Rework encoding (#452)

* feat: add _z_string_check function * feat: replace z_slice by z_string in encodings * feat: update codec with encoding z_string * feat: update encoding use with z_string * fix: z_string related memory leak * chore: update zenoh-pico.h * feat: remove encoding enum from functions * feat: remove encoding from most examples * feat: remove encoding id enum * feat: switch to encoding form string api * feat: add encoding values config token * doc: add encoding values documentation * fix: remove encoding from z_pub * feat: add wire-level optimization on encoding values * feat: add encoding example * fix: remove encoding from tests * doc: update api doc * test: update attachment test * doc: update doc api * fix: function name typo * fix: segfault with default encoding
eclipse-zenoh · Jun 28, 2024 · 27000eb · 27000eb
1 parent 7e0a107
commit 27000eb
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Showing 32 changed files with 384 additions and 232 deletions.
diff --git a/docs/api.rst b/docs/api.rst
@@ -25,7 +25,6 @@ Enums
 .. autocenum:: constants.h::z_whatami_t
 .. autocenum:: constants.h::zp_keyexpr_canon_status_t
 .. autocenum:: constants.h::z_sample_kind_t
-.. autocenum:: constants.h::z_encoding_id_t
 .. autocenum:: constants.h::z_consolidation_mode_t
 .. autocenum:: constants.h::z_reliability_t
 .. autocenum:: constants.h::z_reply_tag_t
@@ -282,14 +281,14 @@ Primitives
 .. autocfunction:: primitives.h::z_scouting_config_from
 .. autocfunction:: primitives.h::zp_scouting_config_get
 .. autocfunction:: primitives.h::zp_scouting_config_insert
-.. autocfunction:: primitives.h::zp_encoding_make
-.. autocfunction:: primitives.h::zp_encoding_default
 .. autocfunction:: primitives.h::z_encoding_check
 .. autocfunction:: primitives.h::z_encoding_drop
 .. autocfunction:: primitives.h::z_encoding_loan
 .. autocfunction:: primitives.h::z_encoding_loan_mut
 .. autocfunction:: primitives.h::z_encoding_move
 .. autocfunction:: primitives.h::z_encoding_null
+.. autocfunction:: primitives.h::z_encoding_from_str
+.. autocfunction:: primitives.h::z_encoding_to_string
 .. autocfunction:: primitives.h::z_reply_err_payload
 .. autocfunction:: primitives.h::z_reply_err_encoding
 .. autocfunction:: primitives.h::z_slice_data

diff --git a/examples/unix/c11/z_pub.c b/examples/unix/c11/z_pub.c
@@ -116,14 +116,7 @@ int main(int argc, char **argv) {
         z_owned_bytes_t payload;
         z_bytes_serialize_from_string(&payload, buf);
 
-        // Create encoding
-        z_owned_encoding_t encoding;
-        zp_encoding_make(&encoding, Z_ENCODING_ID_TEXT_PLAIN, "utf8");
-        z_publisher_put_options_t options;
-        z_publisher_put_options_default(&options);
-        options.encoding = z_move(encoding);
-
-        z_publisher_put(z_loan(pub), z_move(payload), &options);
+        z_publisher_put(z_loan(pub), z_move(payload), NULL);
     }
     // Clean up
     z_undeclare_publisher(z_move(pub));

diff --git a/examples/unix/c11/z_pub_attachment.c b/examples/unix/c11/z_pub_attachment.c
@@ -153,6 +153,9 @@ int main(int argc, char **argv) {
     // Allocate buffer
     char buf_ind[16];
 
+    // Create encoding
+    z_owned_encoding_t encoding;
+
     // Publish data
     printf("Press CTRL-C to quit...\n");
     char buf[256];
@@ -172,6 +175,10 @@ int main(int argc, char **argv) {
         zp_bytes_serialize_from_iter(&attachment, create_attachment_iter, (void *)&ctx, kv_pairs_size(&ctx));
         options.attachment = z_move(attachment);
 
+        // Add encoding value
+        z_encoding_from_str(&encoding, "text/plain;utf8");
+        options.encoding = z_move(encoding);
+
         z_publisher_put(z_loan(pub), z_move(payload), &options);
     }
     // Clean up

diff --git a/examples/unix/c11/z_put.c b/examples/unix/c11/z_put.c
@@ -101,15 +101,8 @@ int main(int argc, char **argv) {
     z_owned_bytes_t payload;
     z_bytes_serialize_from_string(&payload, value);
 
-    // Create encoding
-    z_owned_encoding_t encoding;
-    zp_encoding_make(&encoding, Z_ENCODING_ID_TEXT_PLAIN, NULL);
-
     printf("Putting Data ('%s': '%s')...\n", keyexpr, value);
-    z_put_options_t options;
-    z_put_options_default(&options);
-    options.encoding = z_move(encoding);
-    if (z_put(z_loan(s), z_loan(ke), z_move(payload), &options) < 0) {
+    if (z_put(z_loan(s), z_loan(ke), z_move(payload), NULL) < 0) {
         printf("Oh no! Put has failed...\n");
     }
     // Clean up

diff --git a/examples/unix/c11/z_queryable.c b/examples/unix/c11/z_queryable.c
@@ -39,19 +39,11 @@ void query_handler(const z_loaned_query_t *query, void *ctx) {
     }
     z_drop(z_move(payload_string));
 
-    // Create encoding
-    z_owned_encoding_t encoding;
-    zp_encoding_make(&encoding, Z_ENCODING_ID_TEXT_PLAIN, NULL);
-
-    z_query_reply_options_t options;
-    z_query_reply_options_default(&options);
-    options.encoding = z_move(encoding);
-
     // Reply value encoding
     z_owned_bytes_t reply_payload;
     z_bytes_serialize_from_string(&reply_payload, value);
 
-    z_query_reply(query, z_query_keyexpr(query), z_move(reply_payload), &options);
+    z_query_reply(query, z_query_keyexpr(query), z_move(reply_payload), NULL);
     z_drop(z_move(keystr));
     msg_nb++;
 }

diff --git a/examples/unix/c11/z_queryable_attachment.c b/examples/unix/c11/z_queryable_attachment.c
@@ -125,14 +125,6 @@ void query_handler(const z_loaned_query_t *query, void *ctx) {
     drop_attachment(&kvp);
     z_drop(z_move(payload_string));
 
-    // Create encoding
-    z_owned_encoding_t encoding;
-    zp_encoding_make(&encoding, Z_ENCODING_ID_TEXT_PLAIN, NULL);
-
-    z_query_reply_options_t options;
-    z_query_reply_options_default(&options);
-    options.encoding = z_move(encoding);
-
     // Reply value encoding
     z_owned_bytes_t reply_payload;
     z_bytes_serialize_from_string(&reply_payload, value);
@@ -143,6 +135,9 @@ void query_handler(const z_loaned_query_t *query, void *ctx) {
     kv_pairs_tx_t kv_ctx = (kv_pairs_tx_t){.data = kvs, .current_idx = 0, .len = 1};
     z_owned_bytes_t attachment;
     zp_bytes_serialize_from_iter(&attachment, create_attachment_iter, (void *)&kv_ctx, kv_pairs_size(&kv_ctx));
+
+    z_query_reply_options_t options;
+    z_query_reply_options_default(&options);
     options.attachment = z_move(attachment);
 
     z_query_reply(query, z_query_keyexpr(query), z_move(reply_payload), &options);

diff --git a/examples/unix/c11/z_sub_attachment.c b/examples/unix/c11/z_sub_attachment.c
@@ -72,7 +72,11 @@ void data_handler(const z_loaned_sample_t *sample, void *ctx) {
     z_keyexpr_to_string(z_sample_keyexpr(sample), &keystr);
     z_owned_string_t value;
     z_bytes_deserialize_into_string(z_sample_payload(sample), &value);
+    z_owned_string_t encoding;
+    z_encoding_to_string(z_sample_encoding(sample), &encoding);
+
     printf(">> [Subscriber] Received ('%s': '%s')\n", z_string_data(z_loan(keystr)), z_string_data(z_loan(value)));
+    printf("    with encoding: %s\n", z_string_data(z_loan(encoding)));
     // Check attachment
     kv_pairs_t kvp = {.current_idx = 0, .len = KVP_LEN, .data = (kv_pair_t *)malloc(KVP_LEN * sizeof(kv_pair_t))};
     parse_attachment(&kvp, z_sample_attachment(sample));
@@ -82,6 +86,7 @@ void data_handler(const z_loaned_sample_t *sample, void *ctx) {
     drop_attachment(&kvp);
     z_drop(z_move(keystr));
     z_drop(z_move(value));
+    z_drop(z_move(encoding));
     msg_nb++;
 }
 

diff --git a/examples/unix/c99/z_pub.c b/examples/unix/c99/z_pub.c
@@ -106,14 +106,7 @@ int main(int argc, char **argv) {
         z_owned_bytes_t payload;
         z_bytes_serialize_from_string(&payload, buf);
 
-        // Create encoding
-        z_owned_encoding_t encoding;
-        zp_encoding_make(&encoding, Z_ENCODING_ID_TEXT_PLAIN, NULL);
-        z_publisher_put_options_t options;
-        z_publisher_put_options_default(&options);
-        options.encoding = z_encoding_move(&encoding);
-
-        z_publisher_put(z_publisher_loan(&pub), z_bytes_move(&payload), &options);
+        z_publisher_put(z_publisher_loan(&pub), z_bytes_move(&payload), NULL);
     }
     // Clean up
     z_undeclare_publisher(z_publisher_move(&pub));

diff --git a/examples/unix/c99/z_put.c b/examples/unix/c99/z_put.c
@@ -97,15 +97,8 @@ int main(int argc, char **argv) {
     z_owned_bytes_t payload;
     z_bytes_serialize_from_string(&payload, value);
 
-    // Create encoding
-    z_owned_encoding_t encoding;
-    zp_encoding_make(&encoding, Z_ENCODING_ID_TEXT_PLAIN, NULL);
-
     printf("Putting Data ('%s': '%s')...\n", keyexpr, value);
-    z_put_options_t options;
-    z_put_options_default(&options);
-    options.encoding = z_encoding_move(&encoding);
-    if (z_put(z_session_loan(&s), z_keyexpr_loan(&ke), z_bytes_move(&payload), &options) < 0) {
+    if (z_put(z_session_loan(&s), z_keyexpr_loan(&ke), z_bytes_move(&payload), NULL) < 0) {
         printf("Oh no! Put has failed...\n");
     }
 

diff --git a/examples/unix/c99/z_queryable.c b/examples/unix/c99/z_queryable.c
@@ -38,18 +38,11 @@ void query_handler(const z_loaned_query_t *query, void *ctx) {
     }
     z_string_drop(z_string_move(&payload_string));
 
-    // Create encoding
-    z_owned_encoding_t encoding;
-    zp_encoding_make(&encoding, Z_ENCODING_ID_TEXT_PLAIN, NULL);
-
-    z_query_reply_options_t options;
-    z_query_reply_options_default(&options);
-    options.encoding = z_encoding_move(&encoding);
     // Reply value encoding
     z_owned_bytes_t reply_payload;
     z_bytes_serialize_from_string(&reply_payload, value);
 
-    z_query_reply(query, z_query_keyexpr(query), z_bytes_move(&reply_payload), &options);
+    z_query_reply(query, z_query_keyexpr(query), z_bytes_move(&reply_payload), NULL);
     z_string_drop(z_string_move(&keystr));
 }
 

diff --git a/examples/windows/z_pub.c b/examples/windows/z_pub.c
@@ -68,14 +68,7 @@ int main(int argc, char **argv) {
         z_owned_bytes_t payload;
         z_bytes_serialize_from_string(&payload, buf);
 
-        // Create encoding
-        z_owned_encoding_t encoding;
-        zp_encoding_make(&encoding, Z_ENCODING_ID_TEXT_PLAIN, NULL);
-        z_publisher_put_options_t options;
-        z_publisher_put_options_default(&options);
-        options.encoding = z_move(encoding);
-
-        z_publisher_put(z_loan(pub), z_move(payload), &options);
+        z_publisher_put(z_loan(pub), z_move(payload), NULL);
     }
 
     // Clean-up

diff --git a/examples/windows/z_put.c b/examples/windows/z_put.c
@@ -64,15 +64,8 @@ int main(int argc, char **argv) {
     z_owned_bytes_t payload;
     z_bytes_serialize_from_string(&payload, value);
 
-    // Create encoding
-    z_owned_encoding_t encoding;
-    zp_encoding_make(&encoding, Z_ENCODING_ID_TEXT_PLAIN, NULL);
-
     printf("Putting Data ('%s': '%s')...\n", keyexpr, value);
-    z_put_options_t options;
-    z_put_options_default(&options);
-    options.encoding = z_move(encoding);
-    if (z_put(z_loan(s), z_loan(ke), z_move(payload), &options) < 0) {
+    if (z_put(z_loan(s), z_loan(ke), z_move(payload), NULL) < 0) {
         printf("Oh no! Put has failed...\n");
     }
 

diff --git a/examples/windows/z_queryable.c b/examples/windows/z_queryable.c
@@ -38,18 +38,11 @@ void query_handler(const z_loaned_query_t *query, void *ctx) {
     }
     z_drop(z_move(payload_string));
 
-    // Create encoding
-    z_owned_encoding_t encoding;
-    zp_encoding_make(&encoding, Z_ENCODING_ID_TEXT_PLAIN, NULL);
-
-    z_query_reply_options_t options;
-    z_query_reply_options_default(&options);
-    options.encoding = z_move(encoding);
     // Reply value encoding
     z_owned_bytes_t reply_payload;
     z_bytes_serialize_from_string(&reply_payload, value);
 
-    z_query_reply(query, z_query_keyexpr(query), z_move(reply_payload), &options);
+    z_query_reply(query, z_query_keyexpr(query), z_move(reply_payload), NULL);
 
     z_drop(z_move(keystr));
 }

diff --git a/include/zenoh-pico.h b/include/zenoh-pico.h
@@ -17,9 +17,9 @@
 #ifndef ZENOH_PICO_H
 #define ZENOH_PICO_H
 
-#define ZENOH_PICO "0.11.0.0"
-#define ZENOH_PICO_MAJOR 0
-#define ZENOH_PICO_MINOR 11
+#define ZENOH_PICO "1.0.0.0"
+#define ZENOH_PICO_MAJOR 1
+#define ZENOH_PICO_MINOR 0
 #define ZENOH_PICO_PATCH 0
 #define ZENOH_PICO_TWEAK 0
 

diff --git a/include/zenoh-pico.h.in b/include/zenoh-pico.h.in
@@ -24,6 +24,7 @@
 #define ZENOH_PICO_TWEAK @ZENOH_PICO_TWEAK@
 
 #include "zenoh-pico/api/constants.h"
+#include "zenoh-pico/api/handlers.h"
 #include "zenoh-pico/api/macros.h"
 #include "zenoh-pico/api/primitives.h"
 #include "zenoh-pico/api/types.h"