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* Add querier API * Add querier example * Build fix * Mark querier API as unstable * Querier implementation * Fix modular build * Add test and update example * Add docs * Add querier session check
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,174 @@ | ||
| // | ||
| // Copyright (c) 2025 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, <[email protected]> | ||
|
|
||
| #include <limits.h> | ||
| #include <stddef.h> | ||
| #include <stdio.h> | ||
| #include <unistd.h> | ||
| #include <zenoh-pico.h> | ||
|
|
||
| #if Z_FEATURE_QUERY == 1 && Z_FEATURE_MULTI_THREAD == 1 && defined Z_FEATURE_UNSTABLE_API | ||
|
|
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| int main(int argc, char **argv) { | ||
| const char *selector = "demo/example/**"; | ||
| const char *mode = "client"; | ||
| const char *clocator = NULL; | ||
| const char *llocator = NULL; | ||
| const char *value = NULL; | ||
| int n = INT_MAX; | ||
| int timeout_ms = 0; | ||
|
|
||
| int opt; | ||
| while ((opt = getopt(argc, argv, "s:e:m:v:l:n:t:")) != -1) { | ||
| switch (opt) { | ||
| case 's': | ||
| selector = optarg; | ||
| break; | ||
| case 'e': | ||
| clocator = optarg; | ||
| break; | ||
| case 'm': | ||
| mode = optarg; | ||
| break; | ||
| case 'l': | ||
| llocator = optarg; | ||
| break; | ||
| case 'v': | ||
| value = optarg; | ||
| break; | ||
| case 'n': | ||
| n = atoi(optarg); | ||
| break; | ||
| case 't': | ||
| timeout_ms = atoi(optarg); | ||
| break; | ||
| case '?': | ||
| if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'v' || optopt == 'l' || | ||
| optopt == 'n' || optopt == 't') { | ||
| 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; | ||
| } | ||
|
|
||
| const char *ke = selector; | ||
| size_t ke_len = strlen(ke); | ||
| const char *params = strchr(selector, '?'); | ||
| if (params != NULL) { | ||
| ke_len = params - ke; | ||
| params += 1; | ||
| } | ||
|
|
||
| z_view_keyexpr_t keyexpr; | ||
| if (z_view_keyexpr_from_substr(&keyexpr, ke, ke_len) < 0) { | ||
| printf("%.*s is not a valid key expression", (int)ke_len, ke); | ||
| exit(-1); | ||
| } | ||
|
|
||
| printf("Declaring Querier on '%s'...\n", ke); | ||
| z_owned_querier_t querier; | ||
|
|
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| z_querier_options_t opts; | ||
| z_querier_options_default(&opts); | ||
| opts.timeout_ms = timeout_ms; | ||
|
|
||
| if (z_declare_querier(z_loan(s), &querier, z_loan(keyexpr), &opts) < 0) { | ||
| printf("Unable to declare Querier for key expression!\n"); | ||
| exit(-1); | ||
| } | ||
|
|
||
| printf("Press CTRL-C to quit...\n"); | ||
| char buf[256]; | ||
| for (int idx = 0; idx != n; ++idx) { | ||
| z_sleep_s(1); | ||
| sprintf(buf, "[%4d] %s", idx, value ? value : ""); | ||
| printf("Querying '%s' with payload '%s'...\n", selector, buf); | ||
| z_querier_get_options_t get_options; | ||
| z_querier_get_options_default(&get_options); | ||
|
|
||
| if (value != NULL) { | ||
| z_owned_bytes_t payload; | ||
| z_bytes_copy_from_str(&payload, buf); | ||
| get_options.payload = z_move(payload); | ||
| } | ||
|
|
||
| z_owned_fifo_handler_reply_t handler; | ||
| z_owned_closure_reply_t closure; | ||
| z_fifo_channel_reply_new(&closure, &handler, 16); | ||
|
|
||
| z_querier_get(z_loan(querier), params, z_move(closure), &get_options); | ||
|
|
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| 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)); | ||
|
|
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| z_view_string_t keystr; | ||
| z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr); | ||
|
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| z_owned_string_t replystr; | ||
| z_bytes_to_string(z_sample_payload(sample), &replystr); | ||
|
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| printf(">> Received ('%.*s': '%.*s')\n", (int)z_string_len(z_loan(keystr)), | ||
| z_string_data(z_loan(keystr)), (int)z_string_len(z_loan(replystr)), | ||
| z_string_data(z_loan(replystr))); | ||
| z_drop(z_move(replystr)); | ||
| } else { | ||
| printf(">> Received an error\n"); | ||
| } | ||
| z_drop(z_move(reply)); | ||
| } | ||
| z_drop(z_move(handler)); | ||
| } | ||
|
|
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| z_drop(z_move(querier)); | ||
| 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 |
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