Switch reliability from subscriber to publisher.

docs/api.rst

@@ -400,6 +400,7 @@ Primitives
 .. autocfunction:: primitives.h::z_sample_timestamp
 .. autocfunction:: primitives.h::z_sample_encoding
 .. autocfunction:: primitives.h::z_sample_kind
+.. autocfunction:: primitives.h::z_sample_reliability
 .. autocfunction:: primitives.h::z_sample_attachment
 .. autocfunction:: primitives.h::z_put_options_default
 .. autocfunction:: primitives.h::z_delete_options_default

include/zenoh-pico/api/primitives.h

@@ -1609,6 +1609,19 @@ const z_loaned_encoding_t *z_sample_encoding(const z_loaned_sample_t *sample);
  */
 z_sample_kind_t z_sample_kind(const z_loaned_sample_t *sample);
 
+/**
+ * (unstable) Gets the reliability a sample was received with.
+ *
+ * Parameters:
+ *   sample: Pointer to a :c:type:`z_loaned_sample_t` to get the reliability from.
+ *
+ * Return:
+ *   The reliability wrapped as a :c:type:`z_reliability_t`.
+ */
+#if Z_FEATURE_UNSTABLE_API == 1
+z_reliability_t z_sample_reliability(const z_loaned_sample_t *sample);
+#endif
+
 /**
  * Got sample qos congestion control value.
  *

include/zenoh-pico/api/types.h

@@ -181,16 +181,10 @@ _Z_OWNED_TYPE_VALUE(_z_value_t, reply_err)
 
 /**
  * Represents the configuration used to configure a subscriber upon declaration :c:func:`z_declare_subscriber`.
- *
- * Members:
- *   (unstable) z_reliability_t reliability: The subscription reliability value.
+ *.
  */
 typedef struct {
-#if Z_FEATURE_UNSTABLE_API == 1
-    z_reliability_t reliability;
-#else
     uint8_t __dummy;  // Just to avoid empty structures that might cause undefined behavior
-#endif
 } z_subscriber_options_t;
 
 /**
@@ -212,12 +206,16 @@ typedef struct {
  * publisher.
  *   z_priority_t priority: The priority of messages issued by this publisher.
  *   _Bool is_express: If true, Zenoh will not wait to batch this operation with others to reduce the bandwidth.
+ *   (unstable) z_reliability_t reliability: The reliability that should be used to transmit the data.
  */
 typedef struct {
     z_moved_encoding_t *encoding;
     z_congestion_control_t congestion_control;
     z_priority_t priority;
     _Bool is_express;
+#if Z_FEATURE_UNSTABLE_API == 1
+    z_reliability_t reliability;
+#endif
 } z_publisher_options_t;
 
 /**
@@ -288,6 +286,7 @@ typedef struct {
  *   z_timestamp_t *timestamp: The API level timestamp (e.g. of the data when it was created).
  *   _Bool is_express: If true, Zenoh will not wait to batch this operation with others to reduce the bandwidth.
  *   z_moved_bytes_t* attachment: An optional attachment to the publication.
+ *   (unstable) z_reliability_t reliability: The reliability that should be used to transmit the data.
  */
 typedef struct {
     z_moved_encoding_t *encoding;
@@ -296,6 +295,9 @@ typedef struct {
     z_timestamp_t *timestamp;
     _Bool is_express;
     z_moved_bytes_t *attachment;
+#if Z_FEATURE_UNSTABLE_API == 1
+    z_reliability_t reliability;
+#endif
 } z_put_options_t;
 
 /**
@@ -306,12 +308,16 @@ typedef struct {
  *   z_priority_t priority: The priority of this message when router.
  *   _Bool is_express: If true, Zenoh will not wait to batch this operation with others to reduce the bandwidth.
  *   z_timestamp_t *timestamp: The API level timestamp (e.g. of the data when it was created).
+ *   (unstable) z_reliability_t reliability: The reliability that should be used to transmit the data.
  */
 typedef struct {
     z_congestion_control_t congestion_control;
     z_priority_t priority;
     _Bool is_express;
     z_timestamp_t *timestamp;
+#if Z_FEATURE_UNSTABLE_API == 1
+    z_reliability_t reliability;
+#endif
 } z_delete_options_t;
 
 /**

include/zenoh-pico/config.h

@@ -16,9 +16,9 @@
 #define INCLUDE_ZENOH_PICO_CONFIG_H
 
 /*--- CMake generated config; pass values to CMake to change the following tokens ---*/
-#define Z_FRAG_MAX_SIZE 300000
-#define Z_BATCH_UNICAST_SIZE 65535
-#define Z_BATCH_MULTICAST_SIZE 8096
+#define Z_FRAG_MAX_SIZE 4096
+#define Z_BATCH_UNICAST_SIZE 2048
+#define Z_BATCH_MULTICAST_SIZE 2048
 #define Z_CONFIG_SOCKET_TIMEOUT 100
 
 #define Z_FEATURE_UNSTABLE_API 0

include/zenoh-pico/net/primitives.h

@@ -84,12 +84,14 @@ int8_t _z_undeclare_resource(_z_session_t *zn, uint16_t rid);
  *     keyexpr:  The resource key to publish. The callee gets the ownership
  *              of any allocated value.
  *     encoding: The optional default encoding to use during put. The callee gets the ownership.
+ *     reliability: The reliability of the publisher messages
  *
  * Returns:
  *    The created :c:type:`_z_publisher_t` (in null state if the declaration failed)..
  */
 _z_publisher_t _z_declare_publisher(const _z_session_rc_t *zn, _z_keyexpr_t keyexpr, _z_encoding_t *encoding,
-                                    z_congestion_control_t congestion_control, z_priority_t priority, _Bool is_express);
+                                    z_congestion_control_t congestion_control, z_priority_t priority, _Bool is_express,
+                                    z_reliability_t reliability);
 
 /**
  * Undeclare a :c:type:`_z_publisher_t`.
@@ -118,12 +120,14 @@ int8_t _z_undeclare_publisher(_z_publisher_t *pub);
  *     is_express: If true, Zenoh will not wait to batch this operation with others to reduce the bandwidth.
  *     timestamp: The timestamp of this write. The API level timestamp (e.g. of the data when it was created).
  *     attachment: An optional attachment to this write.
+ *     reliability: The message reliability.
  * Returns:
  *     ``0`` in case of success, ``-1`` in case of failure.
  */
 int8_t _z_write(_z_session_t *zn, const _z_keyexpr_t keyexpr, _z_bytes_t payload, const _z_encoding_t *encoding,
                 const z_sample_kind_t kind, const z_congestion_control_t cong_ctrl, z_priority_t priority,
-                _Bool is_express, const _z_timestamp_t *timestamp, const _z_bytes_t attachment);
+                _Bool is_express, const _z_timestamp_t *timestamp, const _z_bytes_t attachment,
+                z_reliability_t reliability);
 #endif
 
 #if Z_FEATURE_SUBSCRIPTION == 1
@@ -134,16 +138,14 @@ int8_t _z_write(_z_session_t *zn, const _z_keyexpr_t keyexpr, _z_bytes_t payload
  *     zn: The zenoh-net session. The caller keeps its ownership.
  *     keyexpr: The resource key to subscribe. The callee gets the ownership
  *             of any allocated value.
- *     sub_info: The :c:type:`_z_subinfo_t` to configure the :c:type:`_z_subscriber_t`.
- *               The callee gets the ownership of any allocated value.
  *     callback: The callback function that will be called each time a data matching the subscribed resource is
  * received. arg: A pointer that will be passed to the **callback** on each call.
  *
  * Returns:
  *    The created :c:type:`_z_subscriber_t` (in null state if the declaration failed).
  */
-_z_subscriber_t _z_declare_subscriber(const _z_session_rc_t *zn, _z_keyexpr_t keyexpr, _z_subinfo_t sub_info,
-                                      _z_data_handler_t callback, _z_drop_handler_t dropper, void *arg);
+_z_subscriber_t _z_declare_subscriber(const _z_session_rc_t *zn, _z_keyexpr_t keyexpr, _z_data_handler_t callback,
+                                      _z_drop_handler_t dropper, void *arg);
 
 /**
  * Undeclare a :c:type:`_z_subscriber_t`.

include/zenoh-pico/net/publish.h

@@ -29,6 +29,7 @@ typedef struct _z_publisher_t {
     _z_encoding_t _encoding;
     z_congestion_control_t _congestion_control;
     z_priority_t _priority;
+    z_reliability_t reliability;
     _Bool _is_express;
 #if Z_FEATURE_INTEREST == 1
     _z_write_filter_t _filter;

include/zenoh-pico/net/sample.h

@@ -36,6 +36,7 @@ typedef struct _z_sample_t {
     z_sample_kind_t kind;
     _z_qos_t qos;
     _z_bytes_t attachment;
+    z_reliability_t reliability;
 } _z_sample_t;
 void _z_sample_clear(_z_sample_t *sample);
 
@@ -56,6 +57,6 @@ _z_sample_t _z_sample_duplicate(const _z_sample_t *src);
 
 _z_sample_t _z_sample_create(_z_keyexpr_t *key, const _z_bytes_t payload, const _z_timestamp_t *timestamp,
                              _z_encoding_t *encoding, const z_sample_kind_t kind, const _z_qos_t qos,
-                             const _z_bytes_t attachment);
+                             const _z_bytes_t attachment, z_reliability_t reliability);
 
 #endif /* ZENOH_PICO_SAMPLE_NETAPI_H */

include/zenoh-pico/net/subscribe.h

@@ -29,13 +29,6 @@ typedef struct {
 } _z_subscriber_t;
 
 #if Z_FEATURE_SUBSCRIPTION == 1
-/**
- * Create a default subscription info for a push subscriber.
- *
- * Returns:
- *     A :c:type:`_z_subinfo_t` containing the created subscription info.
- */
-_z_subinfo_t _z_subinfo_default(void);
 
 void _z_subscriber_clear(_z_subscriber_t *sub);
 void _z_subscriber_free(_z_subscriber_t **sub);

include/zenoh-pico/protocol/core.h

@@ -197,17 +197,6 @@ typedef struct {
     _z_zint_t n;
 } _z_target_complete_body_t;
 
-/**
- * Informations to be passed to :c:func:`_z_declare_subscriber` to configure the created
- * :c:type:`_z_subscription_rc_t`.
- *
- * Members:
- *     z_reliability_t reliability: The subscription reliability.
- */
-typedef struct {
-    z_reliability_t reliability;
-} _z_subinfo_t;
-
 typedef struct {
     _z_id_t _id;
     uint32_t _entity_id;

include/zenoh-pico/protocol/definitions/declarations.h

@@ -33,9 +33,6 @@ _z_undecl_kexpr_t _z_undecl_kexpr_null(void);
 typedef struct {
     _z_keyexpr_t _keyexpr;
     uint32_t _id;
-    struct {
-        _Bool _reliable;
-    } _ext_subinfo;
 } _z_decl_subscriber_t;
 _z_decl_subscriber_t _z_decl_subscriber_null(void);
 typedef struct {
@@ -105,7 +102,7 @@ void _z_decl_fix_mapping(_z_declaration_t* msg, uint16_t mapping);
 _z_declaration_t _z_make_decl_keyexpr(uint16_t id, _Z_MOVE(_z_keyexpr_t) key);
 _z_declaration_t _z_make_undecl_keyexpr(uint16_t id);
 
-_z_declaration_t _z_make_decl_subscriber(_Z_MOVE(_z_keyexpr_t) key, uint32_t id, _Bool reliable);
+_z_declaration_t _z_make_decl_subscriber(_Z_MOVE(_z_keyexpr_t) key, uint32_t id);
 _z_declaration_t _z_make_undecl_subscriber(uint32_t id, _Z_OPTIONAL const _z_keyexpr_t* key);
 
 _z_declaration_t _z_make_decl_queryable(_Z_MOVE(_z_keyexpr_t) key, uint32_t id, uint16_t distance, _Bool complete);

include/zenoh-pico/protocol/definitions/network.h

@@ -281,6 +281,7 @@ typedef union {
 typedef struct {
     enum { _Z_N_DECLARE, _Z_N_PUSH, _Z_N_REQUEST, _Z_N_RESPONSE, _Z_N_RESPONSE_FINAL, _Z_N_INTEREST } _tag;
     _z_network_body_t _body;
+    z_reliability_t _reliability;
 } _z_network_message_t;
 typedef _z_network_message_t _z_zenoh_message_t;
 void _z_n_msg_clear(_z_network_message_t *m);

include/zenoh-pico/protocol/definitions/transport.h

@@ -496,6 +496,8 @@ typedef struct {
 } _z_transport_message_t;
 void _z_t_msg_clear(_z_transport_message_t *msg);
 
+z_reliability_t _z_t_msg_get_reliability(_z_transport_message_t *msg);
+
 /*------------------ Builders ------------------*/
 _z_transport_message_t _z_t_msg_make_join(z_whatami_t whatami, _z_zint_t lease, _z_id_t zid,
                                           _z_conduit_sn_list_t next_sn);

include/zenoh-pico/session/push.h

@@ -21,6 +21,6 @@
 #ifndef ZENOH_PICO_SESSION_PUSH_H
 #define ZENOH_PICO_SESSION_PUSH_H
 
-int8_t _z_trigger_push(_z_session_t *zn, _z_n_msg_push_t *push);
+int8_t _z_trigger_push(_z_session_t *zn, _z_n_msg_push_t *push, z_reliability_t reliability);
 
 #endif /* ZENOH_PICO_SESSION_PUSH_H */

include/zenoh-pico/session/session.h

@@ -63,7 +63,6 @@ typedef struct {
     _z_data_handler_t _callback;
     _z_drop_handler_t _dropper;
     void *_arg;
-    _z_subinfo_t _info;
 } _z_subscription_t;
 
 _Bool _z_subscription_eq(const _z_subscription_t *one, const _z_subscription_t *two);

include/zenoh-pico/session/subscription.h

@@ -21,7 +21,7 @@
 /*------------------ Subscription ------------------*/
 void _z_trigger_local_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_bytes_t payload,
                                     _z_encoding_t *encoding, const _z_n_qos_t qos, const _z_timestamp_t *timestamp,
-                                    const _z_bytes_t attachment);
+                                    const _z_bytes_t attachment, z_reliability_t reliability);
 
 #if Z_FEATURE_SUBSCRIPTION == 1
 _z_subscription_rc_t *_z_get_subscription_by_id(_z_session_t *zn, uint8_t is_local, const _z_zint_t id);
@@ -30,7 +30,7 @@ _z_subscription_rc_list_t *_z_get_subscriptions_by_key(_z_session_t *zn, uint8_t
 _z_subscription_rc_t *_z_register_subscription(_z_session_t *zn, uint8_t is_local, _z_subscription_t *sub);
 int8_t _z_trigger_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_bytes_t payload,
                                 _z_encoding_t *encoding, const _z_zint_t kind, const _z_timestamp_t *timestamp,
-                                const _z_n_qos_t qos, const _z_bytes_t attachment);
+                                const _z_n_qos_t qos, const _z_bytes_t attachment, z_reliability_t reliability);
 void _z_unregister_subscription(_z_session_t *zn, uint8_t is_local, _z_subscription_rc_t *sub);
 void _z_flush_subscriptions(_z_session_t *zn);
 #endif