ 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`.
  *
- * @param zs: The Zenoh session.
- * @param keyexpr: The key expression to query liveliness tokens for.
- * @param callback: The callback function that will be called for each received reply.
- * @param options: Additional options for the liveliness get operation.
+ * 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);
 
-/**
- * Destroys a liveliness token, notifying subscribers of its destruction.
- */
+#endif  // Z_FEATURE_QUERY == 1
 
-z_result_t z_liveliness_undeclare_token(z_moved_liveliness_token_t *token);
-/**
- * Borrows token.
- */
-const z_loaned_liveliness_token_t *z_liveliness_token_loan(const z_owned_liveliness_token_t *token);
+#endif  // Z_FEATURE_LIVELINESS == 1
 
 #endif  // INCLUDE_ZENOH_PICO_API_LIVELINESS_H
diff --git a/include/zenoh-pico/session/liveliness.h b/include/zenoh-pico/session/liveliness.h
@@ -15,19 +15,27 @@
 #ifndef ZENOH_PICO_SESSION_LIVELINESS_H
 #define ZENOH_PICO_SESSION_LIVELINESS_H
 
-#if Z_FEATURE_QUERYABLE == 1
+#if Z_FEATURE_LIVELINESS == 1
 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);
+#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);
 
-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);
-
 void _z_liveliness_init(_z_session_t *zn);
 void _z_liveliness_clear(_z_session_t *zn);
 #endif

diff --git a/src/api/liveliness.c b/src/api/liveliness.c
@@ -21,6 +21,10 @@
 #include "zenoh-pico/session/resource.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;
@@ -44,6 +48,40 @@ void _z_liveliness_token_clear(_z_liveliness_token_t *token) {
 _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_declaration_options_default(z_liveliness_declaration_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_declaration_options_t *options) {
+    (void)options;
+
+    _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 (_Z_RC_IN_VAL(zs)->_tp._type == _Z_TRANSPORT_UNICAST_TYPE) {
+        _z_resource_t *r = _z_get_resource_by_key(_Z_RC_IN_VAL(zs), &keyexpr_aliased);
+        if (r == NULL) {
+            uint16_t id = _z_declare_resource(_Z_RC_IN_VAL(zs), keyexpr_aliased);
+            key = _z_rid_with_suffix(id, NULL);
+        }
+    }
+
+    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->__dummy = 0;
     return _Z_RES_OK;
@@ -71,7 +109,11 @@ z_result_t z_liveliness_declare_subscriber(const z_loaned_session_t *zs, z_owned
         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;
@@ -113,34 +155,6 @@ z_result_t z_liveliness_get(const z_loaned_session_t *zs, const z_loaned_keyexpr
         &callback->_this);  // call and drop passed to _z_liveliness_query, so we nullify the closure here
     return ret;
 }
+#endif  // Z_FEATURE_QUERY == 1
 
-z_result_t z_liveliness_declaration_options_default(z_liveliness_declaration_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_declaration_options_t *options) {
-    (void)options;
-
-    _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 (_Z_RC_IN_VAL(zs)->_tp._type == _Z_TRANSPORT_UNICAST_TYPE) {
-        _z_resource_t *r = _z_get_resource_by_key(_Z_RC_IN_VAL(zs), &keyexpr_aliased);
-        if (r == NULL) {
-            uint16_t id = _z_declare_resource(_Z_RC_IN_VAL(zs), keyexpr_aliased);
-            key = _z_rid_with_suffix(id, NULL);
-        }
-    }
-
-    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);
-}
+#endif  // Z_FEATURE_LIVELINESS == 1