From cc9d98f8f18466fa98496c21ef05433385e7442e Mon Sep 17 00:00:00 2001
From: Alexander Bushnev <Alexander@Bushnev.pro>
Date: Thu, 12 Sep 2024 15:00:15 +0200
Subject: [PATCH 1/4] Remove const from closure params

---
 include/zenoh-pico/api/handlers.h    |  2 +-
 include/zenoh-pico/api/macros.h      | 20 ++++++++++----------
 include/zenoh-pico/api/types.h       | 24 ++++++++++++------------
 include/zenoh-pico/session/session.h |  6 +++---
 src/api/api.c                        | 10 +++++-----
 5 files changed, 31 insertions(+), 31 deletions(-)

diff --git a/include/zenoh-pico/api/handlers.h b/include/zenoh-pico/api/handlers.h
index 25b4444df..60c59423d 100644
--- a/include/zenoh-pico/api/handlers.h
+++ b/include/zenoh-pico/api/handlers.h
@@ -53,7 +53,7 @@ extern "C" {
             _Z_ERROR("%s failed: %i", #collection_push_f, ret);                                                        \
         }                                                                                                              \
     }                                                                                                                  \
-    static inline void _z_##handler_name##_send(const elem_loaned_type *elem, void *context) {                         \
+    static inline void _z_##handler_name##_send(elem_loaned_type *elem, void *context) {                               \
         elem_owned_type *internal_elem = (elem_owned_type *)z_malloc(sizeof(elem_owned_type));                         \
         if (internal_elem == NULL) {                                                                                   \
             _Z_ERROR("Out of memory");                                                                                 \
diff --git a/include/zenoh-pico/api/macros.h b/include/zenoh-pico/api/macros.h
index acbfb89f5..65f886eb3 100644
--- a/include/zenoh-pico/api/macros.h
+++ b/include/zenoh-pico/api/macros.h
@@ -503,20 +503,20 @@ inline bool z_internal_check(const z_owned_ring_handler_reply_t& v) { return z_i
 inline bool z_internal_check(const z_owned_ring_handler_sample_t& v) { return z_internal_ring_handler_sample_check(&v); };
 
 // z_call definition
-inline void z_call(const z_loaned_closure_sample_t &closure, const z_loaned_sample_t *sample) 
+inline void z_call(const z_loaned_closure_sample_t &closure, z_loaned_sample_t *sample) 
     { z_closure_sample_call(&closure, sample); }
-inline void z_call(const z_loaned_closure_query_t &closure, const z_loaned_query_t *query)
+inline void z_call(const z_loaned_closure_query_t &closure, z_loaned_query_t *query)
     { z_closure_query_call(&closure, query); }
-inline void z_call(const z_loaned_closure_reply_t &closure, const z_loaned_reply_t *reply)
+inline void z_call(const z_loaned_closure_reply_t &closure, z_loaned_reply_t *reply)
     { z_closure_reply_call(&closure, reply); }
-inline void z_call(const z_loaned_closure_hello_t &closure, const z_loaned_hello_t *hello)
+inline void z_call(const z_loaned_closure_hello_t &closure, z_loaned_hello_t *hello)
     { z_closure_hello_call(&closure, hello); }
-inline void z_call(const z_loaned_closure_zid_t &closure, const z_id_t *zid)
+inline void z_call(const z_loaned_closure_zid_t &closure, z_id_t *zid)
     { z_closure_zid_call(&closure, zid); }
 
 inline void z_closure(
     z_owned_closure_hello_t* closure,
-    void (*call)(const z_loaned_hello_t*, void*),
+    void (*call)(z_loaned_hello_t*, void*),
     void (*drop)(void*) = NULL,
     void *context = NULL) {
     closure->_val.context = context;
@@ -525,7 +525,7 @@ inline void z_closure(
 };
 inline void z_closure(
     z_owned_closure_query_t* closure,
-    void (*call)(const z_loaned_query_t*, void*),
+    void (*call)(z_loaned_query_t*, void*),
     void (*drop)(void*) = NULL,
     void *context = NULL) {
     closure->_val.context = context;
@@ -534,7 +534,7 @@ inline void z_closure(
 };
 inline void z_closure(
     z_owned_closure_reply_t* closure,
-    void (*call)(const z_loaned_reply_t*, void*),
+    void (*call)(z_loaned_reply_t*, void*),
     void (*drop)(void*) = NULL,
     void *context = NULL) {
     closure->_val.context = context;
@@ -543,7 +543,7 @@ inline void z_closure(
 };
 inline void z_closure(
     z_owned_closure_sample_t* closure,
-    void (*call)(const z_loaned_sample_t*, void*),
+    void (*call)(z_loaned_sample_t*, void*),
     void (*drop)(void*) = NULL,
     void *context = NULL) {
     closure->_val.context = context;
@@ -552,7 +552,7 @@ inline void z_closure(
 };
 inline void z_closure(
     z_owned_closure_zid_t* closure,
-    void (*call)(const z_id_t*, void*),
+    void (*call)(z_id_t*, void*),
     void (*drop)(void*) = NULL,
     void *context = NULL) {
     closure->_val.context = context;
diff --git a/include/zenoh-pico/api/types.h b/include/zenoh-pico/api/types.h
index 9b7e702d3..252c52152 100644
--- a/include/zenoh-pico/api/types.h
+++ b/include/zenoh-pico/api/types.h
@@ -503,12 +503,12 @@ typedef struct {
  *
  * Members:
  *   void *context: a pointer to an arbitrary state.
- *   z_data_handler_t call: `void *call(const struct z_sample_t*, const void *context)` is the callback function.
+ *   z_data_handler_t call: `void *call(z_loaned_sample_t*, const void *context)` is the callback function.
  *   z_dropper_handler_t drop: `void *drop(void*)` allows the callback's state to be freed.
  */
 _Z_OWNED_TYPE_VALUE(_z_closure_sample_t, closure_sample)
 
-void z_closure_sample_call(const z_loaned_closure_sample_t *closure, const z_loaned_sample_t *sample);
+void z_closure_sample_call(const z_loaned_closure_sample_t *closure, z_loaned_sample_t *sample);
 
 typedef _z_queryable_handler_t z_queryable_handler_t;
 
@@ -524,14 +524,14 @@ typedef struct {
  *
  * Members:
  *   void *context: a pointer to an arbitrary state.
- *   _z_queryable_handler_t call: `void (*_z_queryable_handler_t)(z_query_t *query, void *arg)` is the
+ *   _z_queryable_handler_t call: `void (*_z_queryable_handler_t)(z_loaned_query_t *query, void *arg)` is the
  * callback function.
  *   z_dropper_handler_t drop: `void *drop(void*)` allows the callback's state to be freed.
  *   void *context: a pointer to an arbitrary state.
  */
 _Z_OWNED_TYPE_VALUE(_z_closure_query_t, closure_query)
 
-void z_closure_query_call(const z_loaned_closure_query_t *closure, const z_loaned_query_t *query);
+void z_closure_query_call(const z_loaned_closure_query_t *closure, z_loaned_query_t *query);
 
 typedef _z_reply_handler_t z_reply_handler_t;
 
@@ -547,16 +547,16 @@ typedef struct {
  *
  * Members:
  *   void *context: a pointer to an arbitrary state.
- *   z_reply_handler_t call: `void (*_z_reply_handler_t)(_z_reply_t *reply, void *arg)` is the
+ *   z_reply_handler_t call: `void (*_z_reply_handler_t)(z_loaned_reply_t *reply, void *arg)` is the
  * callback function.
  *   z_dropper_handler_t drop: `void *drop(void*)` allows the callback's state to be freed.
  *   void *context: a pointer to an arbitrary state.
  */
 _Z_OWNED_TYPE_VALUE(_z_closure_reply_t, closure_reply)
 
-void z_closure_reply_call(const z_loaned_closure_reply_t *closure, const z_loaned_reply_t *reply);
+void z_closure_reply_call(const z_loaned_closure_reply_t *closure, z_loaned_reply_t *reply);
 
-typedef void (*z_loaned_hello_handler_t)(const z_loaned_hello_t *hello, void *arg);
+typedef void (*z_loaned_hello_handler_t)(z_loaned_hello_t *hello, void *arg);
 
 typedef struct {
     void *context;
@@ -570,16 +570,16 @@ typedef struct {
  *
  * Members:
  *   void *context: a pointer to an arbitrary state.
- *   z_loaned_hello_handler_t call: `void (*z_loaned_hello_handler_t)(const z_loaned_hello_t *hello, void *arg)` is the
+ *   z_loaned_hello_handler_t call: `void (*z_loaned_hello_handler_t)(z_loaned_hello_t *hello, void *arg)` is the
  * callback function.
  *   z_dropper_handler_t drop: `void *drop(void*)` allows the callback's state to be freed.
  *   void *context: a pointer to an arbitrary state.
  */
 _Z_OWNED_TYPE_VALUE(_z_closure_hello_t, closure_hello)
 
-void z_closure_hello_call(const z_loaned_closure_hello_t *closure, const z_loaned_hello_t *hello);
+void z_closure_hello_call(const z_loaned_closure_hello_t *closure, z_loaned_hello_t *hello);
 
-typedef void (*z_id_handler_t)(const z_id_t *id, void *arg);
+typedef void (*z_id_handler_t)(z_id_t *id, void *arg);
 
 typedef struct {
     void *context;
@@ -593,13 +593,13 @@ typedef struct {
  *
  * Members:
  *   void *context: a pointer to an arbitrary state.
- *   z_id_handler_t call: `void (*z_id_handler_t)(const z_id_t *id, void *arg)` is the callback function.
+ *   z_id_handler_t call: `void (*z_id_handler_t)(z_id_t *id, void *arg)` is the callback function.
  *   z_dropper_handler_t drop: `void *drop(void*)` allows the callback's state to be freed.
  *   void *context: a pointer to an arbitrary state.
  */
 _Z_OWNED_TYPE_VALUE(_z_closure_zid_t, closure_zid)
 
-void z_closure_zid_call(const z_loaned_closure_zid_t *closure, const z_id_t *id);
+void z_closure_zid_call(const z_loaned_closure_zid_t *closure, z_id_t *id);
 
 #ifdef __cplusplus
 }
diff --git a/include/zenoh-pico/session/session.h b/include/zenoh-pico/session/session.h
index c91b4d979..592a483ae 100644
--- a/include/zenoh-pico/session/session.h
+++ b/include/zenoh-pico/session/session.h
@@ -54,7 +54,7 @@ typedef struct _z_sample_t _z_sample_t;
 /**
  * The callback signature of the functions handling data messages.
  */
-typedef void (*_z_data_handler_t)(const _z_sample_t *sample, void *arg);
+typedef void (*_z_data_handler_t)(_z_sample_t *sample, void *arg);
 
 typedef struct {
     _z_keyexpr_t _key;
@@ -85,7 +85,7 @@ typedef struct _z_query_rc_t _z_query_rc_t;
 /**
  * The callback signature of the functions handling query messages.
  */
-typedef void (*_z_queryable_handler_t)(const _z_query_rc_t *query, void *arg);
+typedef void (*_z_queryable_handler_t)(_z_query_rc_t *query, void *arg);
 
 typedef struct {
     _z_keyexpr_t _key;
@@ -114,7 +114,7 @@ typedef struct _z_reply_t _z_reply_t;
 /**
  * The callback signature of the functions handling query replies.
  */
-typedef void (*_z_reply_handler_t)(const _z_reply_t *reply, void *arg);
+typedef void (*_z_reply_handler_t)(_z_reply_t *reply, void *arg);
 
 typedef struct {
     _z_keyexpr_t _key;
diff --git a/src/api/api.c b/src/api/api.c
index 2bd60f512..6faab5736 100644
--- a/src/api/api.c
+++ b/src/api/api.c
@@ -712,31 +712,31 @@ const z_loaned_encoding_t *z_query_encoding(const z_loaned_query_t *query) {
     return &_Z_RC_IN_VAL(query)->_value.encoding;
 }
 
-void z_closure_sample_call(const z_loaned_closure_sample_t *closure, const z_loaned_sample_t *sample) {
+void z_closure_sample_call(const z_loaned_closure_sample_t *closure, z_loaned_sample_t *sample) {
     if (closure->call != NULL) {
         (closure->call)(sample, closure->context);
     }
 }
 
-void z_closure_query_call(const z_loaned_closure_query_t *closure, const z_loaned_query_t *query) {
+void z_closure_query_call(const z_loaned_closure_query_t *closure, z_loaned_query_t *query) {
     if (closure->call != NULL) {
         (closure->call)(query, closure->context);
     }
 }
 
-void z_closure_reply_call(const z_loaned_closure_reply_t *closure, const z_loaned_reply_t *reply) {
+void z_closure_reply_call(const z_loaned_closure_reply_t *closure, z_loaned_reply_t *reply) {
     if (closure->call != NULL) {
         (closure->call)(reply, closure->context);
     }
 }
 
-void z_closure_hello_call(const z_loaned_closure_hello_t *closure, const z_loaned_hello_t *hello) {
+void z_closure_hello_call(const z_loaned_closure_hello_t *closure, z_loaned_hello_t *hello) {
     if (closure->call != NULL) {
         (closure->call)(hello, closure->context);
     }
 }
 
-void z_closure_zid_call(const z_loaned_closure_zid_t *closure, const z_id_t *id) {
+void z_closure_zid_call(const z_loaned_closure_zid_t *closure, z_id_t *id) {
     if (closure->call != NULL) {
         (closure->call)(id, closure->context);
     }

From 413071ef4b5d82f80bc073f8ca5585949f2b4bf1 Mon Sep 17 00:00:00 2001
From: Alexander Bushnev <Alexander@Bushnev.pro>
Date: Thu, 12 Sep 2024 15:00:27 +0200
Subject: [PATCH 2/4] Update tests for remove const from closure params

---
 tests/z_api_alignment_test.c  | 10 +++++-----
 tests/z_client_test.c         |  6 +++---
 tests/z_peer_multicast_test.c |  2 +-
 tests/z_perf_rx.c             |  2 +-
 tests/z_test_fragment_rx.c    |  2 +-
 5 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/tests/z_api_alignment_test.c b/tests/z_api_alignment_test.c
index cd4279fce..a53be3b3a 100644
--- a/tests/z_api_alignment_test.c
+++ b/tests/z_api_alignment_test.c
@@ -44,7 +44,7 @@
 const char *value = "Test value";
 
 volatile unsigned int zids = 0;
-void zid_handler(const z_id_t *id, void *arg) {
+void zid_handler(z_id_t *id, void *arg) {
     (void)(arg);
     (void)(id);
     printf("%s\n", __func__);
@@ -52,7 +52,7 @@ void zid_handler(const z_id_t *id, void *arg) {
 }
 
 volatile unsigned int hellos = 0;
-void hello_handler(const z_loaned_hello_t *hello, void *arg) {
+void hello_handler(z_loaned_hello_t *hello, void *arg) {
     (void)hello;
     (void)(arg);
     printf("%s\n", __func__);
@@ -60,7 +60,7 @@ void hello_handler(const z_loaned_hello_t *hello, void *arg) {
 }
 
 volatile unsigned int queries = 0;
-void query_handler(const z_loaned_query_t *query, void *arg) {
+void query_handler(z_loaned_query_t *query, void *arg) {
     printf("%s\n", __func__);
     queries++;
 
@@ -86,7 +86,7 @@ void query_handler(const z_loaned_query_t *query, void *arg) {
 }
 
 volatile unsigned int replies = 0;
-void reply_handler(const z_loaned_reply_t *reply, void *arg) {
+void reply_handler(z_loaned_reply_t *reply, void *arg) {
     printf("%s\n", __func__);
     replies++;
     (void)arg;
@@ -105,7 +105,7 @@ void reply_handler(const z_loaned_reply_t *reply, void *arg) {
 }
 
 volatile unsigned int datas = 0;
-void data_handler(const z_loaned_sample_t *sample, void *arg) {
+void data_handler(z_loaned_sample_t *sample, void *arg) {
     printf("%s\n", __func__);
     datas++;
 
diff --git a/tests/z_client_test.c b/tests/z_client_test.c
index 0f6c1e4d1..fa75dda86 100644
--- a/tests/z_client_test.c
+++ b/tests/z_client_test.c
@@ -48,7 +48,7 @@ z_owned_keyexpr_t rids2[SET];
 volatile unsigned int total = 0;
 
 volatile unsigned int queries = 0;
-void query_handler(const z_loaned_query_t *query, void *arg) {
+void query_handler(z_loaned_query_t *query, void *arg) {
     char *res = (char *)malloc(64);
     snprintf(res, 64, "%s%u", uri, *(unsigned int *)arg);
     printf(">> Received query: %s\t(%u/%u)\n", res, queries, total);
@@ -72,7 +72,7 @@ void query_handler(const z_loaned_query_t *query, void *arg) {
 }
 
 volatile unsigned int replies = 0;
-void reply_handler(const z_loaned_reply_t *reply, void *arg) {
+void reply_handler(z_loaned_reply_t *reply, void *arg) {
     char *res = (char *)malloc(64);
     snprintf(res, 64, "%s%u", uri, *(unsigned int *)arg);
     if (z_reply_is_ok(reply)) {
@@ -97,7 +97,7 @@ void reply_handler(const z_loaned_reply_t *reply, void *arg) {
 }
 
 volatile unsigned int datas = 0;
-void data_handler(const z_loaned_sample_t *sample, void *arg) {
+void data_handler(z_loaned_sample_t *sample, void *arg) {
     char *res = (char *)malloc(64);
     snprintf(res, 64, "%s%u", uri, *(unsigned int *)arg);
     printf(">> Received data: %s\t(%u/%u)\n", res, datas, total);
diff --git a/tests/z_peer_multicast_test.c b/tests/z_peer_multicast_test.c
index 1bd5ff9fb..23e477ec4 100644
--- a/tests/z_peer_multicast_test.c
+++ b/tests/z_peer_multicast_test.c
@@ -41,7 +41,7 @@ _z_list_t *subs2 = NULL;
 volatile unsigned int total = 0;
 
 volatile unsigned int datas = 0;
-void data_handler(const z_loaned_sample_t *sample, void *arg) {
+void data_handler(z_loaned_sample_t *sample, void *arg) {
     char *res = (char *)malloc(64);
     snprintf(res, 64, "%s%u", uri, *(unsigned int *)arg);
     printf(">> Received data: %s\t(%u/%u)\n", res, datas, total);
diff --git a/tests/z_perf_rx.c b/tests/z_perf_rx.c
index 52c309f56..442c5ac5c 100644
--- a/tests/z_perf_rx.c
+++ b/tests/z_perf_rx.c
@@ -39,7 +39,7 @@ void z_stats_stop(z_stats_t *stats) {
     stats->count = 0;
 }
 
-void on_sample(const z_loaned_sample_t *sample, void *context) {
+void on_sample(z_loaned_sample_t *sample, void *context) {
     z_stats_t *stats = (z_stats_t *)context;
     z_owned_slice_t value;
     z_bytes_deserialize_into_slice(z_sample_payload(sample), &value);
diff --git a/tests/z_test_fragment_rx.c b/tests/z_test_fragment_rx.c
index 76eff0767..f550343bd 100644
--- a/tests/z_test_fragment_rx.c
+++ b/tests/z_test_fragment_rx.c
@@ -18,7 +18,7 @@
 #include <zenoh-pico.h>
 
 #if Z_FEATURE_SUBSCRIPTION == 1
-void data_handler(const z_loaned_sample_t *sample, void *ctx) {
+void data_handler(z_loaned_sample_t *sample, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);

From 0733d7cf45b77fd3157641a66a793d9f0a58af58 Mon Sep 17 00:00:00 2001
From: Alexander Bushnev <Alexander@Bushnev.pro>
Date: Thu, 12 Sep 2024 15:00:52 +0200
Subject: [PATCH 3/4] Update examples for remove const from closure params

---
 examples/arduino/z_get.ino                 | 2 +-
 examples/arduino/z_queryable.ino           | 2 +-
 examples/arduino/z_scout.ino               | 2 +-
 examples/arduino/z_sub.ino                 | 2 +-
 examples/espidf/z_get.c                    | 2 +-
 examples/espidf/z_queryable.c              | 2 +-
 examples/espidf/z_scout.c                  | 2 +-
 examples/espidf/z_sub.c                    | 2 +-
 examples/freertos_plus_tcp/z_get.c         | 2 +-
 examples/freertos_plus_tcp/z_queryable.c   | 2 +-
 examples/freertos_plus_tcp/z_scout.c       | 2 +-
 examples/freertos_plus_tcp/z_sub.c         | 2 +-
 examples/freertos_plus_tcp/z_sub_st.c      | 2 +-
 examples/mbed/z_get.cpp                    | 2 +-
 examples/mbed/z_queryable.cpp              | 2 +-
 examples/mbed/z_scout.cpp                  | 2 +-
 examples/mbed/z_sub.cpp                    | 2 +-
 examples/unix/c11/z_get.c                  | 2 +-
 examples/unix/c11/z_get_attachment.c       | 2 +-
 examples/unix/c11/z_info.c                 | 2 +-
 examples/unix/c11/z_ping.c                 | 2 +-
 examples/unix/c11/z_pong.c                 | 2 +-
 examples/unix/c11/z_queryable.c            | 2 +-
 examples/unix/c11/z_queryable_attachment.c | 2 +-
 examples/unix/c11/z_scout.c                | 2 +-
 examples/unix/c11/z_sub.c                  | 2 +-
 examples/unix/c11/z_sub_attachment.c       | 2 +-
 examples/unix/c11/z_sub_st.c               | 2 +-
 examples/unix/c11/z_sub_thr.c              | 2 +-
 examples/unix/c99/z_get.c                  | 2 +-
 examples/unix/c99/z_info.c                 | 2 +-
 examples/unix/c99/z_ping.c                 | 2 +-
 examples/unix/c99/z_pong.c                 | 2 +-
 examples/unix/c99/z_queryable.c            | 2 +-
 examples/unix/c99/z_scout.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_info.c                  | 2 +-
 examples/windows/z_ping.c                  | 2 +-
 examples/windows/z_pong.c                  | 2 +-
 examples/windows/z_queryable.c             | 2 +-
 examples/windows/z_scout.c                 | 2 +-
 examples/windows/z_sub.c                   | 2 +-
 examples/windows/z_sub_st.c                | 2 +-
 examples/zephyr/z_get.c                    | 2 +-
 examples/zephyr/z_queryable.c              | 2 +-
 examples/zephyr/z_scout.c                  | 2 +-
 examples/zephyr/z_sub.c                    | 2 +-
 49 files changed, 49 insertions(+), 49 deletions(-)

diff --git a/examples/arduino/z_get.ino b/examples/arduino/z_get.ino
index 18030d77e..bb4658a31 100644
--- a/examples/arduino/z_get.ino
+++ b/examples/arduino/z_get.ino
@@ -38,7 +38,7 @@ void reply_dropper(void *ctx) {
     Serial.println(" >> Received query final notification");
 }
 
-void reply_handler(const z_loaned_reply_t *oreply, void *ctx) {
+void reply_handler(z_loaned_reply_t *oreply, void *ctx) {
     (void)(ctx);
     if (z_reply_is_ok(oreply)) {
         const z_loaned_sample_t *sample = z_reply_ok(oreply);
diff --git a/examples/arduino/z_queryable.ino b/examples/arduino/z_queryable.ino
index 591cf1598..8f37c68ab 100644
--- a/examples/arduino/z_queryable.ino
+++ b/examples/arduino/z_queryable.ino
@@ -34,7 +34,7 @@
 z_owned_session_t s;
 z_owned_queryable_t qable;
 
-void query_handler(const z_loaned_query_t *query, void *arg) {
+void query_handler(z_loaned_query_t *query, void *arg) {
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_query_keyexpr(query), &keystr);
     Serial.print(" >> [Queryable handler] Received Query '");
diff --git a/examples/arduino/z_scout.ino b/examples/arduino/z_scout.ino
index 7af5da089..17d033100 100644
--- a/examples/arduino/z_scout.ino
+++ b/examples/arduino/z_scout.ino
@@ -75,7 +75,7 @@ void fprinthello(const z_loaned_hello_t *hello) {
     Serial.println(" }");
 }
 
-void callback(const z_loaned_hello_t *hello, void *context) {
+void callback(z_loaned_hello_t *hello, void *context) {
     fprinthello(hello);
     Serial.println("");
     (*(int *)context)++;
diff --git a/examples/arduino/z_sub.ino b/examples/arduino/z_sub.ino
index 8b12c333c..fa612fbf5 100644
--- a/examples/arduino/z_sub.ino
+++ b/examples/arduino/z_sub.ino
@@ -33,7 +33,7 @@
 z_owned_session_t s;
 z_owned_subscriber_t sub;
 
-void data_handler(const z_loaned_sample_t *sample, void *arg) {
+void data_handler(z_loaned_sample_t *sample, void *arg) {
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);
     z_owned_string_t value;
diff --git a/examples/espidf/z_get.c b/examples/espidf/z_get.c
index fdc04e30d..090284579 100644
--- a/examples/espidf/z_get.c
+++ b/examples/espidf/z_get.c
@@ -103,7 +103,7 @@ void wifi_init_sta(void) {
 
 void reply_dropper(void *ctx) { printf(" >> Received query final notification\n"); }
 
-void reply_handler(const z_loaned_reply_t *oreply, void *ctx) {
+void reply_handler(z_loaned_reply_t *oreply, void *ctx) {
     if (z_reply_is_ok(oreply)) {
         const z_loaned_sample_t *sample = z_reply_ok(oreply);
         z_view_string_t keystr;
diff --git a/examples/espidf/z_queryable.c b/examples/espidf/z_queryable.c
index b7a11e26a..3aeed6cb6 100644
--- a/examples/espidf/z_queryable.c
+++ b/examples/espidf/z_queryable.c
@@ -101,7 +101,7 @@ void wifi_init_sta(void) {
     vEventGroupDelete(s_event_group_handler);
 }
 
-void query_handler(const z_loaned_query_t *query, void *ctx) {
+void query_handler(z_loaned_query_t *query, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_query_keyexpr(query), &keystr);
diff --git a/examples/espidf/z_scout.c b/examples/espidf/z_scout.c
index 9866a2806..a8adc731d 100644
--- a/examples/espidf/z_scout.c
+++ b/examples/espidf/z_scout.c
@@ -129,7 +129,7 @@ void fprinthello(FILE *stream, const z_loaned_hello_t *hello) {
     fprintf(stream, " }");
 }
 
-void callback(const z_loaned_hello_t *hello, void *context) {
+void callback(z_loaned_hello_t *hello, void *context) {
     fprinthello(stdout, hello);
     fprintf(stdout, "\n");
     (*(int *)context)++;
diff --git a/examples/espidf/z_sub.c b/examples/espidf/z_sub.c
index 735096158..3d4653f9b 100644
--- a/examples/espidf/z_sub.c
+++ b/examples/espidf/z_sub.c
@@ -100,7 +100,7 @@ void wifi_init_sta(void) {
     vEventGroupDelete(s_event_group_handler);
 }
 
-void data_handler(const z_loaned_sample_t* sample, void* arg) {
+void data_handler(z_loaned_sample_t* sample, void* arg) {
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);
     z_owned_string_t value;
diff --git a/examples/freertos_plus_tcp/z_get.c b/examples/freertos_plus_tcp/z_get.c
index dc1056046..c71c5b48a 100644
--- a/examples/freertos_plus_tcp/z_get.c
+++ b/examples/freertos_plus_tcp/z_get.c
@@ -36,7 +36,7 @@ void reply_dropper(void *ctx) {
     printf(">> Received query final notification\n");
 }
 
-void reply_handler(const z_loaned_reply_t *reply, void *ctx) {
+void reply_handler(z_loaned_reply_t *reply, void *ctx) {
     (void)(ctx);
     if (z_reply_is_ok(reply)) {
         const z_loaned_sample_t *sample = z_reply_ok(reply);
diff --git a/examples/freertos_plus_tcp/z_queryable.c b/examples/freertos_plus_tcp/z_queryable.c
index 5cb3bb420..4504e46e1 100644
--- a/examples/freertos_plus_tcp/z_queryable.c
+++ b/examples/freertos_plus_tcp/z_queryable.c
@@ -29,7 +29,7 @@
 #define KEYEXPR "demo/example/zenoh-pico-queryable"
 #define VALUE "[FreeRTOS-Plus-TCP] Queryable from Zenoh-Pico!"
 
-void query_handler(const z_loaned_query_t *query, void *ctx) {
+void query_handler(z_loaned_query_t *query, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_query_keyexpr(query), &keystr);
diff --git a/examples/freertos_plus_tcp/z_scout.c b/examples/freertos_plus_tcp/z_scout.c
index 0f59f2416..5a5e45c65 100644
--- a/examples/freertos_plus_tcp/z_scout.c
+++ b/examples/freertos_plus_tcp/z_scout.c
@@ -63,7 +63,7 @@ void fprinthello(FILE *stream, const z_loaned_hello_t *hello) {
     fprintf(stream, " }");
 }
 
-void callback(const z_loaned_hello_t *hello, void *context) {
+void callback(z_loaned_hello_t *hello, void *context) {
     fprinthello(stdout, hello);
     fprintf(stdout, "\n");
     (*(int *)context)++;
diff --git a/examples/freertos_plus_tcp/z_sub.c b/examples/freertos_plus_tcp/z_sub.c
index af24f128a..9f8f1610a 100644
--- a/examples/freertos_plus_tcp/z_sub.c
+++ b/examples/freertos_plus_tcp/z_sub.c
@@ -28,7 +28,7 @@
 
 #define KEYEXPR "demo/example/**"
 
-void data_handler(const z_loaned_sample_t *sample, void *ctx) {
+void data_handler(z_loaned_sample_t *sample, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);
diff --git a/examples/freertos_plus_tcp/z_sub_st.c b/examples/freertos_plus_tcp/z_sub_st.c
index d2ec34047..7d3468216 100644
--- a/examples/freertos_plus_tcp/z_sub_st.c
+++ b/examples/freertos_plus_tcp/z_sub_st.c
@@ -31,7 +31,7 @@
 
 int msg_nb = 0;
 
-void data_handler(const z_loaned_sample_t *sample, void *ctx) {
+void data_handler(z_loaned_sample_t *sample, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);
diff --git a/examples/mbed/z_get.cpp b/examples/mbed/z_get.cpp
index 1e4c89580..7939e1bce 100644
--- a/examples/mbed/z_get.cpp
+++ b/examples/mbed/z_get.cpp
@@ -33,7 +33,7 @@
 
 void reply_dropper(void *ctx) { printf(" >> Received query final notification\n"); }
 
-void reply_handler(const z_loaned_reply_t *oreply, void *ctx) {
+void reply_handler(z_loaned_reply_t *oreply, void *ctx) {
     if (z_reply_is_ok(oreply)) {
         const z_loaned_sample_t *sample = z_reply_ok(oreply);
         z_view_string_t keystr;
diff --git a/examples/mbed/z_queryable.cpp b/examples/mbed/z_queryable.cpp
index fc5427443..0732c5033 100644
--- a/examples/mbed/z_queryable.cpp
+++ b/examples/mbed/z_queryable.cpp
@@ -31,7 +31,7 @@
 #define KEYEXPR "demo/example/zenoh-pico-queryable"
 #define VALUE "[MBedOS]{nucleo-F767ZI} Queryable from Zenoh-Pico!"
 
-void query_handler(const z_loaned_query_t *query, void *ctx) {
+void query_handler(z_loaned_query_t *query, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_query_keyexpr(query), &keystr);
diff --git a/examples/mbed/z_scout.cpp b/examples/mbed/z_scout.cpp
index c227acabc..2d9f71b69 100644
--- a/examples/mbed/z_scout.cpp
+++ b/examples/mbed/z_scout.cpp
@@ -71,7 +71,7 @@ void fprinthello(FILE *stream, const z_loaned_hello_t *hello) {
     fprintf(stream, " }");
 }
 
-void callback(const z_loaned_hello_t *hello, void *context) {
+void callback(z_loaned_hello_t *hello, void *context) {
     fprinthello(stdout, hello);
     fprintf(stdout, "\n");
     (*(int *)context)++;
diff --git a/examples/mbed/z_sub.cpp b/examples/mbed/z_sub.cpp
index fe58c2d12..6f8576cf4 100644
--- a/examples/mbed/z_sub.cpp
+++ b/examples/mbed/z_sub.cpp
@@ -30,7 +30,7 @@
 
 #define KEYEXPR "demo/example/**"
 
-void data_handler(const z_loaned_sample_t *sample, void *arg) {
+void data_handler(z_loaned_sample_t *sample, void *arg) {
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);
     z_owned_string_t value;
diff --git a/examples/unix/c11/z_get.c b/examples/unix/c11/z_get.c
index f06217a6b..db0bf816a 100644
--- a/examples/unix/c11/z_get.c
+++ b/examples/unix/c11/z_get.c
@@ -31,7 +31,7 @@ void reply_dropper(void *ctx) {
     z_drop(z_move(cond));
 }
 
-void reply_handler(const z_loaned_reply_t *reply, void *ctx) {
+void reply_handler(z_loaned_reply_t *reply, void *ctx) {
     (void)(ctx);
     if (z_reply_is_ok(reply)) {
         const z_loaned_sample_t *sample = z_reply_ok(reply);
diff --git a/examples/unix/c11/z_get_attachment.c b/examples/unix/c11/z_get_attachment.c
index b3a5f0e51..a24ee6f13 100644
--- a/examples/unix/c11/z_get_attachment.c
+++ b/examples/unix/c11/z_get_attachment.c
@@ -99,7 +99,7 @@ void reply_dropper(void *ctx) {
     z_drop(z_move(cond));
 }
 
-void reply_handler(const z_loaned_reply_t *reply, void *ctx) {
+void reply_handler(z_loaned_reply_t *reply, void *ctx) {
     (void)(ctx);
     if (z_reply_is_ok(reply)) {
         const z_loaned_sample_t *sample = z_reply_ok(reply);
diff --git a/examples/unix/c11/z_info.c b/examples/unix/c11/z_info.c
index 303a134ef..701789bdb 100644
--- a/examples/unix/c11/z_info.c
+++ b/examples/unix/c11/z_info.c
@@ -18,7 +18,7 @@
 #include <unistd.h>
 #include <zenoh-pico.h>
 
-void print_zid(const z_id_t *id, void *ctx) {
+void print_zid(z_id_t *id, void *ctx) {
     (void)(ctx);
     printf(" ");
     for (int i = 15; i >= 0; i--) {
diff --git a/examples/unix/c11/z_ping.c b/examples/unix/c11/z_ping.c
index 071133278..42cd17c6d 100644
--- a/examples/unix/c11/z_ping.c
+++ b/examples/unix/c11/z_ping.c
@@ -30,7 +30,7 @@
 static z_owned_condvar_t cond;
 static z_owned_mutex_t mutex;
 
-void callback(const z_loaned_sample_t* sample, void* context) {
+void callback(z_loaned_sample_t* sample, void* context) {
     (void)sample;
     (void)context;
     z_condvar_signal(z_loan_mut(cond));
diff --git a/examples/unix/c11/z_pong.c b/examples/unix/c11/z_pong.c
index 9da0d51fe..f0ecd2c25 100644
--- a/examples/unix/c11/z_pong.c
+++ b/examples/unix/c11/z_pong.c
@@ -16,7 +16,7 @@
 #include "zenoh-pico.h"
 
 #if Z_FEATURE_SUBSCRIPTION == 1 && Z_FEATURE_PUBLICATION == 1
-void callback(const z_loaned_sample_t* sample, void* context) {
+void callback(z_loaned_sample_t* sample, void* context) {
     const z_loaned_publisher_t* pub = z_loan(*(z_owned_publisher_t*)context);
     z_owned_bytes_t payload;
     z_bytes_clone(&payload, z_sample_payload(sample));
diff --git a/examples/unix/c11/z_queryable.c b/examples/unix/c11/z_queryable.c
index 7c1eb3c39..09e12d1f0 100644
--- a/examples/unix/c11/z_queryable.c
+++ b/examples/unix/c11/z_queryable.c
@@ -26,7 +26,7 @@ static int msg_nb = 0;
 static enum { REPLY_DATA, REPLY_DELETE, REPLY_ERR } reply_kind = REPLY_DATA;
 bool reply_err = false;
 
-void query_handler(const z_loaned_query_t *query, void *ctx) {
+void query_handler(z_loaned_query_t *query, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_query_keyexpr(query), &keystr);
diff --git a/examples/unix/c11/z_queryable_attachment.c b/examples/unix/c11/z_queryable_attachment.c
index 4601aa68c..78dff9b16 100644
--- a/examples/unix/c11/z_queryable_attachment.c
+++ b/examples/unix/c11/z_queryable_attachment.c
@@ -104,7 +104,7 @@ void drop_attachment(kv_pairs_rx_t *kvp) {
     z_free(kvp->data);
 }
 
-void query_handler(const z_loaned_query_t *query, void *ctx) {
+void query_handler(z_loaned_query_t *query, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_query_keyexpr(query), &keystr);
diff --git a/examples/unix/c11/z_scout.c b/examples/unix/c11/z_scout.c
index 9c190017f..4324a966a 100644
--- a/examples/unix/c11/z_scout.c
+++ b/examples/unix/c11/z_scout.c
@@ -61,7 +61,7 @@ void fprinthello(FILE *stream, const z_loaned_hello_t *hello) {
     fprintf(stream, " }");
 }
 
-void callback(const z_loaned_hello_t *hello, void *context) {
+void callback(z_loaned_hello_t *hello, void *context) {
     fprinthello(stdout, hello);
     fprintf(stdout, "\n");
     (*(int *)context)++;
diff --git a/examples/unix/c11/z_sub.c b/examples/unix/c11/z_sub.c
index 95845e6e4..c1f67c311 100644
--- a/examples/unix/c11/z_sub.c
+++ b/examples/unix/c11/z_sub.c
@@ -24,7 +24,7 @@
 
 static int msg_nb = 0;
 
-void data_handler(const z_loaned_sample_t *sample, void *ctx) {
+void data_handler(z_loaned_sample_t *sample, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);
diff --git a/examples/unix/c11/z_sub_attachment.c b/examples/unix/c11/z_sub_attachment.c
index 84a351941..336f187ec 100644
--- a/examples/unix/c11/z_sub_attachment.c
+++ b/examples/unix/c11/z_sub_attachment.c
@@ -70,7 +70,7 @@ void drop_attachment(kv_pairs_t *kvp) {
     z_free(kvp->data);
 }
 
-void data_handler(const z_loaned_sample_t *sample, void *ctx) {
+void data_handler(z_loaned_sample_t *sample, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);
diff --git a/examples/unix/c11/z_sub_st.c b/examples/unix/c11/z_sub_st.c
index 5ce01d3fe..003b8a0fe 100644
--- a/examples/unix/c11/z_sub_st.c
+++ b/examples/unix/c11/z_sub_st.c
@@ -23,7 +23,7 @@
 
 static int msg_nb = 0;
 
-void data_handler(const z_loaned_sample_t *sample, void *ctx) {
+void data_handler(z_loaned_sample_t *sample, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);
diff --git a/examples/unix/c11/z_sub_thr.c b/examples/unix/c11/z_sub_thr.c
index 9fbda3059..f65e08402 100644
--- a/examples/unix/c11/z_sub_thr.c
+++ b/examples/unix/c11/z_sub_thr.c
@@ -39,7 +39,7 @@ z_stats_t *z_stats_make(void) {
     return stats;
 }
 
-void on_sample(const z_loaned_sample_t *sample, void *context) {
+void on_sample(z_loaned_sample_t *sample, void *context) {
     (void)sample;
     z_stats_t *stats = (z_stats_t *)context;
     stats->count++;
diff --git a/examples/unix/c99/z_get.c b/examples/unix/c99/z_get.c
index 717ccc341..e672c2d0a 100644
--- a/examples/unix/c99/z_get.c
+++ b/examples/unix/c99/z_get.c
@@ -29,7 +29,7 @@ void reply_dropper(void *ctx) {
     z_condvar_drop(z_condvar_move(&cond));
 }
 
-void reply_handler(const z_loaned_reply_t *reply, void *ctx) {
+void reply_handler(z_loaned_reply_t *reply, void *ctx) {
     (void)(ctx);
     if (z_reply_is_ok(reply)) {
         const z_loaned_sample_t *sample = z_reply_ok(reply);
diff --git a/examples/unix/c99/z_info.c b/examples/unix/c99/z_info.c
index 4474b1467..c5b0c3c2b 100644
--- a/examples/unix/c99/z_info.c
+++ b/examples/unix/c99/z_info.c
@@ -18,7 +18,7 @@
 #include <unistd.h>
 #include <zenoh-pico.h>
 
-void print_zid(const z_id_t *id, void *ctx) {
+void print_zid(z_id_t *id, void *ctx) {
     (void)(ctx);
     printf(" ");
     for (int i = 15; i >= 0; i--) {
diff --git a/examples/unix/c99/z_ping.c b/examples/unix/c99/z_ping.c
index 4ae767e74..0e0b348bd 100644
--- a/examples/unix/c99/z_ping.c
+++ b/examples/unix/c99/z_ping.c
@@ -31,7 +31,7 @@
 static z_owned_condvar_t cond;
 static z_owned_mutex_t mutex;
 
-void callback(const z_loaned_sample_t* sample, void* context) {
+void callback(z_loaned_sample_t* sample, void* context) {
     (void)sample;
     (void)context;
     z_condvar_signal(z_condvar_loan_mut(&cond));
diff --git a/examples/unix/c99/z_pong.c b/examples/unix/c99/z_pong.c
index 81ef5daaa..d6baa2125 100644
--- a/examples/unix/c99/z_pong.c
+++ b/examples/unix/c99/z_pong.c
@@ -17,7 +17,7 @@
 #include "zenoh-pico/api/primitives.h"
 
 #if Z_FEATURE_SUBSCRIPTION == 1 && Z_FEATURE_PUBLICATION == 1
-void callback(const z_loaned_sample_t* sample, void* context) {
+void callback(z_loaned_sample_t* sample, void* context) {
     const z_loaned_publisher_t* pub = z_publisher_loan((z_owned_publisher_t*)context);
     z_owned_bytes_t payload;
     z_bytes_clone(&payload, z_sample_payload(sample));
diff --git a/examples/unix/c99/z_queryable.c b/examples/unix/c99/z_queryable.c
index 43b6ca35e..a8a676a20 100644
--- a/examples/unix/c99/z_queryable.c
+++ b/examples/unix/c99/z_queryable.c
@@ -22,7 +22,7 @@
 const char *keyexpr = "demo/example/zenoh-pico-queryable";
 const char *value = "Queryable from Pico!";
 
-void query_handler(const z_loaned_query_t *query, void *ctx) {
+void query_handler(z_loaned_query_t *query, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_query_keyexpr(query), &keystr);
diff --git a/examples/unix/c99/z_scout.c b/examples/unix/c99/z_scout.c
index 22ee39e31..412bb73b2 100644
--- a/examples/unix/c99/z_scout.c
+++ b/examples/unix/c99/z_scout.c
@@ -60,7 +60,7 @@ void fprinthello(FILE *stream, const z_loaned_hello_t *hello) {
     fprintf(stream, " }");
 }
 
-void callback(const z_loaned_hello_t *hello, void *context) {
+void callback(z_loaned_hello_t *hello, void *context) {
     fprinthello(stdout, hello);
     fprintf(stdout, "\n");
     (*(int *)context)++;
diff --git a/examples/unix/c99/z_sub.c b/examples/unix/c99/z_sub.c
index 998ab0e93..7094ff83b 100644
--- a/examples/unix/c99/z_sub.c
+++ b/examples/unix/c99/z_sub.c
@@ -20,7 +20,7 @@
 #include <zenoh-pico.h>
 
 #if Z_FEATURE_SUBSCRIPTION == 1
-void data_handler(const z_loaned_sample_t *sample, void *arg) {
+void data_handler(z_loaned_sample_t *sample, void *arg) {
     (void)(arg);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);
diff --git a/examples/unix/c99/z_sub_st.c b/examples/unix/c99/z_sub_st.c
index 17e30a088..320c653d4 100644
--- a/examples/unix/c99/z_sub_st.c
+++ b/examples/unix/c99/z_sub_st.c
@@ -23,7 +23,7 @@
 
 static int msg_nb = 0;
 
-void data_handler(const z_loaned_sample_t *sample, void *arg) {
+void data_handler(z_loaned_sample_t *sample, void *arg) {
     (void)(arg);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);
diff --git a/examples/windows/z_get.c b/examples/windows/z_get.c
index 4f54fb19b..46f588293 100644
--- a/examples/windows/z_get.c
+++ b/examples/windows/z_get.c
@@ -28,7 +28,7 @@ void reply_dropper(void *ctx) {
     z_drop(z_move(cond));
 }
 
-void reply_handler(const z_loaned_reply_t *reply, void *ctx) {
+void reply_handler(z_loaned_reply_t *reply, void *ctx) {
     (void)(ctx);
     if (z_reply_is_ok(reply)) {
         const z_loaned_sample_t *sample = z_reply_ok(reply);
diff --git a/examples/windows/z_info.c b/examples/windows/z_info.c
index 2cb405257..5c9adc141 100644
--- a/examples/windows/z_info.c
+++ b/examples/windows/z_info.c
@@ -17,7 +17,7 @@
 #include <stdlib.h>
 #include <zenoh-pico.h>
 
-void print_zid(const z_id_t *id, void *ctx) {
+void print_zid(z_id_t *id, void *ctx) {
     (void)(ctx);
     printf(" ");
     for (int i = 15; i >= 0; i--) {
diff --git a/examples/windows/z_ping.c b/examples/windows/z_ping.c
index 922f03c0c..33fa2ce9f 100644
--- a/examples/windows/z_ping.c
+++ b/examples/windows/z_ping.c
@@ -30,7 +30,7 @@
 static z_owned_condvar_t cond;
 static z_owned_mutex_t mutex;
 
-void callback(const z_loaned_sample_t* sample, void* context) {
+void callback(z_loaned_sample_t* sample, void* context) {
     (void)sample;
     (void)context;
     z_condvar_signal(z_loan_mut(cond));
diff --git a/examples/windows/z_pong.c b/examples/windows/z_pong.c
index 9da0d51fe..f0ecd2c25 100644
--- a/examples/windows/z_pong.c
+++ b/examples/windows/z_pong.c
@@ -16,7 +16,7 @@
 #include "zenoh-pico.h"
 
 #if Z_FEATURE_SUBSCRIPTION == 1 && Z_FEATURE_PUBLICATION == 1
-void callback(const z_loaned_sample_t* sample, void* context) {
+void callback(z_loaned_sample_t* sample, void* context) {
     const z_loaned_publisher_t* pub = z_loan(*(z_owned_publisher_t*)context);
     z_owned_bytes_t payload;
     z_bytes_clone(&payload, z_sample_payload(sample));
diff --git a/examples/windows/z_queryable.c b/examples/windows/z_queryable.c
index b4e59cd31..7ab31a1b7 100644
--- a/examples/windows/z_queryable.c
+++ b/examples/windows/z_queryable.c
@@ -21,7 +21,7 @@
 const char *keyexpr = "demo/example/zenoh-pico-queryable";
 const char *value = "Queryable from Pico!";
 
-void query_handler(const z_loaned_query_t *query, void *ctx) {
+void query_handler(z_loaned_query_t *query, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_query_keyexpr(query), &keystr);
diff --git a/examples/windows/z_scout.c b/examples/windows/z_scout.c
index cc1aa5eb4..b8de576be 100644
--- a/examples/windows/z_scout.c
+++ b/examples/windows/z_scout.c
@@ -60,7 +60,7 @@ void fprinthello(FILE *stream, const z_loaned_hello_t *hello) {
     fprintf(stream, " }");
 }
 
-void callback(const z_loaned_hello_t *hello, void *context) {
+void callback(z_loaned_hello_t *hello, void *context) {
     fprinthello(stdout, hello);
     fprintf(stdout, "\n");
     (*(int *)context)++;
diff --git a/examples/windows/z_sub.c b/examples/windows/z_sub.c
index 252d10b6d..d9d824aad 100644
--- a/examples/windows/z_sub.c
+++ b/examples/windows/z_sub.c
@@ -19,7 +19,7 @@
 #include <zenoh-pico.h>
 
 #if Z_FEATURE_SUBSCRIPTION == 1
-void data_handler(const z_loaned_sample_t *sample, void *ctx) {
+void data_handler(z_loaned_sample_t *sample, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);
diff --git a/examples/windows/z_sub_st.c b/examples/windows/z_sub_st.c
index 99186aaa6..bcd675d29 100644
--- a/examples/windows/z_sub_st.c
+++ b/examples/windows/z_sub_st.c
@@ -22,7 +22,7 @@
 int msg_nb = 0;
 
 #if Z_FEATURE_SUBSCRIPTION == 1
-void data_handler(const z_loaned_sample_t *sample, void *ctx) {
+void data_handler(z_loaned_sample_t *sample, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);
diff --git a/examples/zephyr/z_get.c b/examples/zephyr/z_get.c
index 2164d10dc..d8e6830f9 100644
--- a/examples/zephyr/z_get.c
+++ b/examples/zephyr/z_get.c
@@ -34,7 +34,7 @@
 
 void reply_dropper(void *ctx) { printf(" >> Received query final notification\n"); }
 
-void reply_handler(const z_loaned_reply_t *oreply, void *ctx) {
+void reply_handler(z_loaned_reply_t *oreply, void *ctx) {
     if (z_reply_is_ok(oreply)) {
         const z_loaned_sample_t *sample = z_reply_ok(oreply);
         z_view_string_t keystr;
diff --git a/examples/zephyr/z_queryable.c b/examples/zephyr/z_queryable.c
index bb9a80f1b..c763a804b 100644
--- a/examples/zephyr/z_queryable.c
+++ b/examples/zephyr/z_queryable.c
@@ -31,7 +31,7 @@
 #define KEYEXPR "demo/example/zenoh-pico-queryable"
 #define VALUE "[STSTM32]{nucleo-F767ZI} Queryable from Zenoh-Pico!"
 
-void query_handler(const z_loaned_query_t *query, void *ctx) {
+void query_handler(z_loaned_query_t *query, void *ctx) {
     (void)(ctx);
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_query_keyexpr(query), &keystr);
diff --git a/examples/zephyr/z_scout.c b/examples/zephyr/z_scout.c
index 84eacae2f..1ae6b9be0 100644
--- a/examples/zephyr/z_scout.c
+++ b/examples/zephyr/z_scout.c
@@ -57,7 +57,7 @@ void fprinthello(FILE *stream, const z_loaned_hello_t *hello) {
     fprintf(stream, " }");
 }
 
-void callback(const z_loaned_hello_t *hello, void *context) {
+void callback(z_loaned_hello_t *hello, void *context) {
     fprinthello(stdout, hello);
     fprintf(stdout, "\n");
     (*(int *)context)++;
diff --git a/examples/zephyr/z_sub.c b/examples/zephyr/z_sub.c
index fc37d91f4..780916b97 100644
--- a/examples/zephyr/z_sub.c
+++ b/examples/zephyr/z_sub.c
@@ -29,7 +29,7 @@
 
 #define KEYEXPR "demo/example/**"
 
-void data_handler(const z_loaned_sample_t *sample, void *arg) {
+void data_handler(z_loaned_sample_t *sample, void *arg) {
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);
     z_owned_string_t value;

From 55642b17ade7ab27d1556dc84312fe3b4a27ddaa Mon Sep 17 00:00:00 2001
From: Alexander Bushnev <Alexander@Bushnev.pro>
Date: Thu, 12 Sep 2024 16:13:22 +0200
Subject: [PATCH 4/4] Revert const for z_id_t

---
 examples/unix/c11/z_info.c      | 2 +-
 examples/unix/c99/z_info.c      | 2 +-
 examples/windows/z_info.c       | 2 +-
 include/zenoh-pico/api/macros.h | 4 ++--
 include/zenoh-pico/api/types.h  | 6 +++---
 src/api/api.c                   | 2 +-
 tests/z_api_alignment_test.c    | 2 +-
 7 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/examples/unix/c11/z_info.c b/examples/unix/c11/z_info.c
index 701789bdb..303a134ef 100644
--- a/examples/unix/c11/z_info.c
+++ b/examples/unix/c11/z_info.c
@@ -18,7 +18,7 @@
 #include <unistd.h>
 #include <zenoh-pico.h>
 
-void print_zid(z_id_t *id, void *ctx) {
+void print_zid(const z_id_t *id, void *ctx) {
     (void)(ctx);
     printf(" ");
     for (int i = 15; i >= 0; i--) {
diff --git a/examples/unix/c99/z_info.c b/examples/unix/c99/z_info.c
index c5b0c3c2b..4474b1467 100644
--- a/examples/unix/c99/z_info.c
+++ b/examples/unix/c99/z_info.c
@@ -18,7 +18,7 @@
 #include <unistd.h>
 #include <zenoh-pico.h>
 
-void print_zid(z_id_t *id, void *ctx) {
+void print_zid(const z_id_t *id, void *ctx) {
     (void)(ctx);
     printf(" ");
     for (int i = 15; i >= 0; i--) {
diff --git a/examples/windows/z_info.c b/examples/windows/z_info.c
index 5c9adc141..2cb405257 100644
--- a/examples/windows/z_info.c
+++ b/examples/windows/z_info.c
@@ -17,7 +17,7 @@
 #include <stdlib.h>
 #include <zenoh-pico.h>
 
-void print_zid(z_id_t *id, void *ctx) {
+void print_zid(const z_id_t *id, void *ctx) {
     (void)(ctx);
     printf(" ");
     for (int i = 15; i >= 0; i--) {
diff --git a/include/zenoh-pico/api/macros.h b/include/zenoh-pico/api/macros.h
index 65f886eb3..541203ad5 100644
--- a/include/zenoh-pico/api/macros.h
+++ b/include/zenoh-pico/api/macros.h
@@ -511,7 +511,7 @@ inline void z_call(const z_loaned_closure_reply_t &closure, z_loaned_reply_t *re
     { z_closure_reply_call(&closure, reply); }
 inline void z_call(const z_loaned_closure_hello_t &closure, z_loaned_hello_t *hello)
     { z_closure_hello_call(&closure, hello); }
-inline void z_call(const z_loaned_closure_zid_t &closure, z_id_t *zid)
+inline void z_call(const z_loaned_closure_zid_t &closure, const z_id_t *zid)
     { z_closure_zid_call(&closure, zid); }
 
 inline void z_closure(
@@ -552,7 +552,7 @@ inline void z_closure(
 };
 inline void z_closure(
     z_owned_closure_zid_t* closure,
-    void (*call)(z_id_t*, void*),
+    void (*call)(const z_id_t*, void*),
     void (*drop)(void*) = NULL,
     void *context = NULL) {
     closure->_val.context = context;
diff --git a/include/zenoh-pico/api/types.h b/include/zenoh-pico/api/types.h
index 252c52152..fed282823 100644
--- a/include/zenoh-pico/api/types.h
+++ b/include/zenoh-pico/api/types.h
@@ -579,7 +579,7 @@ _Z_OWNED_TYPE_VALUE(_z_closure_hello_t, closure_hello)
 
 void z_closure_hello_call(const z_loaned_closure_hello_t *closure, z_loaned_hello_t *hello);
 
-typedef void (*z_id_handler_t)(z_id_t *id, void *arg);
+typedef void (*z_id_handler_t)(const z_id_t *id, void *arg);
 
 typedef struct {
     void *context;
@@ -593,13 +593,13 @@ typedef struct {
  *
  * Members:
  *   void *context: a pointer to an arbitrary state.
- *   z_id_handler_t call: `void (*z_id_handler_t)(z_id_t *id, void *arg)` is the callback function.
+ *   z_id_handler_t call: `void (*z_id_handler_t)(const z_id_t *id, void *arg)` is the callback function.
  *   z_dropper_handler_t drop: `void *drop(void*)` allows the callback's state to be freed.
  *   void *context: a pointer to an arbitrary state.
  */
 _Z_OWNED_TYPE_VALUE(_z_closure_zid_t, closure_zid)
 
-void z_closure_zid_call(const z_loaned_closure_zid_t *closure, z_id_t *id);
+void z_closure_zid_call(const z_loaned_closure_zid_t *closure, const z_id_t *id);
 
 #ifdef __cplusplus
 }
diff --git a/src/api/api.c b/src/api/api.c
index 6faab5736..9f12a9d49 100644
--- a/src/api/api.c
+++ b/src/api/api.c
@@ -736,7 +736,7 @@ void z_closure_hello_call(const z_loaned_closure_hello_t *closure, z_loaned_hell
     }
 }
 
-void z_closure_zid_call(const z_loaned_closure_zid_t *closure, z_id_t *id) {
+void z_closure_zid_call(const z_loaned_closure_zid_t *closure, const z_id_t *id) {
     if (closure->call != NULL) {
         (closure->call)(id, closure->context);
     }
diff --git a/tests/z_api_alignment_test.c b/tests/z_api_alignment_test.c
index a53be3b3a..1943defb1 100644
--- a/tests/z_api_alignment_test.c
+++ b/tests/z_api_alignment_test.c
@@ -44,7 +44,7 @@
 const char *value = "Test value";
 
 volatile unsigned int zids = 0;
-void zid_handler(z_id_t *id, void *arg) {
+void zid_handler(const z_id_t *id, void *arg) {
     (void)(arg);
     (void)(id);
     printf("%s\n", __func__);