From 3918c65f17445abb08546f28b859e3ca1b0fac8d Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Fri, 20 Oct 2023 10:48:06 +0200
Subject: [PATCH 01/21] feat: add modular test

---
 CMakeLists.txt         |   2 +
 tests/z_modular_test.c | 285 +++++++++++++++++++++++++++++++++++++++++
 2 files changed, 287 insertions(+)
 create mode 100644 tests/z_modular_test.c

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3d562f411..8d97b4ddf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -290,6 +290,7 @@ if(UNIX OR MSVC)
     add_executable(z_keyexpr_test ${PROJECT_SOURCE_DIR}/tests/z_keyexpr_test.c)
     add_executable(z_api_null_drop_test ${PROJECT_SOURCE_DIR}/tests/z_api_null_drop_test.c)
     add_executable(z_api_double_drop_test ${PROJECT_SOURCE_DIR}/tests/z_api_double_drop_test.c)
+    add_executable(z_modular_test ${PROJECT_SOURCE_DIR}/tests/z_modular_test.c)
 
     target_link_libraries(z_data_struct_test ${Libname})
     target_link_libraries(z_endpoint_test ${Libname})
@@ -298,6 +299,7 @@ if(UNIX OR MSVC)
     target_link_libraries(z_keyexpr_test ${Libname})
     target_link_libraries(z_api_null_drop_test ${Libname})
     target_link_libraries(z_api_double_drop_test ${Libname})
+    target_link_libraries(z_modular_test ${Libname})
 
     configure_file(${PROJECT_SOURCE_DIR}/tests/modularity.py ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/modularity.py COPYONLY)
 
diff --git a/tests/z_modular_test.c b/tests/z_modular_test.c
new file mode 100644
index 000000000..e5ea32b26
--- /dev/null
+++ b/tests/z_modular_test.c
@@ -0,0 +1,285 @@
+//
+// Copyright (c) 2022 ZettaScale Technology
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+// Contributors:
+//   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "zenoh-pico.h"
+
+#undef NDEBUG
+#include <assert.h>
+
+static const char *ARG_LIST[] = {"Z_FEATURE_PUBLICATION", "Z_FEATURE_SUBSCRIPTION", "Z_FEATURE_QUERYABLE",
+                                 "Z_FEATURE_QUERY"};
+#define ARG_NB (sizeof(ARG_LIST) / sizeof(ARG_LIST[0]))
+
+int test_publication(void) {
+#if Z_FEATURE_PUBLICATION == 1
+    const char *keyexpr = "demo/example/zenoh-pico-pub";
+    const char *value = "Pub from Pico!";
+    const char *mode = "client";
+
+    // Set up config
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(mode));
+    // Open session
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks");
+        return -1;
+    }
+    // Declare publisher
+    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)) {
+        printf("Unable to declare publisher for key expression!\n");
+        return -1;
+    }
+    // Put data
+    printf("Putting Data ('%s': '%s')...\n", keyexpr, value);
+    z_publisher_put_options_t options = z_publisher_put_options_default();
+    options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL);
+    z_publisher_put(z_loan(pub), (const uint8_t *)value, strlen(value), &options);
+
+    // Clean-up
+    z_undeclare_publisher(z_move(pub));
+    zp_stop_read_task(z_loan(s));
+    zp_stop_lease_task(z_loan(s));
+    z_close(z_move(s));
+    return 1;
+#else
+    return 0;
+#endif
+}
+
+#if Z_FEATURE_SUBSCRIPTION == 1
+static void subscription_data_handler(const z_sample_t *sample, void *ctx) {
+    (void)(ctx);
+    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
+    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
+           sample->payload.start);
+    z_drop(z_move(keystr));
+}
+#endif
+
+int test_subscription(void) {
+#if Z_FEATURE_SUBSCRIPTION == 1
+    const char *keyexpr = "demo/example/**";
+    const char *mode = "client";
+
+    // Set up config
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(mode));
+    // Open session
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks");
+        return -1;
+    }
+    // Declare subscriber
+    z_owned_closure_sample_t callback = z_closure(subscription_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)) {
+        printf("Unable to declare subscriber.\n");
+        return -1;
+    }
+    // Clean-up
+    z_undeclare_subscriber(z_move(sub));
+    zp_stop_read_task(z_loan(s));
+    zp_stop_lease_task(z_loan(s));
+    z_close(z_move(s));
+    return 1;
+#else
+    return 0;
+#endif
+}
+
+#if Z_FEATURE_QUERYABLE == 1
+static const char *queryable_keyexpr = "demo/example/zenoh-pico-queryable";
+static const char *queryable_value = "Queryable from Pico!";
+
+void query_handler(const z_query_t *query, void *ctx) {
+    (void)(ctx);
+    z_owned_str_t keystr = z_keyexpr_to_string(z_query_keyexpr(query));
+    z_bytes_t pred = z_query_parameters(query);
+    z_value_t payload_value = z_query_value(query);
+    printf(" >> [Queryable handler] Received Query '%s?%.*s'\n", z_loan(keystr), (int)pred.len, pred.start);
+    if (payload_value.payload.len > 0) {
+        printf("     with value '%.*s'\n", (int)payload_value.payload.len, payload_value.payload.start);
+    }
+    z_query_reply_options_t options = z_query_reply_options_default();
+    options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL);
+    z_query_reply(query, z_keyexpr(queryable_keyexpr), (const unsigned char *)queryable_value, strlen(queryable_value), &options);
+    z_drop(z_move(keystr));
+}
+#endif
+
+int test_queryable(void) {
+#if Z_FEATURE_QUERYABLE == 1
+    const char *mode = "client";
+
+    z_keyexpr_t ke = z_keyexpr(queryable_keyexpr);
+    if (!z_check(ke)) {
+        printf("%s is not a valid key expression", queryable_keyexpr);
+        return -1;
+    }
+    // Set up config
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(mode));
+    // Open session
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks");
+        return -1;
+    }
+    // Declare queryable
+    printf("Creating Queryable on '%s'...\n", queryable_keyexpr);
+    z_owned_closure_query_t callback = z_closure(query_handler);
+    z_owned_queryable_t qable = z_declare_queryable(z_loan(s), ke, z_move(callback), NULL);
+    if (!z_check(qable)) {
+        printf("Unable to create queryable.\n");
+        return -1;
+    }
+    // Clean-up
+    z_undeclare_queryable(z_move(qable));
+    zp_stop_read_task(z_loan(s));
+    zp_stop_lease_task(z_loan(s));
+    z_close(z_move(s));
+
+    return 1;
+#else
+    return 0;
+#endif
+}
+
+#if Z_FEATURE_QUERY == 1
+void reply_dropper(void *ctx) {
+    (void)(ctx);
+    printf(">> Received query final notification\n");
+}
+
+void reply_handler(z_owned_reply_t *reply, void *ctx) {
+    (void)(ctx);
+    if (z_reply_is_ok(reply)) {
+        z_sample_t sample = z_reply_ok(reply);
+        z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
+        printf(">> Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample.payload.len, sample.payload.start);
+        z_drop(z_move(keystr));
+    } else {
+        printf(">> Received an error\n");
+    }
+}
+#endif
+
+int test_query(void) {
+#if Z_FEATURE_QUERY == 1
+    const char *keyexpr = "demo/example/**";
+    const char *mode = "client";
+
+    z_keyexpr_t ke = z_keyexpr(keyexpr);
+    if (!z_check(ke)) {
+        printf("%s is not a valid key expression", keyexpr);
+        return -1;
+    }
+    // Set up config
+    z_owned_config_t config = z_config_default();
+    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(mode));
+    // Open session
+    printf("Opening session...\n");
+    z_owned_session_t s = z_open(z_move(config));
+    if (!z_check(s)) {
+        printf("Unable to open session!\n");
+        return -1;
+    }
+    // Start read and lease tasks for zenoh-pico
+    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
+        printf("Unable to start read and lease tasks");
+        return -1;
+    }
+    // Send query
+    printf("Sending Query '%s'...\n", keyexpr);
+    z_get_options_t opts = z_get_options_default();
+    z_owned_closure_reply_t callback = z_closure(reply_handler, reply_dropper);
+    if (z_get(z_loan(s), ke, "", z_move(callback), &opts) < 0) {
+        printf("Unable to send query.\n");
+        return -1;
+    }
+    // Clean-up
+    zp_stop_read_task(z_loan(s));
+    zp_stop_lease_task(z_loan(s));
+    z_close(z_move(s));
+
+    return 1;
+#else
+    return 0;
+#endif
+}
+
+// Send feature config as int list, and compare with compiled feature
+int main(int argc, char **argv) {
+    if (argc < (int)(ARG_NB + 1)) {
+        printf("To start this test you must give the state of the feature config as argument\n");
+        printf("Arg order: ");
+        for (size_t i = 0; i < ARG_NB; i++) {
+            printf("%s ", ARG_LIST[i]);
+        }
+        printf("\n");
+        return -1;
+    }
+    if (test_publication() != atoi(argv[1])) {
+        printf("Problem during publication testing\n");
+        return -1;
+    } else {
+        printf("Publication status ok\n");
+    }
+    if (test_subscription() != atoi(argv[2])) {
+        printf("Problem during subscription testing\n");
+        return -1;
+    } else {
+        printf("Subscription status ok\n");
+    }
+    if (test_queryable() != atoi(argv[3])) {
+        printf("Problem during queryable testing\n");
+        return -1;
+    } else {
+        printf("Queryable status ok\n");
+    }
+    if (test_query() != atoi(argv[4])) {
+        printf("Problem during query testing\n");
+        return -1;
+    } else {
+        printf("Query status ok\n");
+    }
+    return 0;
+}

From b0c4599839a763be23fc13d233e9f937bbff0061 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Tue, 24 Oct 2023 10:16:16 +0200
Subject: [PATCH 02/21] build: add compile flags for crossbuild consistency

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8d97b4ddf..178b5b1dd 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")

From 8f9ab05a66bcd61868ef45f8c8438e7a3961d8f9 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Tue, 24 Oct 2023 10:23:57 +0200
Subject: [PATCH 03/21] fix: remove compile error on binary constant

---
 tests/z_msgcodec_test.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/z_msgcodec_test.c b/tests/z_msgcodec_test.c
index 88433b878..98ae720b9 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;

From d5f4863de5da91ba1dbeea2f65e15a586a2b095b Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Tue, 24 Oct 2023 10:26:43 +0200
Subject: [PATCH 04/21] build: add cmake generator option for build

---
 GNUmakefile | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/GNUmakefile b/GNUmakefile
index 67932a3bc..ff4029495 100644
--- a/GNUmakefile
+++ b/GNUmakefile
@@ -52,6 +52,9 @@ Z_FEATURE_SUBSCRIPTION?=1
 Z_FEATURE_QUERY?=1
 Z_FEATURE_QUERYABLE?=1
 
+# Generator
+CMAKE_GENERATOR?="Unix Makefiles"
+
 # zenoh-pico/ directory
 ROOT_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))
 
@@ -74,7 +77,7 @@ all: make
 $(BUILD_DIR)/Makefile:
 	mkdir -p $(BUILD_DIR)
 	echo $(CMAKE_OPT)
-	cmake $(CMAKE_OPT) -B $(BUILD_DIR)
+	cmake $(CMAKE_OPT) -B $(BUILD_DIR) -G $(CMAKE_GENERATOR)
 
 make: $(BUILD_DIR)/Makefile
 	cmake --build $(BUILD_DIR)

From 89aa07b63b444fc6a8402ef0ec1121df581d3b36 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Tue, 24 Oct 2023 11:04:01 +0200
Subject: [PATCH 05/21] fix: remove unused result compile warning

---
 examples/unix/c11/z_get.c       | 3 ++-
 examples/unix/c11/z_pull.c      | 3 ++-
 examples/unix/c11/z_queryable.c | 3 ++-
 examples/unix/c11/z_sub.c       | 3 ++-
 4 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/examples/unix/c11/z_get.c b/examples/unix/c11/z_get.c
index b72ea0e9f..7fd88ee99 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;
         }
diff --git a/examples/unix/c11/z_pull.c b/examples/unix/c11/z_pull.c
index 4ed568f76..28230fafb 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;
         }
diff --git a/examples/unix/c11/z_queryable.c b/examples/unix/c11/z_queryable.c
index 92f13c652..55b25d188 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));
diff --git a/examples/unix/c11/z_sub.c b/examples/unix/c11/z_sub.c
index 0f1d07c6f..aeee4e121 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));

From 8959e50f3280a297ecc8ae7affaa40adeeeec3e1 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Tue, 24 Oct 2023 11:15:11 +0200
Subject: [PATCH 06/21] style: run clang-format

---
 tests/z_modular_test.c  | 3 ++-
 tests/z_msgcodec_test.c | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/tests/z_modular_test.c b/tests/z_modular_test.c
index e5ea32b26..87a7b005c 100644
--- a/tests/z_modular_test.c
+++ b/tests/z_modular_test.c
@@ -134,7 +134,8 @@ void query_handler(const z_query_t *query, void *ctx) {
     }
     z_query_reply_options_t options = z_query_reply_options_default();
     options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL);
-    z_query_reply(query, z_keyexpr(queryable_keyexpr), (const unsigned char *)queryable_value, strlen(queryable_value), &options);
+    z_query_reply(query, z_keyexpr(queryable_keyexpr), (const unsigned char *)queryable_value, strlen(queryable_value),
+                  &options);
     z_drop(z_move(keystr));
 }
 #endif
diff --git a/tests/z_msgcodec_test.c b/tests/z_msgcodec_test.c
index 98ae720b9..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() & 0x7f; // 0b01111111
+        ((uint8_t *)arr.start)[i] = gen_uint8() & 0x7f;  // 0b01111111
     }
 
     return arr;

From 123b19c52c9b65769cac198c7853c13ef458598d Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Tue, 24 Oct 2023 11:20:07 +0200
Subject: [PATCH 07/21] build: add tests and format check in CI

---
 .github/workflows/build-check.yaml | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/.github/workflows/build-check.yaml b/.github/workflows/build-check.yaml
index b8a13d880..b1b80b927 100644
--- a/.github/workflows/build-check.yaml
+++ b/.github/workflows/build-check.yaml
@@ -20,6 +20,26 @@ 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: 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 . -iname "*.h" -o -iname "*.c" | xargs clang-format -n
+
   modular_build:
     name: Modular build on ubuntu-latest
     runs-on: ubuntu-latest

From 1d03f7aeb8549578dab275aa4ab3c2134698e0f5 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Tue, 24 Oct 2023 11:25:07 +0200
Subject: [PATCH 08/21] fix: repair mac-os build

---
 examples/unix/c11/z_put.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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

From f91ffc4c5ba3cdeba44a3e5355c543c49f336839 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Tue, 24 Oct 2023 14:45:46 +0200
Subject: [PATCH 09/21] fix: keep a command with default cmake generator

---
 .github/workflows/build-check.yaml | 7 ++++++-
 GNUmakefile                        | 5 ++++-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-check.yaml b/.github/workflows/build-check.yaml
index b1b80b927..4f19a012c 100644
--- a/.github/workflows/build-check.yaml
+++ b/.github/workflows/build-check.yaml
@@ -28,7 +28,10 @@ jobs:
         uses: actions/checkout@v4
   
       - name: Build & run tests
-        run: make test
+        run: |
+          sudo apt install -y ninja-build
+          CMAKE_GENERATOR=Ninja make set_gen
+          make test
   
   check_format:
     name: Check codebase format with clang-format
@@ -58,6 +61,8 @@ jobs:
 
     - name: Build project
       run: |
+        sudo apt install -y ninja-build
+        CMAKE_GENERATOR=Ninja make set_gen
         make all
         python3 ./build/tests/modularity.py --pub $Z_FEATURE_PUBLICATION --sub $Z_FEATURE_SUBSCRIPTION --queryable $Z_FEATURE_QUERYABLE --query $Z_FEATURE_QUERY
       timeout-minutes: 5
diff --git a/GNUmakefile b/GNUmakefile
index ff4029495..e3f7e1000 100644
--- a/GNUmakefile
+++ b/GNUmakefile
@@ -77,7 +77,7 @@ all: make
 $(BUILD_DIR)/Makefile:
 	mkdir -p $(BUILD_DIR)
 	echo $(CMAKE_OPT)
-	cmake $(CMAKE_OPT) -B $(BUILD_DIR) -G $(CMAKE_GENERATOR)
+	cmake $(CMAKE_OPT) -B $(BUILD_DIR)
 
 make: $(BUILD_DIR)/Makefile
 	cmake --build $(BUILD_DIR)
@@ -88,6 +88,9 @@ install: $(BUILD_DIR)/Makefile
 test: make
 	ctest --verbose --test-dir build
 
+set_gen:
+	cmake $(CMAKE_OPT) -B $(BUILD_DIR) -G $(CMAKE_GENERATOR)
+
 crossbuilds: $(CROSSBUILD_TARGETS)
 
 DOCKER_OK := $(shell docker version 2> /dev/null)

From 86f9f188f067ec1943ec2da5c8cb7a379cd52d56 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Tue, 24 Oct 2023 15:00:48 +0200
Subject: [PATCH 10/21] fix: add line at end of file in examples

---
 examples/unix/c11/z_get.c       |  2 +-
 examples/unix/c11/z_ping.c      |  2 +-
 examples/unix/c11/z_pong.c      |  2 +-
 examples/unix/c11/z_pub_st.c    |  2 +-
 examples/unix/c11/z_pull.c      |  2 +-
 examples/unix/c11/z_queryable.c |  2 +-
 examples/unix/c11/z_sub.c       |  2 +-
 examples/unix/c11/z_sub_st.c    |  2 +-
 examples/unix/c99/z_get.c       |  2 +-
 examples/unix/c99/z_ping.c      |  2 +-
 examples/unix/c99/z_pong.c      | 11 ++---------
 examples/unix/c99/z_pub.c       |  2 +-
 examples/unix/c99/z_pub_st.c    |  2 +-
 examples/unix/c99/z_pull.c      |  2 +-
 examples/unix/c99/z_put.c       |  2 +-
 examples/unix/c99/z_queryable.c |  2 +-
 examples/unix/c99/z_sub.c       |  2 +-
 examples/unix/c99/z_sub_st.c    |  2 +-
 examples/windows/z_get.c        |  2 +-
 examples/windows/z_ping.c       |  2 +-
 examples/windows/z_pong.c       |  2 +-
 examples/windows/z_pub_st.c     |  2 +-
 examples/windows/z_pull.c       |  2 +-
 examples/windows/z_put.c        |  2 +-
 examples/windows/z_queryable.c  |  2 +-
 examples/windows/z_sub.c        |  2 +-
 examples/windows/z_sub_st.c     |  2 +-
 27 files changed, 28 insertions(+), 35 deletions(-)

diff --git a/examples/unix/c11/z_get.c b/examples/unix/c11/z_get.c
index 7fd88ee99..e2aa07e9c 100644
--- a/examples/unix/c11/z_get.c
+++ b/examples/unix/c11/z_get.c
@@ -136,4 +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 28230fafb..c39f19c52 100644
--- a/examples/unix/c11/z_pull.c
+++ b/examples/unix/c11/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/c11/z_queryable.c b/examples/unix/c11/z_queryable.c
index 55b25d188..d9bb7c74a 100644
--- a/examples/unix/c11/z_queryable.c
+++ b/examples/unix/c11/z_queryable.c
@@ -131,4 +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 aeee4e121..af42950c3 100644
--- a/examples/unix/c11/z_sub.c
+++ b/examples/unix/c11/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/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

From b9ef31b49e1f0e6f26a23139d005b8d5dc0b132a Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Wed, 25 Oct 2023 15:05:36 +0200
Subject: [PATCH 11/21] build: remove unnecessary target

---
 .github/workflows/build-check.yaml | 3 +--
 GNUmakefile                        | 6 ------
 2 files changed, 1 insertion(+), 8 deletions(-)

diff --git a/.github/workflows/build-check.yaml b/.github/workflows/build-check.yaml
index 4f19a012c..998086bf8 100644
--- a/.github/workflows/build-check.yaml
+++ b/.github/workflows/build-check.yaml
@@ -30,8 +30,7 @@ jobs:
       - name: Build & run tests
         run: |
           sudo apt install -y ninja-build
-          CMAKE_GENERATOR=Ninja make set_gen
-          make test
+          CMAKE_GENERATOR=Ninja make test
   
   check_format:
     name: Check codebase format with clang-format
diff --git a/GNUmakefile b/GNUmakefile
index e3f7e1000..67932a3bc 100644
--- a/GNUmakefile
+++ b/GNUmakefile
@@ -52,9 +52,6 @@ Z_FEATURE_SUBSCRIPTION?=1
 Z_FEATURE_QUERY?=1
 Z_FEATURE_QUERYABLE?=1
 
-# Generator
-CMAKE_GENERATOR?="Unix Makefiles"
-
 # zenoh-pico/ directory
 ROOT_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))
 
@@ -88,9 +85,6 @@ install: $(BUILD_DIR)/Makefile
 test: make
 	ctest --verbose --test-dir build
 
-set_gen:
-	cmake $(CMAKE_OPT) -B $(BUILD_DIR) -G $(CMAKE_GENERATOR)
-
 crossbuilds: $(CROSSBUILD_TARGETS)
 
 DOCKER_OK := $(shell docker version 2> /dev/null)

From e548eb6f1c13dc1a857d01da8da6733667351f8c Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Wed, 25 Oct 2023 16:00:23 +0200
Subject: [PATCH 12/21] fix: return error if clang-format dry run fails

---
 .github/workflows/build-check.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-check.yaml b/.github/workflows/build-check.yaml
index 998086bf8..a565e51e1 100644
--- a/.github/workflows/build-check.yaml
+++ b/.github/workflows/build-check.yaml
@@ -40,7 +40,7 @@ jobs:
         uses: actions/checkout@v4
   
       - name: Run clang-format dry-run
-        run: find . -iname "*.h" -o -iname "*.c" | xargs clang-format -n
+        run: find . -iname "*.h" -o -iname "*.c" | xargs clang-format -n -Werror
 
   modular_build:
     name: Modular build on ubuntu-latest

From f5e858018438ea708c1434a2babaae5da24358d6 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Wed, 25 Oct 2023 16:10:01 +0200
Subject: [PATCH 13/21] fix: add arduino files to check format

---
 .github/workflows/build-check.yaml | 2 +-
 examples/arduino/z_get.ino         | 4 +---
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build-check.yaml b/.github/workflows/build-check.yaml
index a565e51e1..756e89be3 100644
--- a/.github/workflows/build-check.yaml
+++ b/.github/workflows/build-check.yaml
@@ -40,7 +40,7 @@ jobs:
         uses: actions/checkout@v4
   
       - name: Run clang-format dry-run
-        run: find . -iname "*.h" -o -iname "*.c" | xargs clang-format -n -Werror
+        run: find . -iname "*.ino" -o -iname "*.h" -o -iname "*.c" | xargs clang-format -n -Werror
 
   modular_build:
     name: Modular build on ubuntu-latest
diff --git a/examples/arduino/z_get.ino b/examples/arduino/z_get.ino
index 7ae75175f..cca330117 100644
--- a/examples/arduino/z_get.ino
+++ b/examples/arduino/z_get.ino
@@ -120,8 +120,6 @@ void loop() {
     }
 }
 #else
-void setup() {
-    Serial.println("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it.");
-}
+void setup() { Serial.println("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it."); }
 void loop() {}
 #endif

From feed6250df2d97fc08bf07a3591350ab1063ed33 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Mon, 6 Nov 2023 11:05:33 +0100
Subject: [PATCH 14/21] fix: missing end of file line ending

---
 .github/workflows/build-check.yaml                    | 5 ++---
 .github/workflows/build-shared.yaml                   | 3 ++-
 .github/workflows/emscripten.yaml                     | 2 --
 examples/arduino/z_sub.ino                            | 2 +-
 examples/espidf/z_get.c                               | 2 +-
 examples/espidf/z_pull.c                              | 2 +-
 examples/espidf/z_sub.c                               | 2 +-
 examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h | 2 +-
 examples/freertos_plus_tcp/z_get.c                    | 2 +-
 examples/freertos_plus_tcp/z_queryable.c              | 2 +-
 examples/mbed/z_get.cpp                               | 2 +-
 examples/mbed/z_pub.cpp                               | 2 +-
 examples/mbed/z_pull.cpp                              | 2 +-
 examples/mbed/z_queryable.cpp                         | 2 +-
 examples/mbed/z_sub.cpp                               | 2 +-
 examples/zephyr/z_get.c                               | 2 +-
 examples/zephyr/z_pub.c                               | 2 +-
 examples/zephyr/z_pull.c                              | 2 +-
 examples/zephyr/z_queryable.c                         | 2 +-
 examples/zephyr/z_sub.c                               | 2 +-
 tests/modularity.py                                   | 2 +-
 21 files changed, 22 insertions(+), 24 deletions(-)

diff --git a/.github/workflows/build-check.yaml b/.github/workflows/build-check.yaml
index 756e89be3..103a79b7d 100644
--- a/.github/workflows/build-check.yaml
+++ b/.github/workflows/build-check.yaml
@@ -61,8 +61,7 @@ jobs:
     - name: Build project
       run: |
         sudo apt install -y ninja-build
-        CMAKE_GENERATOR=Ninja make set_gen
-        make all
+        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:
@@ -75,4 +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..4538361fe 100644
--- a/.github/workflows/build-shared.yaml
+++ b/.github/workflows/build-shared.yaml
@@ -50,4 +50,5 @@ jobs:
       env:
         BUILD_TYPE: Debug
         BUILD_SHARED_LIBS: ON
-        ZENOH_DEBUG: 3
\ No newline at end of file
+        ZENOH_DEBUG: 3
+        
\ No newline at end of file
diff --git a/.github/workflows/emscripten.yaml b/.github/workflows/emscripten.yaml
index 7080b5579..efb196939 100644
--- a/.github/workflows/emscripten.yaml
+++ b/.github/workflows/emscripten.yaml
@@ -36,5 +36,3 @@ jobs:
        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/examples/arduino/z_sub.ino b/examples/arduino/z_sub.ino
index b07ca70c0..babb5d1f8 100644
--- a/examples/arduino/z_sub.ino
+++ b/examples/arduino/z_sub.ino
@@ -111,4 +111,4 @@ void setup() {
     Serial.println("ERROR: Zenoh pico was compiled without Z_FEATURE_SUBSCRIPTION but this example requires it.");
 }
 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/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..91b929837 100644
--- a/tests/modularity.py
+++ b/tests/modularity.py
@@ -272,4 +272,4 @@ def query_and_queryable(args):
     if query_and_queryable(args) == 1:
         exit_status = 1
     # Exit
-    sys.exit(exit_status)
\ No newline at end of file
+    sys.exit(exit_status)

From 989f761cd18ea152e6af9bd74cac0dcec9265f9f Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Mon, 6 Nov 2023 11:29:27 +0100
Subject: [PATCH 15/21] chore: run pylint

---
 tests/modularity.py | 80 ++++++++++++++++++++++++++++++---------------
 1 file changed, 54 insertions(+), 26 deletions(-)

diff --git a/tests/modularity.py b/tests/modularity.py
index 91b929837..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)
+    sys.exit(EXIT_STATUS)

From 0c406a47933ec67236efcc4b1270bdf6440b7196 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Mon, 6 Nov 2023 11:50:39 +0100
Subject: [PATCH 16/21] fix: remove old modular test

---
 .github/workflows/build-shared.yaml |   1 -
 CMakeLists.txt                      |   2 -
 tests/z_modular_test.c              | 286 ----------------------------
 3 files changed, 289 deletions(-)
 delete mode 100644 tests/z_modular_test.c

diff --git a/.github/workflows/build-shared.yaml b/.github/workflows/build-shared.yaml
index 4538361fe..055524f04 100644
--- a/.github/workflows/build-shared.yaml
+++ b/.github/workflows/build-shared.yaml
@@ -51,4 +51,3 @@ jobs:
         BUILD_TYPE: Debug
         BUILD_SHARED_LIBS: ON
         ZENOH_DEBUG: 3
-        
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 178b5b1dd..90b98ea2f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -290,7 +290,6 @@ if(UNIX OR MSVC)
     add_executable(z_keyexpr_test ${PROJECT_SOURCE_DIR}/tests/z_keyexpr_test.c)
     add_executable(z_api_null_drop_test ${PROJECT_SOURCE_DIR}/tests/z_api_null_drop_test.c)
     add_executable(z_api_double_drop_test ${PROJECT_SOURCE_DIR}/tests/z_api_double_drop_test.c)
-    add_executable(z_modular_test ${PROJECT_SOURCE_DIR}/tests/z_modular_test.c)
 
     target_link_libraries(z_data_struct_test ${Libname})
     target_link_libraries(z_endpoint_test ${Libname})
@@ -299,7 +298,6 @@ if(UNIX OR MSVC)
     target_link_libraries(z_keyexpr_test ${Libname})
     target_link_libraries(z_api_null_drop_test ${Libname})
     target_link_libraries(z_api_double_drop_test ${Libname})
-    target_link_libraries(z_modular_test ${Libname})
 
     configure_file(${PROJECT_SOURCE_DIR}/tests/modularity.py ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/modularity.py COPYONLY)
 
diff --git a/tests/z_modular_test.c b/tests/z_modular_test.c
deleted file mode 100644
index 87a7b005c..000000000
--- a/tests/z_modular_test.c
+++ /dev/null
@@ -1,286 +0,0 @@
-//
-// Copyright (c) 2022 ZettaScale Technology
-//
-// This program and the accompanying materials are made available under the
-// terms of the Eclipse Public License 2.0 which is available at
-// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
-// which is available at https://www.apache.org/licenses/LICENSE-2.0.
-//
-// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
-//
-// Contributors:
-//   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
-
-#include <stddef.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "zenoh-pico.h"
-
-#undef NDEBUG
-#include <assert.h>
-
-static const char *ARG_LIST[] = {"Z_FEATURE_PUBLICATION", "Z_FEATURE_SUBSCRIPTION", "Z_FEATURE_QUERYABLE",
-                                 "Z_FEATURE_QUERY"};
-#define ARG_NB (sizeof(ARG_LIST) / sizeof(ARG_LIST[0]))
-
-int test_publication(void) {
-#if Z_FEATURE_PUBLICATION == 1
-    const char *keyexpr = "demo/example/zenoh-pico-pub";
-    const char *value = "Pub from Pico!";
-    const char *mode = "client";
-
-    // Set up config
-    z_owned_config_t config = z_config_default();
-    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(mode));
-    // Open session
-    printf("Opening session...\n");
-    z_owned_session_t s = z_open(z_move(config));
-    if (!z_check(s)) {
-        printf("Unable to open session!\n");
-        return -1;
-    }
-    // Start read and lease tasks for zenoh-pico
-    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
-        printf("Unable to start read and lease tasks");
-        return -1;
-    }
-    // Declare publisher
-    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)) {
-        printf("Unable to declare publisher for key expression!\n");
-        return -1;
-    }
-    // Put data
-    printf("Putting Data ('%s': '%s')...\n", keyexpr, value);
-    z_publisher_put_options_t options = z_publisher_put_options_default();
-    options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL);
-    z_publisher_put(z_loan(pub), (const uint8_t *)value, strlen(value), &options);
-
-    // Clean-up
-    z_undeclare_publisher(z_move(pub));
-    zp_stop_read_task(z_loan(s));
-    zp_stop_lease_task(z_loan(s));
-    z_close(z_move(s));
-    return 1;
-#else
-    return 0;
-#endif
-}
-
-#if Z_FEATURE_SUBSCRIPTION == 1
-static void subscription_data_handler(const z_sample_t *sample, void *ctx) {
-    (void)(ctx);
-    z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
-    printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
-           sample->payload.start);
-    z_drop(z_move(keystr));
-}
-#endif
-
-int test_subscription(void) {
-#if Z_FEATURE_SUBSCRIPTION == 1
-    const char *keyexpr = "demo/example/**";
-    const char *mode = "client";
-
-    // Set up config
-    z_owned_config_t config = z_config_default();
-    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(mode));
-    // Open session
-    printf("Opening session...\n");
-    z_owned_session_t s = z_open(z_move(config));
-    if (!z_check(s)) {
-        printf("Unable to open session!\n");
-        return -1;
-    }
-    // Start read and lease tasks for zenoh-pico
-    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
-        printf("Unable to start read and lease tasks");
-        return -1;
-    }
-    // Declare subscriber
-    z_owned_closure_sample_t callback = z_closure(subscription_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)) {
-        printf("Unable to declare subscriber.\n");
-        return -1;
-    }
-    // Clean-up
-    z_undeclare_subscriber(z_move(sub));
-    zp_stop_read_task(z_loan(s));
-    zp_stop_lease_task(z_loan(s));
-    z_close(z_move(s));
-    return 1;
-#else
-    return 0;
-#endif
-}
-
-#if Z_FEATURE_QUERYABLE == 1
-static const char *queryable_keyexpr = "demo/example/zenoh-pico-queryable";
-static const char *queryable_value = "Queryable from Pico!";
-
-void query_handler(const z_query_t *query, void *ctx) {
-    (void)(ctx);
-    z_owned_str_t keystr = z_keyexpr_to_string(z_query_keyexpr(query));
-    z_bytes_t pred = z_query_parameters(query);
-    z_value_t payload_value = z_query_value(query);
-    printf(" >> [Queryable handler] Received Query '%s?%.*s'\n", z_loan(keystr), (int)pred.len, pred.start);
-    if (payload_value.payload.len > 0) {
-        printf("     with value '%.*s'\n", (int)payload_value.payload.len, payload_value.payload.start);
-    }
-    z_query_reply_options_t options = z_query_reply_options_default();
-    options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL);
-    z_query_reply(query, z_keyexpr(queryable_keyexpr), (const unsigned char *)queryable_value, strlen(queryable_value),
-                  &options);
-    z_drop(z_move(keystr));
-}
-#endif
-
-int test_queryable(void) {
-#if Z_FEATURE_QUERYABLE == 1
-    const char *mode = "client";
-
-    z_keyexpr_t ke = z_keyexpr(queryable_keyexpr);
-    if (!z_check(ke)) {
-        printf("%s is not a valid key expression", queryable_keyexpr);
-        return -1;
-    }
-    // Set up config
-    z_owned_config_t config = z_config_default();
-    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(mode));
-    // Open session
-    printf("Opening session...\n");
-    z_owned_session_t s = z_open(z_move(config));
-    if (!z_check(s)) {
-        printf("Unable to open session!\n");
-        return -1;
-    }
-    // Start read and lease tasks for zenoh-pico
-    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
-        printf("Unable to start read and lease tasks");
-        return -1;
-    }
-    // Declare queryable
-    printf("Creating Queryable on '%s'...\n", queryable_keyexpr);
-    z_owned_closure_query_t callback = z_closure(query_handler);
-    z_owned_queryable_t qable = z_declare_queryable(z_loan(s), ke, z_move(callback), NULL);
-    if (!z_check(qable)) {
-        printf("Unable to create queryable.\n");
-        return -1;
-    }
-    // Clean-up
-    z_undeclare_queryable(z_move(qable));
-    zp_stop_read_task(z_loan(s));
-    zp_stop_lease_task(z_loan(s));
-    z_close(z_move(s));
-
-    return 1;
-#else
-    return 0;
-#endif
-}
-
-#if Z_FEATURE_QUERY == 1
-void reply_dropper(void *ctx) {
-    (void)(ctx);
-    printf(">> Received query final notification\n");
-}
-
-void reply_handler(z_owned_reply_t *reply, void *ctx) {
-    (void)(ctx);
-    if (z_reply_is_ok(reply)) {
-        z_sample_t sample = z_reply_ok(reply);
-        z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
-        printf(">> Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample.payload.len, sample.payload.start);
-        z_drop(z_move(keystr));
-    } else {
-        printf(">> Received an error\n");
-    }
-}
-#endif
-
-int test_query(void) {
-#if Z_FEATURE_QUERY == 1
-    const char *keyexpr = "demo/example/**";
-    const char *mode = "client";
-
-    z_keyexpr_t ke = z_keyexpr(keyexpr);
-    if (!z_check(ke)) {
-        printf("%s is not a valid key expression", keyexpr);
-        return -1;
-    }
-    // Set up config
-    z_owned_config_t config = z_config_default();
-    zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(mode));
-    // Open session
-    printf("Opening session...\n");
-    z_owned_session_t s = z_open(z_move(config));
-    if (!z_check(s)) {
-        printf("Unable to open session!\n");
-        return -1;
-    }
-    // Start read and lease tasks for zenoh-pico
-    if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) {
-        printf("Unable to start read and lease tasks");
-        return -1;
-    }
-    // Send query
-    printf("Sending Query '%s'...\n", keyexpr);
-    z_get_options_t opts = z_get_options_default();
-    z_owned_closure_reply_t callback = z_closure(reply_handler, reply_dropper);
-    if (z_get(z_loan(s), ke, "", z_move(callback), &opts) < 0) {
-        printf("Unable to send query.\n");
-        return -1;
-    }
-    // Clean-up
-    zp_stop_read_task(z_loan(s));
-    zp_stop_lease_task(z_loan(s));
-    z_close(z_move(s));
-
-    return 1;
-#else
-    return 0;
-#endif
-}
-
-// Send feature config as int list, and compare with compiled feature
-int main(int argc, char **argv) {
-    if (argc < (int)(ARG_NB + 1)) {
-        printf("To start this test you must give the state of the feature config as argument\n");
-        printf("Arg order: ");
-        for (size_t i = 0; i < ARG_NB; i++) {
-            printf("%s ", ARG_LIST[i]);
-        }
-        printf("\n");
-        return -1;
-    }
-    if (test_publication() != atoi(argv[1])) {
-        printf("Problem during publication testing\n");
-        return -1;
-    } else {
-        printf("Publication status ok\n");
-    }
-    if (test_subscription() != atoi(argv[2])) {
-        printf("Problem during subscription testing\n");
-        return -1;
-    } else {
-        printf("Subscription status ok\n");
-    }
-    if (test_queryable() != atoi(argv[3])) {
-        printf("Problem during queryable testing\n");
-        return -1;
-    } else {
-        printf("Queryable status ok\n");
-    }
-    if (test_query() != atoi(argv[4])) {
-        printf("Problem during query testing\n");
-        return -1;
-    } else {
-        printf("Query status ok\n");
-    }
-    return 0;
-}

From ec4a7ba99b40ed773475f2191ce5162b69d64446 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Mon, 6 Nov 2023 12:06:56 +0100
Subject: [PATCH 17/21] build: update checkout directive

---
 .github/workflows/arduino_esp32.yaml     | 2 +-
 .github/workflows/build-shared.yaml      | 4 ++--
 .github/workflows/build-static.yaml      | 4 ++--
 .github/workflows/codacy-analysis.yml    | 2 +-
 .github/workflows/emscripten.yaml        | 2 +-
 .github/workflows/espidf.yaml            | 2 +-
 .github/workflows/freertos_plus_tcp.yaml | 2 +-
 .github/workflows/integration.yaml       | 2 +-
 .github/workflows/mbed.yaml              | 2 +-
 .github/workflows/multicast.yaml         | 2 +-
 .github/workflows/release.yml            | 6 +++---
 .github/workflows/zephyr.yaml            | 2 +-
 12 files changed, 16 insertions(+), 16 deletions(-)

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-shared.yaml b/.github/workflows/build-shared.yaml
index 055524f04..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:
@@ -44,7 +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/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 efb196939..fc9b864ff 100644
--- a/.github/workflows/emscripten.yaml
+++ b/.github/workflows/emscripten.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
     - uses: mymindstorm/setup-emsdk@v11
     - name: Compile debug
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..71f93782a 100644
--- a/.github/workflows/integration.yaml
+++ b/.github/workflows/integration.yaml
@@ -32,7 +32,7 @@ jobs:
         os: [ ubuntu-latest, macOS-latest ]
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: Install latest stable
         uses: actions-rs/toolchain@v1
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: |

From cbcafa5856ac333e8eac4aeb4813401e75ae6dd9 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Tue, 7 Nov 2023 10:10:52 +0100
Subject: [PATCH 18/21] fix: uniformize arduino examples

---
 .clang-format                    | 2 ++
 examples/arduino/z_get.ino       | 5 ++++-
 examples/arduino/z_pub.ino       | 1 +
 examples/arduino/z_pull.ino      | 1 +
 examples/arduino/z_queryable.ino | 1 +
 examples/arduino/z_sub.ino       | 1 +
 6 files changed, 10 insertions(+), 1 deletion(-)

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/examples/arduino/z_get.ino b/examples/arduino/z_get.ino
index cca330117..ddd607641 100644
--- a/examples/arduino/z_get.ino
+++ b/examples/arduino/z_get.ino
@@ -120,6 +120,9 @@ void loop() {
     }
 }
 #else
-void setup() { Serial.println("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY but this example requires it."); }
+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 babb5d1f8..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

From 64bc6982ab2aee0d2933725b487d9eae2ce10c6a Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Tue, 7 Nov 2023 10:11:50 +0100
Subject: [PATCH 19/21] build: check format only project files

---
 .github/workflows/build-check.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-check.yaml b/.github/workflows/build-check.yaml
index 103a79b7d..8ea2af629 100644
--- a/.github/workflows/build-check.yaml
+++ b/.github/workflows/build-check.yaml
@@ -40,7 +40,7 @@ jobs:
         uses: actions/checkout@v4
   
       - name: Run clang-format dry-run
-        run: find . -iname "*.ino" -o -iname "*.h" -o -iname "*.c" | xargs clang-format -n -Werror
+        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

From 55713074f67dc4961fb0871bd36e815e6bc0e2a8 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Wed, 8 Nov 2023 17:13:51 +0100
Subject: [PATCH 20/21] build: update actions deps

---
 .github/workflows/codacy-analysis.yml | 5 +++--
 .github/workflows/emscripten.yaml     | 4 ++--
 .github/workflows/integration.yaml    | 2 +-
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/codacy-analysis.yml b/.github/workflows/codacy-analysis.yml
index 056e81353..29ffb6378 100644
--- a/.github/workflows/codacy-analysis.yml
+++ b/.github/workflows/codacy-analysis.yml
@@ -25,7 +25,8 @@ jobs:
 
       # Execute Codacy Analysis CLI and generate a SARIF output with the security issues identified during the analysis
       - name: Run Codacy Analysis CLI
-        uses: codacy/codacy-analysis-cli-action@1.1.0
+        uses: codacy/codacy-analysis-cli-action@v4.3.0
+    
         with:
           # Check https://github.com/codacy/codacy-analysis-cli#project-token to get your project token from your Codacy repository
           # You can also omit the token and run the tools that support default configurations
@@ -41,6 +42,6 @@ jobs:
 
       # Upload the SARIF file generated in the previous step
       - name: Upload SARIF results file
-        uses: github/codeql-action/upload-sarif@v1
+        uses: github/codeql-action/upload-sarif@v2.22.5
         with:
           sarif_file: results.sarif
diff --git a/.github/workflows/emscripten.yaml b/.github/workflows/emscripten.yaml
index fc9b864ff..a240c7188 100644
--- a/.github/workflows/emscripten.yaml
+++ b/.github/workflows/emscripten.yaml
@@ -29,8 +29,8 @@ jobs:
         os: [ubuntu-latest]
     steps:
     - uses: actions/checkout@v4
-    - uses: jwlawson/actions-setup-cmake@v1.13
-    - uses: mymindstorm/setup-emsdk@v11
+    - uses: jwlawson/actions-setup-cmake@v1.14
+    - uses: mymindstorm/setup-emsdk@v12
     - name: Compile debug
       run: |
        mkdir build
diff --git a/.github/workflows/integration.yaml b/.github/workflows/integration.yaml
index 71f93782a..d6b3a0205 100644
--- a/.github/workflows/integration.yaml
+++ b/.github/workflows/integration.yaml
@@ -35,7 +35,7 @@ jobs:
       - 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

From e760ea3b7c062d8065953e85968461bf702bea89 Mon Sep 17 00:00:00 2001
From: Jean-Roland <jean.roland.gosse@gmail.com>
Date: Wed, 8 Nov 2023 17:23:02 +0100
Subject: [PATCH 21/21] fix: revert codacy workflow changes

---
 .github/workflows/codacy-analysis.yml | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/codacy-analysis.yml b/.github/workflows/codacy-analysis.yml
index 29ffb6378..056e81353 100644
--- a/.github/workflows/codacy-analysis.yml
+++ b/.github/workflows/codacy-analysis.yml
@@ -25,8 +25,7 @@ jobs:
 
       # Execute Codacy Analysis CLI and generate a SARIF output with the security issues identified during the analysis
       - name: Run Codacy Analysis CLI
-        uses: codacy/codacy-analysis-cli-action@v4.3.0
-    
+        uses: codacy/codacy-analysis-cli-action@1.1.0
         with:
           # Check https://github.com/codacy/codacy-analysis-cli#project-token to get your project token from your Codacy repository
           # You can also omit the token and run the tools that support default configurations
@@ -42,6 +41,6 @@ jobs:
 
       # Upload the SARIF file generated in the previous step
       - name: Upload SARIF results file
-        uses: github/codeql-action/upload-sarif@v2.22.5
+        uses: github/codeql-action/upload-sarif@v1
         with:
           sarif_file: results.sarif