Refined QueryableInfo message format

eclipse-zenoh · Mar 26, 2024 · 50de33d · 50de33d
1 parent b0ae036
commit 50de33d
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Showing 4 changed files with 14 additions and 10 deletions.
diff --git a/include/zenoh-pico/protocol/definitions/declarations.h b/include/zenoh-pico/protocol/definitions/declarations.h
@@ -48,8 +48,8 @@ typedef struct {
     _z_keyexpr_t _keyexpr;
     uint32_t _id;
     struct {
-        uint8_t _complete;
-        uint32_t _distance;
+        _Bool _complete;
+        uint16_t _distance;
     } _ext_queryable_info;
 } _z_decl_queryable_t;
 _z_decl_queryable_t _z_decl_queryable_null(void);
@@ -132,7 +132,7 @@ _z_declaration_t _z_make_undecl_keyexpr(uint16_t id);
 _z_declaration_t _z_make_decl_subscriber(_Z_MOVE(_z_keyexpr_t) key, uint32_t id, _Bool reliable);
 _z_declaration_t _z_make_undecl_subscriber(uint32_t id, _Z_OPTIONAL const _z_keyexpr_t* key);
 
-_z_declaration_t _z_make_decl_queryable(_Z_MOVE(_z_keyexpr_t) key, uint32_t id, uint32_t distance, uint8_t complete);
+_z_declaration_t _z_make_decl_queryable(_Z_MOVE(_z_keyexpr_t) key, uint32_t id, uint16_t distance, _Bool complete);
 _z_declaration_t _z_make_undecl_queryable(uint32_t id, _Z_OPTIONAL const _z_keyexpr_t* key);
 
 _z_declaration_t _z_make_decl_token(_Z_MOVE(_z_keyexpr_t) key, uint32_t id);

diff --git a/src/protocol/codec/declarations.c b/src/protocol/codec/declarations.c
@@ -107,12 +107,16 @@ int8_t _z_undecl_subscriber_encode(_z_wbuf_t *wbf, const _z_undecl_subscriber_t
 }
 int8_t _z_decl_queryable_encode(_z_wbuf_t *wbf, const _z_decl_queryable_t *decl) {
     uint8_t header = _Z_DECL_QUERYABLE_MID;
-    _Bool has_info_ext = (decl->_ext_queryable_info._complete != 0) || (decl->_ext_queryable_info._distance != 0);
+    _Bool has_info_ext = decl->_ext_queryable_info._complete || (decl->_ext_queryable_info._distance != 0);
     _Z_RETURN_IF_ERR(_z_decl_commons_encode(wbf, header, has_info_ext, decl->_id, decl->_keyexpr));
     if (has_info_ext) {
         _Z_RETURN_IF_ERR(_z_uint8_encode(wbf, _Z_MSG_EXT_ENC_ZINT | 0x01));
-        _Z_RETURN_IF_ERR(_z_zint64_encode(
-            wbf, ((uint64_t)decl->_ext_queryable_info._distance << 8) | decl->_ext_queryable_info._complete));
+        uint8_t flags = 0;
+        if (decl->_ext_queryable_info._complete) {
+            flags |= 0x01;
+        }
+        uint64_t value = (uint64_t)flags | (uint64_t)decl->_ext_queryable_info._distance << 8;
+        _Z_RETURN_IF_ERR(_z_zint64_encode(wbf, value));
     }
     return _Z_RES_OK;
 }
@@ -328,8 +332,8 @@ int8_t _z_decl_queryable_decode_extensions(_z_msg_ext_t *extension, void *ctx) {
     switch (extension->_header) {
         case _Z_MSG_EXT_ENC_ZINT | 0x01: {
             uint64_t val = extension->_body._zint._val;
-            decl->_ext_queryable_info._complete = val & 0xff;
-            decl->_ext_queryable_info._distance = (uint32_t)(val >> 8);
+            decl->_ext_queryable_info._complete = _Z_HAS_FLAG(val, 0x01);
+            decl->_ext_queryable_info._distance = (uint16_t)(val >> 8);
         } break;
         default:
             if (_Z_HAS_FLAG(extension->_header, _Z_MSG_EXT_FLAG_M)) {

diff --git a/src/protocol/definitions/declarations.c b/src/protocol/definitions/declarations.c
@@ -83,7 +83,7 @@ _z_declaration_t _z_make_undecl_subscriber(uint32_t id, _Z_OPTIONAL const _z_key
                       ._id = id, ._ext_keyexpr = (key == NULL) ? _z_keyexpr_null() : _z_keyexpr_duplicate(*key)}}};
 }
 
-_z_declaration_t _z_make_decl_queryable(_Z_MOVE(_z_keyexpr_t) key, uint32_t id, uint32_t distance, uint8_t complete) {
+_z_declaration_t _z_make_decl_queryable(_Z_MOVE(_z_keyexpr_t) key, uint32_t id, uint16_t distance, _Bool complete) {
     return (_z_declaration_t){
         ._tag = _Z_DECL_QUERYABLE,
         ._body = {._decl_queryable = {._id = id,

diff --git a/zenohpico.pc b/zenohpico.pc
@@ -3,6 +3,6 @@ prefix=/usr/local
 Name: zenohpico
 Description: 
 URL: 
-Version: 0.11.20240319dev
+Version: 0.11.20240326dev
 Cflags: -I${prefix}/include
 Libs: -L${prefix}/lib -lzenohpico