fix: ci issues

include/zenoh-pico/net/query.h

@@ -25,8 +25,8 @@
  * The query to be answered by a queryable.
  */
 typedef struct _z_query_t {
-    _z_value_t _value;
     _z_keyexpr_t _key;
+    _z_value_t _value;
     uint32_t _request_id;
     _z_session_rc_t _zn;
     _z_bytes_t _attachment;
@@ -60,13 +60,13 @@ static inline _z_query_t _z_query_alias(_z_value_t *value, _z_keyexpr_t *key, co
                                         _z_session_rc_t *zn, uint32_t request_id, const _z_bytes_t *attachment,
                                         bool anyke) {
     return (_z_query_t){
+        ._key = *key,
+        ._value = *value,
         ._request_id = request_id,
         ._zn = *zn,
+        ._attachment = *attachment,
         ._parameters = _z_string_alias_slice(parameters),
         ._anyke = anyke,
-        ._key = *key,
-        ._attachment = *attachment,
-        ._value = *value,
     };
 }
 void _z_queryable_clear(_z_queryable_t *qbl);

include/zenoh-pico/net/reply.h

@@ -83,24 +83,18 @@ static inline _z_reply_t _z_reply_null(void) { return (_z_reply_t){0}; }
 static inline _z_reply_t _z_reply_alias(_z_keyexpr_t *keyexpr, _z_id_t id, const _z_bytes_t *payload,
                                         const _z_timestamp_t *timestamp, _z_encoding_t *encoding, z_sample_kind_t kind,
                                         const _z_bytes_t *attachment) {
-    _z_reply_t r = {
-        .data.replier_id = id,
-        .data._tag = _Z_REPLY_TAG_DATA,
-        .data._result.sample.keyexpr = *keyexpr,
-        .data._result.sample.kind = kind,
-        .data._result.sample.timestamp = *timestamp,
-        .data._result.sample.payload = *payload,
-        .data._result.sample.attachment = *attachment,
-        .data._result.sample.encoding = *encoding,
-    };
+    _z_reply_t r;
+    r.data.replier_id = id;
+    r.data._tag = _Z_REPLY_TAG_DATA;
+    r.data._result.sample = _z_sample_alias(keyexpr, payload, timestamp, encoding, kind, _Z_N_QOS_DEFAULT, attachment,
+                                            Z_RELIABILITY_DEFAULT);
     return r;
 }
 static inline _z_reply_t _z_reply_err_alias(const _z_bytes_t *payload, _z_encoding_t *encoding) {
-    _z_reply_t r = {
-        .data._tag = _Z_REPLY_TAG_ERROR,
-        .data._result.error.payload = *payload,
-        .data._result.error.encoding = *encoding,
-    };
+    _z_reply_t r;
+    r.data._tag = _Z_REPLY_TAG_ERROR;
+    r.data._result.error.payload = *payload;
+    r.data._result.error.encoding = *encoding;
     return r;
 }
 _z_reply_t _z_reply_move(_z_reply_t *src_reply);

include/zenoh-pico/net/sample.h

@@ -46,18 +46,19 @@ static inline bool _z_sample_check(const _z_sample_t *sample) {
     return _z_keyexpr_check(&sample->keyexpr) || _z_encoding_check(&sample->encoding) ||
            _z_bytes_check(&sample->payload) || _z_bytes_check(&sample->attachment);
 }
-static inline _z_sample_t _z_sample_alias(_z_keyexpr_t *key, _z_bytes_t *payload, const _z_timestamp_t *timestamp,
-                                          _z_encoding_t *encoding, const z_sample_kind_t kind, const _z_qos_t qos,
-                                          _z_bytes_t *attachment, z_reliability_t reliability) {
+static inline _z_sample_t _z_sample_alias(const _z_keyexpr_t *key, const _z_bytes_t *payload,
+                                          const _z_timestamp_t *timestamp, const _z_encoding_t *encoding,
+                                          const z_sample_kind_t kind, const _z_qos_t qos, const _z_bytes_t *attachment,
+                                          z_reliability_t reliability) {
     return (_z_sample_t){
-        .kind = kind,
-        .qos = qos,
-        .reliability = reliability,
         .keyexpr = *key,
-        .encoding = *encoding,
-        .attachment = *attachment,
         .payload = *payload,
         .timestamp = *timestamp,
+        .encoding = *encoding,
+        .kind = kind,
+        .qos = qos,
+        .attachment = *attachment,
+        .reliability = reliability,
     };
 }
 void _z_sample_move(_z_sample_t *dst, _z_sample_t *src);

include/zenoh-pico/net/session.h

@@ -56,13 +56,15 @@ typedef struct _z_session_t {
     _z_subscription_rc_list_t *_remote_subscriptions;
 #if Z_FEATURE_RX_CACHE == 1
     _z_subscription_cache_t _subscription_cache;
-    _z_queryable_cache_t _queryable_cache;
 #endif
 #endif
 
     // Session queryables
 #if Z_FEATURE_QUERYABLE == 1
     _z_session_queryable_rc_list_t *_local_queryable;
+#if Z_FEATURE_RX_CACHE == 1
+    _z_queryable_cache_t _queryable_cache;
+#endif
 #endif
 #if Z_FEATURE_QUERY == 1
     _z_pending_query_list_t *_pending_queries;

include/zenoh-pico/protocol/definitions/network.h

@@ -91,7 +91,7 @@ static inline bool _z_n_qos_get_express(_z_n_qos_t n_qos) { return (bool)(n_qos.
 #define _z_n_qos_make(express, nodrop, priority)                                                    \
     _z_n_qos_create((bool)express, nodrop ? Z_CONGESTION_CONTROL_BLOCK : Z_CONGESTION_CONTROL_DROP, \
                     (z_priority_t)priority)
-#define _Z_N_QOS_DEFAULT _z_n_qos_make(0, 0, 5)
+#define _Z_N_QOS_DEFAULT ((_z_qos_t){._val = 5})
 
 // RESPONSE FINAL message flags:
 //      Z Extensions       if Z==1 then Zenoh extensions are present

src/session/utils.c

@@ -64,11 +64,13 @@ z_result_t _z_session_init(_z_session_rc_t *zsrc, _z_id_t *zid) {
     zn->_remote_subscriptions = NULL;
 #if Z_FEATURE_RX_CACHE == 1
     memset(&zn->_subscription_cache, 0, sizeof(zn->_subscription_cache));
-    memset(&zn->_queryable_cache, 0, sizeof(zn->_queryable_cache));
 #endif
 #endif
 #if Z_FEATURE_QUERYABLE == 1
     zn->_local_queryable = NULL;
+#if Z_FEATURE_RX_CACHE == 1
+    memset(&zn->_queryable_cache, 0, sizeof(zn->_queryable_cache));
+#endif
 #endif
 #if Z_FEATURE_QUERY == 1
     zn->_pending_queries = NULL;
@@ -119,11 +121,13 @@ void _z_session_clear(_z_session_t *zn) {
     _z_flush_subscriptions(zn);
 #if Z_FEATURE_RX_CACHE == 1
     _z_subscription_cache_clear(&zn->_subscription_cache);
-    _z_queryable_cache_clear(&zn->_queryable_cache);
 #endif
 #endif
 #if Z_FEATURE_QUERYABLE == 1
     _z_flush_session_queryable(zn);
+#if Z_FEATURE_RX_CACHE == 1
+    _z_queryable_cache_clear(&zn->_queryable_cache);
+#endif
 #endif
 #if Z_FEATURE_QUERY == 1
     _z_flush_pending_queries(zn);

tests/modularity.py

@@ -47,8 +47,8 @@ def pub_and_sub(args):
 
     # Expected z_sub output & status
     if args.sub == 1:
-        z_sub_expected_status = -2
         if args.pub == 1:
+            z_sub_expected_status = 0
             z_sub_expected_output = """Opening session...
 Declaring Subscriber on 'demo/example/**'...
 Press CTRL-C to quit...
@@ -63,6 +63,7 @@ def pub_and_sub(args):
 >> [Subscriber] Received ('demo/example/zenoh-pico-pub': '[   8] Pub from Pico!')
 >> [Subscriber] Received ('demo/example/zenoh-pico-pub': '[   9] Pub from Pico!')"""
         else:
+            z_sub_expected_status = -2
             z_sub_expected_output = """Opening session...
 Declaring Subscriber on 'demo/example/**'...
 Press CTRL-C to quit..."""
@@ -72,7 +73,7 @@ def pub_and_sub(args):
 
     print("Start subscriber")
     # Start z_sub in the background
-    z_sub_command = f"stdbuf -oL -eL ./{DIR_EXAMPLES}/z_sub"
+    z_sub_command = f"stdbuf -oL -eL ./{DIR_EXAMPLES}/z_sub -n 10"
     z_sub_process = subprocess.Popen(
         z_sub_command,
         shell=True,
@@ -175,14 +176,15 @@ def query_and_queryable(args):
 
     # Expected z_queryable output & status
     if args.queryable == 1:
-        z_queryable_expected_status = -2
         if args.query == 1:
+            z_queryable_expected_status = 0
             z_queryable_expected_output = """Opening session...
 Creating Queryable on 'demo/example/zenoh-pico-queryable'...
 Press CTRL-C to quit...
  >> [Queryable handler] Received Query 'demo/example/**'
 """
         else:
+            z_queryable_expected_status = -2
             z_queryable_expected_output = """Opening session...
 Creating Queryable on 'demo/example/zenoh-pico-queryable'...
 Press CTRL-C to quit..."""
@@ -192,7 +194,7 @@ def query_and_queryable(args):
 
     print("Start queryable")
     # Start z_queryable in the background
-    z_queryable_command = f"stdbuf -oL -eL ./{DIR_EXAMPLES}/z_queryable"
+    z_queryable_command = f"stdbuf -oL -eL ./{DIR_EXAMPLES}/z_queryable -n 1"
     z_queryable_process = subprocess.Popen(
         z_queryable_command,
         shell=True,