From 88433678bc06eeffa4cffe91a9fdaf09bcb54b87 Mon Sep 17 00:00:00 2001
From: DenisBiryukov91 <155981813+DenisBiryukov91@users.noreply.github.com>
Date: Thu, 11 Jul 2024 17:12:07 +0200
Subject: [PATCH] Fix session close not to close session independently of
 refcount (#529)

* Fix session drop to account for ref count;
Automatically stop read/lease task on session drop;

* add check for multi-thread support
---
 examples/espidf/z_get.c                    | 3 ---
 examples/espidf/z_pub.c                    | 4 ----
 examples/espidf/z_pull.c                   | 4 ----
 examples/espidf/z_queryable.c              | 4 ----
 examples/espidf/z_sub.c                    | 4 ----
 examples/freertos_plus_tcp/z_get.c         | 4 ----
 examples/freertos_plus_tcp/z_pub.c         | 2 --
 examples/freertos_plus_tcp/z_pull.c        | 4 ----
 examples/freertos_plus_tcp/z_put.c         | 4 ----
 examples/freertos_plus_tcp/z_queryable.c   | 4 ----
 examples/freertos_plus_tcp/z_sub.c         | 4 ----
 examples/mbed/z_get.cpp                    | 3 ---
 examples/mbed/z_pub.cpp                    | 4 ----
 examples/mbed/z_pull.cpp                   | 4 ----
 examples/mbed/z_queryable.cpp              | 4 ----
 examples/mbed/z_sub.cpp                    | 4 ----
 examples/unix/c11/z_get.c                  | 4 ----
 examples/unix/c11/z_get_attachment.c       | 4 ----
 examples/unix/c11/z_get_channel.c          | 4 ----
 examples/unix/c11/z_info.c                 | 4 ----
 examples/unix/c11/z_ping.c                 | 3 ---
 examples/unix/c11/z_pong.c                 | 3 ---
 examples/unix/c11/z_pub.c                  | 2 --
 examples/unix/c11/z_pub_attachment.c       | 2 --
 examples/unix/c11/z_pub_thr.c              | 2 --
 examples/unix/c11/z_pull.c                 | 4 ----
 examples/unix/c11/z_put.c                  | 5 -----
 examples/unix/c11/z_queryable.c            | 4 ----
 examples/unix/c11/z_queryable_attachment.c | 4 ----
 examples/unix/c11/z_queryable_channel.c    | 4 ----
 examples/unix/c11/z_sub.c                  | 2 --
 examples/unix/c11/z_sub_attachment.c       | 2 --
 examples/unix/c11/z_sub_channel.c          | 4 ----
 examples/unix/c11/z_sub_thr.c              | 2 --
 examples/unix/c99/z_get.c                  | 4 ----
 examples/unix/c99/z_info.c                 | 4 ----
 examples/unix/c99/z_ping.c                 | 3 ---
 examples/unix/c99/z_pong.c                 | 3 ---
 examples/unix/c99/z_pub.c                  | 2 --
 examples/unix/c99/z_pull.c                 | 4 ----
 examples/unix/c99/z_put.c                  | 4 ----
 examples/unix/c99/z_queryable.c            | 4 ----
 examples/unix/c99/z_sub.c                  | 4 ----
 examples/windows/z_get.c                   | 4 ----
 examples/windows/z_info.c                  | 4 ----
 examples/windows/z_ping.c                  | 3 ---
 examples/windows/z_pong.c                  | 3 ---
 examples/windows/z_pull.c                  | 4 ----
 examples/windows/z_put.c                   | 4 ----
 examples/windows/z_queryable.c             | 4 ----
 examples/windows/z_sub.c                   | 4 ----
 examples/zephyr/z_get.c                    | 3 ---
 examples/zephyr/z_pub.c                    | 4 ----
 examples/zephyr/z_pull.c                   | 4 ----
 examples/zephyr/z_queryable.c              | 4 ----
 examples/zephyr/z_sub.c                    | 4 ----
 src/api/api.c                              | 1 -
 src/session/utils.c                        | 6 +++++-
 tests/z_client_test.c                      | 9 ---------
 tests/z_peer_multicast_test.c              | 9 ---------
 tests/z_perf_rx.c                          | 2 --
 tests/z_perf_tx.c                          | 2 --
 tests/z_session_test.c                     | 4 ----
 tests/z_test_fragment_rx.c                 | 2 --
 tests/z_test_fragment_tx.c                 | 2 --
 zenohpico.pc                               | 2 +-
 66 files changed, 6 insertions(+), 233 deletions(-)

diff --git a/examples/espidf/z_get.c b/examples/espidf/z_get.c
index d33e3d2c9..966c7e421 100644
--- a/examples/espidf/z_get.c
+++ b/examples/espidf/z_get.c
@@ -178,9 +178,6 @@ void app_main() {
     }
 
     printf("Closing Zenoh Session...");
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
 
     z_close(z_move(s));
     printf("OK!\n");
diff --git a/examples/espidf/z_pub.c b/examples/espidf/z_pub.c
index 28638c565..df5bc7def 100644
--- a/examples/espidf/z_pub.c
+++ b/examples/espidf/z_pub.c
@@ -165,10 +165,6 @@ void app_main() {
     printf("Closing Zenoh Session...");
     z_undeclare_publisher(z_move(pub));
 
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
     printf("OK!\n");
 }
diff --git a/examples/espidf/z_pull.c b/examples/espidf/z_pull.c
index 999dffdf0..c00064347 100644
--- a/examples/espidf/z_pull.c
+++ b/examples/espidf/z_pull.c
@@ -171,10 +171,6 @@ void app_main() {
     // z_undeclare_pull_subscriber(z_move(sub));
     printf("Pull Subscriber not supported... exiting\n");
 
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
     printf("OK!\n");
 }
diff --git a/examples/espidf/z_queryable.c b/examples/espidf/z_queryable.c
index 1c9d79068..e62525dd3 100644
--- a/examples/espidf/z_queryable.c
+++ b/examples/espidf/z_queryable.c
@@ -186,10 +186,6 @@ void app_main() {
     printf("Closing Zenoh Session...");
     z_undeclare_queryable(z_move(qable));
 
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
     printf("OK!\n");
 }
diff --git a/examples/espidf/z_sub.c b/examples/espidf/z_sub.c
index 2fbec348a..cc9299ff0 100644
--- a/examples/espidf/z_sub.c
+++ b/examples/espidf/z_sub.c
@@ -167,10 +167,6 @@ void app_main() {
     printf("Closing Zenoh Session...");
     z_undeclare_subscriber(z_move(sub));
 
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
     printf("OK!\n");
 }
diff --git a/examples/freertos_plus_tcp/z_get.c b/examples/freertos_plus_tcp/z_get.c
index 7ea823074..5f02fe5cc 100644
--- a/examples/freertos_plus_tcp/z_get.c
+++ b/examples/freertos_plus_tcp/z_get.c
@@ -99,10 +99,6 @@ void app_main(void) {
         }
     }
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 }
 #else
diff --git a/examples/freertos_plus_tcp/z_pub.c b/examples/freertos_plus_tcp/z_pub.c
index d649bf9e7..886d309db 100644
--- a/examples/freertos_plus_tcp/z_pub.c
+++ b/examples/freertos_plus_tcp/z_pub.c
@@ -108,8 +108,6 @@ void app_main(void) {
 
     // Clean-up
     z_undeclare_publisher(z_move(pub));
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
     z_close(z_move(s));
 }
 #else
diff --git a/examples/freertos_plus_tcp/z_pull.c b/examples/freertos_plus_tcp/z_pull.c
index f43bdb685..a4bd42660 100644
--- a/examples/freertos_plus_tcp/z_pull.c
+++ b/examples/freertos_plus_tcp/z_pull.c
@@ -81,10 +81,6 @@ void app_main(void) {
     // z_undeclare_pull_subscriber(z_move(sub));
     printf("Pull Subscriber not supported... exiting\n");
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 }
 #else
diff --git a/examples/freertos_plus_tcp/z_put.c b/examples/freertos_plus_tcp/z_put.c
index 459077ae9..ff27f10c4 100644
--- a/examples/freertos_plus_tcp/z_put.c
+++ b/examples/freertos_plus_tcp/z_put.c
@@ -57,8 +57,6 @@ void app_main(void) {
     z_view_keyexpr_from_str_unchecked(&vke, KEYEXPR);
     if (z_declare_keyexpr(&ke, z_loan(s), z_loan(vke)) < 0) {
         printf("Unable to declare key expression!\n");
-        zp_stop_read_task(z_loan_mut(s));
-        zp_stop_lease_task(z_loan_mut(s));
         z_close(z_move(s));
         return;
     }
@@ -81,8 +79,6 @@ void app_main(void) {
 
     // Clean up
     z_undeclare_keyexpr(z_move(ke), z_loan(s));
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
     z_close(z_move(s));
 }
 #else
diff --git a/examples/freertos_plus_tcp/z_queryable.c b/examples/freertos_plus_tcp/z_queryable.c
index 06fb4e89f..e53bca42f 100644
--- a/examples/freertos_plus_tcp/z_queryable.c
+++ b/examples/freertos_plus_tcp/z_queryable.c
@@ -97,10 +97,6 @@ void app_main(void) {
 
     z_undeclare_queryable(z_move(qable));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 }
 #else
diff --git a/examples/freertos_plus_tcp/z_sub.c b/examples/freertos_plus_tcp/z_sub.c
index b4a212258..2279e322b 100644
--- a/examples/freertos_plus_tcp/z_sub.c
+++ b/examples/freertos_plus_tcp/z_sub.c
@@ -77,10 +77,6 @@ void app_main(void) {
 
     z_undeclare_subscriber(z_move(sub));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 }
 #else
diff --git a/examples/mbed/z_get.cpp b/examples/mbed/z_get.cpp
index 5ed3824e2..96f2826a4 100644
--- a/examples/mbed/z_get.cpp
+++ b/examples/mbed/z_get.cpp
@@ -99,9 +99,6 @@ int main(int argc, char **argv) {
     }
 
     printf("Closing Zenoh Session...");
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_session_loan_mut(&s));
-    zp_stop_lease_task(z_session_loan_mut(&s));
 
     z_close(z_session_move(&s));
     printf("OK!\n");
diff --git a/examples/mbed/z_pub.cpp b/examples/mbed/z_pub.cpp
index 7671e5ded..eb8e3edc6 100644
--- a/examples/mbed/z_pub.cpp
+++ b/examples/mbed/z_pub.cpp
@@ -85,10 +85,6 @@ int main(int argc, char **argv) {
     printf("Closing Zenoh Session...");
     z_undeclare_publisher(z_publisher_move(&pub));
 
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_session_loan_mut(&s));
-    zp_stop_lease_task(z_session_loan_mut(&s));
-
     z_close(z_session_move(&s));
     printf("OK!\n");
 
diff --git a/examples/mbed/z_pull.cpp b/examples/mbed/z_pull.cpp
index 35e4c39c4..657fd677c 100644
--- a/examples/mbed/z_pull.cpp
+++ b/examples/mbed/z_pull.cpp
@@ -90,10 +90,6 @@ int main(int argc, char **argv) {
     // z_undeclare_pull_subscriber(z_pull_subscriber_move(&sub));
     printf("Pull Subscriber not supported... exiting\n");
 
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_session_loan_mut(&s));
-    zp_stop_lease_task(z_session_loan_mut(&s));
-
     z_close(z_session_move(&s));
     printf("OK!\n");
 
diff --git a/examples/mbed/z_queryable.cpp b/examples/mbed/z_queryable.cpp
index 8aa221f7d..1193d8001 100644
--- a/examples/mbed/z_queryable.cpp
+++ b/examples/mbed/z_queryable.cpp
@@ -104,10 +104,6 @@ int main(int argc, char **argv) {
     printf("Closing Zenoh Session...");
     z_undeclare_queryable(z_queryable_move(&qable));
 
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_session_loan_mut(&s));
-    zp_stop_lease_task(z_session_loan_mut(&s));
-
     z_close(z_session_move(&s));
     printf("OK!\n");
 
diff --git a/examples/mbed/z_sub.cpp b/examples/mbed/z_sub.cpp
index b93287274..fefba9aa6 100644
--- a/examples/mbed/z_sub.cpp
+++ b/examples/mbed/z_sub.cpp
@@ -88,10 +88,6 @@ int main(int argc, char **argv) {
     printf("Closing Zenoh Session...");
     z_undeclare_subscriber(z_subscriber_move(&sub));
 
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_session_loan_mut(&s));
-    zp_stop_lease_task(z_session_loan_mut(&s));
-
     z_close(z_session_move(&s));
     printf("OK!\n");
 
diff --git a/examples/unix/c11/z_get.c b/examples/unix/c11/z_get.c
index 242482b40..06f5cb005 100644
--- a/examples/unix/c11/z_get.c
+++ b/examples/unix/c11/z_get.c
@@ -142,10 +142,6 @@ int main(int argc, char **argv) {
     z_condvar_wait(z_loan_mut(cond), z_loan_mut(mutex));
     z_mutex_unlock(z_loan_mut(mutex));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
     return 0;
 }
diff --git a/examples/unix/c11/z_get_attachment.c b/examples/unix/c11/z_get_attachment.c
index 06c49ca3a..d2f0cb299 100644
--- a/examples/unix/c11/z_get_attachment.c
+++ b/examples/unix/c11/z_get_attachment.c
@@ -231,10 +231,6 @@ int main(int argc, char **argv) {
     z_condvar_wait(z_loan_mut(cond), z_loan_mut(mutex));
     z_mutex_unlock(z_loan_mut(mutex));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
     return 0;
 }
diff --git a/examples/unix/c11/z_get_channel.c b/examples/unix/c11/z_get_channel.c
index fd4d6ba94..db8fd1400 100644
--- a/examples/unix/c11/z_get_channel.c
+++ b/examples/unix/c11/z_get_channel.c
@@ -123,10 +123,6 @@ int main(int argc, char **argv) {
 
     z_drop(z_move(handler));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 
     return 0;
diff --git a/examples/unix/c11/z_info.c b/examples/unix/c11/z_info.c
index d70d1c55e..5b0fa48c6 100644
--- a/examples/unix/c11/z_info.c
+++ b/examples/unix/c11/z_info.c
@@ -96,9 +96,5 @@ int main(int argc, char **argv) {
     z_closure(&callback2, print_zid);
     z_info_peers_zid(z_loan(s), z_move(callback2));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 }
diff --git a/examples/unix/c11/z_ping.c b/examples/unix/c11/z_ping.c
index e399a88b2..10c75cd15 100644
--- a/examples/unix/c11/z_ping.c
+++ b/examples/unix/c11/z_ping.c
@@ -135,9 +135,6 @@ int main(int argc, char** argv) {
     z_drop(z_move(pub));
     z_drop(z_move(sub));
 
-    zp_stop_read_task(z_loan_mut(session));
-    zp_stop_lease_task(z_loan_mut(session));
-
     z_close(z_move(session));
 }
 
diff --git a/examples/unix/c11/z_pong.c b/examples/unix/c11/z_pong.c
index b0be398e1..d3787b358 100644
--- a/examples/unix/c11/z_pong.c
+++ b/examples/unix/c11/z_pong.c
@@ -74,9 +74,6 @@ int main(int argc, char** argv) {
 
     z_drop(z_move(sub));
 
-    zp_stop_read_task(z_loan_mut(session));
-    zp_stop_lease_task(z_loan_mut(session));
-
     z_close(z_move(session));
 }
 #else
diff --git a/examples/unix/c11/z_pub.c b/examples/unix/c11/z_pub.c
index 53ae46b05..55ae68745 100644
--- a/examples/unix/c11/z_pub.c
+++ b/examples/unix/c11/z_pub.c
@@ -120,8 +120,6 @@ int main(int argc, char **argv) {
     }
     // Clean up
     z_undeclare_publisher(z_move(pub));
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
     z_close(z_move(s));
     return 0;
 }
diff --git a/examples/unix/c11/z_pub_attachment.c b/examples/unix/c11/z_pub_attachment.c
index a55e1cf98..1ab241ca9 100644
--- a/examples/unix/c11/z_pub_attachment.c
+++ b/examples/unix/c11/z_pub_attachment.c
@@ -171,8 +171,6 @@ int main(int argc, char **argv) {
     }
     // Clean up
     z_undeclare_publisher(z_move(pub));
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
     z_close(z_move(s));
     return 0;
 }
diff --git a/examples/unix/c11/z_pub_thr.c b/examples/unix/c11/z_pub_thr.c
index f9247c5a8..6384dd2ed 100644
--- a/examples/unix/c11/z_pub_thr.c
+++ b/examples/unix/c11/z_pub_thr.c
@@ -69,8 +69,6 @@ int main(int argc, char **argv) {
     }
     // Clean up
     z_undeclare_publisher(z_move(pub));
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
     z_close(z_move(s));
     z_free(value);
     exit(0);
diff --git a/examples/unix/c11/z_pull.c b/examples/unix/c11/z_pull.c
index 95e275518..5f64c9a1a 100644
--- a/examples/unix/c11/z_pull.c
+++ b/examples/unix/c11/z_pull.c
@@ -105,10 +105,6 @@ int main(int argc, char **argv) {
     z_undeclare_subscriber(z_move(sub));
     z_drop(z_move(handler));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 
     return 0;
diff --git a/examples/unix/c11/z_put.c b/examples/unix/c11/z_put.c
index e0f012047..e65c8e974 100644
--- a/examples/unix/c11/z_put.c
+++ b/examples/unix/c11/z_put.c
@@ -90,9 +90,6 @@ int main(int argc, char **argv) {
     z_view_keyexpr_from_str(&vke, keyexpr);
     z_owned_keyexpr_t ke;
     if (z_declare_keyexpr(&ke, z_loan(s), z_loan(vke)) < 0) {
-        printf("Unable to declare key expression!\n");
-        zp_stop_read_task(z_loan_mut(s));
-        zp_stop_lease_task(z_loan_mut(s));
         z_close(z_move(s));
         return -1;
     }
@@ -107,8 +104,6 @@ int main(int argc, char **argv) {
     }
     // Clean up
     z_undeclare_keyexpr(z_move(ke), z_loan(s));
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
     z_close(z_move(s));
     return 0;
 }
diff --git a/examples/unix/c11/z_queryable.c b/examples/unix/c11/z_queryable.c
index 2039231b7..a9a7893ce 100644
--- a/examples/unix/c11/z_queryable.c
+++ b/examples/unix/c11/z_queryable.c
@@ -162,10 +162,6 @@ int main(int argc, char **argv) {
 
     z_undeclare_queryable(z_move(qable));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 
     return 0;
diff --git a/examples/unix/c11/z_queryable_attachment.c b/examples/unix/c11/z_queryable_attachment.c
index 11c6a469e..59293e4b0 100644
--- a/examples/unix/c11/z_queryable_attachment.c
+++ b/examples/unix/c11/z_queryable_attachment.c
@@ -246,10 +246,6 @@ int main(int argc, char **argv) {
 
     z_undeclare_queryable(z_move(qable));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 
     return 0;
diff --git a/examples/unix/c11/z_queryable_channel.c b/examples/unix/c11/z_queryable_channel.c
index 3c9c5a047..4af3bf16b 100644
--- a/examples/unix/c11/z_queryable_channel.c
+++ b/examples/unix/c11/z_queryable_channel.c
@@ -128,10 +128,6 @@ int main(int argc, char **argv) {
     z_drop(z_move(handler));
     z_undeclare_queryable(z_move(qable));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 
     return 0;
diff --git a/examples/unix/c11/z_sub.c b/examples/unix/c11/z_sub.c
index ce3880fb1..9d37f5075 100644
--- a/examples/unix/c11/z_sub.c
+++ b/examples/unix/c11/z_sub.c
@@ -116,8 +116,6 @@ int main(int argc, char **argv) {
     }
     // Clean up
     z_undeclare_subscriber(z_move(sub));
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
     z_close(z_move(s));
     return 0;
 }
diff --git a/examples/unix/c11/z_sub_attachment.c b/examples/unix/c11/z_sub_attachment.c
index 5ef7d9717..0323384b8 100644
--- a/examples/unix/c11/z_sub_attachment.c
+++ b/examples/unix/c11/z_sub_attachment.c
@@ -172,8 +172,6 @@ int main(int argc, char **argv) {
     }
     // Clean up
     z_undeclare_subscriber(z_move(sub));
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
     z_close(z_move(s));
     return 0;
 }
diff --git a/examples/unix/c11/z_sub_channel.c b/examples/unix/c11/z_sub_channel.c
index da197dc6e..41ff0c5ff 100644
--- a/examples/unix/c11/z_sub_channel.c
+++ b/examples/unix/c11/z_sub_channel.c
@@ -93,10 +93,6 @@ int main(int argc, char **argv) {
     z_undeclare_subscriber(z_move(sub));
     z_drop(z_move(handler));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 
     return 0;
diff --git a/examples/unix/c11/z_sub_thr.c b/examples/unix/c11/z_sub_thr.c
index abfadfc32..8c9941451 100644
--- a/examples/unix/c11/z_sub_thr.c
+++ b/examples/unix/c11/z_sub_thr.c
@@ -110,8 +110,6 @@ int main(int argc, char **argv) {
 
     // Clean up
     z_undeclare_subscriber(z_move(sub));
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
     z_close(z_move(s));
     exit(0);
 }
diff --git a/examples/unix/c99/z_get.c b/examples/unix/c99/z_get.c
index 5200fa19f..1af5aff4c 100644
--- a/examples/unix/c99/z_get.c
+++ b/examples/unix/c99/z_get.c
@@ -135,10 +135,6 @@ int main(int argc, char **argv) {
     z_condvar_wait(z_condvar_loan_mut(&cond), z_mutex_loan_mut(&mutex));
     z_mutex_unlock(z_mutex_loan_mut(&mutex));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_session_loan_mut(&s));
-    zp_stop_lease_task(z_session_loan_mut(&s));
-
     z_close(z_session_move(&s));
 
     return 0;
diff --git a/examples/unix/c99/z_info.c b/examples/unix/c99/z_info.c
index ba531e63f..b19a2dfae 100644
--- a/examples/unix/c99/z_info.c
+++ b/examples/unix/c99/z_info.c
@@ -96,9 +96,5 @@ int main(int argc, char **argv) {
     z_closure_zid(&callback2, print_zid, NULL, NULL);
     z_info_peers_zid(z_session_loan(&s), z_closure_zid_move(&callback2));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_session_loan_mut(&s));
-    zp_stop_lease_task(z_session_loan_mut(&s));
-
     z_close(z_session_move(&s));
 }
diff --git a/examples/unix/c99/z_ping.c b/examples/unix/c99/z_ping.c
index 57189c826..c43d89d98 100644
--- a/examples/unix/c99/z_ping.c
+++ b/examples/unix/c99/z_ping.c
@@ -139,9 +139,6 @@ int main(int argc, char** argv) {
     z_undeclare_subscriber(z_subscriber_move(&sub));
     z_undeclare_publisher(z_publisher_move(&pub));
 
-    zp_stop_read_task(z_session_loan_mut(&session));
-    zp_stop_lease_task(z_session_loan_mut(&session));
-
     z_close(z_session_move(&session));
 }
 
diff --git a/examples/unix/c99/z_pong.c b/examples/unix/c99/z_pong.c
index b061b5fa6..0a6784cf2 100644
--- a/examples/unix/c99/z_pong.c
+++ b/examples/unix/c99/z_pong.c
@@ -81,9 +81,6 @@ int main(int argc, char** argv) {
 
     z_undeclare_subscriber(z_subscriber_move(&sub));
 
-    zp_stop_read_task(z_session_loan_mut(&session));
-    zp_stop_lease_task(z_session_loan_mut(&session));
-
     z_close(z_session_move(&session));
 }
 #else
diff --git a/examples/unix/c99/z_pub.c b/examples/unix/c99/z_pub.c
index 5519afe08..e2e8fd2c9 100644
--- a/examples/unix/c99/z_pub.c
+++ b/examples/unix/c99/z_pub.c
@@ -110,8 +110,6 @@ int main(int argc, char **argv) {
     }
     // Clean up
     z_undeclare_publisher(z_publisher_move(&pub));
-    zp_stop_read_task(z_session_loan_mut(&s));
-    zp_stop_lease_task(z_session_loan_mut(&s));
     z_close(z_session_move(&s));
     return 0;
 }
diff --git a/examples/unix/c99/z_pull.c b/examples/unix/c99/z_pull.c
index fb5d89356..d06d00021 100644
--- a/examples/unix/c99/z_pull.c
+++ b/examples/unix/c99/z_pull.c
@@ -101,10 +101,6 @@ int main(int argc, char **argv) {
     // z_undeclare_pull_subscriber(z_pull_subscriber_move(&sub));
     printf("Pull Subscriber not supported... exiting\n");
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_session_loan_mut(&s));
-    zp_stop_lease_task(z_session_loan_mut(&s));
-
     z_close(z_session_move(&s));
 
     return 0;
diff --git a/examples/unix/c99/z_put.c b/examples/unix/c99/z_put.c
index 9ccde511c..55d3875b6 100644
--- a/examples/unix/c99/z_put.c
+++ b/examples/unix/c99/z_put.c
@@ -87,8 +87,6 @@ int main(int argc, char **argv) {
     z_owned_keyexpr_t ke;
     if (z_declare_keyexpr(&ke, z_session_loan(&s), z_view_keyexpr_loan(&vke)) < 0) {
         printf("Unable to declare key expression!\n");
-        zp_stop_read_task(z_session_loan_mut(&s));
-        zp_stop_lease_task(z_session_loan_mut(&s));
         z_close(z_session_move(&s));
         return -1;
     }
@@ -104,8 +102,6 @@ int main(int argc, char **argv) {
 
     // Clean up
     z_undeclare_keyexpr(z_keyexpr_move(&ke), z_session_loan(&s));
-    zp_stop_read_task(z_session_loan_mut(&s));
-    zp_stop_lease_task(z_session_loan_mut(&s));
     z_close(z_session_move(&s));
     return 0;
 }
diff --git a/examples/unix/c99/z_queryable.c b/examples/unix/c99/z_queryable.c
index 5649c2ca5..fdc0f0597 100644
--- a/examples/unix/c99/z_queryable.c
+++ b/examples/unix/c99/z_queryable.c
@@ -128,10 +128,6 @@ int main(int argc, char **argv) {
 
     z_undeclare_queryable(z_queryable_move(&qable));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_session_loan_mut(&s));
-    zp_stop_lease_task(z_session_loan_mut(&s));
-
     z_close(z_session_move(&s));
 
     return 0;
diff --git a/examples/unix/c99/z_sub.c b/examples/unix/c99/z_sub.c
index d3958e919..2813f2959 100644
--- a/examples/unix/c99/z_sub.c
+++ b/examples/unix/c99/z_sub.c
@@ -108,10 +108,6 @@ int main(int argc, char **argv) {
 
     z_undeclare_subscriber(z_subscriber_move(&sub));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_session_loan_mut(&s));
-    zp_stop_lease_task(z_session_loan_mut(&s));
-
     z_close(z_session_move(&s));
 
     return 0;
diff --git a/examples/windows/z_get.c b/examples/windows/z_get.c
index 9437b927e..b3d564c26 100644
--- a/examples/windows/z_get.c
+++ b/examples/windows/z_get.c
@@ -99,10 +99,6 @@ int main(int argc, char **argv) {
     z_condvar_wait(z_loan_mut(cond), z_loan_mut(mutex));
     z_mutex_unlock(z_loan_mut(mutex));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 
     return 0;
diff --git a/examples/windows/z_info.c b/examples/windows/z_info.c
index 0a8151e62..c560d0248 100644
--- a/examples/windows/z_info.c
+++ b/examples/windows/z_info.c
@@ -69,9 +69,5 @@ int main(int argc, char **argv) {
     z_closure(&callback2, print_zid);
     z_info_peers_zid(z_loan(s), z_move(callback2));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 }
diff --git a/examples/windows/z_ping.c b/examples/windows/z_ping.c
index 725cfde17..bd9a99043 100644
--- a/examples/windows/z_ping.c
+++ b/examples/windows/z_ping.c
@@ -135,9 +135,6 @@ int main(int argc, char** argv) {
     z_drop(z_move(pub));
     z_drop(z_move(sub));
 
-    zp_stop_read_task(z_loan_mut(session));
-    zp_stop_lease_task(z_loan_mut(session));
-
     z_close(z_move(session));
 }
 
diff --git a/examples/windows/z_pong.c b/examples/windows/z_pong.c
index fb6931296..57ff1c684 100644
--- a/examples/windows/z_pong.c
+++ b/examples/windows/z_pong.c
@@ -77,9 +77,6 @@ int main(int argc, char** argv) {
 
     z_drop(z_move(sub));
 
-    zp_stop_read_task(z_loan_mut(session));
-    zp_stop_lease_task(z_loan_mut(session));
-
     z_close(z_move(session));
 }
 #else
diff --git a/examples/windows/z_pull.c b/examples/windows/z_pull.c
index 70378b7e5..c6473bcbe 100644
--- a/examples/windows/z_pull.c
+++ b/examples/windows/z_pull.c
@@ -78,10 +78,6 @@ int main(int argc, char **argv) {
     // z_undeclare_pull_subscriber(z_move(sub));
     printf("Pull Subscriber not supported... exiting\n");
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 
     return 0;
diff --git a/examples/windows/z_put.c b/examples/windows/z_put.c
index 65287dbfa..fba9b759b 100644
--- a/examples/windows/z_put.c
+++ b/examples/windows/z_put.c
@@ -54,8 +54,6 @@ int main(int argc, char **argv) {
     z_owned_keyexpr_t ke;
     if (z_declare_keyexpr(&ke, z_loan(s), z_loan(vke)) < 0) {
         printf("Unable to declare key expression!\n");
-        zp_stop_read_task(z_loan_mut(s));
-        zp_stop_lease_task(z_loan_mut(s));
         z_close(z_move(s));
         return -1;
     }
@@ -71,8 +69,6 @@ int main(int argc, char **argv) {
 
     // Clean up
     z_undeclare_keyexpr(z_move(ke), z_loan(s));
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
     z_close(z_move(s));
     return 0;
 }
diff --git a/examples/windows/z_queryable.c b/examples/windows/z_queryable.c
index acb60d680..1b5c8faed 100644
--- a/examples/windows/z_queryable.c
+++ b/examples/windows/z_queryable.c
@@ -92,10 +92,6 @@ int main(int argc, char **argv) {
 
     z_undeclare_queryable(z_move(qable));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 
     return 0;
diff --git a/examples/windows/z_sub.c b/examples/windows/z_sub.c
index b1861728f..f7ab3d356 100644
--- a/examples/windows/z_sub.c
+++ b/examples/windows/z_sub.c
@@ -75,10 +75,6 @@ int main(int argc, char **argv) {
 
     z_undeclare_subscriber(z_move(sub));
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
 
     return 0;
diff --git a/examples/zephyr/z_get.c b/examples/zephyr/z_get.c
index 380efa1c5..a792a7cbb 100644
--- a/examples/zephyr/z_get.c
+++ b/examples/zephyr/z_get.c
@@ -96,9 +96,6 @@ int main(int argc, char **argv) {
     }
 
     printf("Closing Zenoh Session...");
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
 
     z_close(z_move(s));
     printf("OK!\n");
diff --git a/examples/zephyr/z_pub.c b/examples/zephyr/z_pub.c
index 31c9ce394..5ef9b5166 100644
--- a/examples/zephyr/z_pub.c
+++ b/examples/zephyr/z_pub.c
@@ -82,10 +82,6 @@ int main(int argc, char **argv) {
     printf("Closing Zenoh Session...");
     z_undeclare_publisher(z_move(pub));
 
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
     printf("OK!\n");
 
diff --git a/examples/zephyr/z_pull.c b/examples/zephyr/z_pull.c
index c0e9d4b9a..7c8868b15 100644
--- a/examples/zephyr/z_pull.c
+++ b/examples/zephyr/z_pull.c
@@ -84,10 +84,6 @@ int main(int argc, char **argv) {
     // z_undeclare_pull_subscriber(z_move(sub));
     printf("Pull Subscriber not supported... exiting\n");
 
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
     printf("OK!\n");
 
diff --git a/examples/zephyr/z_queryable.c b/examples/zephyr/z_queryable.c
index d30daea95..4f6e51d23 100644
--- a/examples/zephyr/z_queryable.c
+++ b/examples/zephyr/z_queryable.c
@@ -99,10 +99,6 @@ int main(int argc, char **argv) {
     printf("Closing Zenoh Session...");
     z_undeclare_queryable(z_move(qable));
 
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
     printf("OK!\n");
 
diff --git a/examples/zephyr/z_sub.c b/examples/zephyr/z_sub.c
index e1e278343..5f974ab2c 100644
--- a/examples/zephyr/z_sub.c
+++ b/examples/zephyr/z_sub.c
@@ -82,10 +82,6 @@ int main(int argc, char **argv) {
     printf("Closing Zenoh Session...");
     z_undeclare_subscriber(z_move(sub));
 
-    // Stop the receive and the session lease loop for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     z_close(z_move(s));
     printf("OK!\n");
 
diff --git a/src/api/api.c b/src/api/api.c
index 6ab280187..40eeff8c5 100644
--- a/src/api/api.c
+++ b/src/api/api.c
@@ -893,7 +893,6 @@ int8_t z_close(z_owned_session_t *zs) {
     if (zs == NULL || !z_session_check(zs)) {
         return _Z_RES_OK;
     }
-    _z_close(&_Z_OWNED_RC_IN_VAL(zs));
     z_session_drop(zs);
     return _Z_RES_OK;
 }
diff --git a/src/session/utils.c b/src/session/utils.c
index deb615ed7..bfed7ef50 100644
--- a/src/session/utils.c
+++ b/src/session/utils.c
@@ -101,8 +101,12 @@ int8_t _z_session_init(_z_session_rc_t *zsrc, _z_id_t *zid) {
 }
 
 void _z_session_clear(_z_session_t *zn) {
+#if Z_FEATURE_MULTI_THREAD == 1
+    _zp_stop_read_task(zn);
+    _zp_stop_lease_task(zn);
+#endif
+    _z_close(zn);
     // Clear Zenoh PID
-
     // Clean up transports
     _z_transport_clear(&zn->_tp);
 
diff --git a/tests/z_client_test.c b/tests/z_client_test.c
index 68ad15f65..3ad3fd406 100644
--- a/tests/z_client_test.c
+++ b/tests/z_client_test.c
@@ -388,15 +388,6 @@ int main(int argc, char **argv) {
 
     z_sleep_s(SLEEP);
 
-    // Stop both sessions
-    printf("Stopping threads on session 1\n");
-    zp_stop_read_task(z_loan_mut(s1));
-    zp_stop_lease_task(z_loan_mut(s1));
-
-    printf("Stopping threads on session 2\n");
-    zp_stop_read_task(z_loan_mut(s2));
-    zp_stop_lease_task(z_loan_mut(s2));
-
     // Close both sessions
     printf("Closing session 1\n");
     z_close(z_move(s1));
diff --git a/tests/z_peer_multicast_test.c b/tests/z_peer_multicast_test.c
index fec2764ac..23897fde9 100644
--- a/tests/z_peer_multicast_test.c
+++ b/tests/z_peer_multicast_test.c
@@ -177,15 +177,6 @@ int main(int argc, char **argv) {
 
     z_sleep_s(SLEEP);
 
-    // Stop both sessions
-    printf("Stopping threads on session 1\n");
-    zp_stop_read_task(z_loan_mut(s1));
-    zp_stop_lease_task(z_loan_mut(s1));
-
-    printf("Stopping threads on session 2\n");
-    zp_stop_read_task(z_loan_mut(s2));
-    zp_stop_lease_task(z_loan_mut(s2));
-
     // Close both sessions
     printf("Closing session 1\n");
     z_close(z_move(s1));
diff --git a/tests/z_perf_rx.c b/tests/z_perf_rx.c
index 7f0ac6864..b46feb136 100644
--- a/tests/z_perf_rx.c
+++ b/tests/z_perf_rx.c
@@ -120,8 +120,6 @@ int main(int argc, char **argv) {
     z_sleep_s(1);
     // Clean up
     z_undeclare_subscriber(z_move(sub));
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
     z_close(z_move(s));
     exit(0);
 }
diff --git a/tests/z_perf_tx.c b/tests/z_perf_tx.c
index ee59e495b..1e9dc259b 100644
--- a/tests/z_perf_tx.c
+++ b/tests/z_perf_tx.c
@@ -108,8 +108,6 @@ int main(int argc, char **argv) {
     z_publisher_put(z_loan(pub), z_move(payload), NULL);
     // Clean up
     z_undeclare_publisher(z_move(pub));
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
     z_close(z_move(s));
     free(value);
     exit(0);
diff --git a/tests/z_session_test.c b/tests/z_session_test.c
index dcb55e097..a78f89a3f 100644
--- a/tests/z_session_test.c
+++ b/tests/z_session_test.c
@@ -43,10 +43,6 @@ int main(void) {
     // Commented out wait for 1 second. Stopping should work without it.
     // z_sleep_ms(1000);
 
-    // Stop read and lease tasks for zenoh-pico
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
-
     // Immediately close the session
     z_close(&s);
 }
diff --git a/tests/z_test_fragment_rx.c b/tests/z_test_fragment_rx.c
index b0fb8395f..8edaa5a96 100644
--- a/tests/z_test_fragment_rx.c
+++ b/tests/z_test_fragment_rx.c
@@ -96,8 +96,6 @@ int main(int argc, char **argv) {
     }
     // Clean up
     z_undeclare_subscriber(z_move(sub));
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
     z_close(z_move(s));
     return 0;
 }
diff --git a/tests/z_test_fragment_tx.c b/tests/z_test_fragment_tx.c
index 6bca1264e..17defeb10 100644
--- a/tests/z_test_fragment_tx.c
+++ b/tests/z_test_fragment_tx.c
@@ -89,8 +89,6 @@ int main(int argc, char **argv) {
         z_sleep_s(1);
     }
     // Clean up
-    zp_stop_read_task(z_loan_mut(s));
-    zp_stop_lease_task(z_loan_mut(s));
     z_close(z_move(s));
     free(value);
     return 0;
diff --git a/zenohpico.pc b/zenohpico.pc
index cad278917..6171fd0b5 100644
--- a/zenohpico.pc
+++ b/zenohpico.pc
@@ -3,6 +3,6 @@ prefix=/usr/local
 Name: zenohpico
 Description: 
 URL: 
-Version: 1.0.20240710dev
+Version: 1.0.20240711dev
 Cflags: -I${prefix}/include
 Libs: -L${prefix}/lib -lzenohpico