Attachment support for pub/sub

.github/workflows/build-check.yaml

@@ -15,30 +15,30 @@ name: build-check
 
 on:
   push:
-    branches: [ '**' ]
+    branches: ["**"]
   pull_request:
-    branches: [ '**' ]
+    branches: ["**"]
 
 jobs:
-  run_tests: 
+  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
 
@@ -48,11 +48,11 @@ jobs:
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
-  
+
       - name: Build with C99
         run: |
           sudo apt install -y ninja-build
-          FORCE_C99=ON CMAKE_GENERATOR=Ninja make 
+          FORCE_C99=ON CMAKE_GENERATOR=Ninja make
 
   modular_build:
     name: Modular build on ubuntu-latest
@@ -64,30 +64,30 @@ jobs:
         feature_queryable: [1, 0]
         feature_query: [1, 0]
     steps:
-    - name: Checkout code
-      uses: actions/checkout@v4
-
-    - name: Run docker image
-      run: docker run --name zenoh_router --init --net host -d eclipse/zenoh:latest
-
-    - name: Build project
-      run: |
-        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:
-        Z_FEATURE_PUBLICATION: ${{ matrix.feature_publication }}
-        Z_FEATURE_SUBSCRIPTION: ${{ matrix.feature_subscription }}
-        Z_FEATURE_QUERYABLE: ${{ matrix.feature_queryable }}
-        Z_FEATURE_QUERY: ${{ matrix.feature_query }}
-    
-    - name: Stop docker image
-      if: always()
-      run: |
-        docker stop zenoh_router
-        docker rm zenoh_router
-  
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Run docker image
+        run: docker run --name zenoh_router --init --net host -d eclipse/zenoh:latest
+
+      - name: Build project
+        run: |
+          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:
+          Z_FEATURE_PUBLICATION: ${{ matrix.feature_publication }}
+          Z_FEATURE_SUBSCRIPTION: ${{ matrix.feature_subscription }}
+          Z_FEATURE_QUERYABLE: ${{ matrix.feature_queryable }}
+          Z_FEATURE_QUERY: ${{ matrix.feature_query }}
+
+      - name: Stop docker image
+        if: always()
+        run: |
+          docker stop zenoh_router
+          docker rm zenoh_router
+
   raweth_build:
     name: Build and test raweth transport on ubuntu-latest
     runs-on: ubuntu-latest
@@ -106,7 +106,7 @@ jobs:
         timeout-minutes: 5
         env:
           Z_FEATURE_RAWETH_TRANSPORT: ${{ matrix.feature_reth }}
-  
+
   st_build:
     name: Build and test in single thread on ubuntu-latest
     runs-on: ubuntu-latest
@@ -124,13 +124,13 @@ jobs:
           python3 ./build/tests/single_thread.py
         timeout-minutes: 5
         env:
-          Z_FEATURE_MULTI_THREAD: 0  
+          Z_FEATURE_MULTI_THREAD: 0
 
       - name: Stop docker image
         if: always()
         run: |
-           docker stop zenoh_router
-           docker rm zenoh_router
+          docker stop zenoh_router
+          docker rm zenoh_router
 
   fragment_test:
     name: Test multicast and unicast fragmentation

CMakeLists.txt

@@ -117,19 +117,22 @@ set(Z_FEATURE_SUBSCRIPTION 1 CACHE STRING "Toggle subscription feature")
 set(Z_FEATURE_QUERY 1 CACHE STRING "Toggle query feature")
 set(Z_FEATURE_QUERYABLE 1 CACHE STRING "Toggle queryable feature")
 set(Z_FEATURE_RAWETH_TRANSPORT 0 CACHE STRING "Toggle raw ethernet transport feature")
+set(Z_FEATURE_ATTACHMENT 1 CACHE STRING "Toggle attachment feature")
 add_definition(Z_FEATURE_MULTI_THREAD=${Z_FEATURE_MULTI_THREAD})
 add_definition(Z_FEATURE_PUBLICATION=${Z_FEATURE_PUBLICATION})
 add_definition(Z_FEATURE_SUBSCRIPTION=${Z_FEATURE_SUBSCRIPTION})
 add_definition(Z_FEATURE_QUERY=${Z_FEATURE_QUERY})
 add_definition(Z_FEATURE_QUERYABLE=${Z_FEATURE_QUERYABLE})
 add_definition(Z_FEATURE_RAWETH_TRANSPORT=${Z_FEATURE_RAWETH_TRANSPORT})
+add_definition(Z_FEATURE_ATTACHMENT=${Z_FEATURE_ATTACHMENT})
 add_compile_definitions("Z_BUILD_DEBUG=$<CONFIG:Debug>")
 message(STATUS "Building with feature confing:\n\
 * MULTI-THREAD: ${Z_FEATURE_MULTI_THREAD}\n\
 * PUBLICATION: ${Z_FEATURE_PUBLICATION}\n\
 * SUBSCRIPTION: ${Z_FEATURE_SUBSCRIPTION}\n\
 * QUERY: ${Z_FEATURE_QUERY}\n\
 * QUERYABLE: ${Z_FEATURE_QUERYABLE}\n\
+* ATTACHMENT: ${Z_FEATURE_ATTACHMENT}\n\
 * RAWETH: ${Z_FEATURE_RAWETH_TRANSPORT}")
 
 # Print summary of CMAKE configurations

GNUmakefile

@@ -56,6 +56,7 @@ Z_FEATURE_PUBLICATION?=1
 Z_FEATURE_SUBSCRIPTION?=1
 Z_FEATURE_QUERY?=1
 Z_FEATURE_QUERYABLE?=1
+Z_FEATURE_ATTACHMENT?=1
 Z_FEATURE_RAWETH_TRANSPORT?=0
 
 # zenoh-pico/ directory
@@ -74,7 +75,7 @@ CROSSIMG_PREFIX=zenoh-pico_
 CMAKE_OPT=-DZENOH_DEBUG=$(ZENOH_DEBUG) -DBUILD_EXAMPLES=$(BUILD_EXAMPLES) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DBUILD_TESTING=$(BUILD_TESTING) -DBUILD_MULTICAST=$(BUILD_MULTICAST)\
  -DZ_FEATURE_MULTI_THREAD=$(Z_FEATURE_MULTI_THREAD) \
  -DZ_FEATURE_PUBLICATION=$(Z_FEATURE_PUBLICATION) -DZ_FEATURE_SUBSCRIPTION=$(Z_FEATURE_SUBSCRIPTION) -DZ_FEATURE_QUERY=$(Z_FEATURE_QUERY) -DZ_FEATURE_QUERYABLE=$(Z_FEATURE_QUERYABLE)\
- -DZ_FEATURE_RAWETH_TRANSPORT=$(Z_FEATURE_RAWETH_TRANSPORT) -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
+ -DZ_FEATURE_RAWETH_TRANSPORT=$(Z_FEATURE_RAWETH_TRANSPORT) -DZ_FEATURE_ATTACHMENT=$(Z_FEATURE_ATTACHMENT) -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
 
 ifeq ($(FORCE_C99), ON)
 	CMAKE_OPT += -DCMAKE_C_STANDARD=99

examples/unix/c11/z_put.c

@@ -14,11 +14,15 @@
 
 #include <ctype.h>
 #include <stddef.h>
+#include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
 #include <zenoh-pico.h>
 
+#include "zenoh-pico/api/macros.h"
+#include "zenoh-pico/api/types.h"
+
 #if Z_FEATURE_PUBLICATION == 1
 int main(int argc, char **argv) {
     const char *keyexpr = "demo/example/zenoh-pico-put";
@@ -89,16 +93,23 @@
     printf("Putting Data ('%s': '%s')...\n", keyexpr, value);
     z_put_options_t options = z_put_options_default();
     options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL);
+#if Z_FEATURE_ATTACHMENT == 1
+    z_owned_bytes_map_t map = z_bytes_map_new();
+    z_bytes_map_insert_by_alias(&map, _z_bytes_wrap((uint8_t *)"hi", 2), _z_bytes_wrap((uint8_t *)"there", 5));
+    options.attachment = z_bytes_map_as_attachment(&map);
+#endif
     if (z_put(z_loan(s), z_keyexpr(keyexpr), (const uint8_t *)value, strlen(value), &options) < 0) {
         printf("Oh no! Put has failed...\n");
     }
 
+#if Z_FEATURE_ATTACHMENT == 1
+    z_bytes_map_drop(&map);
+#endif
     // z_undeclare_keyexpr(z_loan(s), z_move(ke));
 
     // Stop read and lease tasks for zenoh-pico
     zp_stop_read_task(z_loan(s));
     zp_stop_lease_task(z_loan(s));
-
     z_close(z_move(s));
     return 0;
 }

examples/unix/c11/z_sub.c

@@ -14,17 +14,33 @@
 
 #include <ctype.h>
 #include <stddef.h>
+#include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
 #include <zenoh-pico.h>
 
 #if Z_FEATURE_SUBSCRIPTION == 1
+
+#if Z_FEATURE_ATTACHMENT == 1
+int8_t attachment_handler(z_bytes_t key, z_bytes_t value, void *ctx) {
+    (void)ctx;
+    printf(">>> %.*s: %.*s\n", (int)key.len, key.start, (int)value.len, value.start);
+    return 0;
+}
+#endif
+
 void 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);
+#if Z_FEATURE_ATTACHMENT == 1
+    if (z_attachment_check(&sample->attachment)) {
+        printf("Attachement found\n");
+        z_attachment_iterate(sample->attachment, attachment_handler, NULL);
+    }
+#endif
     z_drop(z_move(keystr));
 }
 

include/zenoh-pico/api/primitives.h

@@ -12,8 +12,8 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 
-#ifndef ZENOH_PICO_API_PRIMITIVES_H
-#define ZENOH_PICO_API_PRIMITIVES_H
+#ifndef INCLUDE_ZENOH_PICO_API_PRIMITIVES_H
+#define INCLUDE_ZENOH_PICO_API_PRIMITIVES_H
 
 #include <stdbool.h>
 #include <stdint.h>
@@ -32,6 +32,8 @@ extern "C" {
 #endif
 
 /********* Data Types Handlers *********/
+#define z_bytes_wrap _z_bytes_wrap
+
 /**
  * Constructs a :c:type:`z_string_t` departing from a ``const char *``.
  * It is a loaned key expression that aliases ``value``.
@@ -1413,4 +1415,4 @@ int8_t zp_send_join(z_session_t zs, const zp_send_join_options_t *options);
 }
 #endif
 
-#endif /* ZENOH_PICO_API_PRIMITIVES_H */
+#endif /* INCLUDE_ZENOH_PICO_API_PRIMITIVES_H */