Pub/sub rework

eclipse-zenoh · Apr 29, 2024 · 56b9815 · 56b9815
1 parent c0049a6
commit 56b9815
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Showing 41 changed files with 125 additions and 114 deletions.
diff --git a/examples/arduino/z_pub.ino b/examples/arduino/z_pub.ino
@@ -81,8 +81,7 @@ void setup() {
     Serial.print("Declaring publisher for ");
     Serial.print(KEYEXPR);
     Serial.println("...");
-    pub = z_declare_publisher(z_session_loan(&s), z_keyexpr(KEYEXPR), NULL);
-    if (!z_publisher_check(&pub)) {
+    if (z_declare_publisher(&pub, z_session_loan(&s), z_keyexpr(KEYEXPR), NULL) < 0) {
         Serial.println("Unable to declare publisher for key expression!");
         while (1) {
             ;

diff --git a/examples/arduino/z_sub.ino b/examples/arduino/z_sub.ino
@@ -91,9 +91,9 @@ void setup() {
     Serial.print(KEYEXPR);
     Serial.println(" ...");
     z_owned_closure_sample_t callback = z_closure_sample(data_handler, NULL, NULL);
-    z_owned_subscriber_t sub =
-        z_declare_subscriber(z_session_loan(&s), z_keyexpr(KEYEXPR), z_closure_sample_move(&callback), NULL);
-    if (!z_subscriber_check(&sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_session_loan(&s), z_keyexpr(KEYEXPR), z_closure_sample_move(&callback), NULL) <
+        0) {
         Serial.println("Unable to declare subscriber.");
         while (1) {
             ;

diff --git a/examples/espidf/z_pub.c b/examples/espidf/z_pub.c
@@ -140,8 +140,8 @@ void app_main() {
     zp_start_lease_task(z_loan(s), NULL);
 
     printf("Declaring publisher for '%s'...", KEYEXPR);
-    z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(KEYEXPR), NULL);
-    if (!z_check(pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_loan(s), z_keyexpr(KEYEXPR), NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         exit(-1);
     }

diff --git a/examples/espidf/z_sub.c b/examples/espidf/z_sub.c
@@ -147,8 +147,8 @@ void app_main() {
 
     printf("Declaring Subscriber on '%s'...", KEYEXPR);
     z_owned_closure_sample_t callback = z_closure(data_handler);
-    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(s), z_keyexpr(KEYEXPR), z_move(callback), NULL);
-    if (!z_check(sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_loan(s), z_keyexpr(KEYEXPR), z_move(callback), NULL) < 0) {
         printf("Unable to declare subscriber.\n");
         exit(-1);
     }

diff --git a/examples/freertos_plus_tcp/z_pub.c b/examples/freertos_plus_tcp/z_pub.c
@@ -82,8 +82,8 @@ void app_main(void) {
     }
 
     printf("Declaring publisher for '%s'...\n", KEYEXPR);
-    z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(KEYEXPR), NULL);
-    if (!z_check(pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_loan(s), z_keyexpr(KEYEXPR), NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         return;
     }

diff --git a/examples/freertos_plus_tcp/z_pub_st.c b/examples/freertos_plus_tcp/z_pub_st.c
@@ -48,8 +48,8 @@ void app_main(void) {
     }
 
     printf("Declaring publisher for '%s'...\n", KEYEXPR);
-    z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(KEYEXPR), NULL);
-    if (!z_check(pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_loan(s), z_keyexpr(KEYEXPR), NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         return;
     }

diff --git a/examples/freertos_plus_tcp/z_sub.c b/examples/freertos_plus_tcp/z_sub.c
@@ -60,8 +60,8 @@ void app_main(void) {
 
     z_owned_closure_sample_t callback = z_closure(data_handler);
     printf("Declaring Subscriber on '%s'...\n", KEYEXPR);
-    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(s), z_keyexpr(KEYEXPR), z_move(callback), NULL);
-    if (!z_check(sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_loan(s), z_keyexpr(KEYEXPR), z_move(callback), NULL) < 0) {
         printf("Unable to declare subscriber.\n");
         return;
     }

diff --git a/examples/freertos_plus_tcp/z_sub_st.c b/examples/freertos_plus_tcp/z_sub_st.c
@@ -57,8 +57,8 @@ void app_main(void) {
 
     z_owned_closure_sample_t callback = z_closure(data_handler);
     printf("Declaring Subscriber on '%s'...\n", KEYEXPR);
-    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(s), z_keyexpr(KEYEXPR), z_move(callback), NULL);
-    if (!z_check(sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_loan(s), z_keyexpr(KEYEXPR), z_move(callback), NULL) < 0) {
         printf("Unable to declare subscriber.\n");
         return;
     }

diff --git a/examples/mbed/z_pub.cpp b/examples/mbed/z_pub.cpp
@@ -60,8 +60,8 @@ int main(int argc, char **argv) {
     zp_start_lease_task(z_session_loan(&s), NULL);
 
     printf("Declaring publisher for '%s'...", KEYEXPR);
-    z_owned_publisher_t pub = z_declare_publisher(z_session_loan(&s), z_keyexpr(KEYEXPR), NULL);
-    if (!z_publisher_check(&pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_session_loan(&s), z_keyexpr(KEYEXPR), NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         exit(-1);
     }

diff --git a/examples/mbed/z_sub.cpp b/examples/mbed/z_sub.cpp
@@ -67,9 +67,9 @@ int main(int argc, char **argv) {
 
     printf("Declaring Subscriber on '%s'...", KEYEXPR);
     z_owned_closure_sample_t callback = z_closure_sample(data_handler, NULL, NULL);
-    z_owned_subscriber_t sub =
-        z_declare_subscriber(z_session_loan(&s), z_keyexpr(KEYEXPR), z_closure_sample_move(&callback), NULL);
-    if (!z_subscriber_check(&sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_session_loan(&s), z_keyexpr(KEYEXPR), z_closure_sample_move(&callback), NULL) <
+        0) {
         printf("Unable to declare subscriber.\n");
         exit(-1);
     }

diff --git a/examples/unix/c11/z_ping.c b/examples/unix/c11/z_ping.c
@@ -80,15 +80,15 @@ int main(int argc, char** argv) {
     z_keyexpr_t ping = z_keyexpr_unchecked("test/ping");
     z_keyexpr_t pong = z_keyexpr_unchecked("test/pong");
 
-    z_owned_publisher_t pub = z_declare_publisher(z_loan(session), ping, NULL);
-    if (!z_check(pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_loan(session), ping, NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         return -1;
     }
 
     z_owned_closure_sample_t respond = z_closure(callback, drop, NULL);
-    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(session), pong, z_move(respond), NULL);
-    if (!z_check(sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_loan(session), pong, z_move(respond), NULL) < 0) {
         printf("Unable to declare subscriber for key expression.\n");
         return -1;
     }

diff --git a/examples/unix/c11/z_pong.c b/examples/unix/c11/z_pong.c
@@ -47,16 +47,16 @@ int main(int argc, char** argv) {
     }
 
     z_keyexpr_t pong = z_keyexpr_unchecked("test/pong");
-    z_owned_publisher_t pub = z_declare_publisher(z_loan(session), pong, NULL);
-    if (!z_check(pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_loan(session), pong, NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         return -1;
     }
 
     z_keyexpr_t ping = z_keyexpr_unchecked("test/ping");
     z_owned_closure_sample_t respond = z_closure(callback, drop, (void*)z_move(pub));
-    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(session), ping, z_move(respond), NULL);
-    if (!z_check(sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_loan(session), ping, z_move(respond), NULL) < 0) {
         printf("Unable to declare subscriber for key expression.\n");
         return -1;
     }

diff --git a/examples/unix/c11/z_pub.c b/examples/unix/c11/z_pub.c
@@ -91,8 +91,8 @@ int main(int argc, char **argv) {
     }
 
     printf("Declaring publisher for '%s'...\n", keyexpr);
-    z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(keyexpr), NULL);
-    if (!z_check(pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_loan(s), z_keyexpr(keyexpr), NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         return -1;
     }

diff --git a/examples/unix/c11/z_pub_st.c b/examples/unix/c11/z_pub_st.c
@@ -81,8 +81,8 @@ int main(int argc, char **argv) {
     }
 
     printf("Declaring publisher for '%s'...\n", keyexpr);
-    z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(keyexpr), NULL);
-    if (!z_check(pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_loan(s), z_keyexpr(keyexpr), NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         return -1;
     }

diff --git a/examples/unix/c11/z_pub_thr.c b/examples/unix/c11/z_pub_thr.c
@@ -51,8 +51,8 @@ int main(int argc, char **argv) {
         exit(-1);
     }
     // Declare publisher
-    z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(keyexpr), NULL);
-    if (!z_check(pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_loan(s), z_keyexpr(keyexpr), NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         exit(-1);
     }

diff --git a/examples/unix/c11/z_pull.c b/examples/unix/c11/z_pull.c
@@ -74,8 +74,8 @@ int main(int argc, char **argv) {
 
     printf("Declaring Subscriber on '%s'...\n", keyexpr);
     z_owned_sample_ring_channel_t channel = z_sample_ring_channel_new(size);
-    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(s), z_keyexpr(keyexpr), z_move(channel.send), NULL);
-    if (!z_check(sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_loan(s), z_keyexpr(keyexpr), z_move(channel.send), NULL) < 0) {
         printf("Unable to declare subscriber.\n");
         return -1;
     }

diff --git a/examples/unix/c11/z_sub.c b/examples/unix/c11/z_sub.c
@@ -110,8 +110,8 @@ int main(int argc, char **argv) {
 
     z_owned_closure_sample_t callback = z_closure(data_handler);
     printf("Declaring Subscriber on '%s'...\n", keyexpr);
-    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(s), z_keyexpr(keyexpr), z_move(callback), NULL);
-    if (!z_check(sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_loan(s), z_keyexpr(keyexpr), z_move(callback), NULL) < 0) {
         printf("Unable to declare subscriber.\n");
         return -1;
     }

diff --git a/examples/unix/c11/z_sub_channel.c b/examples/unix/c11/z_sub_channel.c
@@ -66,8 +66,8 @@ int main(int argc, char **argv) {
 
     printf("Declaring Subscriber on '%s'...\n", keyexpr);
     z_owned_sample_fifo_channel_t channel = z_sample_fifo_channel_new(3);
-    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(s), z_keyexpr(keyexpr), z_move(channel.send), NULL);
-    if (!z_check(sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_loan(s), z_keyexpr(keyexpr), z_move(channel.send), NULL) < 0) {
         printf("Unable to declare subscriber.\n");
         return -1;
     }

diff --git a/examples/unix/c11/z_sub_st.c b/examples/unix/c11/z_sub_st.c
@@ -88,8 +88,8 @@ int main(int argc, char **argv) {
 
     z_owned_closure_sample_t callback = z_closure(data_handler);
     printf("Declaring Subscriber on '%s'...\n", keyexpr);
-    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(s), z_keyexpr(keyexpr), z_move(callback), NULL);
-    if (!z_check(sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_loan(s), z_keyexpr(keyexpr), z_move(callback), NULL) < 0) {
         printf("Unable to declare subscriber.\n");
         return -1;
     }

diff --git a/examples/unix/c11/z_sub_thr.c b/examples/unix/c11/z_sub_thr.c
@@ -94,8 +94,8 @@ int main(int argc, char **argv) {
     // Declare Subscriber/resource
     z_stats_t *context = z_stats_make();
     z_owned_closure_sample_t callback = z_closure(on_sample, drop_stats, (void *)context);
-    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(s), z_keyexpr(keyexpr), z_move(callback), NULL);
-    if (!z_check(sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_loan(s), z_keyexpr(keyexpr), z_move(callback), NULL) < 0) {
         printf("Unable to create subscriber.\n");
         exit(-1);
     }

diff --git a/examples/unix/c99/z_ping.c b/examples/unix/c99/z_ping.c
@@ -81,17 +81,16 @@ int main(int argc, char** argv) {
     }
 
     z_keyexpr_t ping = z_keyexpr_unchecked("test/ping");
-    z_owned_publisher_t pub = z_declare_publisher(z_session_loan(&session), ping, NULL);
-    if (!z_publisher_check(&pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_session_loan(&session), ping, NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         return -1;
     }
 
     z_keyexpr_t pong = z_keyexpr_unchecked("test/pong");
     z_owned_closure_sample_t respond = z_closure_sample(callback, drop, NULL);
-    z_owned_subscriber_t sub =
-        z_declare_subscriber(z_session_loan(&session), pong, z_closure_sample_move(&respond), NULL);
-    if (!z_subscriber_check(&sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_session_loan(&session), pong, z_closure_sample_move(&respond), NULL) < 0) {
         printf("Unable to declare subscriber for key expression.\n");
         return -1;
     }

diff --git a/examples/unix/c99/z_pong.c b/examples/unix/c99/z_pong.c
@@ -50,17 +50,16 @@ int main(int argc, char** argv) {
     }
 
     z_keyexpr_t pong = z_keyexpr_unchecked("test/pong");
-    z_owned_publisher_t pub = z_declare_publisher(z_session_loan(&session), pong, NULL);
-    if (!z_publisher_check(&pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_session_loan(&session), pong, NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         return -1;
     }
 
     z_keyexpr_t ping = z_keyexpr_unchecked("test/ping");
     z_owned_closure_sample_t respond = z_closure_sample(callback, drop, (void*)z_publisher_move(&pub));
-    z_owned_subscriber_t sub =
-        z_declare_subscriber(z_session_loan(&session), ping, z_closure_sample_move(&respond), NULL);
-    if (!z_subscriber_check(&sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_session_loan(&session), ping, z_closure_sample_move(&respond), NULL) < 0) {
         printf("Unable to declare subscriber for key expression.\n");
         return -1;
     }

diff --git a/examples/unix/c99/z_pub.c b/examples/unix/c99/z_pub.c
@@ -87,8 +87,8 @@ int main(int argc, char **argv) {
     }
 
     printf("Declaring publisher for '%s'...\n", keyexpr);
-    z_owned_publisher_t pub = z_declare_publisher(z_session_loan(&s), z_keyexpr(keyexpr), NULL);
-    if (!z_publisher_check(&pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_session_loan(&s), z_keyexpr(keyexpr), NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         return -1;
     }

diff --git a/examples/unix/c99/z_pub_st.c b/examples/unix/c99/z_pub_st.c
@@ -80,8 +80,8 @@ int main(int argc, char **argv) {
     }
 
     printf("Declaring publisher for '%s'...\n", keyexpr);
-    z_owned_publisher_t pub = z_declare_publisher(z_session_loan(&s), z_keyexpr(keyexpr), NULL);
-    if (!z_publisher_check(&pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_session_loan(&s), z_keyexpr(keyexpr), NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         return -1;
     }

diff --git a/examples/unix/c99/z_sub.c b/examples/unix/c99/z_sub.c
@@ -87,9 +87,9 @@ int main(int argc, char **argv) {
 
     z_owned_closure_sample_t callback = z_closure_sample(data_handler, NULL, NULL);
     printf("Declaring Subscriber on '%s'...\n", keyexpr);
-    z_owned_subscriber_t sub =
-        z_declare_subscriber(z_session_loan(&s), z_keyexpr(keyexpr), z_closure_sample_move(&callback), NULL);
-    if (!z_subscriber_check(&sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_session_loan(&s), z_keyexpr(keyexpr), z_closure_sample_move(&callback), NULL) <
+        0) {
         printf("Unable to declare subscriber.\n");
         return -1;
     }

diff --git a/examples/windows/z_ping.c b/examples/windows/z_ping.c
@@ -78,16 +78,16 @@ int main(int argc, char** argv) {
     }
 
     z_keyexpr_t ping = z_keyexpr_unchecked("test/ping");
-    z_owned_publisher_t pub = z_declare_publisher(z_loan(session), ping, NULL);
-    if (!z_check(pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_loan(session), ping, NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         return -1;
     }
 
     z_keyexpr_t pong = z_keyexpr_unchecked("test/pong");
     z_owned_closure_sample_t respond = z_closure(callback, drop, NULL);
-    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(session), pong, z_move(respond), NULL);
-    if (!z_check(sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_loan(session), pong, z_move(respond), NULL) < 0) {
         printf("Unable to declare subscriber for key expression.\n");
         return -1;
     }

diff --git a/examples/windows/z_pong.c b/examples/windows/z_pong.c
@@ -47,16 +47,16 @@ int main(int argc, char** argv) {
     }
 
     z_keyexpr_t pong = z_keyexpr_unchecked("test/pong");
-    z_owned_publisher_t pub = z_declare_publisher(z_loan(session), pong, NULL);
-    if (!z_check(pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_loan(session), pong, NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         return -1;
     }
 
     z_keyexpr_t ping = z_keyexpr_unchecked("test/ping");
     z_owned_closure_sample_t respond = z_closure(callback, drop, (void*)z_move(pub));
-    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(session), ping, z_move(respond), NULL);
-    if (!z_check(sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_loan(session), ping, z_move(respond), NULL) < 0) {
         printf("Unable to declare subscriber for key expression.\n");
         return -1;
     }

diff --git a/examples/windows/z_pub.c b/examples/windows/z_pub.c
@@ -49,8 +49,8 @@ int main(int argc, char **argv) {
     }
 
     printf("Declaring publisher for '%s'...\n", keyexpr);
-    z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(keyexpr), NULL);
-    if (!z_check(pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_loan(s), z_keyexpr(keyexpr), NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         return -1;
     }

diff --git a/examples/windows/z_pub_st.c b/examples/windows/z_pub_st.c
@@ -44,8 +44,8 @@ int main(int argc, char **argv) {
     }
 
     printf("Declaring publisher for '%s'...\n", keyexpr);
-    z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(keyexpr), NULL);
-    if (!z_check(pub)) {
+    z_owned_publisher_t pub;
+    if (z_declare_publisher(&pub, z_loan(s), z_keyexpr(keyexpr), NULL) < 0) {
         printf("Unable to declare publisher for key expression!\n");
         return -1;
     }

diff --git a/examples/windows/z_sub.c b/examples/windows/z_sub.c
@@ -57,8 +57,8 @@ int main(int argc, char **argv) {
 
     z_owned_closure_sample_t callback = z_closure(data_handler);
     printf("Declaring Subscriber on '%s'...\n", keyexpr);
-    z_owned_subscriber_t sub = z_declare_subscriber(z_loan(s), z_keyexpr(keyexpr), z_move(callback), NULL);
-    if (!z_check(sub)) {
+    z_owned_subscriber_t sub;
+    if (z_declare_subscriber(&sub, z_loan(s), z_keyexpr(keyexpr), z_move(callback), NULL) < 0) {
         printf("Unable to declare subscriber.\n");
         return -1;
     }