Add is_express to z_publisher_options_t (#514)

include/zenoh-pico/api/types.h

@@ -220,10 +220,12 @@ typedef struct {
  *   z_congestion_control_t congestion_control: The congestion control to apply when routing messages from this
  * publisher.
  *   z_priority_t priority: The priority of messages issued by this publisher.
+ *   _Bool is_express: If true, Zenoh will not wait to batch this operation with others to reduce the bandwith.
  */
 typedef struct {
     z_congestion_control_t congestion_control;
     z_priority_t priority;
+    _Bool is_express;
 } z_publisher_options_t;
 
 /**

include/zenoh-pico/net/primitives.h

@@ -88,7 +88,7 @@ int8_t _z_undeclare_resource(_z_session_t *zn, uint16_t rid);
  *    The created :c:type:`_z_publisher_t` (in null state if the declaration failed)..
  */
 _z_publisher_t _z_declare_publisher(const _z_session_rc_t *zn, _z_keyexpr_t keyexpr,
-                                    z_congestion_control_t congestion_control, z_priority_t priority);
+                                    z_congestion_control_t congestion_control, z_priority_t priority, _Bool is_express);
 
 /**
  * Undeclare a :c:type:`_z_publisher_t`.

include/zenoh-pico/net/publish.h

@@ -28,6 +28,7 @@ typedef struct _z_publisher_t {
     _z_session_rc_t _zn;
     z_congestion_control_t _congestion_control;
     z_priority_t _priority;
+    _Bool _is_express;
 #if Z_FEATURE_INTEREST == 1
     _z_write_filter_t _filter;
 #endif

src/api/api.c

@@ -971,6 +971,7 @@ int8_t z_delete(const z_loaned_session_t *zs, const z_loaned_keyexpr_t *keyexpr,
 void z_publisher_options_default(z_publisher_options_t *options) {
     options->congestion_control = Z_CONGESTION_CONTROL_DEFAULT;
     options->priority = Z_PRIORITY_DEFAULT;
+    options->is_express = false;
 }
 
 int8_t z_declare_publisher(z_owned_publisher_t *pub, const z_loaned_session_t *zs, const z_loaned_keyexpr_t *keyexpr,
@@ -995,9 +996,10 @@ int8_t z_declare_publisher(z_owned_publisher_t *pub, const z_loaned_session_t *z
     if (options != NULL) {
         opt.congestion_control = options->congestion_control;
         opt.priority = options->priority;
+        opt.is_express = options->is_express;
     }
     // Set publisher
-    _z_publisher_t int_pub = _z_declare_publisher(zs, key, opt.congestion_control, opt.priority);
+    _z_publisher_t int_pub = _z_declare_publisher(zs, key, opt.congestion_control, opt.priority, opt.is_express);
     // Create write filter
     int8_t res = _z_write_filter_create(&int_pub);
     if (res != _Z_RES_OK) {
@@ -1035,6 +1037,8 @@ int8_t z_publisher_put(const z_loaned_publisher_t *pub, z_owned_bytes_t *payload
         opt.is_express = options->is_express;
         opt.timestamp = options->timestamp;
         opt.attachment = options->attachment;
+    } else {
+        opt.is_express = pub->_is_express;
     }
     // Check if write filter is active before writing
     if (!_z_write_filter_active(pub)) {
@@ -1060,6 +1064,8 @@ int8_t z_publisher_delete(const z_loaned_publisher_t *pub, const z_publisher_del
     if (options != NULL) {
         opt.is_express = options->is_express;
         opt.timestamp = options->timestamp;
+    } else {
+        opt.is_express = pub->_is_express;
     }
     return _z_write(&pub->_zn.in->val, pub->_key, _z_bytes_null(), _z_encoding_null(), Z_SAMPLE_KIND_DELETE,
                     pub->_congestion_control, pub->_priority, opt.is_express, opt.timestamp, _z_bytes_null());

src/net/primitives.c

@@ -103,14 +103,16 @@ int8_t _z_undeclare_resource(_z_session_t *zn, uint16_t rid) {
 #if Z_FEATURE_PUBLICATION == 1
 /*------------------  Publisher Declaration ------------------*/
 _z_publisher_t _z_declare_publisher(const _z_session_rc_t *zn, _z_keyexpr_t keyexpr,
-                                    z_congestion_control_t congestion_control, z_priority_t priority) {
+                                    z_congestion_control_t congestion_control, z_priority_t priority,
+                                    _Bool is_express) {
     // Allocate publisher
     _z_publisher_t ret;
     // Fill publisher
     ret._key = _z_keyexpr_duplicate(keyexpr);
     ret._id = _z_get_entity_id(&zn->in->val);
     ret._congestion_control = congestion_control;
     ret._priority = priority;
+    ret._is_express = is_express;
     ret._zn = _z_session_rc_clone(zn);
     return ret;
 }