Merge branch 'main' into dev/gossip_target

.github/release.yml

@@ -32,4 +32,7 @@ changelog:
         - dependencies
     - title: Other changes
       labels:
-        - "*"
+        - "*"
+      exclude:
+        labels:
+          - internal

.github/workflows/ci.yml

@@ -190,12 +190,11 @@ jobs:
   markdown_lint:
     runs-on: ubuntu-latest
     steps:
-      - uses: articulate/actions-markdownlint@v1
+      - uses: actions/checkout@v4
+      - uses: DavidAnson/markdownlint-cli2-action@v18
         with:
-          config: .markdownlint.yaml
-          files: '*.md'
-          ignore: target
-          version: 0.28.1
+          config: '.markdownlint.yaml'
+          globs: '**/README.md'
 
   # NOTE: In GitHub repository settings, the "Require status checks to pass
   # before merging" branch protection rule ensures that commits are only merged
@@ -205,7 +204,7 @@ jobs:
   ci:
     name: CI status checks
     runs-on: ubuntu-latest
-    needs: [check, test, valgrind, typos]
+    needs: [check, test, valgrind, typos, markdown_lint]
     if: always()
     steps:
       - name: Check whether all jobs pass

Cargo.toml

@@ -105,7 +105,7 @@ git-version = "0.3.9"
 hashbrown = "0.14"
 hex = { version = "0.4.3", default-features = false } # Default features are disabled due to usage in no_std crates
 hmac = { version = "0.12.1", features = ["std"] }
-home = "0.5.9"
+home = "=0.5.9"
 http-types = "2.12.0"
 humantime = "2.1.0"
 itertools = "0.13.0"

examples/examples/z_sub_shm.rs

@@ -14,6 +14,8 @@
 use std::borrow::Cow;
 
 use clap::Parser;
+#[cfg(all(feature = "shared-memory", feature = "unstable"))]
+use zenoh::shm::{zshm, zshmmut};
 use zenoh::{bytes::ZBytes, config::Config, key_expr::KeyExpr};
 use zenoh_examples::CommonArgs;
 
@@ -31,43 +33,25 @@ async fn main() {
     let subscriber = session.declare_subscriber(&key_expr).await.unwrap();
 
     println!("Press CTRL-C to quit...");
-    while let Ok(sample) = subscriber.recv_async().await {
+    while let Ok(mut sample) = subscriber.recv_async().await {
+        let kind = sample.kind();
+        let key_str = sample.key_expr().as_str().to_owned();
+
         // Print overall payload information
-        let (payload_type, payload) = handle_bytes(sample.payload());
+        let (payload_type, payload) = handle_bytes(sample.payload_mut());
         print!(
             ">> [Subscriber] Received {} ('{}': '{}') [{}] ",
-            sample.kind(),
-            sample.key_expr().as_str(),
-            payload,
-            payload_type,
+            kind, key_str, payload, payload_type,
         );
 
         // Print attachment information
-        if let Some(att) = sample.attachment() {
+        if let Some(att) = sample.attachment_mut() {
             let (attachment_type, attachment) = handle_bytes(att);
             print!(" ({}: {})", attachment_type, attachment);
         }
 
         println!();
     }
-
-    // // Try to get a mutable reference to the SHM buffer. If this subscriber is the only subscriber
-    // // holding a reference to the SHM buffer, then it will be able to get a mutable reference to it.
-    // // With the mutable reference at hand, it's possible to mutate in place the SHM buffer content.
-
-    // while let Ok(mut sample) = subscriber.recv_async().await {
-    //     let kind = sample.kind();
-    //     let key_expr = sample.key_expr().to_string();
-    //     match sample.payload_mut().as_shm_mut() {
-    //         Ok(payload) => println!(
-    //             ">> [Subscriber] Received {} ('{}': '{:02x?}')",
-    //             kind, key_expr, payload
-    //         ),
-    //         Err(e) => {
-    //             println!(">> [Subscriber] Not a ShmBufInner: {:?}", e);
-    //         }
-    //     }
-    // }
 }
 
 #[derive(clap::Parser, Clone, PartialEq, Eq, Hash, Debug)]
@@ -84,7 +68,7 @@ fn parse_args() -> (Config, KeyExpr<'static>) {
     (args.common.into(), args.key)
 }
 
-fn handle_bytes(bytes: &ZBytes) -> (&str, Cow<str>) {
+fn handle_bytes(bytes: &mut ZBytes) -> (&str, Cow<str>) {
     // Determine buffer type for indication purpose
     let bytes_type = {
         // if Zenoh is built without SHM support, the only buffer type it can receive is RAW
@@ -100,10 +84,14 @@ fn handle_bytes(bytes: &ZBytes) -> (&str, Cow<str>) {
             "UNKNOWN"
         }
 
-        // if Zenoh is built with SHM support and with SHM API  we can detect the exact buffer type
+        // if Zenoh is built with SHM support and with SHM API we can detect the exact buffer type
         #[cfg(all(feature = "shared-memory", feature = "unstable"))]
-        match bytes.as_shm() {
-            Some(_) => "SHM",
+        match bytes.as_shm_mut() {
+            // try to mutate SHM buffer to get it's mutability property
+            Some(shm) => match <&mut zshm as TryInto<&mut zshmmut>>::try_into(shm) {
+                Ok(_shm_mut) => "SHM (MUT)",
+                Err(_) => "SHM (IMMUT)",
+            },
             None => "RAW",
         }
     };

zenoh-ext/src/advanced_publisher.rs

@@ -203,8 +203,8 @@ impl QoSBuilderTrait for AdvancedPublisherBuilder<'_, '_, '_> {
 }
 
 #[zenoh_macros::unstable]
-impl<'a> Resolvable for AdvancedPublisherBuilder<'a, '_, '_> {
-    type To = ZResult<AdvancedPublisher<'a>>;
+impl<'b> Resolvable for AdvancedPublisherBuilder<'_, 'b, '_> {
+    type To = ZResult<AdvancedPublisher<'b>>;
 }
 
 #[zenoh_macros::unstable]
@@ -238,7 +238,7 @@ pub struct AdvancedPublisher<'a> {
 #[zenoh_macros::unstable]
 impl<'a> AdvancedPublisher<'a> {
     #[zenoh_macros::unstable]
-    fn new(conf: AdvancedPublisherBuilder<'a, '_, '_>) -> ZResult<Self> {
+    fn new(conf: AdvancedPublisherBuilder<'_, 'a, '_>) -> ZResult<Self> {
         let key_expr = conf.pub_key_expr?;
         let meta = match conf.meta_key_expr {
             Some(meta) => Some(meta?),
@@ -247,7 +247,7 @@ impl<'a> AdvancedPublisher<'a> {
 
         let publisher = conf
             .session
-            .declare_publisher(key_expr.clone().into_owned())
+            .declare_publisher(key_expr.clone())
             .encoding(conf.encoding)
             .allowed_destination(conf.destination)
             .reliability(conf.reliability)
@@ -286,7 +286,7 @@ impl<'a> AdvancedPublisher<'a> {
 
         let cache = if conf.cache {
             Some(
-                AdvancedCacheBuilder::new(conf.session, Ok(key_expr.clone().into_owned()))
+                AdvancedCacheBuilder::new(conf.session, Ok(key_expr.clone()))
                     .history(conf.history)
                     .queryable_prefix(&prefix)
                     .wait()?,

zenoh/src/api/query.rs

@@ -86,6 +86,12 @@ impl ReplyError {
         &self.payload
     }
 
+    /// Gets the mutable payload of this ReplyError.
+    #[inline]
+    pub fn payload_mut(&mut self) -> &mut ZBytes {
+        &mut self.payload
+    }
+
     /// Gets the encoding of this ReplyError.
     #[inline]
     pub fn encoding(&self) -> &Encoding {