Attachment support for pub/sub

.github/workflows/build-check.yaml

@@ -42,6 +42,18 @@ jobs:
       - 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
 
+  c99_build:
+    name: Check c99 compilation
+    runs-on: ubuntu-latest
+    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 
+
   modular_build:
     name: Modular build on ubuntu-latest
     runs-on: ubuntu-latest

CMakeLists.txt

@@ -304,7 +304,7 @@ if(UNIX OR MSVC)
     target_link_libraries(z_keyexpr_canonizer ${Libname})
   endif()
 
-  if(BUILD_TESTING)
+  if(BUILD_TESTING AND CMAKE_C_STANDARD MATCHES "11")
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/tests")
 
     add_executable(z_data_struct_test ${PROJECT_SOURCE_DIR}/tests/z_data_struct_test.c)

GNUmakefile

@@ -37,6 +37,10 @@ BUILD_INTEGRATION?=OFF
 # Accepted values: ON, OFF
 BUILD_TOOLS?=OFF
 
+# Force the use of c99 standard.
+# Accepted values: ON, OFF
+FORCE_C99?=OFF
+
 # Debug level. This sets the ZENOH_DEBUG variable.
 # Accepted values:
 #  0: NONE
@@ -72,6 +76,10 @@ CMAKE_OPT=-DZENOH_DEBUG=$(ZENOH_DEBUG) -DBUILD_EXAMPLES=$(BUILD_EXAMPLES) -DCMAK
  -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.
 
+ifeq ($(FORCE_C99), ON)
+	CMAKE_OPT += -DCMAKE_C_STANDARD=99
+endif
+
 all: make
 
 $(BUILD_DIR)/Makefile:

examples/unix/c11/z_put.c

@@ -14,11 +14,17 @@
 
 #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"
+#include "zenoh-pico/collections/bytes.h"
+#include "zenoh-pico/protocol/core.h"
+
 #if Z_FEATURE_PUBLICATION == 1
 int main(int argc, char **argv) {
     const char *keyexpr = "demo/example/zenoh-pico-put";
@@ -89,16 +95,19 @@
     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);
+    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);
     if (z_put(z_loan(s), z_keyexpr(keyexpr), (const uint8_t *)value, strlen(value), &options) < 0) {
         printf("Oh no! Put has failed...\n");
     }
 
+    z_bytes_map_drop(&map);
     // 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 +14,31 @@
 
 #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/types.h"
+#include "zenoh-pico/protocol/core.h"
+
 #if Z_FEATURE_SUBSCRIPTION == 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;
+}
+
 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_attachment_check(&sample->attachment)) {
+        printf("Attachement found\n");
+        z_attachment_iterate(sample->attachment, attachment_handler, NULL);
+    }
     z_drop(z_move(keystr));
 }
 

examples/unix/c99/z_get.c

@@ -79,7 +79,7 @@ int main(int argc, char **argv) {
         zp_config_insert(z_config_loan(&config), Z_CONFIG_CONNECT_KEY, z_string_make(clocator));
     }
     if (llocator != NULL) {
-        zp_config_insert(z_loan(config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
+        zp_config_insert(z_config_loan(&config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
     }
 
     printf("Opening session...\n");
@@ -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;  // Clear unused result warning
         if (c == 'q') {
             break;
         }

examples/unix/c99/z_info.c

@@ -62,7 +62,7 @@ int main(int argc, char **argv) {
         zp_config_insert(z_config_loan(&config), Z_CONFIG_CONNECT_KEY, z_string_make(clocator));
     }
     if (llocator != NULL) {
-        zp_config_insert(z_loan(config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
+        zp_config_insert(z_config_loan(&config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
     }
 
     printf("Opening session...\n");

examples/unix/c99/z_pub.c

@@ -63,7 +63,7 @@ int main(int argc, char **argv) {
         zp_config_insert(z_config_loan(&config), Z_CONFIG_CONNECT_KEY, z_string_make(clocator));
     }
     if (llocator != NULL) {
-        zp_config_insert(z_loan(config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
+        zp_config_insert(z_config_loan(&config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
     }
 
     printf("Opening session...\n");

examples/unix/c99/z_pub_st.c

@@ -63,7 +63,7 @@ int main(int argc, char **argv) {
         zp_config_insert(z_config_loan(&config), Z_CONFIG_CONNECT_KEY, z_string_make(clocator));
     }
     if (llocator != NULL) {
-        zp_config_insert(z_loan(config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
+        zp_config_insert(z_config_loan(&config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
     }
 
     printf("Opening session...\n");

examples/unix/c99/z_pull.c

@@ -83,7 +83,8 @@ int main(int argc, char **argv) {
     char c = '\0';
     while (1) {
         fflush(stdin);
-        scanf("%c", &c);
+        int ret = scanf("%c", &c);
+        (void)ret;  // Clear unused result warning
         if (c == 'q') {
             break;
         }

examples/unix/c99/z_put.c

@@ -63,7 +63,7 @@ int main(int argc, char **argv) {
         zp_config_insert(z_config_loan(&config), Z_CONFIG_CONNECT_KEY, z_string_make(clocator));
     }
     if (llocator != NULL) {
-        zp_config_insert(z_loan(config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
+        zp_config_insert(z_config_loan(&config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
     }
 
     printf("Opening session...\n");

examples/unix/c99/z_queryable.c

@@ -74,7 +74,7 @@ int main(int argc, char **argv) {
         zp_config_insert(z_config_loan(&config), Z_CONFIG_CONNECT_KEY, z_string_make(clocator));
     }
     if (llocator != NULL) {
-        zp_config_insert(z_loan(config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
+        zp_config_insert(z_config_loan(&config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
     }
 
     printf("Opening session...\n");
@@ -108,7 +108,8 @@ int main(int argc, char **argv) {
     char c = '\0';
     while (c != 'q') {
         fflush(stdin);
-        scanf("%c", &c);
+        int ret = scanf("%c", &c);
+        (void)ret;  // Clear unused result warning
     }
 
     z_undeclare_queryable(z_queryable_move(&qable));

examples/unix/c99/z_scout.c

@@ -67,7 +67,7 @@ void callback(z_owned_hello_t *hello, void *context) {
     fprinthello(stdout, z_hello_loan(hello));
     fprintf(stdout, "\n");
     (*(int *)context)++;
-    z_drop(hello);
+    z_hello_drop(hello);
 }
 
 void drop(void *context) {

examples/unix/c99/z_sub.c

@@ -67,7 +67,7 @@ int main(int argc, char **argv) {
         zp_config_insert(z_config_loan(&config), Z_CONFIG_CONNECT_KEY, z_string_make(clocator));
     }
     if (llocator != NULL) {
-        zp_config_insert(z_loan(config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
+        zp_config_insert(z_config_loan(&config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
     }
 
     printf("Opening session...\n");
@@ -96,7 +96,8 @@ int main(int argc, char **argv) {
     char c = '\0';
     while (c != 'q') {
         fflush(stdin);
-        scanf("%c", &c);
+        int ret = scanf("%c", &c);
+        (void)ret;  // Clear unused result warning
     }
 
     z_undeclare_subscriber(z_subscriber_move(&sub));

examples/unix/c99/z_sub_st.c

@@ -67,7 +67,7 @@ int main(int argc, char **argv) {
         zp_config_insert(z_config_loan(&config), Z_CONFIG_CONNECT_KEY, z_string_make(clocator));
     }
     if (llocator != NULL) {
-        zp_config_insert(z_loan(config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
+        zp_config_insert(z_config_loan(&config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator));
     }
 
     printf("Opening session...\n");

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>
@@ -1413,4 +1413,4 @@ 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 */