diff --git a/.clang-format b/.clang-format
index f36aab3ab..79e492438 100644
--- a/.clang-format
+++ b/.clang-format
@@ -1,3 +1,5 @@
+---
+Language: Cpp
 BasedOnStyle: Google
 IndentWidth: 4
 ColumnLimit: 120
diff --git a/.github/workflows/arduino_esp32.yaml b/.github/workflows/arduino_esp32.yaml
index 0e1865973..bd347aec6 100644
--- a/.github/workflows/arduino_esp32.yaml
+++ b/.github/workflows/arduino_esp32.yaml
@@ -29,7 +29,7 @@ jobs:
         os: [ubuntu-latest]
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: Install requirements
         run: |
diff --git a/.github/workflows/build-check.yaml b/.github/workflows/build-check.yaml
index b8a13d880..8ea2af629 100644
--- a/.github/workflows/build-check.yaml
+++ b/.github/workflows/build-check.yaml
@@ -20,6 +20,28 @@ on:
     branches: [ '**' ]
 
 jobs:
+  run_tests: 
+    name: Run unit tests on ubuntu-latest
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+  
+      - name: Build & run tests
+        run: |
+          sudo apt install -y ninja-build
+          CMAKE_GENERATOR=Ninja make test
+  
+  check_format:
+    name: Check codebase format with clang-format
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+  
+      - name: Run clang-format dry-run
+        run: find include/ src/ tests/ examples/ -iname "*.ino" -o -iname "*.h" -o -iname "*.c" | xargs clang-format -n -Werror
+
   modular_build:
     name: Modular build on ubuntu-latest
     runs-on: ubuntu-latest
@@ -38,7 +60,8 @@ jobs:
 
     - name: Build project
       run: |
-        make all
+        sudo apt install -y ninja-build
+        CMAKE_GENERATOR=Ninja make
         python3 ./build/tests/modularity.py --pub $Z_FEATURE_PUBLICATION --sub $Z_FEATURE_SUBSCRIPTION --queryable $Z_FEATURE_QUERYABLE --query $Z_FEATURE_QUERY
       timeout-minutes: 5
       env:
@@ -51,4 +74,4 @@ jobs:
       if: always()
       run: |
         docker stop zenoh_router
-        docker rm zenoh_router
\ No newline at end of file
+        docker rm zenoh_router
diff --git a/.github/workflows/build-shared.yaml b/.github/workflows/build-shared.yaml
index a5b6d2a52..bc07b2a7c 100644
--- a/.github/workflows/build-shared.yaml
+++ b/.github/workflows/build-shared.yaml
@@ -28,7 +28,7 @@ jobs:
       matrix:
         os: [ubuntu-latest, macOS-latest, windows-latest]
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Compile debug
       run: make all
       env:
@@ -44,10 +44,10 @@ jobs:
     name: Build on ubuntu-latest
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Crosscompile debug
       run: make crossbuilds
       env:
         BUILD_TYPE: Debug
         BUILD_SHARED_LIBS: ON
-        ZENOH_DEBUG: 3
\ No newline at end of file
+        ZENOH_DEBUG: 3
diff --git a/.github/workflows/build-static.yaml b/.github/workflows/build-static.yaml
index 9b08df766..4b853c7a7 100644
--- a/.github/workflows/build-static.yaml
+++ b/.github/workflows/build-static.yaml
@@ -28,7 +28,7 @@ jobs:
       matrix:
         os: [ubuntu-latest, macOS-latest, windows-latest]
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Compile debug
       run: make all
       env:
@@ -44,7 +44,7 @@ jobs:
     name: Build on ubuntu-latest
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Crosscompile debug
       run: make crossbuilds
       env:
diff --git a/.github/workflows/codacy-analysis.yml b/.github/workflows/codacy-analysis.yml
index f480f2db2..056e81353 100644
--- a/.github/workflows/codacy-analysis.yml
+++ b/.github/workflows/codacy-analysis.yml
@@ -21,7 +21,7 @@ jobs:
     steps:
       # Checkout the repository to the GitHub Actions runner
       - name: Checkout code
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
       # Execute Codacy Analysis CLI and generate a SARIF output with the security issues identified during the analysis
       - name: Run Codacy Analysis CLI
diff --git a/.github/workflows/emscripten.yaml b/.github/workflows/emscripten.yaml
index 7080b5579..a240c7188 100644
--- a/.github/workflows/emscripten.yaml
+++ b/.github/workflows/emscripten.yaml
@@ -28,13 +28,11 @@ jobs:
       matrix:
         os: [ubuntu-latest]
     steps:
-    - uses: actions/checkout@v2
-    - uses: jwlawson/actions-setup-cmake@v1.13
-    - uses: mymindstorm/setup-emsdk@v11
+    - uses: actions/checkout@v4
+    - uses: jwlawson/actions-setup-cmake@v1.14
+    - uses: mymindstorm/setup-emsdk@v12
     - name: Compile debug
       run: |
        mkdir build
        emcmake cmake -E env CFLAGS="-DZ_FEATURE_LINK_WS=1 -DZ_FEATURE_LINK_TCP=0 -DZ_FEATURE_LINK_UDP_MULTICAST=0 -DZ_FEATURE_LINK_UDP_UNICAST=0 -DZ_FEATURE_SCOUTING_UDP=0" cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_C_STANDARD=11 -DBUILD_EXAMPLES=OFF -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF -DBUILD_MULTICAST=OFF -DBUILD_INTEGRATION=OFF -DBUILD_TOOLS=OFF -DZENOH_DEBUG=3 -H. -Bbuild
        make -C build
-
-
diff --git a/.github/workflows/espidf.yaml b/.github/workflows/espidf.yaml
index 6f46eb0e4..e0685732d 100644
--- a/.github/workflows/espidf.yaml
+++ b/.github/workflows/espidf.yaml
@@ -29,7 +29,7 @@ jobs:
         os: [ubuntu-latest]
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: Install requirements
         run: |
diff --git a/.github/workflows/freertos_plus_tcp.yaml b/.github/workflows/freertos_plus_tcp.yaml
index 65231e75f..c3e56e62b 100644
--- a/.github/workflows/freertos_plus_tcp.yaml
+++ b/.github/workflows/freertos_plus_tcp.yaml
@@ -28,7 +28,7 @@ jobs:
       matrix:
         os: [ubuntu-latest]
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - uses: jwlawson/actions-setup-cmake@v1.13
     - name: Install requirements
       run: |
diff --git a/.github/workflows/integration.yaml b/.github/workflows/integration.yaml
index 9818f6f94..d6b3a0205 100644
--- a/.github/workflows/integration.yaml
+++ b/.github/workflows/integration.yaml
@@ -32,10 +32,10 @@ jobs:
         os: [ ubuntu-latest, macOS-latest ]
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: Install latest stable
-        uses: actions-rs/toolchain@v1
+        uses: actions-rs/toolchain@v1.0.7
         with:
           toolchain: stable
           override: true
diff --git a/.github/workflows/mbed.yaml b/.github/workflows/mbed.yaml
index 5bfbf4d94..60c74ecb7 100644
--- a/.github/workflows/mbed.yaml
+++ b/.github/workflows/mbed.yaml
@@ -29,7 +29,7 @@ jobs:
         os: [ubuntu-latest]
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: Install requirements
         run: |
diff --git a/.github/workflows/multicast.yaml b/.github/workflows/multicast.yaml
index 1d7af5533..b1b57b38c 100644
--- a/.github/workflows/multicast.yaml
+++ b/.github/workflows/multicast.yaml
@@ -31,7 +31,7 @@ jobs:
         os: [macOS-latest]
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: Compile debug
         run: make all
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index ae7a1b625..cb9276179 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -25,7 +25,7 @@ jobs:
     name: Preparation
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Environment setup
         id: env
         shell: bash
@@ -73,7 +73,7 @@ jobs:
     needs: preps
     runs-on: macos-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: MacOS build
         run: make
         env:
@@ -108,7 +108,7 @@ jobs:
       fail-fast: false
       matrix: ${{fromJson(needs.preps.outputs.TARGET_MATRIX)}}
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: make for ${{ matrix.target }}
         env:
           BUILD_TYPE: RELEASE
diff --git a/.github/workflows/zephyr.yaml b/.github/workflows/zephyr.yaml
index c7df7ecaa..338a86dce 100644
--- a/.github/workflows/zephyr.yaml
+++ b/.github/workflows/zephyr.yaml
@@ -29,7 +29,7 @@ jobs:
         os: [ubuntu-latest]
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: Install requirements
         run: |
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3d562f411..90b98ea2f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -138,7 +138,7 @@ endif()
 
 if(CMAKE_BUILD_TYPE MATCHES "DEBUG")
   if(UNIX)
-    add_compile_options(-c -Wall -Wextra -Werror -Wunused -Wstrict-prototypes -pipe -g -O0)
+    add_compile_options(-c -Wall -Wextra -Werror -Wshadow -Wpedantic -Wunused -Wstrict-prototypes -pipe -g -O0)
   elseif(MSVC)
     add_compile_options(/W4 /WX /Od)
   elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
diff --git a/examples/arduino/z_get.ino b/examples/arduino/z_get.ino
index 7ae75175f..ddd607641 100644
--- a/examples/arduino/z_get.ino
+++ b/examples/arduino/z_get.ino
@@ -122,6 +122,7 @@ void loop() {
 #else
 void setup() {
     Serial.println("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.");
+    return;
 }
 void loop() {}
 #endif
diff --git a/examples/arduino/z_pub.ino b/examples/arduino/z_pub.ino
index 763d69ee2..c7e60d62e 100644
--- a/examples/arduino/z_pub.ino
+++ b/examples/arduino/z_pub.ino
@@ -111,6 +111,7 @@ void loop() {
 #else
 void setup() {
     Serial.println("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.");
+    return;
 }
 void loop() {}
 #endif
diff --git a/examples/arduino/z_pull.ino b/examples/arduino/z_pull.ino
index c1ffd7865..7dc5600e8 100644
--- a/examples/arduino/z_pull.ino
+++ b/examples/arduino/z_pull.ino
@@ -112,6 +112,7 @@ void loop() {
 #else
 void setup() {
     Serial.println("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.");
+    return;
 }
 void loop() {}
 #endif
diff --git a/examples/arduino/z_queryable.ino b/examples/arduino/z_queryable.ino
index edde751ae..772f60a0a 100644
--- a/examples/arduino/z_queryable.ino
+++ b/examples/arduino/z_queryable.ino
@@ -111,6 +111,7 @@ void loop() { delay(5000); }
 #else
 void setup() {
     Serial.println("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.");
+    return;
 }
 void loop() {}
 #endif
diff --git a/examples/arduino/z_sub.ino b/examples/arduino/z_sub.ino
index b07ca70c0..1a3302f55 100644
--- a/examples/arduino/z_sub.ino
+++ b/examples/arduino/z_sub.ino
@@ -109,6 +109,7 @@ void loop() { delay(5000); }
 #else
 void setup() {
     Serial.println("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.");
+    return;
 }
 void loop() {}
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/espidf/z_get.c b/examples/espidf/z_get.c
index 884dfc2a4..a8e06549f 100644
--- a/examples/espidf/z_get.c
+++ b/examples/espidf/z_get.c
@@ -175,4 +175,4 @@ void app_main() {
 }
 #else
 void app_main() { printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.\n"); }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/espidf/z_pull.c b/examples/espidf/z_pull.c
index 03175c898..5f42b2852 100644
--- a/examples/espidf/z_pull.c
+++ b/examples/espidf/z_pull.c
@@ -173,4 +173,4 @@ void app_main() {
 void app_main() {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/espidf/z_sub.c b/examples/espidf/z_sub.c
index 01272c46e..33f01548b 100644
--- a/examples/espidf/z_sub.c
+++ b/examples/espidf/z_sub.c
@@ -171,4 +171,4 @@ void app_main() {
 void app_main() {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h b/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
index 430e92b4d..161585f0a 100644
--- a/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
+++ b/examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h
@@ -51,4 +51,4 @@
 #define ipconfigBUFFER_PADDING 14U
 #endif
 
-#endif /* FREERTOS_IP_CONFIG_H */
\ No newline at end of file
+#endif /* FREERTOS_IP_CONFIG_H */
diff --git a/examples/freertos_plus_tcp/z_get.c b/examples/freertos_plus_tcp/z_get.c
index 3a95518c1..9da9bb624 100644
--- a/examples/freertos_plus_tcp/z_get.c
+++ b/examples/freertos_plus_tcp/z_get.c
@@ -98,4 +98,4 @@ void app_main(void) {
 void app_main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.\n");
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/freertos_plus_tcp/z_queryable.c b/examples/freertos_plus_tcp/z_queryable.c
index de60b9c53..19f960eac 100644
--- a/examples/freertos_plus_tcp/z_queryable.c
+++ b/examples/freertos_plus_tcp/z_queryable.c
@@ -94,4 +94,4 @@ void app_main(void) {
 void app_main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n");
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/mbed/z_get.cpp b/examples/mbed/z_get.cpp
index 283dd8f43..905ac4e1c 100644
--- a/examples/mbed/z_get.cpp
+++ b/examples/mbed/z_get.cpp
@@ -100,4 +100,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/mbed/z_pub.cpp b/examples/mbed/z_pub.cpp
index 309cb3d7b..0fb939071 100644
--- a/examples/mbed/z_pub.cpp
+++ b/examples/mbed/z_pub.cpp
@@ -91,4 +91,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/mbed/z_pull.cpp b/examples/mbed/z_pull.cpp
index c54c83ad6..d6b82c1d0 100644
--- a/examples/mbed/z_pull.cpp
+++ b/examples/mbed/z_pull.cpp
@@ -97,4 +97,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/mbed/z_queryable.cpp b/examples/mbed/z_queryable.cpp
index fa8b8046b..08ade9084 100644
--- a/examples/mbed/z_queryable.cpp
+++ b/examples/mbed/z_queryable.cpp
@@ -100,4 +100,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/mbed/z_sub.cpp b/examples/mbed/z_sub.cpp
index 51699f9ca..0b3cbdd47 100644
--- a/examples/mbed/z_sub.cpp
+++ b/examples/mbed/z_sub.cpp
@@ -95,4 +95,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c11/z_get.c b/examples/unix/c11/z_get.c
index b72ea0e9f..e2aa07e9c 100644
--- a/examples/unix/c11/z_get.c
+++ b/examples/unix/c11/z_get.c
@@ -105,7 +105,8 @@ int main(int argc, char **argv) {
     char c = '\0';
     while (1) {
         fflush(stdin);
-        scanf("%c", &c);
+        int ret = scanf("%c", &c);
+        (void)ret;  // Remove unused result warning
         if (c == 'q') {
             break;
         }
@@ -135,4 +136,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c11/z_ping.c b/examples/unix/c11/z_ping.c
index 379ff6dcf..6e0369574 100644
--- a/examples/unix/c11/z_ping.c
+++ b/examples/unix/c11/z_ping.c
@@ -179,4 +179,4 @@ int main(void) {
         "requires them.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c11/z_pong.c b/examples/unix/c11/z_pong.c
index 6202b38b1..8991729e9 100644
--- a/examples/unix/c11/z_pong.c
+++ b/examples/unix/c11/z_pong.c
@@ -76,4 +76,4 @@ int main(void) {
         "requires them.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c11/z_pub_st.c b/examples/unix/c11/z_pub_st.c
index ae152104b..b53bc346e 100644
--- a/examples/unix/c11/z_pub_st.c
+++ b/examples/unix/c11/z_pub_st.c
@@ -109,4 +109,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c11/z_pull.c b/examples/unix/c11/z_pull.c
index 4ed568f76..c39f19c52 100644
--- a/examples/unix/c11/z_pull.c
+++ b/examples/unix/c11/z_pull.c
@@ -82,7 +82,8 @@ int main(int argc, char **argv) {
     char c = '\0';
     while (1) {
         fflush(stdin);
-        scanf("%c", &c);
+        int ret = scanf("%c", &c);
+        (void)ret;  // Remove unused result warning
         if (c == 'q') {
             break;
         }
@@ -104,4 +105,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c11/z_put.c b/examples/unix/c11/z_put.c
index 70838a062..089615618 100644
--- a/examples/unix/c11/z_put.c
+++ b/examples/unix/c11/z_put.c
@@ -107,4 +107,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c11/z_queryable.c b/examples/unix/c11/z_queryable.c
index 92f13c652..d9bb7c74a 100644
--- a/examples/unix/c11/z_queryable.c
+++ b/examples/unix/c11/z_queryable.c
@@ -112,7 +112,8 @@ int main(int argc, char **argv) {
     char c = '\0';
     while (c != 'q') {
         fflush(stdin);
-        scanf("%c", &c);
+        int ret = scanf("%c", &c);
+        (void)ret;  // Remove unused result warning
     }
 
     z_undeclare_queryable(z_move(qable));
@@ -130,4 +131,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c11/z_sub.c b/examples/unix/c11/z_sub.c
index 0f1d07c6f..af42950c3 100644
--- a/examples/unix/c11/z_sub.c
+++ b/examples/unix/c11/z_sub.c
@@ -95,7 +95,8 @@ int main(int argc, char **argv) {
     char c = '\0';
     while (c != 'q') {
         fflush(stdin);
-        scanf("%c", &c);
+        int ret = scanf("%c", &c);
+        (void)ret;  // Remove unused result warning
     }
 
     z_undeclare_subscriber(z_move(sub));
@@ -113,4 +114,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c11/z_sub_st.c b/examples/unix/c11/z_sub_st.c
index a95e93188..1afa9bed6 100644
--- a/examples/unix/c11/z_sub_st.c
+++ b/examples/unix/c11/z_sub_st.c
@@ -102,4 +102,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c99/z_get.c b/examples/unix/c99/z_get.c
index 766cca309..e45bfe0fe 100644
--- a/examples/unix/c99/z_get.c
+++ b/examples/unix/c99/z_get.c
@@ -135,4 +135,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c99/z_ping.c b/examples/unix/c99/z_ping.c
index 6528bfdd7..a3b4bcea2 100644
--- a/examples/unix/c99/z_ping.c
+++ b/examples/unix/c99/z_ping.c
@@ -179,4 +179,4 @@ int main(void) {
         "requires them.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c99/z_pong.c b/examples/unix/c99/z_pong.c
index 2614f7bc9..73570e138 100644
--- a/examples/unix/c99/z_pong.c
+++ b/examples/unix/c99/z_pong.c
@@ -45,14 +45,7 @@ int main(int argc, char** argv) {
         printf("Unable to start read and lease tasks");
         return -1;
     }
-#else
-int main(void) {
-    printf(
-        "ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION or Z_FEATURE_PUBLICATION but this example "
-        "requires them.\n");
-    return -1;
-}
-#endif
+
     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)) {
@@ -86,4 +79,4 @@ int main(void) {
         "requires them.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c99/z_pub.c b/examples/unix/c99/z_pub.c
index a1c12adda..a03b0cc2c 100644
--- a/examples/unix/c99/z_pub.c
+++ b/examples/unix/c99/z_pub.c
@@ -112,4 +112,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c99/z_pub_st.c b/examples/unix/c99/z_pub_st.c
index 07680e557..785ffe01c 100644
--- a/examples/unix/c99/z_pub_st.c
+++ b/examples/unix/c99/z_pub_st.c
@@ -109,4 +109,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c99/z_pull.c b/examples/unix/c99/z_pull.c
index c2a1ecd2f..b809dadff 100644
--- a/examples/unix/c99/z_pull.c
+++ b/examples/unix/c99/z_pull.c
@@ -105,4 +105,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c99/z_put.c b/examples/unix/c99/z_put.c
index 15273aecd..528db3785 100644
--- a/examples/unix/c99/z_put.c
+++ b/examples/unix/c99/z_put.c
@@ -107,4 +107,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c99/z_queryable.c b/examples/unix/c99/z_queryable.c
index f5093d370..d7d543789 100644
--- a/examples/unix/c99/z_queryable.c
+++ b/examples/unix/c99/z_queryable.c
@@ -126,4 +126,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c99/z_sub.c b/examples/unix/c99/z_sub.c
index 2a1cd2aee..cc738e908 100644
--- a/examples/unix/c99/z_sub.c
+++ b/examples/unix/c99/z_sub.c
@@ -114,4 +114,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/unix/c99/z_sub_st.c b/examples/unix/c99/z_sub_st.c
index 6b3c8728f..ceda1495f 100644
--- a/examples/unix/c99/z_sub_st.c
+++ b/examples/unix/c99/z_sub_st.c
@@ -103,4 +103,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/windows/z_get.c b/examples/windows/z_get.c
index e89c2f3f3..5d2676ffc 100644
--- a/examples/windows/z_get.c
+++ b/examples/windows/z_get.c
@@ -100,4 +100,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/windows/z_ping.c b/examples/windows/z_ping.c
index 6a0a3cb82..f2334804f 100644
--- a/examples/windows/z_ping.c
+++ b/examples/windows/z_ping.c
@@ -176,4 +176,4 @@ int main(void) {
         "requires them.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/windows/z_pong.c b/examples/windows/z_pong.c
index 6202b38b1..8991729e9 100644
--- a/examples/windows/z_pong.c
+++ b/examples/windows/z_pong.c
@@ -76,4 +76,4 @@ int main(void) {
         "requires them.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/windows/z_pub_st.c b/examples/windows/z_pub_st.c
index caa342504..cc6f41361 100644
--- a/examples/windows/z_pub_st.c
+++ b/examples/windows/z_pub_st.c
@@ -76,4 +76,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/windows/z_pull.c b/examples/windows/z_pull.c
index 3c31de4be..4480a43d0 100644
--- a/examples/windows/z_pull.c
+++ b/examples/windows/z_pull.c
@@ -84,4 +84,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/windows/z_put.c b/examples/windows/z_put.c
index ca89e386c..29febb7a2 100644
--- a/examples/windows/z_put.c
+++ b/examples/windows/z_put.c
@@ -74,4 +74,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/windows/z_queryable.c b/examples/windows/z_queryable.c
index ef166b73a..d010ce3fa 100644
--- a/examples/windows/z_queryable.c
+++ b/examples/windows/z_queryable.c
@@ -95,4 +95,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/windows/z_sub.c b/examples/windows/z_sub.c
index afe3b4785..57cd8f13f 100644
--- a/examples/windows/z_sub.c
+++ b/examples/windows/z_sub.c
@@ -83,4 +83,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/windows/z_sub_st.c b/examples/windows/z_sub_st.c
index fb808e1ea..9b41877fa 100644
--- a/examples/windows/z_sub_st.c
+++ b/examples/windows/z_sub_st.c
@@ -72,4 +72,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/zephyr/z_get.c b/examples/zephyr/z_get.c
index 08a1ccb17..ffe90520a 100644
--- a/examples/zephyr/z_get.c
+++ b/examples/zephyr/z_get.c
@@ -94,4 +94,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/zephyr/z_pub.c b/examples/zephyr/z_pub.c
index 4bfd33d88..1f47be9a0 100644
--- a/examples/zephyr/z_pub.c
+++ b/examples/zephyr/z_pub.c
@@ -88,4 +88,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/zephyr/z_pull.c b/examples/zephyr/z_pull.c
index e2906063f..61bed75d0 100644
--- a/examples/zephyr/z_pull.c
+++ b/examples/zephyr/z_pull.c
@@ -91,4 +91,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/zephyr/z_queryable.c b/examples/zephyr/z_queryable.c
index b92be70c1..044664bb2 100644
--- a/examples/zephyr/z_queryable.c
+++ b/examples/zephyr/z_queryable.c
@@ -95,4 +95,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/examples/zephyr/z_sub.c b/examples/zephyr/z_sub.c
index 0293954ef..ac307a47a 100644
--- a/examples/zephyr/z_sub.c
+++ b/examples/zephyr/z_sub.c
@@ -89,4 +89,4 @@ int main(void) {
     printf("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.\n");
     return -2;
 }
-#endif
\ No newline at end of file
+#endif
diff --git a/tests/modularity.py b/tests/modularity.py
index 44c66d8e5..662236a1d 100644
--- a/tests/modularity.py
+++ b/tests/modularity.py
@@ -27,7 +27,8 @@ def pub_and_sub(args):
 Putting Data ('demo/example/zenoh-pico-pub': 'Pub from Pico!')...'''
     else :
         z_pub_expected_status = 254
-        z_pub_expected_output = "ERROR: Zenoh pico was compiled without Z_FEATURE_PUBLICATION but this example requires it."
+        z_pub_expected_output = ("ERROR: Zenoh pico was compiled without "
+            "Z_FEATURE_PUBLICATION but this example requires it.")
 
     # Expected z_sub output & status
     if args.sub == 1:
@@ -52,12 +53,17 @@ def pub_and_sub(args):
 Enter 'q' to quit...'''
     else :
         z_sub_expected_status = 254
-        z_sub_expected_output = "ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it."
-    
+        z_sub_expected_output = ("ERROR: Zenoh pico was compiled without "
+            "Z_FEATURE_SUBSCRIPTION but this example requires it.")
+
     print("Start subscriber")
     # Start z_sub in the background
     z_sub_command = f"./{DIR_EXAMPLES}/z_sub"
-    z_sub_process = subprocess.Popen(z_sub_command, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
+    z_sub_process = subprocess.Popen(z_sub_command,
+                                    shell=True,
+                                    stdin=subprocess.PIPE,
+                                    stdout=subprocess.PIPE,
+                                    stderr=subprocess.PIPE, text=True)
 
     # Introduce a delay to ensure z_sub starts
     time.sleep(2)
@@ -65,7 +71,12 @@ def pub_and_sub(args):
     print("Start publisher")
     # Start z_pub
     z_pub_command = f"./{DIR_EXAMPLES}/z_pub"
-    z_pub_process = subprocess.Popen(z_pub_command, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
+    z_pub_process = subprocess.Popen(z_pub_command,
+                                    shell=True,
+                                    stdin=subprocess.PIPE,
+                                    stdout=subprocess.PIPE,
+                                    stderr=subprocess.PIPE,
+                                    text=True)
 
     # Wait for z_pub to finish
     z_pub_process.wait()
@@ -90,7 +101,7 @@ def pub_and_sub(args):
 
     # Check output of z_pub
     z_pub_output = z_pub_process.stdout.read()
-    if z_pub_output.__contains__(z_pub_expected_output):
+    if z_pub_expected_output in z_pub_output:
         print("z_pub output valid")
     else:
         print("z_pub output invalid:")
@@ -109,7 +120,7 @@ def pub_and_sub(args):
 
     # Check output of z_sub
     z_sub_output = z_sub_process.stdout.read()
-    if z_sub_output.__contains__(z_sub_expected_output):
+    if z_sub_expected_output in z_sub_output:
         print("z_sub output valid")
     else:
         print("z_sub output invalid:")
@@ -149,7 +160,8 @@ def query_and_queryable(args):
 >> Received query final notification'''
     else :
         z_query_expected_status = 254
-        z_query_expected_output = "ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it."
+        z_query_expected_output = ("ERROR: Zenoh pico was compiled without "
+            "Z_FEATURE_QUERY but this example requires it.")
 
     # Expected z_queryable output & status
     if args.queryable == 1:
@@ -167,12 +179,18 @@ def query_and_queryable(args):
 Enter 'q' to quit...'''
     else :
         z_queryable_expected_status = 254
-        z_queryable_expected_output = "ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it."
- 
+        z_queryable_expected_output = ("ERROR: Zenoh pico was compiled without "
+            "Z_FEATURE_QUERYABLE but this example requires it.")
+
     print("Start queryable")
     # Start z_queryable in the background
     z_queryable_command = f"./{DIR_EXAMPLES}/z_queryable"
-    z_queryable_process = subprocess.Popen(z_queryable_command, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
+    z_queryable_process = subprocess.Popen(z_queryable_command,
+                                            shell=True,
+                                            stdin=subprocess.PIPE,
+                                            stdout=subprocess.PIPE,
+                                            stderr=subprocess.PIPE,
+                                            text=True)
 
     # Introduce a delay to ensure z_queryable starts
     time.sleep(2)
@@ -180,7 +198,12 @@ def query_and_queryable(args):
     print("Start query")
     # Start z_query
     z_query_command = f"./{DIR_EXAMPLES}/z_get"
-    z_query_process = subprocess.Popen(z_query_command, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
+    z_query_process = subprocess.Popen(z_query_command,
+                                        shell=True,
+                                        stdin=subprocess.PIPE,
+                                        stdout=subprocess.PIPE,
+                                        stderr=subprocess.PIPE,
+                                        text=True)
 
     # Introduce a delay to ensure z_query starts
     time.sleep(2)
@@ -220,12 +243,13 @@ def query_and_queryable(args):
     if z_query_status == z_query_expected_status:
         print("z_query status valid")
     else:
-        print(f"z_query status invalid, expected: {z_query_expected_status}, received: {z_query_status}")
+        print(f"z_query status invalid, expected: {z_query_expected_status},"
+              f" received: {z_query_status}")
         test_status = 1
 
     # Check output of z_query
     z_query_output = z_query_process.stdout.read()
-    if z_query_output.__contains__(z_query_expected_output):
+    if z_query_expected_output in z_query_output:
         print("z_query output valid")
     else:
         print("z_query output invalid:")
@@ -239,12 +263,13 @@ def query_and_queryable(args):
     if z_queryable_status == z_queryable_expected_status:
         print("z_queryable status valid")
     else:
-        print(f"z_queryable status invalid, expected: {z_queryable_expected_status}, received: {z_queryable_status}")
+        print(f"z_queryable status invalid, expected: {z_queryable_expected_status},"
+              f" received: {z_queryable_status}")
         test_status = 1
 
     # Check output of z_queryable
     z_queryable_output = z_queryable_process.stdout.read()
-    if z_queryable_output.__contains__(z_queryable_expected_output):
+    if z_queryable_expected_output in z_queryable_output:
         print("z_queryable output valid")
     else:
         print("z_queryable output invalid:")
@@ -255,21 +280,24 @@ def query_and_queryable(args):
     return test_status
 
 if __name__ == "__main__":
-    parser = argparse.ArgumentParser(description="This script runs zenoh-pico examples and checks them according to the given configuration")
+    parser = argparse.ArgumentParser(description="This script runs zenoh-pico examples"
+                                     " and checks them according to the given configuration")
     parser.add_argument("--pub", type=int, choices=[0, 1], help="Z_FEATURE_PUBLICATION (0 or 1)")
     parser.add_argument("--sub", type=int, choices=[0, 1], help="Z_FEATURE_SUBSCRIPTION (0 or 1)")
-    parser.add_argument("--queryable", type=int, choices=[0, 1], help="Z_FEATURE_QUERYABLE (0 or 1)")
+    parser.add_argument("--queryable", type=int, choices=[0, 1],
+                         help="Z_FEATURE_QUERYABLE (0 or 1)")
     parser.add_argument("--query", type=int, choices=[0, 1], help="Z_FEATURE_QUERY (0 or 1)")
 
-    exit_status = 0
-    args = parser.parse_args()
-    print(f"Args value, pub:{args.pub}, sub:{args.sub}, queryable:{args.queryable}, query:{args.query}")
+    EXIT_STATUS = 0
+    prog_args = parser.parse_args()
+    print(f"Args value, pub:{prog_args.pub}, sub:{prog_args.sub}, "
+          f"queryable:{prog_args.queryable}, query:{prog_args.query}")
 
     # Test pub and sub examples
-    if pub_and_sub(args) == 1:
-        exit_status = 1
+    if pub_and_sub(prog_args) == 1:
+        EXIT_STATUS = 1
     # Test query and queryable examples
-    if query_and_queryable(args) == 1:
-        exit_status = 1
+    if query_and_queryable(prog_args) == 1:
+        EXIT_STATUS = 1
     # Exit
-    sys.exit(exit_status)
\ No newline at end of file
+    sys.exit(EXIT_STATUS)
diff --git a/tests/z_msgcodec_test.c b/tests/z_msgcodec_test.c
index 88433b878..5d20469df 100644
--- a/tests/z_msgcodec_test.c
+++ b/tests/z_msgcodec_test.c
@@ -187,7 +187,7 @@ _z_bytes_t gen_bytes(size_t len) {
 
     arr.start = (uint8_t *)z_malloc(sizeof(uint8_t) * len);
     for (_z_zint_t i = 0; i < len; i++) {
-        ((uint8_t *)arr.start)[i] = gen_uint8() & 0b01111111;
+        ((uint8_t *)arr.start)[i] = gen_uint8() & 0x7f;  // 0b01111111
     }
 
     return arr;