Subscriber callbacks now receive a refcounted z_sample (#410)

* refactor: move code to net/sample and net/reply files

* feat: make attachment a permanent sub function arg

* feat: make z_sample type an rc and add z_loaned_sample type

* feat: add z_sample accessors functions

* fix: update tests with new z_sample

* fix: update examples with new z_sample

* fix: undefined function call

* fix: example updates with new z_sample

* fix: bad dummy subscription function args

* fix: update tests with new z_sample

* fix: update remaining examples with new z_sample

* fix: missing brace initializer

examples/arduino/z_get.ino

@@ -45,7 +45,7 @@ void reply_dropper(void *ctx) {
 void reply_handler(z_owned_reply_t *oreply, void *ctx) {
     (void)(ctx);
     if (z_reply_is_ok(oreply)) {
-        z_sample_t sample = z_reply_ok(oreply);
+        z_loaned_sample_t sample = z_reply_ok(oreply);
         z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
         std::string val((const char *)sample.payload.start, sample.payload.len);
 

examples/arduino/z_sub.ino

@@ -35,8 +35,10 @@
 #define KEYEXPR "demo/example/**"
 
 void data_handler(const z_sample_t *sample, void *arg) {
-    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
-    std::string val((const char *)sample->payload.start, sample->payload.len);
+    z_keyexpr_t keyexpr = z_sample_keyexpr(sample);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_owned_str_t keystr = z_keyexpr_to_string(keyexpr);
+    std::string val((const char *)payload.start, payload.len);
 
     Serial.print(" >> [Subscription listener] Received (");
     Serial.print(z_str_loan(&keystr));

examples/espidf/z_get.c

@@ -105,7 +105,7 @@ void reply_dropper(void *ctx) { printf(" >> Received query final notification\n"
 
 void reply_handler(z_owned_reply_t *oreply, void *ctx) {
     if (z_reply_is_ok(oreply)) {
-        z_sample_t sample = z_reply_ok(oreply);
+        z_loaned_sample_t sample = z_reply_ok(oreply);
         z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
         printf(" >> Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample.payload.len, sample.payload.start);
         z_drop(z_move(keystr));

examples/espidf/z_sub.c

@@ -101,9 +101,10 @@ void wifi_init_sta(void) {
 }
 
 void data_handler(const z_sample_t* sample, void* arg) {
-    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
-    printf(" >> [Subscriber handler] Received ('%s': '%.*s')\n", z_str_loan(&keystr), (int)sample->payload.len,
-           sample->payload.start);
+    z_keyexpr_t keyexpr = z_sample_keyexpr(sample);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_owned_str_t keystr = z_keyexpr_to_string(keyexpr);
+    printf(" >> [Subscriber handler] Received ('%s': '%.*s')\n", z_str_loan(&keystr), (int)payload.len, payload.start);
     z_str_drop(z_str_move(&keystr));
 }
 

examples/freertos_plus_tcp/z_get.c

@@ -39,7 +39,7 @@ void reply_dropper(void *ctx) {
 void reply_handler(z_owned_reply_t *reply, void *ctx) {
     (void)(ctx);
     if (z_reply_is_ok(reply)) {
-        z_sample_t sample = z_reply_ok(reply);
+        z_loaned_sample_t sample = z_reply_ok(reply);
         z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
         printf(">> Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample.payload.len, sample.payload.start);
         z_drop(z_move(keystr));

examples/freertos_plus_tcp/z_sub.c

@@ -30,9 +30,10 @@
 
 void data_handler(const z_sample_t *sample, void *ctx) {
     (void)(ctx);
-    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
-    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
-           sample->payload.start);
+    z_keyexpr_t keyexpr = z_sample_keyexpr(sample);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_owned_str_t keystr = z_keyexpr_to_string(keyexpr);
+    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)payload.len, payload.start);
     z_drop(z_move(keystr));
 }
 

examples/freertos_plus_tcp/z_sub_st.c

@@ -33,9 +33,10 @@ int msg_nb = 0;
 
 void data_handler(const z_sample_t *sample, void *ctx) {
     (void)(ctx);
-    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
-    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
-           sample->payload.start);
+    z_keyexpr_t keyexpr = z_sample_keyexpr(sample);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_owned_str_t keystr = z_keyexpr_to_string(keyexpr);
+    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)payload.len, payload.start);
     z_drop(z_move(keystr));
     msg_nb++;
 }

examples/mbed/z_get.cpp

@@ -35,7 +35,7 @@ void reply_dropper(void *ctx) { printf(" >> Received query final notification\n"
 
 void reply_handler(z_owned_reply_t *oreply, void *ctx) {
     if (z_reply_is_ok(oreply)) {
-        z_sample_t sample = z_reply_ok(oreply);
+        z_loaned_sample_t sample = z_reply_ok(oreply);
         z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
         printf(" >> Received ('%s': '%.*s')\n", z_str_loan(&keystr), (int)sample.payload.len, sample.payload.start);
         z_str_drop(z_str_move(&keystr));

examples/mbed/z_sub.cpp

@@ -31,9 +31,11 @@
 #define KEYEXPR "demo/example/**"
 
 void data_handler(const z_sample_t *sample, void *arg) {
-    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
-    printf(" >> [Subscriber handler] Received ('%s': '%.*s')\n", z_str_loan(&keystr), (int)sample->payload.len,
-           sample->payload.start);
+        z_keyexpr_t keyexpr = z_sample_keyexpr(sample);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_owned_str_t keystr = z_keyexpr_to_string(keyexpr);
+    printf(" >> [Subscriber handler] Received ('%s': '%.*s')\n", z_str_loan(&keystr), (int)payload.len,
+           payload.start);
     z_str_drop(z_str_move(&keystr));
 }
 

examples/unix/c11/z_get.c

@@ -40,7 +40,7 @@ int8_t attachment_handler(z_bytes_t key, z_bytes_t att_value, void *ctx) {
 void reply_handler(z_owned_reply_t *reply, void *ctx) {
     (void)(ctx);
     if (z_reply_is_ok(reply)) {
-        z_sample_t sample = z_reply_ok(reply);
+        z_loaned_sample_t sample = z_reply_ok(reply);
         z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
         printf(">> Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample.payload.len, sample.payload.start);
 #if Z_FEATURE_ATTACHMENT == 1

examples/unix/c11/z_get_channel.c

@@ -100,7 +100,7 @@ int main(int argc, char **argv) {
     z_owned_reply_t reply = z_reply_null();
     for (z_call(channel.recv, &reply); z_check(reply); z_call(channel.recv, &reply)) {
         if (z_reply_is_ok(&reply)) {
-            z_sample_t sample = z_reply_ok(&reply);
+            z_loaned_sample_t sample = z_reply_ok(&reply);
             z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
             printf(">> Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample.payload.len, sample.payload.start);
             z_drop(z_move(keystr));

examples/unix/c11/z_pong.c

@@ -18,7 +18,8 @@
 #if Z_FEATURE_SUBSCRIPTION == 1 && Z_FEATURE_PUBLICATION == 1
 void callback(const z_sample_t* sample, void* context) {
     z_publisher_t pub = z_loan(*(z_owned_publisher_t*)context);
-    z_publisher_put(pub, sample->payload.start, sample->payload.len, NULL);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_publisher_put(pub, payload.start, payload.len, NULL);
 }
 void drop(void* context) {
     z_owned_publisher_t* pub = (z_owned_publisher_t*)context;

examples/unix/c11/z_pull.c

@@ -83,9 +83,11 @@ int main(int argc, char **argv) {
     z_owned_sample_t sample = z_sample_null();
     while (true) {
         for (z_call(channel.try_recv, &sample); z_check(sample); z_call(channel.try_recv, &sample)) {
-            z_owned_str_t keystr = z_keyexpr_to_string(z_loan(sample).keyexpr);
-            printf(">> [Subscriber] Pulled ('%s': '%.*s')\n", z_loan(keystr), (int)z_loan(sample).payload.len,
-                   z_loan(sample).payload.start);
+            z_sample_t loaned_sample = z_loan(sample);
+            z_keyexpr_t sample_key = z_sample_keyexpr(&loaned_sample);
+            z_bytes_t payload = z_sample_payload(&loaned_sample);
+            z_owned_str_t keystr = z_keyexpr_to_string(sample_key);
+            printf(">> [Subscriber] Pulled ('%s': '%.*s')\n", z_loan(keystr), (int)payload.len, payload.start);
             z_drop(z_move(keystr));
             z_drop(z_move(sample));
         }

examples/unix/c11/z_sub.c

@@ -34,13 +34,15 @@ int8_t attachment_handler(z_bytes_t key, z_bytes_t value, void *ctx) {
 
 void data_handler(const z_sample_t *sample, void *ctx) {
     (void)(ctx);
-    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
-    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
-           sample->payload.start);
+    z_keyexpr_t keyexpr = z_sample_keyexpr(sample);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_owned_str_t keystr = z_keyexpr_to_string(keyexpr);
+    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)payload.len, payload.start);
 #if Z_FEATURE_ATTACHMENT == 1
-    if (z_attachment_check(&sample->attachment)) {
+    z_attachment_t attachment = z_sample_attachment(sample);
+    if (z_attachment_check(&attachment)) {
         printf("Attachement found\n");
-        z_attachment_iterate(sample->attachment, attachment_handler, NULL);
+        z_attachment_iterate(attachment, attachment_handler, NULL);
     }
 #endif
     z_drop(z_move(keystr));

examples/unix/c11/z_sub_channel.c

@@ -73,9 +73,11 @@ int main(int argc, char **argv) {
 
     z_owned_sample_t sample = z_sample_null();
     for (z_call(channel.recv, &sample); z_check(sample); z_call(channel.recv, &sample)) {
-        z_owned_str_t keystr = z_keyexpr_to_string(z_loan(sample).keyexpr);
-        printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)z_loan(sample).payload.len,
-               z_loan(sample).payload.start);
+        z_sample_t loaned_sample = z_loan(sample);
+        z_keyexpr_t sample_key = z_sample_keyexpr(&loaned_sample);
+        z_bytes_t payload = z_sample_payload(&loaned_sample);
+        z_owned_str_t keystr = z_keyexpr_to_string(sample_key);
+        printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)payload.len, payload.start);
         z_drop(z_move(keystr));
         z_drop(z_move(sample));
         sample = z_sample_null();

examples/unix/c11/z_sub_st.c

@@ -25,9 +25,10 @@ static int msg_nb = 0;
 
 void data_handler(const z_sample_t *sample, void *ctx) {
     (void)(ctx);
-    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
-    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
-           sample->payload.start);
+    z_keyexpr_t keyexpr = z_sample_keyexpr(sample);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_owned_str_t keystr = z_keyexpr_to_string(keyexpr);
+    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)payload.len, payload.start);
     z_drop(z_move(keystr));
     msg_nb++;
 }

examples/unix/c99/z_get.c

@@ -32,7 +32,7 @@ void reply_dropper(void *ctx) {
 void reply_handler(z_owned_reply_t *reply, void *ctx) {
     (void)(ctx);
     if (z_reply_is_ok(reply)) {
-        z_sample_t sample = z_reply_ok(reply);
+        z_loaned_sample_t sample = z_reply_ok(reply);
         z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
         printf(">> Received ('%s': '%.*s')\n", z_str_loan(&keystr), (int)sample.payload.len, sample.payload.start);
         z_str_drop(z_str_move(&keystr));

examples/unix/c99/z_pong.c

@@ -19,7 +19,8 @@
 #if Z_FEATURE_SUBSCRIPTION == 1 && Z_FEATURE_PUBLICATION == 1
 void callback(const z_sample_t* sample, void* context) {
     z_publisher_t pub = z_publisher_loan((z_owned_publisher_t*)context);
-    z_publisher_put(pub, sample->payload.start, sample->payload.len, NULL);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_publisher_put(pub, payload.start, payload.len, NULL);
 }
 void drop(void* context) {
     z_owned_publisher_t* pub = (z_owned_publisher_t*)context;

examples/unix/c99/z_sub.c

@@ -22,9 +22,10 @@
 #if Z_FEATURE_SUBSCRIPTION == 1
 void data_handler(const z_sample_t *sample, void *arg) {
     (void)(arg);
-    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
-    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_str_loan(&keystr), (int)sample->payload.len,
-           sample->payload.start);
+    z_keyexpr_t keyexpr = z_sample_keyexpr(sample);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_owned_str_t keystr = z_keyexpr_to_string(keyexpr);
+    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_str_loan(&keystr), (int)payload.len, payload.start);
     z_str_drop(z_str_move(&keystr));
 }
 

examples/unix/c99/z_sub_st.c

@@ -25,9 +25,10 @@ static int msg_nb = 0;
 
 void data_handler(const z_sample_t *sample, void *arg) {
     (void)(arg);
-    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
-    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_str_loan(&keystr), (int)sample->payload.len,
-           sample->payload.start);
+    z_keyexpr_t keyexpr = z_sample_keyexpr(sample);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_owned_str_t keystr = z_keyexpr_to_string(keyexpr);
+    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_str_loan(&keystr), (int)payload.len, payload.start);
     z_str_drop(z_str_move(&keystr));
     msg_nb++;
 }

examples/windows/z_get.c

@@ -31,7 +31,7 @@ void reply_dropper(void *ctx) {
 void reply_handler(z_owned_reply_t *reply, void *ctx) {
     (void)(ctx);
     if (z_reply_is_ok(reply)) {
-        z_sample_t sample = z_reply_ok(reply);
+        z_loaned_sample_t sample = z_reply_ok(reply);
         z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
         printf(">> Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample.payload.len, sample.payload.start);
         z_drop(z_move(keystr));

examples/windows/z_pong.c

@@ -18,7 +18,8 @@
 #if Z_FEATURE_SUBSCRIPTION == 1 && Z_FEATURE_PUBLICATION == 1
 void callback(const z_sample_t* sample, void* context) {
     z_publisher_t pub = z_loan(*(z_owned_publisher_t*)context);
-    z_publisher_put(pub, sample->payload.start, sample->payload.len, NULL);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_publisher_put(pub, payload.start, payload.len, NULL);
 }
 void drop(void* context) {
     z_owned_publisher_t* pub = (z_owned_publisher_t*)context;

examples/windows/z_sub.c

@@ -21,9 +21,10 @@
 #if Z_FEATURE_SUBSCRIPTION == 1
 void data_handler(const z_sample_t *sample, void *ctx) {
     (void)(ctx);
-    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
-    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
-           sample->payload.start);
+    z_keyexpr_t keyexpr = z_sample_keyexpr(sample);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_owned_str_t keystr = z_keyexpr_to_string(keyexpr);
+    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)payload.len, payload.start);
     z_drop(z_move(keystr));
 }
 

examples/windows/z_sub_st.c

@@ -24,9 +24,10 @@ int msg_nb = 0;
 #if Z_FEATURE_SUBSCRIPTION == 1
 void data_handler(const z_sample_t *sample, void *ctx) {
     (void)(ctx);
-    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
-    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
-           sample->payload.start);
+    z_keyexpr_t keyexpr = z_sample_keyexpr(sample);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_owned_str_t keystr = z_keyexpr_to_string(keyexpr);
+    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)payload.len, payload.start);
     z_drop(z_move(keystr));
 
     msg_nb++;

examples/zephyr/z_get.c

@@ -35,7 +35,7 @@ void reply_dropper(void *ctx) { printf(" >> Received query final notification\n"
 
 void reply_handler(z_owned_reply_t *oreply, void *ctx) {
     if (z_reply_is_ok(oreply)) {
-        z_sample_t sample = z_reply_ok(oreply);
+        z_loaned_sample_t sample = z_reply_ok(oreply);
         z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
         printf(" >> Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample.payload.len, sample.payload.start);
         z_drop(z_move(keystr));

examples/zephyr/z_sub.c

@@ -30,9 +30,10 @@
 #define KEYEXPR "demo/example/**"
 
 void data_handler(const z_sample_t *sample, void *arg) {
-    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
-    printf(" >> [Subscriber handler] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
-           sample->payload.start);
+    z_keyexpr_t keyexpr = z_sample_keyexpr(sample);
+    z_bytes_t payload = z_sample_payload(sample);
+    z_owned_str_t keystr = z_keyexpr_to_string(keyexpr);
+    printf(" >> [Subscriber handler] Received ('%s': '%.*s')\n", z_loan(keystr), (int)payload.len, payload.start);
     z_drop(z_move(keystr));
 }
 

include/zenoh-pico/api/handlers.h

@@ -25,7 +25,7 @@
 
 // -- Samples handler
 void _z_owned_sample_move(z_owned_sample_t *dst, z_owned_sample_t *src);
-z_owned_sample_t *_z_sample_to_owned_ptr(const _z_sample_t *src);
+z_owned_sample_t *_z_sample_to_owned_ptr(const z_sample_t *src);
 
 // -- Queries handler
 void _z_owned_query_move(z_owned_query_t *dst, z_owned_query_t *src);