feat: create reply sample union type

include/zenoh-pico/api/primitives.h

@@ -1273,7 +1273,7 @@ z_sample_kind_t z_sample_kind(const z_loaned_sample_t *sample);
 z_qos_t z_sample_qos(const z_loaned_sample_t *sample);
 
 /**
- * Gets the attachment of a value by aliasing it.
+ * Gets the attachment of a sample by aliasing it.
  *
  * Parameters:
  *   sample: Pointer to a :c:type:`z_loaned_sample_t` to get the attachment from.
@@ -1283,6 +1283,83 @@ z_qos_t z_sample_qos(const z_loaned_sample_t *sample);
  */
 const z_loaned_bytes_t *z_sample_attachment(const z_loaned_sample_t *sample);
 
+/**
+ * Gets the keyexpr from a reply sample by aliasing it.
+ *
+ * Parameters:
+ *   sample: Pointer to a :c:type:`zp_loaned_reply_sample_t` to get the keyexpr from.
+ *
+ * Return:
+ *   The keyexpr wrapped as a :c:type:`z_loaned_keyexpr_t`.
+ */
+const z_loaned_keyexpr_t *zp_reply_sample_keyexpr(const zp_loaned_reply_sample_t *sample);
+
+/**
+ * Gets the payload of a reply sample by aliasing it.
+ *
+ * Parameters:
+ *   sample: Pointer to a :c:type:`zp_loaned_reply_sample_t` to get the payload from.
+ *
+ * Return:
+ *   The payload wrapped as a :c:type:`z_loaned_bytes_t`.
+ */
+const z_loaned_bytes_t *zp_reply_sample_payload(const zp_loaned_reply_sample_t *sample);
+
+/**
+ * Gets the timestamp of a reply sample by aliasing it.
+ *
+ * Parameters:
+ *   sample: Pointer to a :c:type:`zp_loaned_reply_sample_t` to get the timestamp from.
+ *
+ * Return:
+ *   The timestamp wrapped as a :c:type:`z_timestamp_t`.
+ */
+z_timestamp_t zp_reply_sample_timestamp(const zp_loaned_reply_sample_t *sample);
+
+/**
+ * Gets the encoding of a reply sample by aliasing it.
+ *
+ * Parameters:
+ *   sample: Pointer to a :c:type:`zp_loaned_reply_sample_t` to get the encoding from.
+ *
+ * Return:
+ *   The encoding wrapped as a :c:type:`z_loaned_encoding_t*`.
+ */
+const z_loaned_encoding_t *zp_reply_sample_encoding(const zp_loaned_reply_sample_t *sample);
+
+/**
+ * Gets the kind of a reply sample by aliasing it.
+ *
+ * Parameters:
+ *   sample: Pointer to a :c:type:`zp_loaned_reply_sample_t` to get the kind from.
+ *
+ * Return:
+ *   The sample kind wrapped as a :c:type:`z_sample_kind_t`.
+ */
+z_sample_kind_t zp_reply_sample_kind(const zp_loaned_reply_sample_t *sample);
+
+/**
+ * Gets the qos value of a reply sample by aliasing it.
+ *
+ * Parameters:
+ *   sample: Pointer to a :c:type:`zp_loaned_reply_sample_t` to get the qos from.
+ *
+ * Return:
+ *   The qos wrapped as a :c:type:`z_qos_t`.
+ */
+z_qos_t zp_reply_sample_qos(const zp_loaned_reply_sample_t *sample);
+
+/**
+ * Gets the attachment of a reply sample by aliasing it.
+ *
+ * Parameters:
+ *   sample: Pointer to a :c:type:`zp_loaned_reply_sample_t` to get the attachment from.
+ *
+ * Return:
+ *   Pointer to the attachment as a :c:type:`z_loaned_bytes_t`.
+ */
+const z_loaned_bytes_t *zp_reply_sample_attachment(const zp_loaned_reply_sample_t *sample);
+
 #if Z_FEATURE_PUBLICATION == 1
 /**
  * Builds a :c:type:`z_put_options_t` with default values.
@@ -1446,7 +1523,7 @@ int8_t z_get(const z_loaned_session_t *zs, const z_loaned_keyexpr_t *keyexpr, co
 _Bool z_reply_is_ok(const z_loaned_reply_t *reply);
 
 /**
- * Gets the content of an OK reply.
+ * Gets the content of an OK reply refcounted.
  *
  * You should always make sure that :c:func:`z_reply_is_ok` returns ``true`` before calling this function.
  *
@@ -1458,6 +1535,19 @@ _Bool z_reply_is_ok(const z_loaned_reply_t *reply);
  */
 const z_loaned_sample_t *z_reply_ok(const z_loaned_reply_t *reply);
 
+/**
+ * Gets the content of an OK reply.
+ *
+ * You should always make sure that :c:func:`z_reply_is_ok` returns ``true`` before calling this function.
+ *
+ * Parameters:
+ *   reply: Pointer to a :c:type:`z_loaned_reply_t` to get content from.
+ *
+ * Return:
+ *   The OK reply content wrapped as a :c:type:`zp_loaned_reply_sample_t`.
+ */
+const zp_loaned_reply_sample_t *zp_reply_ok(const z_loaned_reply_t *reply);
+
 /**
  * Gets the contents of an error reply.
  *

include/zenoh-pico/net/reply.h

@@ -32,8 +32,12 @@
  *
  */
 typedef struct _z_reply_data_t {
-    _z_sample_rc_t sample;
+    union {
+        _z_sample_t base;
+        _z_sample_rc_t rc;
+    } sample;
     _z_id_t replier_id;
+    _Bool has_sample_as_rc;
 } _z_reply_data_t;
 
 void _z_reply_data_clear(_z_reply_data_t *rd);

include/zenoh-pico/session/session.h

@@ -50,6 +50,7 @@ _Z_LIST_DEFINE(_z_resource, _z_resource_t)
 
 // Forward declaration to avoid cyclical include
 typedef struct _z_sample_rc_t z_loaned_sample_t;
+typedef struct _z_sample_t zp_loaned_reply_sample_t;
 
 /**
  * The callback signature of the functions handling data messages.

src/api/api.c

@@ -863,6 +863,18 @@ const z_loaned_bytes_t *z_sample_attachment(const z_loaned_sample_t *sample) {
     return &_Z_RC_IN_VAL(sample).attachment;
 }
 
+const z_loaned_keyexpr_t *zp_reply_sample_keyexpr(const zp_loaned_reply_sample_t *sample) { return &sample->keyexpr; }
+z_sample_kind_t zp_reply_sample_kind(const zp_loaned_reply_sample_t *sample) { return sample->kind; }
+const z_loaned_bytes_t *zp_reply_sample_payload(const zp_loaned_reply_sample_t *sample) { return &sample->payload; }
+z_timestamp_t zp_reply_sample_timestamp(const zp_loaned_reply_sample_t *sample) { return sample->timestamp; }
+const z_loaned_encoding_t *zp_reply_sample_encoding(const zp_loaned_reply_sample_t *sample) {
+    return &sample->encoding;
+}
+z_qos_t zp_reply_sample_qos(const zp_loaned_reply_sample_t *sample) { return sample->qos; }
+const z_loaned_bytes_t *zp_reply_sample_attachment(const zp_loaned_reply_sample_t *sample) {
+    return &sample->attachment;
+}
+
 const z_loaned_bytes_t *z_reply_err_payload(const z_loaned_reply_err_t *reply_err) { return &reply_err->payload; }
 const z_loaned_encoding_t *z_reply_err_encoding(const z_loaned_reply_err_t *reply_err) { return &reply_err->encoding; }
 
@@ -1089,11 +1101,25 @@ int8_t z_get(const z_loaned_session_t *zs, const z_loaned_keyexpr_t *keyexpr, co
 _Bool z_reply_is_ok(const z_loaned_reply_t *reply) {
     _ZP_UNUSED(reply);
     // For the moment always return TRUE.
-    // The support for reply errors will come in the next release.
+    // FIXME: The support for reply errors will come in the next release.
     return true;
 }
 
-const z_loaned_sample_t *z_reply_ok(const z_loaned_reply_t *reply) { return &reply->in->val.data.sample; }
+const z_loaned_sample_t *z_reply_ok(const z_loaned_reply_t *reply) {
+    // Convert sample to sample_rc if needed
+    if (!reply->in->val.data.has_sample_as_rc) {
+        reply->in->val.data.sample.rc = _z_sample_rc_new_from_val(reply->in->val.data.sample.base);
+        reply->in->val.data.has_sample_as_rc = true;
+    }
+    return &reply->in->val.data.sample.rc;
+}
+
+const zp_loaned_reply_sample_t *zp_reply_ok(const z_loaned_reply_t *reply) {
+    if (reply->in->val.data.has_sample_as_rc) {
+        return NULL;
+    }
+    return &reply->in->val.data.sample.base;
+}
 
 const z_loaned_reply_err_t *z_reply_err(const z_loaned_reply_t *reply) {
     _ZP_UNUSED(reply);

src/net/reply.c

@@ -21,14 +21,19 @@ _z_reply_t _z_reply_null(void) {
     _z_reply_t r = {._tag = Z_REPLY_TAG_DATA,
                     .data = {
                         .replier_id = {.id = {0}},
-                        .sample = {.in = NULL},
+                        .has_sample_as_rc = false,
+                        .sample.base = _z_sample_null(),
                     }};
     return r;
 }
 
 #if Z_FEATURE_QUERY == 1
 void _z_reply_data_clear(_z_reply_data_t *reply_data) {
-    _z_sample_rc_drop(&reply_data->sample);
+    if (reply_data->has_sample_as_rc) {
+        _z_sample_rc_drop(&reply_data->sample.rc);
+    } else {
+        _z_sample_clear(&reply_data->sample.base);
+    }
     reply_data->replier_id = _z_id_empty();
 }
 
@@ -37,15 +42,20 @@ void _z_reply_data_free(_z_reply_data_t **reply_data) {
 
     if (ptr != NULL) {
         _z_reply_data_clear(ptr);
-
         z_free(ptr);
         *reply_data = NULL;
     }
 }
 
 void _z_reply_data_copy(_z_reply_data_t *dst, _z_reply_data_t *src) {
-    _z_sample_rc_copy(&dst->sample, &src->sample);
     dst->replier_id = src->replier_id;
+    dst->has_sample_as_rc = src->has_sample_as_rc;
+
+    if (src->has_sample_as_rc) {
+        _z_sample_rc_copy(&dst->sample.rc, &src->sample.rc);
+    } else {
+        _z_sample_copy(&dst->sample.base, &src->sample.base);
+    }
 }
 
 _z_reply_t _z_reply_move(_z_reply_t *src_reply) {
@@ -91,17 +101,13 @@ _z_reply_t _z_reply_create(_z_keyexpr_t keyexpr, z_reply_tag_t tag, _z_id_t id,
     reply._tag = tag;
     if (tag == Z_REPLY_TAG_DATA) {
         reply.data.replier_id = id;
-        // Create sample
-        _z_sample_t sample = _z_sample_null();
-        sample.keyexpr = keyexpr;    // FIXME: call z_keyexpr_move or copy
-        sample.encoding = encoding;  // FIXME: call z_encoding_move or copy
-        _z_slice_copy(&sample.payload._slice, payload);
-        sample.kind = kind;
-        sample.timestamp = _z_timestamp_duplicate(timestamp);
-        sample.attachment._slice = _z_slice_steal((_z_slice_t *)&att._slice);
-
-        // Create sample rc from value
-        reply.data.sample = _z_sample_rc_new_from_val(sample);
+        // Create reply sample
+        reply.data.sample.base.keyexpr = keyexpr;    // FIXME: call z_keyexpr_move or copy
+        reply.data.sample.base.encoding = encoding;  // FIXME: call z_encoding_move or copy
+        _z_slice_copy(&reply.data.sample.base.payload._slice, payload);
+        reply.data.sample.base.kind = kind;
+        reply.data.sample.base.timestamp = _z_timestamp_duplicate(timestamp);
+        reply.data.sample.base.attachment._slice = _z_slice_steal((_z_slice_t *)&att._slice);
     }
     return reply;
 }

src/session/query.c

@@ -127,8 +127,8 @@ int8_t _z_trigger_query_reply_partial(_z_session_t *zn, const _z_zint_t id, cons
             pen_rep = _z_pending_reply_list_head(pen_rps);
 
             // Check if this is the same resource key
-            if (_z_str_eq(pen_rep->_reply.data.sample.in->val.keyexpr._suffix,
-                          reply.data.sample.in->val.keyexpr._suffix) == true) {
+            if (_z_str_eq(pen_rep->_reply.data.sample.base.keyexpr._suffix, reply.data.sample.base.keyexpr._suffix) ==
+                true) {
                 if (msg->_commons._timestamp.time <= pen_rep->_tstamp.time) {
                     drop = true;
                 } else {
@@ -149,7 +149,7 @@ int8_t _z_trigger_query_reply_partial(_z_session_t *zn, const _z_zint_t id, cons
                     _z_reply_t partial_reply;
                     (void)memset(&partial_reply, 0,
                                  sizeof(_z_reply_t));  // Avoid warnings on uninitialized values on the reply
-                    partial_reply.data.sample.in->val.keyexpr = _z_keyexpr_duplicate(reply.data.sample.in->val.keyexpr);
+                    partial_reply.data.sample.base.keyexpr = _z_keyexpr_duplicate(reply.data.sample.base.keyexpr);
                     pen_rep->_reply = partial_reply;
                 } else {
                     pen_rep->_reply = reply;  // Store the whole reply in the latest mode