From 9f319afb62b510ffe9b1a82f1955c4b954e9652d Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 19 Jan 2024 08:25:04 +0900
Subject: [PATCH 001/165] Start 0.2.0-dev

---
 mix.exs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mix.exs b/mix.exs
index ccc4922..e154857 100644
--- a/mix.exs
+++ b/mix.exs
@@ -1,6 +1,6 @@
 defmodule Zenohex.MixProject do
   use Mix.Project
-  @version "0.1.5"
+  @version "0.2.0-dev"
 
   def project do
     [

From f71ddf9b3958629e85f246aa00e6030cbe0c3f97 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 19 Jan 2024 08:25:17 +0900
Subject: [PATCH 002/165] Remove useless test

---
 test/zenohex_test.exs | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/test/zenohex_test.exs b/test/zenohex_test.exs
index bbd6788..720da75 100644
--- a/test/zenohex_test.exs
+++ b/test/zenohex_test.exs
@@ -1,8 +1,4 @@
 defmodule ZenohexTest do
   use ExUnit.Case
   doctest Zenohex
-
-  test "greets the world" do
-    assert Zenohex.hello() == :world
-  end
 end

From 5f70339d8ddf16652bdfc8eb21b12aa279ac181c Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 19 Jan 2024 08:26:59 +0900
Subject: [PATCH 003/165] Add native/zenohex_nif by `mix rustler.new`

---
 native/zenohex_nif/.cargo/config.toml |   5 +
 native/zenohex_nif/.gitignore         |   1 +
 native/zenohex_nif/Cargo.lock         | 149 ++++++++++++++++++++++++++
 native/zenohex_nif/Cargo.toml         |  13 +++
 native/zenohex_nif/README.md          |  20 ++++
 native/zenohex_nif/src/lib.rs         |   6 ++
 6 files changed, 194 insertions(+)
 create mode 100644 native/zenohex_nif/.cargo/config.toml
 create mode 100644 native/zenohex_nif/.gitignore
 create mode 100644 native/zenohex_nif/Cargo.lock
 create mode 100644 native/zenohex_nif/Cargo.toml
 create mode 100644 native/zenohex_nif/README.md
 create mode 100644 native/zenohex_nif/src/lib.rs

diff --git a/native/zenohex_nif/.cargo/config.toml b/native/zenohex_nif/.cargo/config.toml
new file mode 100644
index 0000000..20f03f3
--- /dev/null
+++ b/native/zenohex_nif/.cargo/config.toml
@@ -0,0 +1,5 @@
+[target.'cfg(target_os = "macos")']
+rustflags = [
+    "-C", "link-arg=-undefined",
+    "-C", "link-arg=dynamic_lookup",
+]
diff --git a/native/zenohex_nif/.gitignore b/native/zenohex_nif/.gitignore
new file mode 100644
index 0000000..ea8c4bf
--- /dev/null
+++ b/native/zenohex_nif/.gitignore
@@ -0,0 +1 @@
+/target
diff --git a/native/zenohex_nif/Cargo.lock b/native/zenohex_nif/Cargo.lock
new file mode 100644
index 0000000..b1c4f10
--- /dev/null
+++ b/native/zenohex_nif/Cargo.lock
@@ -0,0 +1,149 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
+name = "aho-corasick"
+version = "1.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b2969dcb958b36655471fc61f7e416fa76033bdd4bfed0678d8fee1e2d07a1f0"
+dependencies = [
+ "memchr",
+]
+
+[[package]]
+name = "heck"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "95505c38b4572b2d910cecb0281560f54b440a19336cbbcb27bf6ce6adc6f5a8"
+
+[[package]]
+name = "lazy_static"
+version = "1.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
+
+[[package]]
+name = "memchr"
+version = "2.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "523dc4f511e55ab87b694dc30d0f820d60906ef06413f93d4d7a1385599cc149"
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.76"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "95fc56cda0b5c3325f5fbbd7ff9fda9e02bb00bb3dac51252d2f1bfa1cb8cc8c"
+dependencies = [
+ "unicode-ident",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "regex"
+version = "1.10.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "380b951a9c5e80ddfd6136919eef32310721aa4aacd4889a8d39124b026ab343"
+dependencies = [
+ "aho-corasick",
+ "memchr",
+ "regex-automata",
+ "regex-syntax",
+]
+
+[[package]]
+name = "regex-automata"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5f804c7828047e88b2d32e2d7fe5a105da8ee3264f01902f796c8e067dc2483f"
+dependencies = [
+ "aho-corasick",
+ "memchr",
+ "regex-syntax",
+]
+
+[[package]]
+name = "regex-syntax"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c08c74e62047bb2de4ff487b251e4a92e24f48745648451635cec7d591162d9f"
+
+[[package]]
+name = "rustler"
+version = "0.30.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c4b4fea69e23de68c42c06769d6624d2d018da550c17244dd4b691f90ced4a7e"
+dependencies = [
+ "lazy_static",
+ "rustler_codegen",
+ "rustler_sys",
+]
+
+[[package]]
+name = "rustler_codegen"
+version = "0.30.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "406061bd07aaf052c344257afed4988c5ec8efe4d2352b4c2cf27ea7c8575b12"
+dependencies = [
+ "heck",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "rustler_sys"
+version = "2.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0a7c0740e5322b64e2b952d8f0edce5f90fcf6f6fe74cca3f6e78eb3de5ea858"
+dependencies = [
+ "regex",
+ "unreachable",
+]
+
+[[package]]
+name = "syn"
+version = "2.0.48"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0f3531638e407dfc0814761abb7c00a5b54992b849452a0646b7f65c9f770f3f"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "unicode-ident"
+version = "1.0.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
+
+[[package]]
+name = "unreachable"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "382810877fe448991dfc7f0dd6e3ae5d58088fd0ea5e35189655f84e6814fa56"
+dependencies = [
+ "void",
+]
+
+[[package]]
+name = "void"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
+
+[[package]]
+name = "zenohex_nif"
+version = "0.1.0"
+dependencies = [
+ "rustler",
+]
diff --git a/native/zenohex_nif/Cargo.toml b/native/zenohex_nif/Cargo.toml
new file mode 100644
index 0000000..52d4114
--- /dev/null
+++ b/native/zenohex_nif/Cargo.toml
@@ -0,0 +1,13 @@
+[package]
+name = "zenohex_nif"
+version = "0.1.0"
+authors = []
+edition = "2021"
+
+[lib]
+name = "zenohex_nif"
+path = "src/lib.rs"
+crate-type = ["cdylib"]
+
+[dependencies]
+rustler = "0.30.0"
diff --git a/native/zenohex_nif/README.md b/native/zenohex_nif/README.md
new file mode 100644
index 0000000..2b386e9
--- /dev/null
+++ b/native/zenohex_nif/README.md
@@ -0,0 +1,20 @@
+# NIF for Elixir.Zenohex.Nif
+
+## To build the NIF module:
+
+- Your NIF will now build along with your project.
+
+## To load the NIF:
+
+```elixir
+defmodule Zenohex.Nif do
+  use Rustler, otp_app: :zenohex, crate: "zenohex_nif"
+
+  # When your NIF is loaded, it will override this function.
+  def add(_a, _b), do: :erlang.nif_error(:nif_not_loaded)
+end
+```
+
+## Examples
+
+[This](https://github.com/rusterlium/NifIo) is a complete example of a NIF written in Rust.
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
new file mode 100644
index 0000000..5e6fb40
--- /dev/null
+++ b/native/zenohex_nif/src/lib.rs
@@ -0,0 +1,6 @@
+#[rustler::nif]
+fn add(a: i64, b: i64) -> i64 {
+    a + b
+}
+
+rustler::init!("Elixir.Zenohex.Nif", [add]);

From dd16c8027f49105377f209a76720a43e8a5b82f7 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 19 Jan 2024 08:27:19 +0900
Subject: [PATCH 004/165] Add sample nif.ex and nif_test.exs

---
 lib/zenohex/nif.ex        | 6 ++++++
 test/zenohex/nif_test.exs | 9 +++++++++
 2 files changed, 15 insertions(+)
 create mode 100644 lib/zenohex/nif.ex
 create mode 100644 test/zenohex/nif_test.exs

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
new file mode 100644
index 0000000..3b2cedc
--- /dev/null
+++ b/lib/zenohex/nif.ex
@@ -0,0 +1,6 @@
+defmodule Zenohex.Nif do
+  use Rustler, otp_app: :zenohex, crate: "zenohex_nif"
+
+  # When your NIF is loaded, it will override this function.
+  def add(_a, _b), do: :erlang.nif_error(:nif_not_loaded)
+end
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
new file mode 100644
index 0000000..241bd10
--- /dev/null
+++ b/test/zenohex/nif_test.exs
@@ -0,0 +1,9 @@
+defmodule Zenohex.NifTest do
+  use ExUnit.Case
+
+  alias Zenohex.Nif
+
+  test "add/2" do
+    assert Nif.add(1, 2) == 3
+  end
+end

From 5ccc6f38417fb91a6e24f7849f0cf95e7cac27c7 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 19 Jan 2024 09:37:09 +0900
Subject: [PATCH 005/165] Add .github/workflows/ci.yaml

---
 .github/workflows/ci.yaml | 45 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 45 insertions(+)
 create mode 100644 .github/workflows/ci.yaml

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
new file mode 100644
index 0000000..1a7a4ff
--- /dev/null
+++ b/.github/workflows/ci.yaml
@@ -0,0 +1,45 @@
+env:
+  OTP_VERSION: 26.1.1
+  ELIXIR_VERSION: 1.15.7
+
+# based https://github.com/erlef/setup-beam
+
+on:
+  push:
+    branches:
+      - 'pojiro/0.2.0-dev'
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+
+    env:
+      MIX_ENV: test
+
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: erlef/setup-beam@v1
+        with:
+          otp-version: ${{env.OTP_VERSION}}
+          elixir-version: ${{env.ELIXIR_VERSION}}
+
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: rustfmt
+
+      - name: get deps
+        run: mix do deps.get, deps.compile
+
+      - name: compile
+        run: mix compile
+
+      - name: format
+        run: mix format --check-formatted
+
+      - name: cargo fmt
+        working-directory: native/zenohex_nif
+        run: cargo fmt --all -- --check
+
+      - name: test
+        run: mix test --warnings-as-errors

From 4a469a73189318e03ca51e9ecfa057ef530489d0 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 19 Jan 2024 10:44:18 +0900
Subject: [PATCH 006/165] [zenohex_nif] Add zenoh to native/zenohex_nif by
 `cargo add zenoh`

---
 native/zenohex_nif/Cargo.lock | 3334 ++++++++++++++++++++++++++++++++-
 native/zenohex_nif/Cargo.toml |    1 +
 2 files changed, 3271 insertions(+), 64 deletions(-)

diff --git a/native/zenohex_nif/Cargo.lock b/native/zenohex_nif/Cargo.lock
index b1c4f10..193f51b 100644
--- a/native/zenohex_nif/Cargo.lock
+++ b/native/zenohex_nif/Cargo.lock
@@ -2,6 +2,44 @@
 # It is not intended for manual editing.
 version = 3
 
+[[package]]
+name = "addr2line"
+version = "0.21.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8a30b2e23b9e17a9f90641c7ab1549cd9b44f296d3ccbf309d2863cfe398a0cb"
+dependencies = [
+ "gimli",
+]
+
+[[package]]
+name = "adler"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
+
+[[package]]
+name = "aes"
+version = "0.8.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ac1f845298e95f983ff1944b728ae08b8cebab80d684f0a832ed0fc74dfa27e2"
+dependencies = [
+ "cfg-if",
+ "cipher",
+ "cpufeatures",
+]
+
+[[package]]
+name = "ahash"
+version = "0.8.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77c3a9648d43b9cd48db467b3f87fdd6e146bcc88ab0180006cef2179fe11d01"
+dependencies = [
+ "cfg-if",
+ "once_cell",
+ "version_check",
+ "zerocopy",
+]
+
 [[package]]
 name = "aho-corasick"
 version = "1.1.2"
@@ -12,138 +50,3306 @@ dependencies = [
 ]
 
 [[package]]
-name = "heck"
-version = "0.4.1"
+name = "allocator-api2"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "95505c38b4572b2d910cecb0281560f54b440a19336cbbcb27bf6ce6adc6f5a8"
+checksum = "0942ffc6dcaadf03badf6e6a2d0228460359d5e34b57ccdc720b7382dfbd5ec5"
 
 [[package]]
-name = "lazy_static"
-version = "1.4.0"
+name = "anstream"
+version = "0.6.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
+checksum = "6e2e1ebcb11de5c03c67de28a7df593d32191b44939c482e97702baaaa6ab6a5"
+dependencies = [
+ "anstyle",
+ "anstyle-parse",
+ "anstyle-query",
+ "anstyle-wincon",
+ "colorchoice",
+ "utf8parse",
+]
 
 [[package]]
-name = "memchr"
-version = "2.7.1"
+name = "anstyle"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "523dc4f511e55ab87b694dc30d0f820d60906ef06413f93d4d7a1385599cc149"
+checksum = "7079075b41f533b8c61d2a4d073c4676e1f8b249ff94a393b0595db304e0dd87"
 
 [[package]]
-name = "proc-macro2"
-version = "1.0.76"
+name = "anstyle-parse"
+version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "95fc56cda0b5c3325f5fbbd7ff9fda9e02bb00bb3dac51252d2f1bfa1cb8cc8c"
+checksum = "c75ac65da39e5fe5ab759307499ddad880d724eed2f6ce5b5e8a26f4f387928c"
 dependencies = [
- "unicode-ident",
+ "utf8parse",
 ]
 
 [[package]]
-name = "quote"
-version = "1.0.35"
+name = "anstyle-query"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
+checksum = "e28923312444cdd728e4738b3f9c9cac739500909bb3d3c94b43551b16517648"
 dependencies = [
- "proc-macro2",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
-name = "regex"
-version = "1.10.2"
+name = "anstyle-wincon"
+version = "3.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "380b951a9c5e80ddfd6136919eef32310721aa4aacd4889a8d39124b026ab343"
+checksum = "1cd54b81ec8d6180e24654d0b371ad22fc3dd083b6ff8ba325b72e00c87660a7"
 dependencies = [
- "aho-corasick",
- "memchr",
- "regex-automata",
- "regex-syntax",
+ "anstyle",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
-name = "regex-automata"
-version = "0.4.3"
+name = "anyhow"
+version = "1.0.79"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5f804c7828047e88b2d32e2d7fe5a105da8ee3264f01902f796c8e067dc2483f"
+checksum = "080e9890a082662b09c1ad45f567faeeb47f22b5fb23895fbe1e651e718e25ca"
+
+[[package]]
+name = "array-init"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d62b7694a562cdf5a74227903507c56ab2cc8bdd1f781ed5cb4cf9c9f810bfc"
+
+[[package]]
+name = "async-attributes"
+version = "1.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a3203e79f4dd9bdda415ed03cf14dae5a2bf775c683a00f94e9cd1faf0f596e5"
 dependencies = [
- "aho-corasick",
+ "quote",
+ "syn 1.0.109",
+]
+
+[[package]]
+name = "async-channel"
+version = "1.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "81953c529336010edd6d8e358f886d9581267795c61b19475b71314bffa46d35"
+dependencies = [
+ "concurrent-queue",
+ "event-listener 2.5.3",
+ "futures-core",
+]
+
+[[package]]
+name = "async-channel"
+version = "2.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1ca33f4bc4ed1babef42cad36cc1f51fa88be00420404e5b1e80ab1b18f7678c"
+dependencies = [
+ "concurrent-queue",
+ "event-listener 4.0.3",
+ "event-listener-strategy",
+ "futures-core",
+ "pin-project-lite",
+]
+
+[[package]]
+name = "async-executor"
+version = "1.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "17ae5ebefcc48e7452b4987947920dac9450be1110cadf34d1b8c116bdbaf97c"
+dependencies = [
+ "async-lock 3.3.0",
+ "async-task",
+ "concurrent-queue",
+ "fastrand 2.0.1",
+ "futures-lite 2.2.0",
+ "slab",
+]
+
+[[package]]
+name = "async-global-executor"
+version = "2.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "05b1b633a2115cd122d73b955eadd9916c18c8f510ec9cd1686404c60ad1c29c"
+dependencies = [
+ "async-channel 2.1.1",
+ "async-executor",
+ "async-io 2.3.0",
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+checksum = "76e1b9908eecc9ccebbfc41992f82a177e8bd71aa0a70a22326794ede7e8b09d"
+dependencies = [
+ "async-std",
+ "async-trait",
+ "log",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-link-tls"
+version = "0.10.1-rc"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fc5bafb58c3841d19f0a1b07248c29c4a952cf9fd118a867034c0b6528a3ab5e"
+dependencies = [
+ "async-rustls",
+ "async-std",
+ "async-trait",
+ "base64",
+ "futures",
+ "log",
+ "rustls",
+ "rustls-pemfile 2.0.0",
+ "rustls-webpki 0.102.1",
+ "secrecy",
+ "webpki-roots",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-link-udp"
+version = "0.10.1-rc"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "540459645821cc63c9aebd6d405509adfec0f5584673f9551de26004ff3ddbff"
+dependencies = [
+ "async-std",
+ "async-trait",
+ "log",
+ "socket2 0.5.5",
+ "zenoh-buffers",
+ "zenoh-collections",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-link-unixsock_stream"
+version = "0.10.1-rc"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d281e37dfc0c0ca3bace54dec15bdfd5b12b3cb4a01593e71e1a4ef59e48b57c"
+dependencies = [
+ "async-std",
+ "async-trait",
+ "futures",
+ "log",
+ "nix",
+ "uuid",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+]
+
+[[package]]
+name = "zenoh-link-ws"
+version = "0.10.1-rc"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "766663fc1e96c382e59eb009f751744a6967bf76537e1091584382722a5d9d50"
+dependencies = [
+ "async-std",
+ "async-trait",
+ "futures-util",
+ "log",
+ "tokio",
+ "tokio-tungstenite",
+ "url",
+ "zenoh-core",
+ "zenoh-link-commons",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-macros"
+version = "0.10.1-rc"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2826db61e1526dea78371a1cdf7ce7b933fd390abfbec1eff07b22262cebc4f8"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "rustc_version",
+ "syn 2.0.48",
+ "unzip-n",
+ "zenoh-keyexpr",
+]
+
+[[package]]
+name = "zenoh-plugin-trait"
+version = "0.10.1-rc"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a45fd679f3fdf661ef914ebf4ed8210357bfa7144411f8fdbb18199a903d6270"
+dependencies = [
+ "libloading",
+ "log",
+ "serde_json",
+ "zenoh-macros",
+ "zenoh-result",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-protocol"
+version = "0.10.1-rc"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b4af91145a94f60b9165e85b0ac6fa84e2f0448f9cde3e3065f6e73bb5b2ef3c"
+dependencies = [
+ "const_format",
+ "hex",
+ "rand",
+ "serde",
+ "uhlc",
+ "uuid",
+ "zenoh-buffers",
+ "zenoh-keyexpr",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenoh-result"
+version = "0.10.1-rc"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d3b5209dc13bf96dc62921a389af38e757fb0baea54f2078e29636d2238e958"
+dependencies = [
+ "anyhow",
+]
+
+[[package]]
+name = "zenoh-sync"
+version = "0.10.1-rc"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f515dae61f3216a4c5ed9229fcaa9fb6f5837622f56e94c7454141bfba844b69"
+dependencies = [
+ "async-std",
+ "event-listener 4.0.3",
+ "flume",
+ "futures",
+ "tokio",
+ "zenoh-buffers",
+ "zenoh-collections",
+ "zenoh-core",
+]
+
+[[package]]
+name = "zenoh-transport"
+version = "0.10.1-rc"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "08a888646bbaa18c0901081207eab56200ec13bcaec7b5629b9389ee3255eab6"
+dependencies = [
+ "async-executor",
+ "async-global-executor",
+ "async-std",
+ "async-trait",
+ "flume",
+ "log",
+ "lz4_flex",
+ "paste",
+ "rand",
+ "ringbuffer-spsc",
+ "rsa",
+ "serde",
+ "sha3",
+ "zenoh-buffers",
+ "zenoh-codec",
+ "zenoh-collections",
+ "zenoh-config",
+ "zenoh-core",
+ "zenoh-crypto",
+ "zenoh-link",
+ "zenoh-protocol",
+ "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
+]
+
+[[package]]
+name = "zenoh-util"
+version = "0.10.1-rc"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9e867296dc177ca7d5870f76374153cc30087ef0ba9914f567addf52e05d2259"
+dependencies = [
+ "async-std",
+ "async-trait",
+ "clap",
+ "const_format",
+ "flume",
+ "futures",
+ "hex",
+ "home",
+ "humantime",
+ "lazy_static",
+ "libc",
+ "libloading",
+ "log",
+ "pnet",
+ "pnet_datalink",
+ "shellexpand",
+ "winapi",
+ "zenoh-core",
+ "zenoh-protocol",
+ "zenoh-result",
+]
+
+[[package]]
+name = "zenohex_nif"
+version = "0.1.0"
+dependencies = [
+ "rustler",
+ "zenoh",
+]
+
+[[package]]
+name = "zerocopy"
+version = "0.7.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
+dependencies = [
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.48",
+]
+
+[[package]]
+name = "zeroize"
+version = "1.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "525b4ec142c6b68a2d10f01f7bbf6755599ca3f81ea53b8431b7dd348f5fdb2d"
diff --git a/native/zenohex_nif/Cargo.toml b/native/zenohex_nif/Cargo.toml
index 52d4114..138696e 100644
--- a/native/zenohex_nif/Cargo.toml
+++ b/native/zenohex_nif/Cargo.toml
@@ -11,3 +11,4 @@ crate-type = ["cdylib"]
 
 [dependencies]
 rustler = "0.30.0"
+zenoh = "0.10.1-rc"

From 1851d6b3a30dce2cd9a0cfebacf1f38e44a801c4 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Sun, 21 Jan 2024 11:51:48 +0900
Subject: [PATCH 007/165] Add mix_test_watch to deps

---
 mix.exs  | 3 ++-
 mix.lock | 2 ++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/mix.exs b/mix.exs
index e154857..547959f 100644
--- a/mix.exs
+++ b/mix.exs
@@ -26,7 +26,8 @@ defmodule Zenohex.MixProject do
     [
       {:rustler_precompiled, "~> 0.7.1"},
       {:rustler, ">= 0.30.0", optional: true},
-      {:ex_doc, "~> 0.31.0", only: :dev}
+      {:ex_doc, "~> 0.31.0", only: :dev},
+      {:mix_test_watch, "~> 1.0", only: [:dev, :test], runtime: false}
     ]
   end
 
diff --git a/mix.lock b/mix.lock
index d713c3c..88fc4f4 100644
--- a/mix.lock
+++ b/mix.lock
@@ -2,10 +2,12 @@
   "castore": {:hex, :castore, "1.0.5", "9eeebb394cc9a0f3ae56b813459f990abb0a3dedee1be6b27fdb50301930502f", [:mix], [], "hexpm", "8d7c597c3e4a64c395980882d4bca3cebb8d74197c590dc272cfd3b6a6310578"},
   "earmark_parser": {:hex, :earmark_parser, "1.4.39", "424642f8335b05bb9eb611aa1564c148a8ee35c9c8a8bba6e129d51a3e3c6769", [:mix], [], "hexpm", "06553a88d1f1846da9ef066b87b57c6f605552cfbe40d20bd8d59cc6bde41944"},
   "ex_doc": {:hex, :ex_doc, "0.31.1", "8a2355ac42b1cc7b2379da9e40243f2670143721dd50748bf6c3b1184dae2089", [:mix], [{:earmark_parser, "~> 1.4.39", [hex: :earmark_parser, repo: "hexpm", optional: false]}, {:makeup_c, ">= 0.1.1", [hex: :makeup_c, repo: "hexpm", optional: true]}, {:makeup_elixir, "~> 0.14", [hex: :makeup_elixir, repo: "hexpm", optional: false]}, {:makeup_erlang, "~> 0.1", [hex: :makeup_erlang, repo: "hexpm", optional: false]}], "hexpm", "3178c3a407c557d8343479e1ff117a96fd31bafe52a039079593fb0524ef61b0"},
+  "file_system": {:hex, :file_system, "0.2.10", "fb082005a9cd1711c05b5248710f8826b02d7d1784e7c3451f9c1231d4fc162d", [:mix], [], "hexpm", "41195edbfb562a593726eda3b3e8b103a309b733ad25f3d642ba49696bf715dc"},
   "jason": {:hex, :jason, "1.4.1", "af1504e35f629ddcdd6addb3513c3853991f694921b1b9368b0bd32beb9f1b63", [:mix], [{:decimal, "~> 1.0 or ~> 2.0", [hex: :decimal, repo: "hexpm", optional: true]}], "hexpm", "fbb01ecdfd565b56261302f7e1fcc27c4fb8f32d56eab74db621fc154604a7a1"},
   "makeup": {:hex, :makeup, "1.1.1", "fa0bc768698053b2b3869fa8a62616501ff9d11a562f3ce39580d60860c3a55e", [:mix], [{:nimble_parsec, "~> 1.2.2 or ~> 1.3", [hex: :nimble_parsec, repo: "hexpm", optional: false]}], "hexpm", "5dc62fbdd0de44de194898b6710692490be74baa02d9d108bc29f007783b0b48"},
   "makeup_elixir": {:hex, :makeup_elixir, "0.16.1", "cc9e3ca312f1cfeccc572b37a09980287e243648108384b97ff2b76e505c3555", [:mix], [{:makeup, "~> 1.0", [hex: :makeup, repo: "hexpm", optional: false]}, {:nimble_parsec, "~> 1.2.3 or ~> 1.3", [hex: :nimble_parsec, repo: "hexpm", optional: false]}], "hexpm", "e127a341ad1b209bd80f7bd1620a15693a9908ed780c3b763bccf7d200c767c6"},
   "makeup_erlang": {:hex, :makeup_erlang, "0.1.3", "d684f4bac8690e70b06eb52dad65d26de2eefa44cd19d64a8095e1417df7c8fd", [:mix], [{:makeup, "~> 1.0", [hex: :makeup, repo: "hexpm", optional: false]}], "hexpm", "b78dc853d2e670ff6390b605d807263bf606da3c82be37f9d7f68635bd886fc9"},
+  "mix_test_watch": {:hex, :mix_test_watch, "1.1.1", "eee6fc570d77ad6851c7bc08de420a47fd1e449ef5ccfa6a77ef68b72e7e51ad", [:mix], [{:file_system, "~> 0.2.1 or ~> 0.3", [hex: :file_system, repo: "hexpm", optional: false]}], "hexpm", "f82262b54dee533467021723892e15c3267349849f1f737526523ecba4e6baae"},
   "nimble_parsec": {:hex, :nimble_parsec, "1.4.0", "51f9b613ea62cfa97b25ccc2c1b4216e81df970acd8e16e8d1bdc58fef21370d", [:mix], [], "hexpm", "9c565862810fb383e9838c1dd2d7d2c437b3d13b267414ba6af33e50d2d1cf28"},
   "rustler": {:hex, :rustler, "0.30.0", "cefc49922132b072853fa9b0ca4dc2ffcb452f68fb73b779042b02d545e097fb", [:mix], [{:jason, "~> 1.0", [hex: :jason, repo: "hexpm", optional: false]}, {:toml, "~> 0.6", [hex: :toml, repo: "hexpm", optional: false]}], "hexpm", "9ef1abb6a7dda35c47cfc649e6a5a61663af6cf842a55814a554a84607dee389"},
   "rustler_precompiled": {:hex, :rustler_precompiled, "0.7.1", "ecadf02cc59a0eccbaed6c1937303a5827fbcf60010c541595e6d3747d3d0f9f", [:mix], [{:castore, "~> 0.1 or ~> 1.0", [hex: :castore, repo: "hexpm", optional: false]}, {:rustler, "~> 0.23", [hex: :rustler, repo: "hexpm", optional: true]}], "hexpm", "b9e4657b99a1483ea31502e1d58c464bedebe9028808eda45c3a429af4550c66"},

From 93b1c982c5f53aabde415e9cd480f06fda72396f Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 19 Jan 2024 21:26:50 +0900
Subject: [PATCH 008/165] [zenohex_nif] Add sample impl

---
 lib/zenohex/nif.ex            | 24 +++++++++
 native/zenohex_nif/Cargo.lock |  2 +
 native/zenohex_nif/Cargo.toml |  2 +
 native/zenohex_nif/src/lib.rs | 97 ++++++++++++++++++++++++++++++++++-
 test/zenohex/nif_test.exs     | 36 +++++++++++++
 5 files changed, 160 insertions(+), 1 deletion(-)

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index 3b2cedc..ca80eeb 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -3,4 +3,28 @@ defmodule Zenohex.Nif do
 
   # When your NIF is loaded, it will override this function.
   def add(_a, _b), do: :erlang.nif_error(:nif_not_loaded)
+
+  def test_thread() do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
+  def zenoh_open() do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
+  def declare_publisher(_session, _key_expr) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
+  def publisher_put(_publisher, _value) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
+  def declare_subscriber(_session, _key_expr) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
+  def subscriber_recv_timeout(_subscriber, _timeout_us) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
 end
diff --git a/native/zenohex_nif/Cargo.lock b/native/zenohex_nif/Cargo.lock
index 193f51b..d0cdde2 100644
--- a/native/zenohex_nif/Cargo.lock
+++ b/native/zenohex_nif/Cargo.lock
@@ -3324,6 +3324,8 @@ dependencies = [
 name = "zenohex_nif"
 version = "0.1.0"
 dependencies = [
+ "flume",
+ "futures",
  "rustler",
  "zenoh",
 ]
diff --git a/native/zenohex_nif/Cargo.toml b/native/zenohex_nif/Cargo.toml
index 138696e..0365090 100644
--- a/native/zenohex_nif/Cargo.toml
+++ b/native/zenohex_nif/Cargo.toml
@@ -10,5 +10,7 @@ path = "src/lib.rs"
 crate-type = ["cdylib"]
 
 [dependencies]
+flume = "0.11.0"
+futures = "0.3.30"
 rustler = "0.30.0"
 zenoh = "0.10.1-rc"
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index 5e6fb40..3154132 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -1,6 +1,101 @@
+use std::sync::Arc;
+use std::time::Duration;
+
+use flume::Receiver;
+use rustler::types::atom;
+use rustler::{thread, Encoder};
+use rustler::{Atom, Env, ResourceArc, Term};
+use zenoh::prelude::{r#async::*, sync::SyncResolve};
+use zenoh::{publication::Publisher, sample::Sample, subscriber::Subscriber, Session};
+
+mod atoms {
+    rustler::atoms! {timeout}
+}
+
+pub struct ExSessionRef(Arc<Session>);
+pub struct ExPublisherRef(Publisher<'static>);
+pub struct ExSubscriberRef(Subscriber<'static, Receiver<Sample>>);
+
 #[rustler::nif]
 fn add(a: i64, b: i64) -> i64 {
     a + b
 }
 
-rustler::init!("Elixir.Zenohex.Nif", [add]);
+#[rustler::nif]
+fn test_thread(env: Env) -> Atom {
+    let pid = env.pid();
+    thread::spawn::<thread::ThreadSpawner, _>(env, move |thread_env| pid.encode(thread_env));
+    atom::ok()
+}
+
+#[rustler::nif]
+fn zenoh_open() -> ResourceArc<ExSessionRef> {
+    let config = config::peer();
+    let session = zenoh::open(config).res_sync().unwrap();
+    ResourceArc::new(ExSessionRef(session.into_arc()))
+}
+
+#[rustler::nif]
+fn declare_publisher(
+    resource: ResourceArc<ExSessionRef>,
+    key_expr: String,
+) -> ResourceArc<ExPublisherRef> {
+    let session: &Arc<Session> = &resource.0;
+    let publisher: Publisher<'_> = session.declare_publisher(key_expr).res_sync().unwrap();
+    ResourceArc::new(ExPublisherRef(publisher))
+}
+
+#[rustler::nif]
+fn publisher_put(resource: ResourceArc<ExPublisherRef>, value: String) -> Atom {
+    let publisher: &Publisher = &resource.0;
+    publisher.put(value).res_sync().unwrap();
+    atom::ok()
+}
+
+#[rustler::nif]
+fn declare_subscriber(
+    resource: ResourceArc<ExSessionRef>,
+    key_expr: String,
+) -> ResourceArc<ExSubscriberRef> {
+    let session: &Arc<Session> = &resource.0;
+    let subscriber: Subscriber<'_, Receiver<Sample>> =
+        session.declare_subscriber(key_expr).res_sync().unwrap();
+    ResourceArc::new(ExSubscriberRef(subscriber))
+}
+
+#[rustler::nif]
+fn subscriber_recv_timeout(
+    env: Env,
+    resource: ResourceArc<ExSubscriberRef>,
+    timeout_us: u64,
+) -> Term {
+    let subscriber: &Subscriber<'_, Receiver<Sample>> = &resource.0;
+    match subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
+        Ok(sample) => {
+            let sample: Sample = sample;
+            sample.value.to_string().encode(env)
+        }
+        Err(_recv_timeout_error) => atoms::timeout().encode(env),
+    }
+}
+
+fn load(env: Env, _term: Term) -> bool {
+    rustler::resource!(ExSessionRef, env);
+    rustler::resource!(ExPublisherRef, env);
+    rustler::resource!(ExSubscriberRef, env);
+    true
+}
+
+rustler::init!(
+    "Elixir.Zenohex.Nif",
+    [
+        add,
+        test_thread,
+        zenoh_open,
+        declare_publisher,
+        publisher_put,
+        declare_subscriber,
+        subscriber_recv_timeout
+    ],
+    load = load
+);
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 241bd10..3fb37fb 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -6,4 +6,40 @@ defmodule Zenohex.NifTest do
   test "add/2" do
     assert Nif.add(1, 2) == 3
   end
+
+  test "test_thread/0" do
+    pid = self()
+    assert Nif.test_thread() == :ok
+    assert_receive ^pid
+  end
+
+  setup_all do
+    %{session: Nif.zenoh_open()}
+  end
+
+  describe "publisher" do
+    test "declare_publisher/2", %{session: session} do
+      assert is_reference(Nif.declare_publisher(session, "key/expression"))
+    end
+
+    test "publisher_put/2", %{session: session} do
+      publisher = Nif.declare_publisher(session, "key/expression")
+      assert Nif.publisher_put(publisher, "value") == :ok
+    end
+  end
+
+  describe "subscriber" do
+    test "declare_subscriber/2", %{session: session} do
+      assert is_reference(Nif.declare_subscriber(session, "key/expression"))
+    end
+
+    test "subscriber_recv_timeout/1", %{session: session} do
+      publisher = Nif.declare_publisher(session, "key/expression")
+      subscriber = Nif.declare_subscriber(session, "key/expression")
+
+      Nif.publisher_put(publisher, "value")
+      assert Nif.subscriber_recv_timeout(subscriber, 1000) == "value"
+      assert Nif.subscriber_recv_timeout(subscriber, 1000) == :timeout
+    end
+  end
 end

From 9aa71193f4d0b01a6a9c05cffdcae360756e384c Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Sun, 21 Jan 2024 13:08:48 +0900
Subject: [PATCH 009/165] [zenohex_nif] Remove unwrap

---
 native/zenohex_nif/src/lib.rs | 46 +++++++++++++++++++++--------------
 1 file changed, 28 insertions(+), 18 deletions(-)

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index 3154132..7d51712 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -29,38 +29,48 @@ fn test_thread(env: Env) -> Atom {
 }
 
 #[rustler::nif]
-fn zenoh_open() -> ResourceArc<ExSessionRef> {
+fn zenoh_open(env: Env) -> Term {
     let config = config::peer();
-    let session = zenoh::open(config).res_sync().unwrap();
-    ResourceArc::new(ExSessionRef(session.into_arc()))
+    match zenoh::open(config).res_sync() {
+        Ok(session) => {
+            let session: Session = session;
+            ResourceArc::new(ExSessionRef(session.into_arc())).encode(env)
+        }
+        Err(_err) => atom::error().encode(env),
+    }
 }
 
 #[rustler::nif]
-fn declare_publisher(
-    resource: ResourceArc<ExSessionRef>,
-    key_expr: String,
-) -> ResourceArc<ExPublisherRef> {
+fn declare_publisher(env: Env, resource: ResourceArc<ExSessionRef>, key_expr: String) -> Term {
     let session: &Arc<Session> = &resource.0;
-    let publisher: Publisher<'_> = session.declare_publisher(key_expr).res_sync().unwrap();
-    ResourceArc::new(ExPublisherRef(publisher))
+    match session.declare_publisher(key_expr).res_sync() {
+        Ok(publisher) => {
+            let publisher: Publisher<'_> = publisher;
+            ResourceArc::new(ExPublisherRef(publisher)).encode(env)
+        }
+        Err(_err) => atom::error().encode(env),
+    }
 }
 
 #[rustler::nif]
 fn publisher_put(resource: ResourceArc<ExPublisherRef>, value: String) -> Atom {
     let publisher: &Publisher = &resource.0;
-    publisher.put(value).res_sync().unwrap();
-    atom::ok()
+    match publisher.put(value).res_sync() {
+        Ok(()) => atom::ok(),
+        Err(_err) => atom::error(),
+    }
 }
 
 #[rustler::nif]
-fn declare_subscriber(
-    resource: ResourceArc<ExSessionRef>,
-    key_expr: String,
-) -> ResourceArc<ExSubscriberRef> {
+fn declare_subscriber(env: Env, resource: ResourceArc<ExSessionRef>, key_expr: String) -> Term {
     let session: &Arc<Session> = &resource.0;
-    let subscriber: Subscriber<'_, Receiver<Sample>> =
-        session.declare_subscriber(key_expr).res_sync().unwrap();
-    ResourceArc::new(ExSubscriberRef(subscriber))
+    match session.declare_subscriber(key_expr).res_sync() {
+        Ok(subscriber) => {
+            let subscriber: Subscriber<'_, Receiver<Sample>> = subscriber;
+            ResourceArc::new(ExSubscriberRef(subscriber)).encode(env)
+        }
+        Err(_err) => atom::error().encode(env),
+    }
 }
 
 #[rustler::nif]

From 50be07d6c859e075631d0a585efd902ca9036cb5 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Sun, 21 Jan 2024 15:29:33 +0900
Subject: [PATCH 010/165] [zenohex_nif] Update header

---
 native/zenohex_nif/src/lib.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index 7d51712..19c16ea 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -5,7 +5,7 @@ use flume::Receiver;
 use rustler::types::atom;
 use rustler::{thread, Encoder};
 use rustler::{Atom, Env, ResourceArc, Term};
-use zenoh::prelude::{r#async::*, sync::SyncResolve};
+use zenoh::prelude::sync::*;
 use zenoh::{publication::Publisher, sample::Sample, subscriber::Subscriber, Session};
 
 mod atoms {

From 964a23257b11fddc4f2fe1dc026cc63c16dccc9d Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Sun, 21 Jan 2024 15:30:22 +0900
Subject: [PATCH 011/165] [zenohex_nif] Add
 publisher_put_(string|integer|float)

---
 lib/zenohex/nif.ex            |  6 ++++--
 native/zenohex_nif/src/lib.rs | 23 +++++++++++++++++++++--
 test/zenohex/nif_test.exs     | 12 ++++++++----
 3 files changed, 33 insertions(+), 8 deletions(-)

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index ca80eeb..b6c7fba 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -16,8 +16,10 @@ defmodule Zenohex.Nif do
     :erlang.nif_error(:nif_not_loaded)
   end
 
-  def publisher_put(_publisher, _value) do
-    :erlang.nif_error(:nif_not_loaded)
+  for type <- ["string", "integer", "float"] do
+    def unquote(:"publisher_put_#{type}")(_publisher, _value) do
+      :erlang.nif_error(:nif_not_loaded)
+    end
   end
 
   def declare_subscriber(_session, _key_expr) do
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index 19c16ea..e6f1336 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -53,7 +53,24 @@ fn declare_publisher(env: Env, resource: ResourceArc<ExSessionRef>, key_expr: St
 }
 
 #[rustler::nif]
-fn publisher_put(resource: ResourceArc<ExPublisherRef>, value: String) -> Atom {
+fn publisher_put_string(resource: ResourceArc<ExPublisherRef>, value: String) -> Atom {
+    publisher_put_impl(resource, value)
+}
+
+#[rustler::nif]
+fn publisher_put_integer(resource: ResourceArc<ExPublisherRef>, value: i64) -> Atom {
+    publisher_put_impl(resource, value)
+}
+
+#[rustler::nif]
+fn publisher_put_float(resource: ResourceArc<ExPublisherRef>, value: f64) -> Atom {
+    publisher_put_impl(resource, value)
+}
+
+fn publisher_put_impl<T: Into<zenoh::value::Value>>(
+    resource: ResourceArc<ExPublisherRef>,
+    value: T,
+) -> Atom {
     let publisher: &Publisher = &resource.0;
     match publisher.put(value).res_sync() {
         Ok(()) => atom::ok(),
@@ -103,7 +120,9 @@ rustler::init!(
         test_thread,
         zenoh_open,
         declare_publisher,
-        publisher_put,
+        publisher_put_string,
+        publisher_put_integer,
+        publisher_put_float,
         declare_subscriber,
         subscriber_recv_timeout
     ],
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 3fb37fb..ed57066 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -22,9 +22,13 @@ defmodule Zenohex.NifTest do
       assert is_reference(Nif.declare_publisher(session, "key/expression"))
     end
 
-    test "publisher_put/2", %{session: session} do
-      publisher = Nif.declare_publisher(session, "key/expression")
-      assert Nif.publisher_put(publisher, "value") == :ok
+    for {type, value} <- [{"string", "value"}, {"integer", 0}, {"float", 0.0}] do
+      test "publisher_put_#{type}/2", %{session: session} do
+        type = unquote(type)
+        value = unquote(value)
+        publisher = Nif.declare_publisher(session, "key/expression")
+        assert apply(Nif, :"publisher_put_#{type}", [publisher, value]) == :ok
+      end
     end
   end
 
@@ -37,7 +41,7 @@ defmodule Zenohex.NifTest do
       publisher = Nif.declare_publisher(session, "key/expression")
       subscriber = Nif.declare_subscriber(session, "key/expression")
 
-      Nif.publisher_put(publisher, "value")
+      Nif.publisher_put_string(publisher, "value")
       assert Nif.subscriber_recv_timeout(subscriber, 1000) == "value"
       assert Nif.subscriber_recv_timeout(subscriber, 1000) == :timeout
     end

From 814bb1806377651ba52af156d2d9b27641a45ad0 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 22 Jan 2024 09:17:40 +0900
Subject: [PATCH 012/165] [zenohex_nif] Add to_term/2 to lib.rs

---
 native/zenohex_nif/src/lib.rs | 40 +++++++++++++++++++++++++++++++----
 test/zenohex/nif_test.exs     |  7 ++++++
 2 files changed, 43 insertions(+), 4 deletions(-)

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index e6f1336..c800bb4 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -98,14 +98,46 @@ fn subscriber_recv_timeout(
 ) -> Term {
     let subscriber: &Subscriber<'_, Receiver<Sample>> = &resource.0;
     match subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
-        Ok(sample) => {
-            let sample: Sample = sample;
-            sample.value.to_string().encode(env)
-        }
+        Ok(sample) => to_term(&sample, env),
         Err(_recv_timeout_error) => atoms::timeout().encode(env),
     }
 }
 
+fn to_term<'a>(sample: &Sample, env: Env<'a>) -> Term<'a> {
+    match sample.value.encoding.prefix() {
+        KnownEncoding::Empty => todo!(),
+        KnownEncoding::AppOctetStream => todo!(),
+        KnownEncoding::AppCustom => todo!(),
+        KnownEncoding::TextPlain => match String::try_from(&sample.value) {
+            Ok(value) => value.encode(env),
+            Err(_err) => atom::error().encode(env),
+        },
+        KnownEncoding::AppProperties => todo!(),
+        KnownEncoding::AppJson => todo!(),
+        KnownEncoding::AppSql => todo!(),
+        KnownEncoding::AppInteger => match i64::try_from(&sample.value) {
+            Ok(value) => value.encode(env),
+            Err(_err) => atom::error().encode(env),
+        },
+        KnownEncoding::AppFloat => match f64::try_from(&sample.value) {
+            Ok(value) => value.encode(env),
+            Err(_err) => atom::error().encode(env),
+        },
+        KnownEncoding::AppXml => todo!(),
+        KnownEncoding::AppXhtmlXml => todo!(),
+        KnownEncoding::AppXWwwFormUrlencoded => todo!(),
+        KnownEncoding::TextJson => todo!(),
+        KnownEncoding::TextHtml => todo!(),
+        KnownEncoding::TextXml => todo!(),
+        KnownEncoding::TextCss => todo!(),
+        KnownEncoding::TextCsv => todo!(),
+        KnownEncoding::TextJavascript => todo!(),
+        KnownEncoding::ImageJpeg => todo!(),
+        KnownEncoding::ImagePng => todo!(),
+        KnownEncoding::ImageGif => todo!(),
+    }
+}
+
 fn load(env: Env, _term: Term) -> bool {
     rustler::resource!(ExSessionRef, env);
     rustler::resource!(ExPublisherRef, env);
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index ed57066..6508117 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -43,6 +43,13 @@ defmodule Zenohex.NifTest do
 
       Nif.publisher_put_string(publisher, "value")
       assert Nif.subscriber_recv_timeout(subscriber, 1000) == "value"
+
+      Nif.publisher_put_integer(publisher, 0)
+      assert Nif.subscriber_recv_timeout(subscriber, 1000) == 0
+
+      Nif.publisher_put_float(publisher, 0.0)
+      assert Nif.subscriber_recv_timeout(subscriber, 1000) == 0.0
+
       assert Nif.subscriber_recv_timeout(subscriber, 1000) == :timeout
     end
   end

From f848eb92324d676ea4056dff6ee2874d30d91e29 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 22 Jan 2024 11:05:57 +0900
Subject: [PATCH 013/165] [zenohex_nif] Support binary pub/sub

---
 lib/zenohex/nif.ex            |  2 +-
 native/zenohex_nif/src/lib.rs | 19 +++++++++++++++++--
 test/zenohex/nif_test.exs     | 30 +++++++++++++++++++++++++++++-
 3 files changed, 47 insertions(+), 4 deletions(-)

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index b6c7fba..4ea5fe5 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -16,7 +16,7 @@ defmodule Zenohex.Nif do
     :erlang.nif_error(:nif_not_loaded)
   end
 
-  for type <- ["string", "integer", "float"] do
+  for type <- ["string", "integer", "float", "binary"] do
     def unquote(:"publisher_put_#{type}")(_publisher, _value) do
       :erlang.nif_error(:nif_not_loaded)
     end
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index c800bb4..0a487f5 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -1,9 +1,11 @@
+use std::borrow::Cow;
+use std::io::Write;
 use std::sync::Arc;
 use std::time::Duration;
 
 use flume::Receiver;
 use rustler::types::atom;
-use rustler::{thread, Encoder};
+use rustler::{thread, Binary, Encoder, OwnedBinary};
 use rustler::{Atom, Env, ResourceArc, Term};
 use zenoh::prelude::sync::*;
 use zenoh::{publication::Publisher, sample::Sample, subscriber::Subscriber, Session};
@@ -67,6 +69,11 @@ fn publisher_put_float(resource: ResourceArc<ExPublisherRef>, value: f64) -> Ato
     publisher_put_impl(resource, value)
 }
 
+#[rustler::nif]
+fn publisher_put_binary(resource: ResourceArc<ExPublisherRef>, value: Binary) -> Atom {
+    publisher_put_impl(resource, Value::from(value.as_slice()))
+}
+
 fn publisher_put_impl<T: Into<zenoh::value::Value>>(
     resource: ResourceArc<ExPublisherRef>,
     value: T,
@@ -106,7 +113,14 @@ fn subscriber_recv_timeout(
 fn to_term<'a>(sample: &Sample, env: Env<'a>) -> Term<'a> {
     match sample.value.encoding.prefix() {
         KnownEncoding::Empty => todo!(),
-        KnownEncoding::AppOctetStream => todo!(),
+        KnownEncoding::AppOctetStream => match Cow::try_from(&sample.value) {
+            Ok(value) => {
+                let mut binary = OwnedBinary::new(value.len()).unwrap();
+                binary.as_mut_slice().write_all(&value).unwrap();
+                binary.release(env).encode(env)
+            }
+            Err(_err) => atom::error().encode(env),
+        },
         KnownEncoding::AppCustom => todo!(),
         KnownEncoding::TextPlain => match String::try_from(&sample.value) {
             Ok(value) => value.encode(env),
@@ -155,6 +169,7 @@ rustler::init!(
         publisher_put_string,
         publisher_put_integer,
         publisher_put_float,
+        publisher_put_binary,
         declare_subscriber,
         subscriber_recv_timeout
     ],
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 6508117..d6577b4 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -22,7 +22,12 @@ defmodule Zenohex.NifTest do
       assert is_reference(Nif.declare_publisher(session, "key/expression"))
     end
 
-    for {type, value} <- [{"string", "value"}, {"integer", 0}, {"float", 0.0}] do
+    for {type, value} <- [
+          {"string", "value"},
+          {"integer", 0},
+          {"float", 0.0},
+          {"binary", :erlang.term_to_binary("binary")}
+        ] do
       test "publisher_put_#{type}/2", %{session: session} do
         type = unquote(type)
         value = unquote(value)
@@ -50,7 +55,30 @@ defmodule Zenohex.NifTest do
       Nif.publisher_put_float(publisher, 0.0)
       assert Nif.subscriber_recv_timeout(subscriber, 1000) == 0.0
 
+      Nif.publisher_put_binary(publisher, :erlang.term_to_binary("binary"))
+      assert Nif.subscriber_recv_timeout(subscriber, 1000) == :erlang.term_to_binary("binary")
+
       assert Nif.subscriber_recv_timeout(subscriber, 1000) == :timeout
     end
   end
+
+  describe "binary pub/sub" do
+    setup context do
+      key_expr = "key/expression"
+      publisher = Nif.declare_publisher(context.session, key_expr)
+      subscriber = Nif.declare_subscriber(context.session, key_expr)
+      %{publisher: publisher, subscriber: subscriber}
+    end
+
+    for {test_name, binary} <- [
+          {"empty binary", ""},
+          {"erlang term binary", :erlang.term_to_binary(%URI{})}
+        ] do
+      test "#{test_name}", %{publisher: publisher, subscriber: subscriber} do
+        binary = unquote(binary)
+        Nif.publisher_put_binary(publisher, binary)
+        assert Nif.subscriber_recv_timeout(subscriber, 1000) == binary
+      end
+    end
+  end
 end

From e8ec5c7de4623fb7da5b7575d597e6c727ad082f Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 22 Jan 2024 15:23:10 +0900
Subject: [PATCH 014/165] [zenohex_nif] Replcace todo! with unimplemented!

---
 native/zenohex_nif/src/lib.rs | 34 +++++++++++++++++-----------------
 1 file changed, 17 insertions(+), 17 deletions(-)

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index 0a487f5..7805ba0 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -112,7 +112,7 @@ fn subscriber_recv_timeout(
 
 fn to_term<'a>(sample: &Sample, env: Env<'a>) -> Term<'a> {
     match sample.value.encoding.prefix() {
-        KnownEncoding::Empty => todo!(),
+        KnownEncoding::Empty => unimplemented!(),
         KnownEncoding::AppOctetStream => match Cow::try_from(&sample.value) {
             Ok(value) => {
                 let mut binary = OwnedBinary::new(value.len()).unwrap();
@@ -121,14 +121,14 @@ fn to_term<'a>(sample: &Sample, env: Env<'a>) -> Term<'a> {
             }
             Err(_err) => atom::error().encode(env),
         },
-        KnownEncoding::AppCustom => todo!(),
+        KnownEncoding::AppCustom => unimplemented!(),
         KnownEncoding::TextPlain => match String::try_from(&sample.value) {
             Ok(value) => value.encode(env),
             Err(_err) => atom::error().encode(env),
         },
-        KnownEncoding::AppProperties => todo!(),
-        KnownEncoding::AppJson => todo!(),
-        KnownEncoding::AppSql => todo!(),
+        KnownEncoding::AppProperties => unimplemented!(),
+        KnownEncoding::AppJson => unimplemented!(),
+        KnownEncoding::AppSql => unimplemented!(),
         KnownEncoding::AppInteger => match i64::try_from(&sample.value) {
             Ok(value) => value.encode(env),
             Err(_err) => atom::error().encode(env),
@@ -137,18 +137,18 @@ fn to_term<'a>(sample: &Sample, env: Env<'a>) -> Term<'a> {
             Ok(value) => value.encode(env),
             Err(_err) => atom::error().encode(env),
         },
-        KnownEncoding::AppXml => todo!(),
-        KnownEncoding::AppXhtmlXml => todo!(),
-        KnownEncoding::AppXWwwFormUrlencoded => todo!(),
-        KnownEncoding::TextJson => todo!(),
-        KnownEncoding::TextHtml => todo!(),
-        KnownEncoding::TextXml => todo!(),
-        KnownEncoding::TextCss => todo!(),
-        KnownEncoding::TextCsv => todo!(),
-        KnownEncoding::TextJavascript => todo!(),
-        KnownEncoding::ImageJpeg => todo!(),
-        KnownEncoding::ImagePng => todo!(),
-        KnownEncoding::ImageGif => todo!(),
+        KnownEncoding::AppXml => unimplemented!(),
+        KnownEncoding::AppXhtmlXml => unimplemented!(),
+        KnownEncoding::AppXWwwFormUrlencoded => unimplemented!(),
+        KnownEncoding::TextJson => unimplemented!(),
+        KnownEncoding::TextHtml => unimplemented!(),
+        KnownEncoding::TextXml => unimplemented!(),
+        KnownEncoding::TextCss => unimplemented!(),
+        KnownEncoding::TextCsv => unimplemented!(),
+        KnownEncoding::TextJavascript => unimplemented!(),
+        KnownEncoding::ImageJpeg => unimplemented!(),
+        KnownEncoding::ImagePng => unimplemented!(),
+        KnownEncoding::ImageGif => unimplemented!(),
     }
 }
 

From fa7045c14fbb35bab251ffcf913acdd19e7d31e8 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 23 Jan 2024 11:53:43 +0900
Subject: [PATCH 015/165] [zenohex_nif] Refactor lib.rs error handling
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

rustler が panic をハンドリングしてくれることがわかったのでエラーハンドリングを簡素化
---
 native/zenohex_nif/src/lib.rs | 54 +++++++++++++++++------------------
 1 file changed, 26 insertions(+), 28 deletions(-)

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index 7805ba0..afa32dd 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -31,27 +31,23 @@ fn test_thread(env: Env) -> Atom {
 }
 
 #[rustler::nif]
-fn zenoh_open(env: Env) -> Term {
+fn zenoh_open() -> ResourceArc<ExSessionRef> {
     let config = config::peer();
-    match zenoh::open(config).res_sync() {
-        Ok(session) => {
-            let session: Session = session;
-            ResourceArc::new(ExSessionRef(session.into_arc())).encode(env)
-        }
-        Err(_err) => atom::error().encode(env),
-    }
+    let session: Session = zenoh::open(config).res_sync().expect("zenoh_open failed");
+    ResourceArc::new(ExSessionRef(session.into_arc()))
 }
 
 #[rustler::nif]
-fn declare_publisher(env: Env, resource: ResourceArc<ExSessionRef>, key_expr: String) -> Term {
+fn declare_publisher(
+    resource: ResourceArc<ExSessionRef>,
+    key_expr: String,
+) -> ResourceArc<ExPublisherRef> {
     let session: &Arc<Session> = &resource.0;
-    match session.declare_publisher(key_expr).res_sync() {
-        Ok(publisher) => {
-            let publisher: Publisher<'_> = publisher;
-            ResourceArc::new(ExPublisherRef(publisher)).encode(env)
-        }
-        Err(_err) => atom::error().encode(env),
-    }
+    let publisher: Publisher<'_> = session
+        .declare_publisher(key_expr)
+        .res_sync()
+        .expect("declare_publisher failed");
+    ResourceArc::new(ExPublisherRef(publisher))
 }
 
 #[rustler::nif]
@@ -79,22 +75,24 @@ fn publisher_put_impl<T: Into<zenoh::value::Value>>(
     value: T,
 ) -> Atom {
     let publisher: &Publisher = &resource.0;
-    match publisher.put(value).res_sync() {
-        Ok(()) => atom::ok(),
-        Err(_err) => atom::error(),
-    }
+    publisher
+        .put(value)
+        .res_sync()
+        .expect("publisher_put_impl failed");
+    atom::ok()
 }
 
 #[rustler::nif]
-fn declare_subscriber(env: Env, resource: ResourceArc<ExSessionRef>, key_expr: String) -> Term {
+fn declare_subscriber(
+    resource: ResourceArc<ExSessionRef>,
+    key_expr: String,
+) -> ResourceArc<ExSubscriberRef> {
     let session: &Arc<Session> = &resource.0;
-    match session.declare_subscriber(key_expr).res_sync() {
-        Ok(subscriber) => {
-            let subscriber: Subscriber<'_, Receiver<Sample>> = subscriber;
-            ResourceArc::new(ExSubscriberRef(subscriber)).encode(env)
-        }
-        Err(_err) => atom::error().encode(env),
-    }
+    let subscriber: Subscriber<'_, Receiver<Sample>> = session
+        .declare_subscriber(key_expr)
+        .res_sync()
+        .expect("declare_subscriber failed");
+    ResourceArc::new(ExSubscriberRef(subscriber))
 }
 
 #[rustler::nif]

From 6b7d22f27909f6f28735d88b62096d98326fe925 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 23 Jan 2024 13:07:56 +0900
Subject: [PATCH 016/165] [zenohex_nif] Add publisher functions

---
 lib/zenohex/nif.ex            | 14 +++++-
 native/zenohex_nif/src/lib.rs | 85 +++++++++++++++++++++++++++++++++--
 test/zenohex/nif_test.exs     | 23 ++++++++++
 3 files changed, 118 insertions(+), 4 deletions(-)

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index 4ea5fe5..e15ab03 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -12,7 +12,7 @@ defmodule Zenohex.Nif do
     :erlang.nif_error(:nif_not_loaded)
   end
 
-  def declare_publisher(_session, _key_expr) do
+  def declare_publisher(_session, _key_expr, _opts \\ []) do
     :erlang.nif_error(:nif_not_loaded)
   end
 
@@ -22,6 +22,18 @@ defmodule Zenohex.Nif do
     end
   end
 
+  def publisher_delete(_publisher) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
+  def publisher_congestion_control(_publisher, _congestion_control) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
+  def publisher_priority(_publisher, _priority) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
   def declare_subscriber(_session, _key_expr) do
     :erlang.nif_error(:nif_not_loaded)
   end
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index afa32dd..c38b27c 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -5,13 +5,26 @@ use std::time::Duration;
 
 use flume::Receiver;
 use rustler::types::atom;
-use rustler::{thread, Binary, Encoder, OwnedBinary};
+use rustler::{thread, Binary, Encoder, ListIterator, OwnedBinary};
 use rustler::{Atom, Env, ResourceArc, Term};
 use zenoh::prelude::sync::*;
 use zenoh::{publication::Publisher, sample::Sample, subscriber::Subscriber, Session};
 
 mod atoms {
-    rustler::atoms! {timeout}
+    rustler::atoms! {
+        timeout,
+        congestion_control,
+            drop,
+            block,
+        priority,
+            realtime,
+            interactive_high,
+            interactive_low,
+            data_high,
+            data,
+            data_low,
+            background
+    }
 }
 
 pub struct ExSessionRef(Arc<Session>);
@@ -41,15 +54,68 @@ fn zenoh_open() -> ResourceArc<ExSessionRef> {
 fn declare_publisher(
     resource: ResourceArc<ExSessionRef>,
     key_expr: String,
+    opts: ListIterator,
 ) -> ResourceArc<ExPublisherRef> {
     let session: &Arc<Session> = &resource.0;
-    let publisher: Publisher<'_> = session
+    let publisher: Publisher = session
         .declare_publisher(key_expr)
         .res_sync()
         .expect("declare_publisher failed");
+
+    let publisher = opts.fold(publisher, |acc, kv: Term| {
+        match kv.decode::<(Atom, Atom)>().unwrap() {
+            (k, v) if k == atoms::congestion_control() => publisher_congestion_control_impl(acc, v),
+            (k, v) if k == atoms::priority() => publisher_priority_impl(acc, v),
+            _ => acc,
+        }
+    });
+
+    ResourceArc::new(ExPublisherRef(publisher))
+}
+
+#[rustler::nif]
+fn publisher_congestion_control(
+    resource: ResourceArc<ExPublisherRef>,
+    value: Atom,
+) -> ResourceArc<ExPublisherRef> {
+    let publisher: &Publisher = &resource.0;
+    let publisher: Publisher = publisher_congestion_control_impl(publisher.clone(), value);
+
+    ResourceArc::new(ExPublisherRef(publisher))
+}
+
+fn publisher_congestion_control_impl(publisher: Publisher, value: Atom) -> Publisher {
+    match value {
+        v if v == atoms::drop() => publisher.congestion_control(CongestionControl::Drop),
+        v if v == atoms::block() => publisher.congestion_control(CongestionControl::Block),
+        _ => unreachable!(),
+    }
+}
+
+#[rustler::nif]
+fn publisher_priority(
+    resource: ResourceArc<ExPublisherRef>,
+    value: Atom,
+) -> ResourceArc<ExPublisherRef> {
+    let publisher: &Publisher = &resource.0;
+    let publisher: Publisher = publisher_priority_impl(publisher.clone(), value);
+
     ResourceArc::new(ExPublisherRef(publisher))
 }
 
+fn publisher_priority_impl(publisher: Publisher, value: Atom) -> Publisher {
+    match value {
+        v if v == atoms::realtime() => publisher.priority(Priority::RealTime),
+        v if v == atoms::interactive_high() => publisher.priority(Priority::InteractiveHigh),
+        v if v == atoms::interactive_low() => publisher.priority(Priority::InteractiveLow),
+        v if v == atoms::data_high() => publisher.priority(Priority::DataHigh),
+        v if v == atoms::data() => publisher.priority(Priority::Data),
+        v if v == atoms::data_low() => publisher.priority(Priority::DataLow),
+        v if v == atoms::background() => publisher.priority(Priority::Background),
+        _ => unreachable!(),
+    }
+}
+
 #[rustler::nif]
 fn publisher_put_string(resource: ResourceArc<ExPublisherRef>, value: String) -> Atom {
     publisher_put_impl(resource, value)
@@ -82,6 +148,16 @@ fn publisher_put_impl<T: Into<zenoh::value::Value>>(
     atom::ok()
 }
 
+#[rustler::nif]
+fn publisher_delete(resource: ResourceArc<ExPublisherRef>) -> Atom {
+    let publisher: &Publisher = &resource.0;
+    publisher
+        .delete()
+        .res_sync()
+        .expect("publisher_delete failed.");
+    atom::ok()
+}
+
 #[rustler::nif]
 fn declare_subscriber(
     resource: ResourceArc<ExSessionRef>,
@@ -168,6 +244,9 @@ rustler::init!(
         publisher_put_integer,
         publisher_put_float,
         publisher_put_binary,
+        publisher_delete,
+        publisher_congestion_control,
+        publisher_priority,
         declare_subscriber,
         subscriber_recv_timeout
     ],
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index d6577b4..f691188 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -22,6 +22,24 @@ defmodule Zenohex.NifTest do
       assert is_reference(Nif.declare_publisher(session, "key/expression"))
     end
 
+    test "declare_publisher/3", %{session: session} do
+      assert is_reference(
+               Nif.declare_publisher(session, "key/expression", congestion_control: :block)
+             )
+
+      assert is_reference(Nif.declare_publisher(session, "key/expression", priority: :realtime))
+    end
+
+    test "publisher_congestion_control/2", %{session: session} do
+      publisher = Nif.declare_publisher(session, "key/expression")
+      assert is_reference(Nif.publisher_congestion_control(publisher, :block))
+    end
+
+    test "publisher_priority/2", %{session: session} do
+      publisher = Nif.declare_publisher(session, "key/expression")
+      assert is_reference(Nif.publisher_priority(publisher, :realtime))
+    end
+
     for {type, value} <- [
           {"string", "value"},
           {"integer", 0},
@@ -35,6 +53,11 @@ defmodule Zenohex.NifTest do
         assert apply(Nif, :"publisher_put_#{type}", [publisher, value]) == :ok
       end
     end
+
+    test "publisher_delete/1", %{session: session} do
+      publisher = Nif.declare_publisher(session, "key/expression")
+      assert Nif.publisher_delete(publisher) == :ok
+    end
   end
 
   describe "subscriber" do

From bc3eb29b5d17456827d3c113a715d8a5ca7844f8 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 23 Jan 2024 13:23:23 +0900
Subject: [PATCH 017/165] [zenohex_nif] Remove publisher_put_string
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Elixir では String.t() は binary() でまかなえるため
---
 lib/zenohex/nif.ex            | 2 +-
 native/zenohex_nif/src/lib.rs | 6 ------
 test/zenohex/nif_test.exs     | 8 ++------
 3 files changed, 3 insertions(+), 13 deletions(-)

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index e15ab03..cdd1acd 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -16,7 +16,7 @@ defmodule Zenohex.Nif do
     :erlang.nif_error(:nif_not_loaded)
   end
 
-  for type <- ["string", "integer", "float", "binary"] do
+  for type <- ["integer", "float", "binary"] do
     def unquote(:"publisher_put_#{type}")(_publisher, _value) do
       :erlang.nif_error(:nif_not_loaded)
     end
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index c38b27c..b637f34 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -116,11 +116,6 @@ fn publisher_priority_impl(publisher: Publisher, value: Atom) -> Publisher {
     }
 }
 
-#[rustler::nif]
-fn publisher_put_string(resource: ResourceArc<ExPublisherRef>, value: String) -> Atom {
-    publisher_put_impl(resource, value)
-}
-
 #[rustler::nif]
 fn publisher_put_integer(resource: ResourceArc<ExPublisherRef>, value: i64) -> Atom {
     publisher_put_impl(resource, value)
@@ -240,7 +235,6 @@ rustler::init!(
         test_thread,
         zenoh_open,
         declare_publisher,
-        publisher_put_string,
         publisher_put_integer,
         publisher_put_float,
         publisher_put_binary,
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index f691188..7e50c7f 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -41,7 +41,6 @@ defmodule Zenohex.NifTest do
     end
 
     for {type, value} <- [
-          {"string", "value"},
           {"integer", 0},
           {"float", 0.0},
           {"binary", :erlang.term_to_binary("binary")}
@@ -69,17 +68,14 @@ defmodule Zenohex.NifTest do
       publisher = Nif.declare_publisher(session, "key/expression")
       subscriber = Nif.declare_subscriber(session, "key/expression")
 
-      Nif.publisher_put_string(publisher, "value")
-      assert Nif.subscriber_recv_timeout(subscriber, 1000) == "value"
-
       Nif.publisher_put_integer(publisher, 0)
       assert Nif.subscriber_recv_timeout(subscriber, 1000) == 0
 
       Nif.publisher_put_float(publisher, 0.0)
       assert Nif.subscriber_recv_timeout(subscriber, 1000) == 0.0
 
-      Nif.publisher_put_binary(publisher, :erlang.term_to_binary("binary"))
-      assert Nif.subscriber_recv_timeout(subscriber, 1000) == :erlang.term_to_binary("binary")
+      Nif.publisher_put_binary(publisher, "binary")
+      assert Nif.subscriber_recv_timeout(subscriber, 1000) == "binary"
 
       assert Nif.subscriber_recv_timeout(subscriber, 1000) == :timeout
     end

From c3c18c9ad51f0914ab7a961a1e0b8f436d60ceb8 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 23 Jan 2024 16:33:34 +0900
Subject: [PATCH 018/165] [zenohex_nif] Add declare_subscriber/3

---
 lib/zenohex/nif.ex            |  2 +-
 native/zenohex_nif/src/lib.rs | 32 ++++++++++++++++++++++++++------
 test/zenohex/nif_test.exs     |  6 ++++++
 3 files changed, 33 insertions(+), 7 deletions(-)

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index cdd1acd..3409e05 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -34,7 +34,7 @@ defmodule Zenohex.Nif do
     :erlang.nif_error(:nif_not_loaded)
   end
 
-  def declare_subscriber(_session, _key_expr) do
+  def declare_subscriber(_session, _key_expr, _opts \\ []) do
     :erlang.nif_error(:nif_not_loaded)
   end
 
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index b637f34..6ef1014 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -8,6 +8,7 @@ use rustler::types::atom;
 use rustler::{thread, Binary, Encoder, ListIterator, OwnedBinary};
 use rustler::{Atom, Env, ResourceArc, Term};
 use zenoh::prelude::sync::*;
+use zenoh::subscriber::SubscriberBuilder;
 use zenoh::{publication::Publisher, sample::Sample, subscriber::Subscriber, Session};
 
 mod atoms {
@@ -23,7 +24,13 @@ mod atoms {
             data_high,
             data,
             data_low,
-            background
+            background,
+        mode,
+            push,
+            pull,
+        reliability,
+            best_effort,
+            reliable,
     }
 }
 
@@ -157,12 +164,25 @@ fn publisher_delete(resource: ResourceArc<ExPublisherRef>) -> Atom {
 fn declare_subscriber(
     resource: ResourceArc<ExSessionRef>,
     key_expr: String,
+    opts: ListIterator,
 ) -> ResourceArc<ExSubscriberRef> {
     let session: &Arc<Session> = &resource.0;
-    let subscriber: Subscriber<'_, Receiver<Sample>> = session
-        .declare_subscriber(key_expr)
-        .res_sync()
-        .expect("declare_subscriber failed");
+    let builder: SubscriberBuilder<_, _> = session.declare_subscriber(key_expr);
+
+    let builder = opts.fold(builder, |acc, kv: Term| {
+        match kv.decode::<(Atom, Atom)>().unwrap() {
+            (k, v) if k == atoms::reliability() => match v {
+                v if v == atoms::best_effort() => acc.best_effort(),
+                v if v == atoms::reliable() => acc.reliable(),
+                _ => unreachable!(),
+            },
+            _ => acc,
+        }
+    });
+
+    let subscriber: Subscriber<'_, Receiver<Sample>> =
+        builder.res_sync().expect("declare_subscriber failed");
+
     ResourceArc::new(ExSubscriberRef(subscriber))
 }
 
@@ -242,7 +262,7 @@ rustler::init!(
         publisher_congestion_control,
         publisher_priority,
         declare_subscriber,
-        subscriber_recv_timeout
+        subscriber_recv_timeout,
     ],
     load = load
 );
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 7e50c7f..6943a79 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -64,6 +64,12 @@ defmodule Zenohex.NifTest do
       assert is_reference(Nif.declare_subscriber(session, "key/expression"))
     end
 
+    test "declare_subscriber/3", %{session: session} do
+      assert is_reference(
+               Nif.declare_subscriber(session, "key/expression", reliability: :reliable)
+             )
+    end
+
     test "subscriber_recv_timeout/1", %{session: session} do
       publisher = Nif.declare_publisher(session, "key/expression")
       subscriber = Nif.declare_subscriber(session, "key/expression")

From aa7de11747259cbee0c969f86820e279a697d285 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 23 Jan 2024 17:37:17 +0900
Subject: [PATCH 019/165] [zenohex_nif] Add pull subscriber

---
 lib/zenohex/nif.ex            | 12 +++++++
 native/zenohex_nif/src/lib.rs | 59 ++++++++++++++++++++++++++++++++++-
 test/zenohex/nif_test.exs     | 24 +++++++++++++-
 3 files changed, 93 insertions(+), 2 deletions(-)

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index 3409e05..b696ec4 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -41,4 +41,16 @@ defmodule Zenohex.Nif do
   def subscriber_recv_timeout(_subscriber, _timeout_us) do
     :erlang.nif_error(:nif_not_loaded)
   end
+
+  def declare_pull_subscriber(_session, _key_expr, _opts \\ []) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
+  def pull_subscriber_pull(_pull_subscriber) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
+  def pull_subscriber_recv_timeout(_pull_subscriber, _timeout_us) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
 end
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index 6ef1014..b5c5e2b 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -9,7 +9,10 @@ use rustler::{thread, Binary, Encoder, ListIterator, OwnedBinary};
 use rustler::{Atom, Env, ResourceArc, Term};
 use zenoh::prelude::sync::*;
 use zenoh::subscriber::SubscriberBuilder;
-use zenoh::{publication::Publisher, sample::Sample, subscriber::Subscriber, Session};
+use zenoh::{
+    publication::Publisher, sample::Sample, subscriber::PullSubscriber, subscriber::Subscriber,
+    Session,
+};
 
 mod atoms {
     rustler::atoms! {
@@ -37,6 +40,7 @@ mod atoms {
 pub struct ExSessionRef(Arc<Session>);
 pub struct ExPublisherRef(Publisher<'static>);
 pub struct ExSubscriberRef(Subscriber<'static, Receiver<Sample>>);
+pub struct ExPullSubscriberRef(PullSubscriber<'static, Receiver<Sample>>);
 
 #[rustler::nif]
 fn add(a: i64, b: i64) -> i64 {
@@ -199,6 +203,55 @@ fn subscriber_recv_timeout(
     }
 }
 
+#[rustler::nif]
+fn declare_pull_subscriber(
+    resource: ResourceArc<ExSessionRef>,
+    key_expr: String,
+    opts: ListIterator,
+) -> ResourceArc<ExPullSubscriberRef> {
+    let session: &Arc<Session> = &resource.0;
+    let builder: SubscriberBuilder<_, _> = session.declare_subscriber(key_expr).pull_mode();
+
+    let builder = opts.fold(builder, |acc, kv: Term| {
+        match kv.decode::<(Atom, Atom)>().unwrap() {
+            (k, v) if k == atoms::reliability() => match v {
+                v if v == atoms::best_effort() => acc.best_effort(),
+                v if v == atoms::reliable() => acc.reliable(),
+                _ => unreachable!(),
+            },
+            _ => acc,
+        }
+    });
+
+    let pull_subscriber: PullSubscriber<'_, Receiver<Sample>> =
+        builder.res_sync().expect("declare_pull_subscriber failed");
+
+    ResourceArc::new(ExPullSubscriberRef(pull_subscriber))
+}
+
+#[rustler::nif]
+fn pull_subscriber_recv_timeout(
+    env: Env,
+    resource: ResourceArc<ExPullSubscriberRef>,
+    timeout_us: u64,
+) -> Term {
+    let pull_subscriber: &PullSubscriber<'_, Receiver<Sample>> = &resource.0;
+    match pull_subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
+        Ok(sample) => to_term(&sample, env),
+        Err(_recv_timeout_error) => atoms::timeout().encode(env),
+    }
+}
+
+#[rustler::nif]
+fn pull_subscriber_pull(resource: ResourceArc<ExPullSubscriberRef>) -> Atom {
+    let pull_subscriber: &PullSubscriber<'_, Receiver<Sample>> = &resource.0;
+    pull_subscriber
+        .pull()
+        .res_sync()
+        .expect("pull_subscriber_pull failed");
+    atom::ok()
+}
+
 fn to_term<'a>(sample: &Sample, env: Env<'a>) -> Term<'a> {
     match sample.value.encoding.prefix() {
         KnownEncoding::Empty => unimplemented!(),
@@ -245,6 +298,7 @@ fn load(env: Env, _term: Term) -> bool {
     rustler::resource!(ExSessionRef, env);
     rustler::resource!(ExPublisherRef, env);
     rustler::resource!(ExSubscriberRef, env);
+    rustler::resource!(ExPullSubscriberRef, env);
     true
 }
 
@@ -263,6 +317,9 @@ rustler::init!(
         publisher_priority,
         declare_subscriber,
         subscriber_recv_timeout,
+        declare_pull_subscriber,
+        pull_subscriber_pull,
+        pull_subscriber_recv_timeout,
     ],
     load = load
 );
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 6943a79..9551ebc 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -82,11 +82,33 @@ defmodule Zenohex.NifTest do
 
       Nif.publisher_put_binary(publisher, "binary")
       assert Nif.subscriber_recv_timeout(subscriber, 1000) == "binary"
-
       assert Nif.subscriber_recv_timeout(subscriber, 1000) == :timeout
     end
   end
 
+  describe "pull subscriber" do
+    test "declare_pull_subscriber/2", %{session: session} do
+      assert is_reference(Nif.declare_pull_subscriber(session, "key/expression"))
+    end
+
+    test "declare_pull_subscriber/3", %{session: session} do
+      assert is_reference(
+               Nif.declare_pull_subscriber(session, "key/expression", reliability: :reliable)
+             )
+    end
+
+    test "pull_subscriber_pull/1", %{session: session} do
+      publisher = Nif.declare_publisher(session, "key/expression")
+      pull_subscriber = Nif.declare_pull_subscriber(session, "key/expression")
+
+      :ok = Nif.publisher_put_integer(publisher, 0)
+      0 = Nif.pull_subscriber_recv_timeout(pull_subscriber, 1000)
+      :timeout = Nif.pull_subscriber_recv_timeout(pull_subscriber, 1000)
+      assert Nif.pull_subscriber_pull(pull_subscriber) == :ok
+      assert Nif.pull_subscriber_recv_timeout(pull_subscriber, 1000) == 0
+    end
+  end
+
   describe "binary pub/sub" do
     setup context do
       key_expr = "key/expression"

From 212667f5d31d68940b16eeb6009ccede93cef364 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 23 Jan 2024 20:49:02 +0900
Subject: [PATCH 020/165] [zenohex_nif] Add declare_queryable/2,3

---
 lib/zenohex/nif.ex            |  4 ++++
 native/zenohex_nif/src/lib.rs | 33 ++++++++++++++++++++++++++++++---
 test/zenohex/nif_test.exs     | 10 ++++++++++
 3 files changed, 44 insertions(+), 3 deletions(-)

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index b696ec4..104cecd 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -53,4 +53,8 @@ defmodule Zenohex.Nif do
   def pull_subscriber_recv_timeout(_pull_subscriber, _timeout_us) do
     :erlang.nif_error(:nif_not_loaded)
   end
+
+  def declare_queryable(_session, _key_expr, _opts \\ []) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
 end
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index b5c5e2b..e1d42c3 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -8,11 +8,11 @@ use rustler::types::atom;
 use rustler::{thread, Binary, Encoder, ListIterator, OwnedBinary};
 use rustler::{Atom, Env, ResourceArc, Term};
 use zenoh::prelude::sync::*;
-use zenoh::subscriber::SubscriberBuilder;
 use zenoh::{
-    publication::Publisher, sample::Sample, subscriber::PullSubscriber, subscriber::Subscriber,
-    Session,
+    publication::Publisher, queryable::Queryable, subscriber::PullSubscriber,
+    subscriber::Subscriber, Session,
 };
+use zenoh::{queryable::Query, sample::Sample, subscriber::SubscriberBuilder};
 
 mod atoms {
     rustler::atoms! {
@@ -34,6 +34,7 @@ mod atoms {
         reliability,
             best_effort,
             reliable,
+        complete,
     }
 }
 
@@ -41,6 +42,7 @@ pub struct ExSessionRef(Arc<Session>);
 pub struct ExPublisherRef(Publisher<'static>);
 pub struct ExSubscriberRef(Subscriber<'static, Receiver<Sample>>);
 pub struct ExPullSubscriberRef(PullSubscriber<'static, Receiver<Sample>>);
+pub struct ExQueryableRef(Queryable<'static, Receiver<Query>>);
 
 #[rustler::nif]
 fn add(a: i64, b: i64) -> i64 {
@@ -252,6 +254,29 @@ fn pull_subscriber_pull(resource: ResourceArc<ExPullSubscriberRef>) -> Atom {
     atom::ok()
 }
 
+#[rustler::nif]
+fn declare_queryable(
+    resource: ResourceArc<ExSessionRef>,
+    key_expr: String,
+    opts: ListIterator,
+) -> ResourceArc<ExQueryableRef> {
+    let session: &Arc<Session> = &resource.0;
+    let builder = session.declare_queryable(key_expr);
+    let builder = opts.fold(builder, |acc, kv: Term| {
+        match kv.decode::<(Atom, Atom)>().unwrap() {
+            (k, v) if k == atoms::complete() => match v {
+                v if v == atom::true_() => acc.complete(true),
+                v if v == atom::false_() => acc.complete(false),
+                _ => unreachable!(),
+            },
+            _ => acc,
+        }
+    });
+    let queryable: Queryable<'_, Receiver<Query>> =
+        builder.res_sync().expect("declare_queryable failed");
+    ResourceArc::new(ExQueryableRef(queryable))
+}
+
 fn to_term<'a>(sample: &Sample, env: Env<'a>) -> Term<'a> {
     match sample.value.encoding.prefix() {
         KnownEncoding::Empty => unimplemented!(),
@@ -299,6 +324,7 @@ fn load(env: Env, _term: Term) -> bool {
     rustler::resource!(ExPublisherRef, env);
     rustler::resource!(ExSubscriberRef, env);
     rustler::resource!(ExPullSubscriberRef, env);
+    rustler::resource!(ExQueryableRef, env);
     true
 }
 
@@ -320,6 +346,7 @@ rustler::init!(
         declare_pull_subscriber,
         pull_subscriber_pull,
         pull_subscriber_recv_timeout,
+        declare_queryable,
     ],
     load = load
 );
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 9551ebc..5028386 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -128,4 +128,14 @@ defmodule Zenohex.NifTest do
       end
     end
   end
+
+  describe "queryable" do
+    test "declare_queryable/2", %{session: session} do
+      assert is_reference(Nif.declare_queryable(session, "key/expression"))
+    end
+
+    test "declare_queryable/3", %{session: session} do
+      assert is_reference(Nif.declare_queryable(session, "key/expression", complete: true))
+    end
+  end
 end

From 1763948d37de1370c80eb97521055e08c08ff65f Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 23 Jan 2024 21:38:27 +0900
Subject: [PATCH 021/165] [zenohex_nif] Add session functions

---
 lib/zenohex/nif.ex            | 14 ++++++
 native/zenohex_nif/src/lib.rs | 86 +++++++++++++++++++++++++++++++----
 test/zenohex/nif_test.exs     | 22 +++++++++
 3 files changed, 114 insertions(+), 8 deletions(-)

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index 104cecd..b2cab43 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -12,6 +12,20 @@ defmodule Zenohex.Nif do
     :erlang.nif_error(:nif_not_loaded)
   end
 
+  for type <- ["integer", "float", "binary"] do
+    def unquote(:"session_put_#{type}")(_session, _key_expr, _value) do
+      :erlang.nif_error(:nif_not_loaded)
+    end
+  end
+
+  def session_get_timeout(_session, _selector, _timeout_us) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
+  def session_delete(_session, _key_expr) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
   def declare_publisher(_session, _key_expr, _opts \\ []) do
     :erlang.nif_error(:nif_not_loaded)
   end
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index e1d42c3..a3baa7b 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -63,6 +63,71 @@ fn zenoh_open() -> ResourceArc<ExSessionRef> {
     ResourceArc::new(ExSessionRef(session.into_arc()))
 }
 
+#[rustler::nif]
+fn session_put_integer(resource: ResourceArc<ExSessionRef>, key_expr: String, value: i64) -> Atom {
+    let session: &Arc<Session> = &resource.0;
+    session
+        .put(key_expr, value)
+        .res_sync()
+        .expect("session_put_integer failed");
+    atom::ok()
+}
+
+#[rustler::nif]
+fn session_put_float(resource: ResourceArc<ExSessionRef>, key_expr: String, value: f64) -> Atom {
+    let session: &Arc<Session> = &resource.0;
+    session
+        .put(key_expr, value)
+        .res_sync()
+        .expect("session_put_float failed");
+    atom::ok()
+}
+
+#[rustler::nif]
+fn session_put_binary(
+    resource: ResourceArc<ExSessionRef>,
+    key_expr: String,
+    value: Binary,
+) -> Atom {
+    let session: &Arc<Session> = &resource.0;
+    session
+        .put(key_expr, Value::from(value.as_slice()))
+        .res_sync()
+        .expect("session_put_float failed");
+    atom::ok()
+}
+
+#[rustler::nif]
+fn session_get_timeout(
+    env: Env,
+    resource: ResourceArc<ExSessionRef>,
+    selector: String,
+    timeout_us: u64,
+) -> Term {
+    let session: &Arc<Session> = &resource.0;
+    let receiver = session
+        .get(selector)
+        .res_sync()
+        .expect("session_get failed");
+    match receiver.recv_timeout(Duration::from_micros(timeout_us)) {
+        Ok(reply) => match reply.sample {
+            Ok(sample) => to_term(&sample.value, env).encode(env),
+            Err(value) => to_term(&value, env).encode(env),
+        },
+        Err(_recv_timeout_error) => atoms::timeout().encode(env),
+    }
+}
+
+#[rustler::nif]
+fn session_delete(resource: ResourceArc<ExSessionRef>, key_expr: String) -> Atom {
+    let session: &Arc<Session> = &resource.0;
+    session
+        .delete(key_expr)
+        .res_sync()
+        .expect("session_delete failed");
+    atom::ok()
+}
+
 #[rustler::nif]
 fn declare_publisher(
     resource: ResourceArc<ExSessionRef>,
@@ -200,7 +265,7 @@ fn subscriber_recv_timeout(
 ) -> Term {
     let subscriber: &Subscriber<'_, Receiver<Sample>> = &resource.0;
     match subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
-        Ok(sample) => to_term(&sample, env),
+        Ok(sample) => to_term(&sample.value, env),
         Err(_recv_timeout_error) => atoms::timeout().encode(env),
     }
 }
@@ -239,7 +304,7 @@ fn pull_subscriber_recv_timeout(
 ) -> Term {
     let pull_subscriber: &PullSubscriber<'_, Receiver<Sample>> = &resource.0;
     match pull_subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
-        Ok(sample) => to_term(&sample, env),
+        Ok(sample) => to_term(&sample.value, env),
         Err(_recv_timeout_error) => atoms::timeout().encode(env),
     }
 }
@@ -277,10 +342,10 @@ fn declare_queryable(
     ResourceArc::new(ExQueryableRef(queryable))
 }
 
-fn to_term<'a>(sample: &Sample, env: Env<'a>) -> Term<'a> {
-    match sample.value.encoding.prefix() {
+fn to_term<'a>(value: &Value, env: Env<'a>) -> Term<'a> {
+    match value.encoding.prefix() {
         KnownEncoding::Empty => unimplemented!(),
-        KnownEncoding::AppOctetStream => match Cow::try_from(&sample.value) {
+        KnownEncoding::AppOctetStream => match Cow::try_from(value) {
             Ok(value) => {
                 let mut binary = OwnedBinary::new(value.len()).unwrap();
                 binary.as_mut_slice().write_all(&value).unwrap();
@@ -289,18 +354,18 @@ fn to_term<'a>(sample: &Sample, env: Env<'a>) -> Term<'a> {
             Err(_err) => atom::error().encode(env),
         },
         KnownEncoding::AppCustom => unimplemented!(),
-        KnownEncoding::TextPlain => match String::try_from(&sample.value) {
+        KnownEncoding::TextPlain => match String::try_from(value) {
             Ok(value) => value.encode(env),
             Err(_err) => atom::error().encode(env),
         },
         KnownEncoding::AppProperties => unimplemented!(),
         KnownEncoding::AppJson => unimplemented!(),
         KnownEncoding::AppSql => unimplemented!(),
-        KnownEncoding::AppInteger => match i64::try_from(&sample.value) {
+        KnownEncoding::AppInteger => match i64::try_from(value) {
             Ok(value) => value.encode(env),
             Err(_err) => atom::error().encode(env),
         },
-        KnownEncoding::AppFloat => match f64::try_from(&sample.value) {
+        KnownEncoding::AppFloat => match f64::try_from(value) {
             Ok(value) => value.encode(env),
             Err(_err) => atom::error().encode(env),
         },
@@ -334,6 +399,11 @@ rustler::init!(
         add,
         test_thread,
         zenoh_open,
+        session_put_integer,
+        session_put_float,
+        session_put_binary,
+        session_get_timeout,
+        session_delete,
         declare_publisher,
         publisher_put_integer,
         publisher_put_float,
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 5028386..d328a87 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -17,6 +17,28 @@ defmodule Zenohex.NifTest do
     %{session: Nif.zenoh_open()}
   end
 
+  describe "session" do
+    for {type, value} <- [
+          {"integer", 0},
+          {"float", 0.0},
+          {"binary", :erlang.term_to_binary("binary")}
+        ] do
+      test "session_put_#{type}/2", %{session: session} do
+        type = unquote(type)
+        value = unquote(value)
+        assert apply(Nif, :"session_put_#{type}", [session, "key/expression", value]) == :ok
+      end
+    end
+
+    test "session_get_timeout/3", %{session: session} do
+      assert Nif.session_get_timeout(session, "key_expression", 1000) == :timeout
+    end
+
+    test "session_delete/2", %{session: session} do
+      assert Nif.session_delete(session, "key_expression") == :ok
+    end
+  end
+
   describe "publisher" do
     test "declare_publisher/2", %{session: session} do
       assert is_reference(Nif.declare_publisher(session, "key/expression"))

From 66ae5a9f53e4d3c0c855e28dd139bfda8ba7b48c Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 25 Jan 2024 20:17:24 +0900
Subject: [PATCH 022/165] [zenohex_nif] Improve PublisherOptions

---
 lib/zenohex/nif.ex            |  4 +-
 lib/zenohex/publisher.ex      | 48 +++++++++++++++++
 native/zenohex_nif/src/lib.rs | 99 +++++++++++++++++++----------------
 test/zenohex/nif_test.exs     | 11 ++--
 4 files changed, 110 insertions(+), 52 deletions(-)
 create mode 100644 lib/zenohex/publisher.ex

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index b2cab43..11a516c 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -1,6 +1,8 @@
 defmodule Zenohex.Nif do
   use Rustler, otp_app: :zenohex, crate: "zenohex_nif"
 
+  alias Zenohex.Publisher.Options
+
   # When your NIF is loaded, it will override this function.
   def add(_a, _b), do: :erlang.nif_error(:nif_not_loaded)
 
@@ -26,7 +28,7 @@ defmodule Zenohex.Nif do
     :erlang.nif_error(:nif_not_loaded)
   end
 
-  def declare_publisher(_session, _key_expr, _opts \\ []) do
+  def declare_publisher(_session, _key_expr, _opts \\ %Options{}) do
     :erlang.nif_error(:nif_not_loaded)
   end
 
diff --git a/lib/zenohex/publisher.ex b/lib/zenohex/publisher.ex
new file mode 100644
index 0000000..bea740f
--- /dev/null
+++ b/lib/zenohex/publisher.ex
@@ -0,0 +1,48 @@
+defmodule Zenohex.Publisher do
+  alias Zenohex.Nif
+
+  @type t :: reference()
+  @type congestion_control :: :drop | :block
+  @type priority ::
+          :real_time
+          | :interactive_high
+          | :interactive_low
+          | :data_high
+          | :data
+          | :data_low
+          | :background
+
+  defmodule Options do
+    defstruct congestion_control: :drop, priority: :data
+  end
+
+  @spec put!(t(), binary()) :: :ok
+  def put!(publisher, value) when is_binary(value) do
+    Nif.publisher_put_binary(publisher, value)
+  end
+
+  @spec put!(t(), integer()) :: :ok
+  def put!(publisher, value) when is_integer(value) do
+    Nif.publisher_put_integer(publisher, value)
+  end
+
+  @spec put!(t(), float()) :: :ok
+  def put!(publisher, value) when is_float(value) do
+    Nif.publisher_put_float(publisher, value)
+  end
+
+  @spec delete!(t()) :: :ok
+  def delete!(publisher) do
+    Nif.publisher_delete(publisher)
+  end
+
+  @spec congestion_control!(t(), congestion_control()) :: t()
+  def congestion_control!(publisher, congestion_control) do
+    Nif.publisher_congestion_control(publisher, congestion_control)
+  end
+
+  @spec priority!(t(), priority()) :: t()
+  def priority!(publisher, priority) do
+    Nif.publisher_priority(publisher, priority)
+  end
+end
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index a3baa7b..68a11bd 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -17,17 +17,6 @@ use zenoh::{queryable::Query, sample::Sample, subscriber::SubscriberBuilder};
 mod atoms {
     rustler::atoms! {
         timeout,
-        congestion_control,
-            drop,
-            block,
-        priority,
-            realtime,
-            interactive_high,
-            interactive_low,
-            data_high,
-            data,
-            data_low,
-            background,
         mode,
             push,
             pull,
@@ -132,68 +121,41 @@ fn session_delete(resource: ResourceArc<ExSessionRef>, key_expr: String) -> Atom
 fn declare_publisher(
     resource: ResourceArc<ExSessionRef>,
     key_expr: String,
-    opts: ListIterator,
+    opts: PublisherOptions,
 ) -> ResourceArc<ExPublisherRef> {
     let session: &Arc<Session> = &resource.0;
     let publisher: Publisher = session
         .declare_publisher(key_expr)
+        .congestion_control(opts.congestion_control.into())
+        .priority(opts.priority.into())
         .res_sync()
         .expect("declare_publisher failed");
 
-    let publisher = opts.fold(publisher, |acc, kv: Term| {
-        match kv.decode::<(Atom, Atom)>().unwrap() {
-            (k, v) if k == atoms::congestion_control() => publisher_congestion_control_impl(acc, v),
-            (k, v) if k == atoms::priority() => publisher_priority_impl(acc, v),
-            _ => acc,
-        }
-    });
-
     ResourceArc::new(ExPublisherRef(publisher))
 }
 
 #[rustler::nif]
 fn publisher_congestion_control(
     resource: ResourceArc<ExPublisherRef>,
-    value: Atom,
+    value: CongestionControl,
 ) -> ResourceArc<ExPublisherRef> {
     let publisher: &Publisher = &resource.0;
-    let publisher: Publisher = publisher_congestion_control_impl(publisher.clone(), value);
+    let publisher: Publisher = publisher.clone().congestion_control(value.into());
 
     ResourceArc::new(ExPublisherRef(publisher))
 }
 
-fn publisher_congestion_control_impl(publisher: Publisher, value: Atom) -> Publisher {
-    match value {
-        v if v == atoms::drop() => publisher.congestion_control(CongestionControl::Drop),
-        v if v == atoms::block() => publisher.congestion_control(CongestionControl::Block),
-        _ => unreachable!(),
-    }
-}
-
 #[rustler::nif]
 fn publisher_priority(
     resource: ResourceArc<ExPublisherRef>,
-    value: Atom,
+    value: Priority,
 ) -> ResourceArc<ExPublisherRef> {
     let publisher: &Publisher = &resource.0;
-    let publisher: Publisher = publisher_priority_impl(publisher.clone(), value);
+    let publisher: Publisher = publisher.clone().priority(value.into());
 
     ResourceArc::new(ExPublisherRef(publisher))
 }
 
-fn publisher_priority_impl(publisher: Publisher, value: Atom) -> Publisher {
-    match value {
-        v if v == atoms::realtime() => publisher.priority(Priority::RealTime),
-        v if v == atoms::interactive_high() => publisher.priority(Priority::InteractiveHigh),
-        v if v == atoms::interactive_low() => publisher.priority(Priority::InteractiveLow),
-        v if v == atoms::data_high() => publisher.priority(Priority::DataHigh),
-        v if v == atoms::data() => publisher.priority(Priority::Data),
-        v if v == atoms::data_low() => publisher.priority(Priority::DataLow),
-        v if v == atoms::background() => publisher.priority(Priority::Background),
-        _ => unreachable!(),
-    }
-}
-
 #[rustler::nif]
 fn publisher_put_integer(resource: ResourceArc<ExPublisherRef>, value: i64) -> Atom {
     publisher_put_impl(resource, value)
@@ -342,6 +304,53 @@ fn declare_queryable(
     ResourceArc::new(ExQueryableRef(queryable))
 }
 
+#[derive(rustler::NifStruct)]
+#[module = "Zenohex.Publisher.Options"]
+pub struct PublisherOptions {
+    congestion_control: CongestionControl,
+    priority: Priority,
+}
+
+#[derive(rustler::NifUnitEnum)]
+pub enum CongestionControl {
+    Drop,
+    Block,
+}
+
+impl From<CongestionControl> for zenoh::publication::CongestionControl {
+    fn from(value: CongestionControl) -> Self {
+        match value {
+            CongestionControl::Drop => zenoh::publication::CongestionControl::Drop,
+            CongestionControl::Block => zenoh::publication::CongestionControl::Block,
+        }
+    }
+}
+
+#[derive(rustler::NifUnitEnum)]
+pub enum Priority {
+    RealTime,
+    InteractiveHigh,
+    InteractiveLow,
+    DataHigh,
+    Data,
+    DataLow,
+    Background,
+}
+
+impl From<Priority> for zenoh::publication::Priority {
+    fn from(value: Priority) -> Self {
+        match value {
+            Priority::RealTime => zenoh::publication::Priority::RealTime,
+            Priority::InteractiveHigh => zenoh::publication::Priority::InteractiveHigh,
+            Priority::InteractiveLow => zenoh::publication::Priority::InteractiveLow,
+            Priority::DataHigh => zenoh::publication::Priority::DataHigh,
+            Priority::Data => zenoh::publication::Priority::Data,
+            Priority::DataLow => zenoh::publication::Priority::DataLow,
+            Priority::Background => zenoh::publication::Priority::Background,
+        }
+    }
+}
+
 fn to_term<'a>(value: &Value, env: Env<'a>) -> Term<'a> {
     match value.encoding.prefix() {
         KnownEncoding::Empty => unimplemented!(),
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index d328a87..1782720 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -40,16 +40,15 @@ defmodule Zenohex.NifTest do
   end
 
   describe "publisher" do
+    alias Zenohex.Publisher.Options
+
     test "declare_publisher/2", %{session: session} do
       assert is_reference(Nif.declare_publisher(session, "key/expression"))
     end
 
     test "declare_publisher/3", %{session: session} do
-      assert is_reference(
-               Nif.declare_publisher(session, "key/expression", congestion_control: :block)
-             )
-
-      assert is_reference(Nif.declare_publisher(session, "key/expression", priority: :realtime))
+      opts = %Options{congestion_control: :block, priority: :real_time}
+      assert is_reference(Nif.declare_publisher(session, "key/expression", opts))
     end
 
     test "publisher_congestion_control/2", %{session: session} do
@@ -59,7 +58,7 @@ defmodule Zenohex.NifTest do
 
     test "publisher_priority/2", %{session: session} do
       publisher = Nif.declare_publisher(session, "key/expression")
-      assert is_reference(Nif.publisher_priority(publisher, :realtime))
+      assert is_reference(Nif.publisher_priority(publisher, :real_time))
     end
 
     for {type, value} <- [

From 45e13fc4a28449f6b29da2375089d42916793547 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 25 Jan 2024 20:57:01 +0900
Subject: [PATCH 023/165] [zenohex_nif] Improve SubscriberOptions

---
 lib/zenohex/nif.ex             |  9 +++--
 lib/zenohex/pull_subscriber.ex | 15 +++++++
 lib/zenohex/subscriber.ex      | 15 +++++++
 native/zenohex_nif/src/lib.rs  | 74 ++++++++++++++++------------------
 test/zenohex/nif_test.exs      | 14 ++++---
 5 files changed, 78 insertions(+), 49 deletions(-)
 create mode 100644 lib/zenohex/pull_subscriber.ex
 create mode 100644 lib/zenohex/subscriber.ex

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index 11a516c..f980256 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -1,7 +1,8 @@
 defmodule Zenohex.Nif do
   use Rustler, otp_app: :zenohex, crate: "zenohex_nif"
 
-  alias Zenohex.Publisher.Options
+  alias Zenohex.Publisher
+  alias Zenohex.Subscriber
 
   # When your NIF is loaded, it will override this function.
   def add(_a, _b), do: :erlang.nif_error(:nif_not_loaded)
@@ -28,7 +29,7 @@ defmodule Zenohex.Nif do
     :erlang.nif_error(:nif_not_loaded)
   end
 
-  def declare_publisher(_session, _key_expr, _opts \\ %Options{}) do
+  def declare_publisher(_session, _key_expr, _opts \\ %Publisher.Options{}) do
     :erlang.nif_error(:nif_not_loaded)
   end
 
@@ -50,7 +51,7 @@ defmodule Zenohex.Nif do
     :erlang.nif_error(:nif_not_loaded)
   end
 
-  def declare_subscriber(_session, _key_expr, _opts \\ []) do
+  def declare_subscriber(_session, _key_expr, _opts \\ %Subscriber.Options{}) do
     :erlang.nif_error(:nif_not_loaded)
   end
 
@@ -58,7 +59,7 @@ defmodule Zenohex.Nif do
     :erlang.nif_error(:nif_not_loaded)
   end
 
-  def declare_pull_subscriber(_session, _key_expr, _opts \\ []) do
+  def declare_pull_subscriber(_session, _key_expr, _opts \\ %Subscriber.Options{}) do
     :erlang.nif_error(:nif_not_loaded)
   end
 
diff --git a/lib/zenohex/pull_subscriber.ex b/lib/zenohex/pull_subscriber.ex
new file mode 100644
index 0000000..0ae5c9a
--- /dev/null
+++ b/lib/zenohex/pull_subscriber.ex
@@ -0,0 +1,15 @@
+defmodule Zenohex.PullSubscriber do
+  alias Zenohex.Nif
+
+  @type t :: reference()
+
+  @spec pull!(t()) :: :ok
+  def pull!(pull_subscriber) do
+    Nif.pull_subscriber_pull(pull_subscriber)
+  end
+
+  @spec recv_timeout!(t(), non_neg_integer()) :: integer() | float() | binary() | :timeout
+  def recv_timeout!(pull_subscriber, timeout_us) do
+    Nif.pull_subscriber_recv_timeout(pull_subscriber, timeout_us)
+  end
+end
diff --git a/lib/zenohex/subscriber.ex b/lib/zenohex/subscriber.ex
new file mode 100644
index 0000000..45aab7c
--- /dev/null
+++ b/lib/zenohex/subscriber.ex
@@ -0,0 +1,15 @@
+defmodule Zenohex.Subscriber do
+  alias Zenohex.Nif
+
+  @type t :: reference()
+  @type reliability :: :best_effort | :reliable
+
+  defmodule Options do
+    defstruct reliability: :best_effort
+  end
+
+  @spec recv_timeout!(t(), non_neg_integer()) :: integer() | float() | binary() | :timeout
+  def recv_timeout!(subscriber, timeout_us) do
+    Nif.subscriber_recv_timeout(subscriber, timeout_us)
+  end
+end
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index 68a11bd..228fc6e 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -12,17 +12,11 @@ use zenoh::{
     publication::Publisher, queryable::Queryable, subscriber::PullSubscriber,
     subscriber::Subscriber, Session,
 };
-use zenoh::{queryable::Query, sample::Sample, subscriber::SubscriberBuilder};
+use zenoh::{queryable::Query, sample::Sample};
 
 mod atoms {
     rustler::atoms! {
         timeout,
-        mode,
-            push,
-            pull,
-        reliability,
-            best_effort,
-            reliable,
         complete,
     }
 }
@@ -197,24 +191,14 @@ fn publisher_delete(resource: ResourceArc<ExPublisherRef>) -> Atom {
 fn declare_subscriber(
     resource: ResourceArc<ExSessionRef>,
     key_expr: String,
-    opts: ListIterator,
+    opts: SubscriberOptions,
 ) -> ResourceArc<ExSubscriberRef> {
     let session: &Arc<Session> = &resource.0;
-    let builder: SubscriberBuilder<_, _> = session.declare_subscriber(key_expr);
-
-    let builder = opts.fold(builder, |acc, kv: Term| {
-        match kv.decode::<(Atom, Atom)>().unwrap() {
-            (k, v) if k == atoms::reliability() => match v {
-                v if v == atoms::best_effort() => acc.best_effort(),
-                v if v == atoms::reliable() => acc.reliable(),
-                _ => unreachable!(),
-            },
-            _ => acc,
-        }
-    });
-
-    let subscriber: Subscriber<'_, Receiver<Sample>> =
-        builder.res_sync().expect("declare_subscriber failed");
+    let subscriber: Subscriber<'_, Receiver<Sample>> = session
+        .declare_subscriber(key_expr)
+        .reliability(opts.reliability.into())
+        .res_sync()
+        .expect("declare_subscriber failed");
 
     ResourceArc::new(ExSubscriberRef(subscriber))
 }
@@ -236,24 +220,15 @@ fn subscriber_recv_timeout(
 fn declare_pull_subscriber(
     resource: ResourceArc<ExSessionRef>,
     key_expr: String,
-    opts: ListIterator,
+    opts: SubscriberOptions,
 ) -> ResourceArc<ExPullSubscriberRef> {
     let session: &Arc<Session> = &resource.0;
-    let builder: SubscriberBuilder<_, _> = session.declare_subscriber(key_expr).pull_mode();
-
-    let builder = opts.fold(builder, |acc, kv: Term| {
-        match kv.decode::<(Atom, Atom)>().unwrap() {
-            (k, v) if k == atoms::reliability() => match v {
-                v if v == atoms::best_effort() => acc.best_effort(),
-                v if v == atoms::reliable() => acc.reliable(),
-                _ => unreachable!(),
-            },
-            _ => acc,
-        }
-    });
-
-    let pull_subscriber: PullSubscriber<'_, Receiver<Sample>> =
-        builder.res_sync().expect("declare_pull_subscriber failed");
+    let pull_subscriber: PullSubscriber<'_, Receiver<Sample>> = session
+        .declare_subscriber(key_expr)
+        .reliability(opts.reliability.into())
+        .pull_mode()
+        .res_sync()
+        .expect("declare_pull_subscriber failed");
 
     ResourceArc::new(ExPullSubscriberRef(pull_subscriber))
 }
@@ -351,6 +326,27 @@ impl From<Priority> for zenoh::publication::Priority {
     }
 }
 
+#[derive(rustler::NifStruct)]
+#[module = "Zenohex.Subscriber.Options"]
+pub struct SubscriberOptions {
+    reliability: Reliability,
+}
+
+#[derive(rustler::NifUnitEnum)]
+pub enum Reliability {
+    BestEffort,
+    Reliable,
+}
+
+impl From<Reliability> for zenoh::subscriber::Reliability {
+    fn from(value: Reliability) -> Self {
+        match value {
+            Reliability::BestEffort => zenoh::subscriber::Reliability::BestEffort,
+            Reliability::Reliable => zenoh::subscriber::Reliability::Reliable,
+        }
+    }
+}
+
 fn to_term<'a>(value: &Value, env: Env<'a>) -> Term<'a> {
     match value.encoding.prefix() {
         KnownEncoding::Empty => unimplemented!(),
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 1782720..d6e3c00 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -81,14 +81,15 @@ defmodule Zenohex.NifTest do
   end
 
   describe "subscriber" do
+    alias Zenohex.Subscriber.Options
+
     test "declare_subscriber/2", %{session: session} do
       assert is_reference(Nif.declare_subscriber(session, "key/expression"))
     end
 
     test "declare_subscriber/3", %{session: session} do
-      assert is_reference(
-               Nif.declare_subscriber(session, "key/expression", reliability: :reliable)
-             )
+      opts = %Options{reliability: :reliable}
+      assert is_reference(Nif.declare_subscriber(session, "key/expression", opts))
     end
 
     test "subscriber_recv_timeout/1", %{session: session} do
@@ -108,14 +109,15 @@ defmodule Zenohex.NifTest do
   end
 
   describe "pull subscriber" do
+    alias Zenohex.Subscriber.Options
+
     test "declare_pull_subscriber/2", %{session: session} do
       assert is_reference(Nif.declare_pull_subscriber(session, "key/expression"))
     end
 
     test "declare_pull_subscriber/3", %{session: session} do
-      assert is_reference(
-               Nif.declare_pull_subscriber(session, "key/expression", reliability: :reliable)
-             )
+      opts = %Options{reliability: :reliable}
+      assert is_reference(Nif.declare_pull_subscriber(session, "key/expression", opts))
     end
 
     test "pull_subscriber_pull/1", %{session: session} do

From 3501b3936ef8adb9f887aa57cc9d86e9d969e76d Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 25 Jan 2024 21:06:03 +0900
Subject: [PATCH 024/165] [zenohex_nif] Improve QueryableOptions

---
 lib/zenohex/nif.ex            |  3 ++-
 lib/zenohex/queryable.ex      |  8 ++++++++
 native/zenohex_nif/src/lib.rs | 30 ++++++++++++++----------------
 test/zenohex/nif_test.exs     |  5 ++++-
 4 files changed, 28 insertions(+), 18 deletions(-)
 create mode 100644 lib/zenohex/queryable.ex

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index f980256..c00c9c8 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -3,6 +3,7 @@ defmodule Zenohex.Nif do
 
   alias Zenohex.Publisher
   alias Zenohex.Subscriber
+  alias Zenohex.Queryable
 
   # When your NIF is loaded, it will override this function.
   def add(_a, _b), do: :erlang.nif_error(:nif_not_loaded)
@@ -71,7 +72,7 @@ defmodule Zenohex.Nif do
     :erlang.nif_error(:nif_not_loaded)
   end
 
-  def declare_queryable(_session, _key_expr, _opts \\ []) do
+  def declare_queryable(_session, _key_expr, _opts \\ %Queryable.Options{}) do
     :erlang.nif_error(:nif_not_loaded)
   end
 end
diff --git a/lib/zenohex/queryable.ex b/lib/zenohex/queryable.ex
new file mode 100644
index 0000000..6b449ef
--- /dev/null
+++ b/lib/zenohex/queryable.ex
@@ -0,0 +1,8 @@
+defmodule Zenohex.Queryable do
+  @type t :: reference()
+  @type complete :: boolean()
+
+  defmodule Options do
+    defstruct complete: false
+  end
+end
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index 228fc6e..49f55df 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -5,7 +5,7 @@ use std::time::Duration;
 
 use flume::Receiver;
 use rustler::types::atom;
-use rustler::{thread, Binary, Encoder, ListIterator, OwnedBinary};
+use rustler::{thread, Binary, Encoder, OwnedBinary};
 use rustler::{Atom, Env, ResourceArc, Term};
 use zenoh::prelude::sync::*;
 use zenoh::{
@@ -17,7 +17,6 @@ use zenoh::{queryable::Query, sample::Sample};
 mod atoms {
     rustler::atoms! {
         timeout,
-        complete,
     }
 }
 
@@ -260,22 +259,15 @@ fn pull_subscriber_pull(resource: ResourceArc<ExPullSubscriberRef>) -> Atom {
 fn declare_queryable(
     resource: ResourceArc<ExSessionRef>,
     key_expr: String,
-    opts: ListIterator,
+    opts: QueryableOptions,
 ) -> ResourceArc<ExQueryableRef> {
     let session: &Arc<Session> = &resource.0;
-    let builder = session.declare_queryable(key_expr);
-    let builder = opts.fold(builder, |acc, kv: Term| {
-        match kv.decode::<(Atom, Atom)>().unwrap() {
-            (k, v) if k == atoms::complete() => match v {
-                v if v == atom::true_() => acc.complete(true),
-                v if v == atom::false_() => acc.complete(false),
-                _ => unreachable!(),
-            },
-            _ => acc,
-        }
-    });
-    let queryable: Queryable<'_, Receiver<Query>> =
-        builder.res_sync().expect("declare_queryable failed");
+    let queryable: Queryable<'_, Receiver<Query>> = session
+        .declare_queryable(key_expr)
+        .complete(opts.complete)
+        .res_sync()
+        .expect("declare_queryable failed");
+
     ResourceArc::new(ExQueryableRef(queryable))
 }
 
@@ -347,6 +339,12 @@ impl From<Reliability> for zenoh::subscriber::Reliability {
     }
 }
 
+#[derive(rustler::NifStruct)]
+#[module = "Zenohex.Queryable.Options"]
+pub struct QueryableOptions {
+    complete: bool,
+}
+
 fn to_term<'a>(value: &Value, env: Env<'a>) -> Term<'a> {
     match value.encoding.prefix() {
         KnownEncoding::Empty => unimplemented!(),
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index d6e3c00..36b6069 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -153,12 +153,15 @@ defmodule Zenohex.NifTest do
   end
 
   describe "queryable" do
+    alias Zenohex.Queryable.Options
+
     test "declare_queryable/2", %{session: session} do
       assert is_reference(Nif.declare_queryable(session, "key/expression"))
     end
 
     test "declare_queryable/3", %{session: session} do
-      assert is_reference(Nif.declare_queryable(session, "key/expression", complete: true))
+      opts = %Options{complete: true}
+      assert is_reference(Nif.declare_queryable(session, "key/expression", opts))
     end
   end
 end

From b94628b86258783a8dd9082e578713789697f57f Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 26 Jan 2024 10:07:14 +0900
Subject: [PATCH 025/165] [zenohex_nif] Add publisher mod

---
 native/zenohex_nif/src/lib.rs       | 121 ++--------------------------
 native/zenohex_nif/src/publisher.rs | 109 +++++++++++++++++++++++++
 2 files changed, 117 insertions(+), 113 deletions(-)
 create mode 100644 native/zenohex_nif/src/publisher.rs

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index 49f55df..a6f941d 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -19,6 +19,7 @@ mod atoms {
         timeout,
     }
 }
+mod publisher;
 
 pub struct ExSessionRef(Arc<Session>);
 pub struct ExPublisherRef(Publisher<'static>);
@@ -114,7 +115,7 @@ fn session_delete(resource: ResourceArc<ExSessionRef>, key_expr: String) -> Atom
 fn declare_publisher(
     resource: ResourceArc<ExSessionRef>,
     key_expr: String,
-    opts: PublisherOptions,
+    opts: publisher::PublisherOptions,
 ) -> ResourceArc<ExPublisherRef> {
     let session: &Arc<Session> = &resource.0;
     let publisher: Publisher = session
@@ -127,65 +128,6 @@ fn declare_publisher(
     ResourceArc::new(ExPublisherRef(publisher))
 }
 
-#[rustler::nif]
-fn publisher_congestion_control(
-    resource: ResourceArc<ExPublisherRef>,
-    value: CongestionControl,
-) -> ResourceArc<ExPublisherRef> {
-    let publisher: &Publisher = &resource.0;
-    let publisher: Publisher = publisher.clone().congestion_control(value.into());
-
-    ResourceArc::new(ExPublisherRef(publisher))
-}
-
-#[rustler::nif]
-fn publisher_priority(
-    resource: ResourceArc<ExPublisherRef>,
-    value: Priority,
-) -> ResourceArc<ExPublisherRef> {
-    let publisher: &Publisher = &resource.0;
-    let publisher: Publisher = publisher.clone().priority(value.into());
-
-    ResourceArc::new(ExPublisherRef(publisher))
-}
-
-#[rustler::nif]
-fn publisher_put_integer(resource: ResourceArc<ExPublisherRef>, value: i64) -> Atom {
-    publisher_put_impl(resource, value)
-}
-
-#[rustler::nif]
-fn publisher_put_float(resource: ResourceArc<ExPublisherRef>, value: f64) -> Atom {
-    publisher_put_impl(resource, value)
-}
-
-#[rustler::nif]
-fn publisher_put_binary(resource: ResourceArc<ExPublisherRef>, value: Binary) -> Atom {
-    publisher_put_impl(resource, Value::from(value.as_slice()))
-}
-
-fn publisher_put_impl<T: Into<zenoh::value::Value>>(
-    resource: ResourceArc<ExPublisherRef>,
-    value: T,
-) -> Atom {
-    let publisher: &Publisher = &resource.0;
-    publisher
-        .put(value)
-        .res_sync()
-        .expect("publisher_put_impl failed");
-    atom::ok()
-}
-
-#[rustler::nif]
-fn publisher_delete(resource: ResourceArc<ExPublisherRef>) -> Atom {
-    let publisher: &Publisher = &resource.0;
-    publisher
-        .delete()
-        .res_sync()
-        .expect("publisher_delete failed.");
-    atom::ok()
-}
-
 #[rustler::nif]
 fn declare_subscriber(
     resource: ResourceArc<ExSessionRef>,
@@ -271,53 +213,6 @@ fn declare_queryable(
     ResourceArc::new(ExQueryableRef(queryable))
 }
 
-#[derive(rustler::NifStruct)]
-#[module = "Zenohex.Publisher.Options"]
-pub struct PublisherOptions {
-    congestion_control: CongestionControl,
-    priority: Priority,
-}
-
-#[derive(rustler::NifUnitEnum)]
-pub enum CongestionControl {
-    Drop,
-    Block,
-}
-
-impl From<CongestionControl> for zenoh::publication::CongestionControl {
-    fn from(value: CongestionControl) -> Self {
-        match value {
-            CongestionControl::Drop => zenoh::publication::CongestionControl::Drop,
-            CongestionControl::Block => zenoh::publication::CongestionControl::Block,
-        }
-    }
-}
-
-#[derive(rustler::NifUnitEnum)]
-pub enum Priority {
-    RealTime,
-    InteractiveHigh,
-    InteractiveLow,
-    DataHigh,
-    Data,
-    DataLow,
-    Background,
-}
-
-impl From<Priority> for zenoh::publication::Priority {
-    fn from(value: Priority) -> Self {
-        match value {
-            Priority::RealTime => zenoh::publication::Priority::RealTime,
-            Priority::InteractiveHigh => zenoh::publication::Priority::InteractiveHigh,
-            Priority::InteractiveLow => zenoh::publication::Priority::InteractiveLow,
-            Priority::DataHigh => zenoh::publication::Priority::DataHigh,
-            Priority::Data => zenoh::publication::Priority::Data,
-            Priority::DataLow => zenoh::publication::Priority::DataLow,
-            Priority::Background => zenoh::publication::Priority::Background,
-        }
-    }
-}
-
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Subscriber.Options"]
 pub struct SubscriberOptions {
@@ -408,12 +303,12 @@ rustler::init!(
         session_get_timeout,
         session_delete,
         declare_publisher,
-        publisher_put_integer,
-        publisher_put_float,
-        publisher_put_binary,
-        publisher_delete,
-        publisher_congestion_control,
-        publisher_priority,
+        publisher::publisher_put_integer,
+        publisher::publisher_put_float,
+        publisher::publisher_put_binary,
+        publisher::publisher_delete,
+        publisher::publisher_congestion_control,
+        publisher::publisher_priority,
         declare_subscriber,
         subscriber_recv_timeout,
         declare_pull_subscriber,
diff --git a/native/zenohex_nif/src/publisher.rs b/native/zenohex_nif/src/publisher.rs
new file mode 100644
index 0000000..891c8bb
--- /dev/null
+++ b/native/zenohex_nif/src/publisher.rs
@@ -0,0 +1,109 @@
+use crate::ExPublisherRef;
+use rustler::{types::atom, Atom, Binary, ResourceArc};
+use zenoh::{prelude::sync::SyncResolve, publication::Publisher, value::Value};
+
+#[rustler::nif]
+fn publisher_put_integer(resource: ResourceArc<ExPublisherRef>, value: i64) -> Atom {
+    publisher_put_impl(resource, value)
+}
+
+#[rustler::nif]
+fn publisher_put_float(resource: ResourceArc<ExPublisherRef>, value: f64) -> Atom {
+    publisher_put_impl(resource, value)
+}
+
+#[rustler::nif]
+fn publisher_put_binary(resource: ResourceArc<ExPublisherRef>, value: Binary) -> Atom {
+    publisher_put_impl(resource, Value::from(value.as_slice()))
+}
+
+fn publisher_put_impl<T: Into<zenoh::value::Value>>(
+    resource: ResourceArc<ExPublisherRef>,
+    value: T,
+) -> Atom {
+    let publisher: &Publisher = &resource.0;
+    publisher
+        .put(value)
+        .res_sync()
+        .expect("publisher_put_impl failed");
+    atom::ok()
+}
+
+#[rustler::nif]
+fn publisher_delete(resource: ResourceArc<ExPublisherRef>) -> Atom {
+    let publisher: &Publisher = &resource.0;
+    publisher
+        .delete()
+        .res_sync()
+        .expect("publisher_delete failed.");
+    atom::ok()
+}
+
+#[rustler::nif]
+fn publisher_congestion_control(
+    resource: ResourceArc<ExPublisherRef>,
+    value: CongestionControl,
+) -> ResourceArc<ExPublisherRef> {
+    let publisher: &Publisher = &resource.0;
+    let publisher: Publisher = publisher.clone().congestion_control(value.into());
+
+    ResourceArc::new(ExPublisherRef(publisher))
+}
+
+#[rustler::nif]
+fn publisher_priority(
+    resource: ResourceArc<ExPublisherRef>,
+    value: Priority,
+) -> ResourceArc<ExPublisherRef> {
+    let publisher: &Publisher = &resource.0;
+    let publisher: Publisher = publisher.clone().priority(value.into());
+
+    ResourceArc::new(ExPublisherRef(publisher))
+}
+
+#[derive(rustler::NifStruct)]
+#[module = "Zenohex.Publisher.Options"]
+pub struct PublisherOptions {
+    pub(crate) congestion_control: CongestionControl,
+    pub(crate) priority: Priority,
+}
+
+#[derive(rustler::NifUnitEnum)]
+pub enum CongestionControl {
+    Drop,
+    Block,
+}
+
+impl From<CongestionControl> for zenoh::publication::CongestionControl {
+    fn from(value: CongestionControl) -> Self {
+        match value {
+            CongestionControl::Drop => zenoh::publication::CongestionControl::Drop,
+            CongestionControl::Block => zenoh::publication::CongestionControl::Block,
+        }
+    }
+}
+
+#[derive(rustler::NifUnitEnum)]
+pub enum Priority {
+    RealTime,
+    InteractiveHigh,
+    InteractiveLow,
+    DataHigh,
+    Data,
+    DataLow,
+    Background,
+}
+
+impl From<Priority> for zenoh::publication::Priority {
+    fn from(value: Priority) -> Self {
+        match value {
+            Priority::RealTime => zenoh::publication::Priority::RealTime,
+            Priority::InteractiveHigh => zenoh::publication::Priority::InteractiveHigh,
+            Priority::InteractiveLow => zenoh::publication::Priority::InteractiveLow,
+            Priority::DataHigh => zenoh::publication::Priority::DataHigh,
+            Priority::Data => zenoh::publication::Priority::Data,
+            Priority::DataLow => zenoh::publication::Priority::DataLow,
+            Priority::Background => zenoh::publication::Priority::Background,
+        }
+    }
+}

From e66c82e3f6db94b2bba68072a46dff504cfb2dd7 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 26 Jan 2024 10:28:39 +0900
Subject: [PATCH 026/165] [zenohex_nif] Add subscriber mod

---
 native/zenohex_nif/src/lib.rs        | 41 +++-------------------------
 native/zenohex_nif/src/subscriber.rs | 39 ++++++++++++++++++++++++++
 2 files changed, 43 insertions(+), 37 deletions(-)
 create mode 100644 native/zenohex_nif/src/subscriber.rs

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index a6f941d..f1f0a80 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -20,6 +20,7 @@ mod atoms {
     }
 }
 mod publisher;
+mod subscriber;
 
 pub struct ExSessionRef(Arc<Session>);
 pub struct ExPublisherRef(Publisher<'static>);
@@ -132,7 +133,7 @@ fn declare_publisher(
 fn declare_subscriber(
     resource: ResourceArc<ExSessionRef>,
     key_expr: String,
-    opts: SubscriberOptions,
+    opts: subscriber::SubscriberOptions,
 ) -> ResourceArc<ExSubscriberRef> {
     let session: &Arc<Session> = &resource.0;
     let subscriber: Subscriber<'_, Receiver<Sample>> = session
@@ -144,24 +145,11 @@ fn declare_subscriber(
     ResourceArc::new(ExSubscriberRef(subscriber))
 }
 
-#[rustler::nif]
-fn subscriber_recv_timeout(
-    env: Env,
-    resource: ResourceArc<ExSubscriberRef>,
-    timeout_us: u64,
-) -> Term {
-    let subscriber: &Subscriber<'_, Receiver<Sample>> = &resource.0;
-    match subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
-        Ok(sample) => to_term(&sample.value, env),
-        Err(_recv_timeout_error) => atoms::timeout().encode(env),
-    }
-}
-
 #[rustler::nif]
 fn declare_pull_subscriber(
     resource: ResourceArc<ExSessionRef>,
     key_expr: String,
-    opts: SubscriberOptions,
+    opts: subscriber::SubscriberOptions,
 ) -> ResourceArc<ExPullSubscriberRef> {
     let session: &Arc<Session> = &resource.0;
     let pull_subscriber: PullSubscriber<'_, Receiver<Sample>> = session
@@ -213,27 +201,6 @@ fn declare_queryable(
     ResourceArc::new(ExQueryableRef(queryable))
 }
 
-#[derive(rustler::NifStruct)]
-#[module = "Zenohex.Subscriber.Options"]
-pub struct SubscriberOptions {
-    reliability: Reliability,
-}
-
-#[derive(rustler::NifUnitEnum)]
-pub enum Reliability {
-    BestEffort,
-    Reliable,
-}
-
-impl From<Reliability> for zenoh::subscriber::Reliability {
-    fn from(value: Reliability) -> Self {
-        match value {
-            Reliability::BestEffort => zenoh::subscriber::Reliability::BestEffort,
-            Reliability::Reliable => zenoh::subscriber::Reliability::Reliable,
-        }
-    }
-}
-
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Queryable.Options"]
 pub struct QueryableOptions {
@@ -310,7 +277,7 @@ rustler::init!(
         publisher::publisher_congestion_control,
         publisher::publisher_priority,
         declare_subscriber,
-        subscriber_recv_timeout,
+        subscriber::subscriber_recv_timeout,
         declare_pull_subscriber,
         pull_subscriber_pull,
         pull_subscriber_recv_timeout,
diff --git a/native/zenohex_nif/src/subscriber.rs b/native/zenohex_nif/src/subscriber.rs
new file mode 100644
index 0000000..c6e9aa5
--- /dev/null
+++ b/native/zenohex_nif/src/subscriber.rs
@@ -0,0 +1,39 @@
+use std::time::Duration;
+
+use flume::Receiver;
+use rustler::{Encoder, Env, ResourceArc, Term};
+use zenoh::{sample::Sample, subscriber::Subscriber};
+
+#[rustler::nif]
+fn subscriber_recv_timeout(
+    env: Env,
+    resource: ResourceArc<crate::ExSubscriberRef>,
+    timeout_us: u64,
+) -> Term {
+    let subscriber: &Subscriber<'_, Receiver<Sample>> = &resource.0;
+    match subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
+        Ok(sample) => crate::to_term(&sample.value, env),
+        Err(_recv_timeout_error) => crate::atoms::timeout().encode(env),
+    }
+}
+
+#[derive(rustler::NifStruct)]
+#[module = "Zenohex.Subscriber.Options"]
+pub struct SubscriberOptions {
+    pub(crate) reliability: Reliability,
+}
+
+#[derive(rustler::NifUnitEnum)]
+pub enum Reliability {
+    BestEffort,
+    Reliable,
+}
+
+impl From<Reliability> for zenoh::subscriber::Reliability {
+    fn from(value: Reliability) -> Self {
+        match value {
+            Reliability::BestEffort => zenoh::subscriber::Reliability::BestEffort,
+            Reliability::Reliable => zenoh::subscriber::Reliability::Reliable,
+        }
+    }
+}

From 721a936be282f9182d947ed6978039d954f6b00c Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 26 Jan 2024 10:35:05 +0900
Subject: [PATCH 027/165] [zenohex_nif] Add pull_subscriber mod

---
 native/zenohex_nif/src/lib.rs             | 28 +++--------------------
 native/zenohex_nif/src/pull_subscriber.rs | 28 +++++++++++++++++++++++
 2 files changed, 31 insertions(+), 25 deletions(-)
 create mode 100644 native/zenohex_nif/src/pull_subscriber.rs

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index f1f0a80..f81b351 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -20,6 +20,7 @@ mod atoms {
     }
 }
 mod publisher;
+mod pull_subscriber;
 mod subscriber;
 
 pub struct ExSessionRef(Arc<Session>);
@@ -162,29 +163,6 @@ fn declare_pull_subscriber(
     ResourceArc::new(ExPullSubscriberRef(pull_subscriber))
 }
 
-#[rustler::nif]
-fn pull_subscriber_recv_timeout(
-    env: Env,
-    resource: ResourceArc<ExPullSubscriberRef>,
-    timeout_us: u64,
-) -> Term {
-    let pull_subscriber: &PullSubscriber<'_, Receiver<Sample>> = &resource.0;
-    match pull_subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
-        Ok(sample) => to_term(&sample.value, env),
-        Err(_recv_timeout_error) => atoms::timeout().encode(env),
-    }
-}
-
-#[rustler::nif]
-fn pull_subscriber_pull(resource: ResourceArc<ExPullSubscriberRef>) -> Atom {
-    let pull_subscriber: &PullSubscriber<'_, Receiver<Sample>> = &resource.0;
-    pull_subscriber
-        .pull()
-        .res_sync()
-        .expect("pull_subscriber_pull failed");
-    atom::ok()
-}
-
 #[rustler::nif]
 fn declare_queryable(
     resource: ResourceArc<ExSessionRef>,
@@ -279,8 +257,8 @@ rustler::init!(
         declare_subscriber,
         subscriber::subscriber_recv_timeout,
         declare_pull_subscriber,
-        pull_subscriber_pull,
-        pull_subscriber_recv_timeout,
+        pull_subscriber::pull_subscriber_pull,
+        pull_subscriber::pull_subscriber_recv_timeout,
         declare_queryable,
     ],
     load = load
diff --git a/native/zenohex_nif/src/pull_subscriber.rs b/native/zenohex_nif/src/pull_subscriber.rs
new file mode 100644
index 0000000..e0f3ac9
--- /dev/null
+++ b/native/zenohex_nif/src/pull_subscriber.rs
@@ -0,0 +1,28 @@
+use std::time::Duration;
+
+use flume::Receiver;
+use rustler::{types::atom, Atom, Encoder, Env, ResourceArc, Term};
+use zenoh::{prelude::sync::SyncResolve, sample::Sample, subscriber::PullSubscriber};
+
+#[rustler::nif]
+fn pull_subscriber_recv_timeout(
+    env: Env,
+    resource: ResourceArc<crate::ExPullSubscriberRef>,
+    timeout_us: u64,
+) -> Term {
+    let pull_subscriber: &PullSubscriber<'_, Receiver<Sample>> = &resource.0;
+    match pull_subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
+        Ok(sample) => crate::to_term(&sample.value, env),
+        Err(_recv_timeout_error) => crate::atoms::timeout().encode(env),
+    }
+}
+
+#[rustler::nif]
+fn pull_subscriber_pull(resource: ResourceArc<crate::ExPullSubscriberRef>) -> Atom {
+    let pull_subscriber: &PullSubscriber<'_, Receiver<Sample>> = &resource.0;
+    pull_subscriber
+        .pull()
+        .res_sync()
+        .expect("pull_subscriber_pull failed");
+    atom::ok()
+}

From 3c4834c679b71ca8b0ffd88ddb615f399ceaf00d Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 26 Jan 2024 10:38:25 +0900
Subject: [PATCH 028/165] [zenohex_nif] Add queryable mod

---
 native/zenohex_nif/src/lib.rs       | 9 ++-------
 native/zenohex_nif/src/queryable.rs | 5 +++++
 2 files changed, 7 insertions(+), 7 deletions(-)
 create mode 100644 native/zenohex_nif/src/queryable.rs

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index f81b351..ac4705f 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -21,6 +21,7 @@ mod atoms {
 }
 mod publisher;
 mod pull_subscriber;
+mod queryable;
 mod subscriber;
 
 pub struct ExSessionRef(Arc<Session>);
@@ -167,7 +168,7 @@ fn declare_pull_subscriber(
 fn declare_queryable(
     resource: ResourceArc<ExSessionRef>,
     key_expr: String,
-    opts: QueryableOptions,
+    opts: queryable::QueryableOptions,
 ) -> ResourceArc<ExQueryableRef> {
     let session: &Arc<Session> = &resource.0;
     let queryable: Queryable<'_, Receiver<Query>> = session
@@ -179,12 +180,6 @@ fn declare_queryable(
     ResourceArc::new(ExQueryableRef(queryable))
 }
 
-#[derive(rustler::NifStruct)]
-#[module = "Zenohex.Queryable.Options"]
-pub struct QueryableOptions {
-    complete: bool,
-}
-
 fn to_term<'a>(value: &Value, env: Env<'a>) -> Term<'a> {
     match value.encoding.prefix() {
         KnownEncoding::Empty => unimplemented!(),
diff --git a/native/zenohex_nif/src/queryable.rs b/native/zenohex_nif/src/queryable.rs
new file mode 100644
index 0000000..33013ea
--- /dev/null
+++ b/native/zenohex_nif/src/queryable.rs
@@ -0,0 +1,5 @@
+#[derive(rustler::NifStruct)]
+#[module = "Zenohex.Queryable.Options"]
+pub struct QueryableOptions {
+    pub(crate) complete: bool,
+}

From f14f75043e21b7303b5b94827548ef0950bc3d61 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Sat, 27 Jan 2024 08:03:54 +0900
Subject: [PATCH 029/165] [zenohex_nif] Add session mod

---
 native/zenohex_nif/src/lib.rs     | 79 +++----------------------------
 native/zenohex_nif/src/session.rs | 77 ++++++++++++++++++++++++++++++
 2 files changed, 84 insertions(+), 72 deletions(-)
 create mode 100644 native/zenohex_nif/src/session.rs

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index ac4705f..bfbd2bf 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -1,11 +1,10 @@
 use std::borrow::Cow;
 use std::io::Write;
 use std::sync::Arc;
-use std::time::Duration;
 
 use flume::Receiver;
 use rustler::types::atom;
-use rustler::{thread, Binary, Encoder, OwnedBinary};
+use rustler::{thread, Encoder, OwnedBinary};
 use rustler::{Atom, Env, ResourceArc, Term};
 use zenoh::prelude::sync::*;
 use zenoh::{
@@ -22,6 +21,7 @@ mod atoms {
 mod publisher;
 mod pull_subscriber;
 mod queryable;
+mod session;
 mod subscriber;
 
 pub struct ExSessionRef(Arc<Session>);
@@ -49,71 +49,6 @@ fn zenoh_open() -> ResourceArc<ExSessionRef> {
     ResourceArc::new(ExSessionRef(session.into_arc()))
 }
 
-#[rustler::nif]
-fn session_put_integer(resource: ResourceArc<ExSessionRef>, key_expr: String, value: i64) -> Atom {
-    let session: &Arc<Session> = &resource.0;
-    session
-        .put(key_expr, value)
-        .res_sync()
-        .expect("session_put_integer failed");
-    atom::ok()
-}
-
-#[rustler::nif]
-fn session_put_float(resource: ResourceArc<ExSessionRef>, key_expr: String, value: f64) -> Atom {
-    let session: &Arc<Session> = &resource.0;
-    session
-        .put(key_expr, value)
-        .res_sync()
-        .expect("session_put_float failed");
-    atom::ok()
-}
-
-#[rustler::nif]
-fn session_put_binary(
-    resource: ResourceArc<ExSessionRef>,
-    key_expr: String,
-    value: Binary,
-) -> Atom {
-    let session: &Arc<Session> = &resource.0;
-    session
-        .put(key_expr, Value::from(value.as_slice()))
-        .res_sync()
-        .expect("session_put_float failed");
-    atom::ok()
-}
-
-#[rustler::nif]
-fn session_get_timeout(
-    env: Env,
-    resource: ResourceArc<ExSessionRef>,
-    selector: String,
-    timeout_us: u64,
-) -> Term {
-    let session: &Arc<Session> = &resource.0;
-    let receiver = session
-        .get(selector)
-        .res_sync()
-        .expect("session_get failed");
-    match receiver.recv_timeout(Duration::from_micros(timeout_us)) {
-        Ok(reply) => match reply.sample {
-            Ok(sample) => to_term(&sample.value, env).encode(env),
-            Err(value) => to_term(&value, env).encode(env),
-        },
-        Err(_recv_timeout_error) => atoms::timeout().encode(env),
-    }
-}
-
-#[rustler::nif]
-fn session_delete(resource: ResourceArc<ExSessionRef>, key_expr: String) -> Atom {
-    let session: &Arc<Session> = &resource.0;
-    session
-        .delete(key_expr)
-        .res_sync()
-        .expect("session_delete failed");
-    atom::ok()
-}
-
 #[rustler::nif]
 fn declare_publisher(
     resource: ResourceArc<ExSessionRef>,
@@ -237,11 +172,11 @@ rustler::init!(
         add,
         test_thread,
         zenoh_open,
-        session_put_integer,
-        session_put_float,
-        session_put_binary,
-        session_get_timeout,
-        session_delete,
+        session::session_put_integer,
+        session::session_put_float,
+        session::session_put_binary,
+        session::session_get_timeout,
+        session::session_delete,
         declare_publisher,
         publisher::publisher_put_integer,
         publisher::publisher_put_float,
diff --git a/native/zenohex_nif/src/session.rs b/native/zenohex_nif/src/session.rs
new file mode 100644
index 0000000..ba0a011
--- /dev/null
+++ b/native/zenohex_nif/src/session.rs
@@ -0,0 +1,77 @@
+use std::{sync::Arc, time::Duration};
+
+use rustler::{types::atom, Atom, Binary, Encoder, Env, ResourceArc, Term};
+use zenoh::{prelude::sync::SyncResolve, value::Value, Session};
+
+#[rustler::nif]
+fn session_put_integer(
+    resource: ResourceArc<crate::ExSessionRef>,
+    key_expr: String,
+    value: i64,
+) -> Atom {
+    let session: &Arc<Session> = &resource.0;
+    session
+        .put(key_expr, value)
+        .res_sync()
+        .expect("session_put_integer failed");
+    atom::ok()
+}
+
+#[rustler::nif]
+fn session_put_float(
+    resource: ResourceArc<crate::ExSessionRef>,
+    key_expr: String,
+    value: f64,
+) -> Atom {
+    let session: &Arc<Session> = &resource.0;
+    session
+        .put(key_expr, value)
+        .res_sync()
+        .expect("session_put_float failed");
+    atom::ok()
+}
+
+#[rustler::nif]
+fn session_put_binary(
+    resource: ResourceArc<crate::ExSessionRef>,
+    key_expr: String,
+    value: Binary,
+) -> Atom {
+    let session: &Arc<Session> = &resource.0;
+    session
+        .put(key_expr, Value::from(value.as_slice()))
+        .res_sync()
+        .expect("session_put_float failed");
+    atom::ok()
+}
+
+#[rustler::nif]
+fn session_get_timeout(
+    env: Env,
+    resource: ResourceArc<crate::ExSessionRef>,
+    selector: String,
+    timeout_us: u64,
+) -> Term {
+    let session: &Arc<Session> = &resource.0;
+    let receiver = session
+        .get(selector)
+        .res_sync()
+        .expect("session_get failed");
+    match receiver.recv_timeout(Duration::from_micros(timeout_us)) {
+        Ok(reply) => match reply.sample {
+            Ok(sample) => crate::to_term(&sample.value, env).encode(env),
+            Err(value) => crate::to_term(&value, env).encode(env),
+        },
+        Err(_recv_timeout_error) => crate::atoms::timeout().encode(env),
+    }
+}
+
+#[rustler::nif]
+fn session_delete(resource: ResourceArc<crate::ExSessionRef>, key_expr: String) -> Atom {
+    let session: &Arc<Session> = &resource.0;
+    session
+        .delete(key_expr)
+        .res_sync()
+        .expect("session_delete failed");
+    atom::ok()
+}

From ec73c38f0db38deb3db88b49fa9e38c8d7743f8c Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Sat, 27 Jan 2024 08:04:04 +0900
Subject: [PATCH 030/165] [zenohex_nif] Reorder rustler::init! funcs

---
 native/zenohex_nif/src/lib.rs | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index bfbd2bf..e3ce719 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -172,24 +172,24 @@ rustler::init!(
         add,
         test_thread,
         zenoh_open,
+        declare_publisher,
+        declare_subscriber,
+        declare_pull_subscriber,
+        declare_queryable,
         session::session_put_integer,
         session::session_put_float,
         session::session_put_binary,
         session::session_get_timeout,
         session::session_delete,
-        declare_publisher,
         publisher::publisher_put_integer,
         publisher::publisher_put_float,
         publisher::publisher_put_binary,
         publisher::publisher_delete,
         publisher::publisher_congestion_control,
         publisher::publisher_priority,
-        declare_subscriber,
         subscriber::subscriber_recv_timeout,
-        declare_pull_subscriber,
         pull_subscriber::pull_subscriber_pull,
         pull_subscriber::pull_subscriber_recv_timeout,
-        declare_queryable,
     ],
     load = load
 );

From df062753170cadbc15c36b909b7901a8396f3665 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 29 Jan 2024 09:47:54 +0900
Subject: [PATCH 031/165] Add credo to deps

---
 mix.exs  | 3 ++-
 mix.lock | 2 ++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/mix.exs b/mix.exs
index 547959f..4695782 100644
--- a/mix.exs
+++ b/mix.exs
@@ -27,7 +27,8 @@ defmodule Zenohex.MixProject do
       {:rustler_precompiled, "~> 0.7.1"},
       {:rustler, ">= 0.30.0", optional: true},
       {:ex_doc, "~> 0.31.0", only: :dev},
-      {:mix_test_watch, "~> 1.0", only: [:dev, :test], runtime: false}
+      {:mix_test_watch, "~> 1.0", only: [:dev, :test], runtime: false},
+      {:credo, "~> 1.7", only: [:dev, :test], runtime: false}
     ]
   end
 
diff --git a/mix.lock b/mix.lock
index 88fc4f4..a4e1bee 100644
--- a/mix.lock
+++ b/mix.lock
@@ -1,5 +1,7 @@
 %{
+  "bunt": {:hex, :bunt, "1.0.0", "081c2c665f086849e6d57900292b3a161727ab40431219529f13c4ddcf3e7a44", [:mix], [], "hexpm", "dc5f86aa08a5f6fa6b8096f0735c4e76d54ae5c9fa2c143e5a1fc7c1cd9bb6b5"},
   "castore": {:hex, :castore, "1.0.5", "9eeebb394cc9a0f3ae56b813459f990abb0a3dedee1be6b27fdb50301930502f", [:mix], [], "hexpm", "8d7c597c3e4a64c395980882d4bca3cebb8d74197c590dc272cfd3b6a6310578"},
+  "credo": {:hex, :credo, "1.7.3", "05bb11eaf2f2b8db370ecaa6a6bda2ec49b2acd5e0418bc106b73b07128c0436", [:mix], [{:bunt, "~> 0.2.1 or ~> 1.0", [hex: :bunt, repo: "hexpm", optional: false]}, {:file_system, "~> 0.2 or ~> 1.0", [hex: :file_system, repo: "hexpm", optional: false]}, {:jason, "~> 1.0", [hex: :jason, repo: "hexpm", optional: false]}], "hexpm", "35ea675a094c934c22fb1dca3696f3c31f2728ae6ef5a53b5d648c11180a4535"},
   "earmark_parser": {:hex, :earmark_parser, "1.4.39", "424642f8335b05bb9eb611aa1564c148a8ee35c9c8a8bba6e129d51a3e3c6769", [:mix], [], "hexpm", "06553a88d1f1846da9ef066b87b57c6f605552cfbe40d20bd8d59cc6bde41944"},
   "ex_doc": {:hex, :ex_doc, "0.31.1", "8a2355ac42b1cc7b2379da9e40243f2670143721dd50748bf6c3b1184dae2089", [:mix], [{:earmark_parser, "~> 1.4.39", [hex: :earmark_parser, repo: "hexpm", optional: false]}, {:makeup_c, ">= 0.1.1", [hex: :makeup_c, repo: "hexpm", optional: true]}, {:makeup_elixir, "~> 0.14", [hex: :makeup_elixir, repo: "hexpm", optional: false]}, {:makeup_erlang, "~> 0.1", [hex: :makeup_erlang, repo: "hexpm", optional: false]}], "hexpm", "3178c3a407c557d8343479e1ff117a96fd31bafe52a039079593fb0524ef61b0"},
   "file_system": {:hex, :file_system, "0.2.10", "fb082005a9cd1711c05b5248710f8826b02d7d1784e7c3451f9c1231d4fc162d", [:mix], [], "hexpm", "41195edbfb562a593726eda3b3e8b103a309b733ad25f3d642ba49696bf715dc"},

From 1ac2e2575c83aa3aefca12ef14d8fb6c0e888cc2 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 29 Jan 2024 09:48:26 +0900
Subject: [PATCH 032/165] Add dialyxir to deps

---
 mix.exs  | 3 ++-
 mix.lock | 2 ++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/mix.exs b/mix.exs
index 4695782..6008860 100644
--- a/mix.exs
+++ b/mix.exs
@@ -28,7 +28,8 @@ defmodule Zenohex.MixProject do
       {:rustler, ">= 0.30.0", optional: true},
       {:ex_doc, "~> 0.31.0", only: :dev},
       {:mix_test_watch, "~> 1.0", only: [:dev, :test], runtime: false},
-      {:credo, "~> 1.7", only: [:dev, :test], runtime: false}
+      {:credo, "~> 1.7", only: [:dev, :test], runtime: false},
+      {:dialyxir, "~> 1.4", only: [:dev, :test], runtime: false}
     ]
   end
 
diff --git a/mix.lock b/mix.lock
index a4e1bee..f5a7a78 100644
--- a/mix.lock
+++ b/mix.lock
@@ -2,7 +2,9 @@
   "bunt": {:hex, :bunt, "1.0.0", "081c2c665f086849e6d57900292b3a161727ab40431219529f13c4ddcf3e7a44", [:mix], [], "hexpm", "dc5f86aa08a5f6fa6b8096f0735c4e76d54ae5c9fa2c143e5a1fc7c1cd9bb6b5"},
   "castore": {:hex, :castore, "1.0.5", "9eeebb394cc9a0f3ae56b813459f990abb0a3dedee1be6b27fdb50301930502f", [:mix], [], "hexpm", "8d7c597c3e4a64c395980882d4bca3cebb8d74197c590dc272cfd3b6a6310578"},
   "credo": {:hex, :credo, "1.7.3", "05bb11eaf2f2b8db370ecaa6a6bda2ec49b2acd5e0418bc106b73b07128c0436", [:mix], [{:bunt, "~> 0.2.1 or ~> 1.0", [hex: :bunt, repo: "hexpm", optional: false]}, {:file_system, "~> 0.2 or ~> 1.0", [hex: :file_system, repo: "hexpm", optional: false]}, {:jason, "~> 1.0", [hex: :jason, repo: "hexpm", optional: false]}], "hexpm", "35ea675a094c934c22fb1dca3696f3c31f2728ae6ef5a53b5d648c11180a4535"},
+  "dialyxir": {:hex, :dialyxir, "1.4.3", "edd0124f358f0b9e95bfe53a9fcf806d615d8f838e2202a9f430d59566b6b53b", [:mix], [{:erlex, ">= 0.2.6", [hex: :erlex, repo: "hexpm", optional: false]}], "hexpm", "bf2cfb75cd5c5006bec30141b131663299c661a864ec7fbbc72dfa557487a986"},
   "earmark_parser": {:hex, :earmark_parser, "1.4.39", "424642f8335b05bb9eb611aa1564c148a8ee35c9c8a8bba6e129d51a3e3c6769", [:mix], [], "hexpm", "06553a88d1f1846da9ef066b87b57c6f605552cfbe40d20bd8d59cc6bde41944"},
+  "erlex": {:hex, :erlex, "0.2.6", "c7987d15e899c7a2f34f5420d2a2ea0d659682c06ac607572df55a43753aa12e", [:mix], [], "hexpm", "2ed2e25711feb44d52b17d2780eabf998452f6efda104877a3881c2f8c0c0c75"},
   "ex_doc": {:hex, :ex_doc, "0.31.1", "8a2355ac42b1cc7b2379da9e40243f2670143721dd50748bf6c3b1184dae2089", [:mix], [{:earmark_parser, "~> 1.4.39", [hex: :earmark_parser, repo: "hexpm", optional: false]}, {:makeup_c, ">= 0.1.1", [hex: :makeup_c, repo: "hexpm", optional: true]}, {:makeup_elixir, "~> 0.14", [hex: :makeup_elixir, repo: "hexpm", optional: false]}, {:makeup_erlang, "~> 0.1", [hex: :makeup_erlang, repo: "hexpm", optional: false]}], "hexpm", "3178c3a407c557d8343479e1ff117a96fd31bafe52a039079593fb0524ef61b0"},
   "file_system": {:hex, :file_system, "0.2.10", "fb082005a9cd1711c05b5248710f8826b02d7d1784e7c3451f9c1231d4fc162d", [:mix], [], "hexpm", "41195edbfb562a593726eda3b3e8b103a309b733ad25f3d642ba49696bf715dc"},
   "jason": {:hex, :jason, "1.4.1", "af1504e35f629ddcdd6addb3513c3853991f694921b1b9368b0bd32beb9f1b63", [:mix], [{:decimal, "~> 1.0 or ~> 2.0", [hex: :decimal, repo: "hexpm", optional: true]}], "hexpm", "fbb01ecdfd565b56261302f7e1fcc27c4fb8f32d56eab74db621fc154604a7a1"},

From 901d387c4c33ad8780bcee59041d0b4ded131acb Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 29 Jan 2024 16:05:35 +0900
Subject: [PATCH 033/165] [zenohex_nif] Add docs and tests

---
 lib/zenohex.ex                        |  17 +++-
 lib/zenohex/nif.ex                    |   2 +
 lib/zenohex/publisher.ex              |  70 +++++++++++---
 lib/zenohex/pull_subscriber.ex        |  31 ++++++-
 lib/zenohex/queryable.ex              |  11 ++-
 lib/zenohex/session.ex                | 128 ++++++++++++++++++++++++++
 lib/zenohex/subscriber.ex             |  28 +++++-
 test/zenohex/nif_test.exs             |   2 +-
 test/zenohex/publisher_test.exs       |   4 +
 test/zenohex/pull_subscriber_test.exs |   4 +
 test/zenohex/session_test.exs         |   4 +
 test/zenohex/subscriber_test.exs      |   4 +
 test/zenohex_test.exs                 |  15 ++-
 13 files changed, 294 insertions(+), 26 deletions(-)
 create mode 100644 lib/zenohex/session.ex
 create mode 100644 test/zenohex/publisher_test.exs
 create mode 100644 test/zenohex/pull_subscriber_test.exs
 create mode 100644 test/zenohex/session_test.exs
 create mode 100644 test/zenohex/subscriber_test.exs

diff --git a/lib/zenohex.ex b/lib/zenohex.ex
index 902a0a9..3c97c97 100644
--- a/lib/zenohex.ex
+++ b/lib/zenohex.ex
@@ -1,13 +1,20 @@
 defmodule Zenohex do
   @moduledoc """
-  Documentation for `Zenohex`.
+  Documentation for `#{__MODULE__}`.
   """
 
-  @doc """
+  alias Zenohex.Nif
+  alias Zenohex.Session
 
+  @doc ~S"""
+  Open a zenoh Session.
+
+  ## Examples
+
+      iex> Zenohex.open!()
   """
-  @spec open :: NifZenoh.session()
-  def open do
-    NifZenoh.zenoh_open()
+  @spec open! :: Session.t()
+  def open!() do
+    Nif.zenoh_open()
   end
 end
diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index c00c9c8..06c5c31 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -1,4 +1,6 @@
 defmodule Zenohex.Nif do
+  @moduledoc false
+
   use Rustler, otp_app: :zenohex, crate: "zenohex_nif"
 
   alias Zenohex.Publisher
diff --git a/lib/zenohex/publisher.ex b/lib/zenohex/publisher.ex
index bea740f..4da4212 100644
--- a/lib/zenohex/publisher.ex
+++ b/lib/zenohex/publisher.ex
@@ -1,21 +1,42 @@
 defmodule Zenohex.Publisher do
+  @moduledoc """
+  Documentation for `#{__MODULE__}`.
+  """
+
   alias Zenohex.Nif
 
   @type t :: reference()
-  @type congestion_control :: :drop | :block
-  @type priority ::
-          :real_time
-          | :interactive_high
-          | :interactive_low
-          | :data_high
-          | :data
-          | :data_low
-          | :background
 
   defmodule Options do
+    @moduledoc """
+    Documentation for `#{__MODULE__}`.
+    """
+
+    @type t :: %__MODULE__{congestion_control: congestion_control(), priority: priority()}
+    @type congestion_control :: :drop | :block
+    @type priority ::
+            :real_time
+            | :interactive_high
+            | :interactive_low
+            | :data_high
+            | :data
+            | :data_low
+            | :background
+
     defstruct congestion_control: :drop, priority: :data
   end
 
+  @doc ~S"""
+  Put data.
+
+  ## Examples
+
+      iex> session = Zenohex.open!()
+      iex> publisher = Zenohex.Session.declare_publisher!(session, "key/expression")
+      iex> :ok = Zenohex.Publisher.put!(publisher, "value")
+      iex> :ok = Zenohex.Publisher.put!(publisher, 0)
+      iex> :ok = Zenohex.Publisher.put!(publisher, 0.0)
+  """
   @spec put!(t(), binary()) :: :ok
   def put!(publisher, value) when is_binary(value) do
     Nif.publisher_put_binary(publisher, value)
@@ -31,17 +52,44 @@ defmodule Zenohex.Publisher do
     Nif.publisher_put_float(publisher, value)
   end
 
+  @doc ~S"""
+  Delete data.
+
+  ## Examples
+
+      iex> session = Zenohex.open!()
+      iex> publisher = Zenohex.Session.declare_publisher!(session, "key/expression")
+      iex> :ok = Zenohex.Publisher.delete!(publisher)
+  """
   @spec delete!(t()) :: :ok
   def delete!(publisher) do
     Nif.publisher_delete(publisher)
   end
 
-  @spec congestion_control!(t(), congestion_control()) :: t()
+  @doc ~S"""
+  Change the congestion_control to apply when routing the data.
+
+  ## Examples
+
+      iex> session = Zenohex.open!()
+      iex> publisher = Zenohex.Session.declare_publisher!(session, "key/expression")
+      iex> Zenohex.Publisher.congestion_control!(publisher, :drop)
+  """
+  @spec congestion_control!(t(), Options.congestion_control()) :: t()
   def congestion_control!(publisher, congestion_control) do
     Nif.publisher_congestion_control(publisher, congestion_control)
   end
 
-  @spec priority!(t(), priority()) :: t()
+  @doc ~S"""
+  Change the priority of the written data.
+
+  ## Examples
+
+      iex> session = Zenohex.open!()
+      iex> publisher = Zenohex.Session.declare_publisher!(session, "key/expression")
+      iex> Zenohex.Publisher.priority!(publisher, :real_time)
+  """
+  @spec priority!(t(), Options.priority()) :: t()
   def priority!(publisher, priority) do
     Nif.publisher_priority(publisher, priority)
   end
diff --git a/lib/zenohex/pull_subscriber.ex b/lib/zenohex/pull_subscriber.ex
index 0ae5c9a..3cb5130 100644
--- a/lib/zenohex/pull_subscriber.ex
+++ b/lib/zenohex/pull_subscriber.ex
@@ -1,15 +1,40 @@
 defmodule Zenohex.PullSubscriber do
+  @moduledoc """
+  Documentation for `#{__MODULE__}`.
+  """
+
   alias Zenohex.Nif
 
   @type t :: reference()
 
+  @doc """
+  Pull data.
+
+  ## Examples
+
+      iex> session = Zenohex.open!()
+      iex> subscriber = Zenohex.Session.declare_pull_subscriber!(session, "key/expression")
+      iex> Zenohex.PullSubscriber.pull!(subscriber)
+      :ok
+  """
   @spec pull!(t()) :: :ok
-  def pull!(pull_subscriber) do
+  def pull!(pull_subscriber) when is_reference(pull_subscriber) do
     Nif.pull_subscriber_pull(pull_subscriber)
   end
 
-  @spec recv_timeout!(t(), non_neg_integer()) :: integer() | float() | binary() | :timeout
-  def recv_timeout!(pull_subscriber, timeout_us) do
+  @doc """
+  Receive data.
+
+  ## Examples
+
+      iex> session = Zenohex.open!()
+      iex> subscriber = Zenohex.Session.declare_pull_subscriber!(session, "key/expression")
+      iex> Zenohex.PullSubscriber.recv_timeout!(subscriber, 1000)
+      :timeout
+  """
+  @spec recv_timeout!(t(), pos_integer()) :: integer() | float() | binary() | :timeout
+  def recv_timeout!(pull_subscriber, timeout_us)
+      when is_reference(pull_subscriber) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.pull_subscriber_recv_timeout(pull_subscriber, timeout_us)
   end
 end
diff --git a/lib/zenohex/queryable.ex b/lib/zenohex/queryable.ex
index 6b449ef..0bda468 100644
--- a/lib/zenohex/queryable.ex
+++ b/lib/zenohex/queryable.ex
@@ -1,8 +1,17 @@
 defmodule Zenohex.Queryable do
+  @moduledoc """
+  Documentation for `#{__MODULE__}`.
+  """
+
   @type t :: reference()
-  @type complete :: boolean()
 
   defmodule Options do
+    @moduledoc """
+    Documentation for `#{__MODULE__}`.
+    """
+
+    @type t :: %__MODULE__{complete: complete()}
+    @type complete :: boolean()
     defstruct complete: false
   end
 end
diff --git a/lib/zenohex/session.ex b/lib/zenohex/session.ex
new file mode 100644
index 0000000..cc825c8
--- /dev/null
+++ b/lib/zenohex/session.ex
@@ -0,0 +1,128 @@
+defmodule Zenohex.Session do
+  @moduledoc """
+  Documentation for `#{__MODULE__}`.
+  """
+
+  alias Zenohex.Nif
+  alias Zenohex.Publisher
+  alias Zenohex.Subscriber
+  alias Zenohex.Queryable
+
+  @type t :: reference()
+
+  @doc ~S"""
+  Create a Publisher for the given key expression.
+
+  ## Examples
+
+      iex> session = Zenohex.open!()
+      iex> Zenohex.Session.declare_publisher!(session, "key/expression")
+  """
+  @spec declare_publisher!(t(), String.t(), Publisher.Options.t()) :: Publisher.t()
+  def declare_publisher!(session, key_expr, opts \\ %Publisher.Options{})
+      when is_reference(session) and is_binary(key_expr) and is_struct(opts, Publisher.Options) do
+    Nif.declare_publisher(session, key_expr, opts)
+  end
+
+  @doc ~S"""
+  Create a Subscriber for the given key expression.
+
+  ## Examples
+
+      iex> session = Zenohex.open!()
+      iex> Zenohex.Session.declare_subscriber!(session, "key/expression")
+  """
+  @spec declare_subscriber!(t(), String.t(), Subscriber.Options.t()) :: Subscriber.t()
+  def declare_subscriber!(session, key_expr, opts \\ %Subscriber.Options{})
+      when is_reference(session) and is_binary(key_expr) and is_struct(opts, Subscriber.Options) do
+    Nif.declare_subscriber(session, key_expr, opts)
+  end
+
+  @doc ~S"""
+  Create a PullSubscriber for the given key expression.
+
+  ## Examples
+
+      iex> session = Zenohex.open!()
+      iex> Zenohex.Session.declare_pull_subscriber!(session, "key/expression")
+  """
+  @spec declare_pull_subscriber!(t(), String.t(), Subscriber.Options.t()) :: Subscriber.t()
+  def declare_pull_subscriber!(session, key_expr, opts \\ %Subscriber.Options{})
+      when is_reference(session) and is_binary(key_expr) and is_struct(opts, Subscriber.Options) do
+    Nif.declare_pull_subscriber(session, key_expr, opts)
+  end
+
+  @doc ~S"""
+  Create a Quaryable for the given key expression.
+
+  ## Examples
+
+      iex> session = Zenohex.open!()
+      iex> Zenohex.Session.declare_queryable!(session, "key/expression")
+  """
+  @spec declare_queryable!(t(), String.t(), Queryable.Options.t()) :: Queryable.t()
+  def declare_queryable!(session, key_expr, opts \\ %Queryable.Options{})
+      when is_reference(session) and is_binary(key_expr) and is_struct(opts, Queryable.Options) do
+    Nif.declare_queryable(session, key_expr, opts)
+  end
+
+  @doc ~S"""
+  Put data.
+
+  ## Examples
+
+      iex> session = Zenohex.open!()
+      iex> :ok = Zenohex.Session.put!(session, "key/expression", "value")
+      iex> :ok = Zenohex.Session.put!(session, "key/expression", 0)
+      iex> :ok = Zenohex.Session.put!(session, "key/expression", 0.0)
+  """
+  @spec put!(t(), String.t(), binary()) :: :ok
+  def put!(session, key_expr, value)
+      when is_reference(session) and is_binary(key_expr) and is_binary(value) do
+    Nif.session_put_binary(session, key_expr, value)
+  end
+
+  @spec put!(t(), String.t(), integer()) :: :ok
+  def put!(session, key_expr, value)
+      when is_reference(session) and is_binary(key_expr) and is_integer(value) do
+    Nif.session_put_integer(session, key_expr, value)
+  end
+
+  @spec put!(t(), String.t(), float()) :: :ok
+  def put!(session, key_expr, value)
+      when is_reference(session) and is_binary(key_expr) and is_float(value) do
+    Nif.session_put_float(session, key_expr, value)
+  end
+
+  @doc ~S"""
+  Query data from the matching queryables in the system.
+
+  ## Examples
+
+      iex> session = Zenohex.open!()
+      iex> Zenohex.Session.get_timeout!(session, "key/**", 1000)
+      :timeout
+  """
+  @spec get_timeout!(t(), String.t(), pos_integer()) ::
+          binary() | integer() | float() | :timeout
+  # FIXME 返り値がリストになるケースがあるはずなので、 Nif を含めて見直し修正すること
+  def get_timeout!(session, selector, timeout_us)
+      when is_reference(session) and is_binary(selector) and is_integer(timeout_us) and
+             timeout_us > 0 do
+    Nif.session_get_timeout(session, selector, timeout_us)
+  end
+
+  @doc ~S"""
+  Delete data.
+
+  ## Examples
+
+      iex> session = Zenohex.open!()
+      iex> Zenohex.Session.delete!(session, "key/expression")
+      :ok
+  """
+  @spec delete!(t(), String.t()) :: :ok
+  def delete!(session, key_expr) when is_reference(session) and is_binary(key_expr) do
+    Nif.session_delete(session, key_expr)
+  end
+end
diff --git a/lib/zenohex/subscriber.ex b/lib/zenohex/subscriber.ex
index 45aab7c..3c9fe57 100644
--- a/lib/zenohex/subscriber.ex
+++ b/lib/zenohex/subscriber.ex
@@ -1,15 +1,35 @@
 defmodule Zenohex.Subscriber do
+  @moduledoc """
+  Documentation for `#{__MODULE__}`.
+  """
+
   alias Zenohex.Nif
 
-  @type t :: reference()
-  @type reliability :: :best_effort | :reliable
+  @opaque t :: reference()
 
   defmodule Options do
+    @moduledoc """
+    Documentation for `#{__MODULE__}`.
+    """
+
+    @type t :: %__MODULE__{reliability: reliability()}
+    @type reliability :: :best_effort | :reliable
     defstruct reliability: :best_effort
   end
 
-  @spec recv_timeout!(t(), non_neg_integer()) :: integer() | float() | binary() | :timeout
-  def recv_timeout!(subscriber, timeout_us) do
+  @doc """
+  Receive data.
+
+  ## Examples
+
+      iex> session = Zenohex.open!()
+      iex> subscriber = Zenohex.Session.declare_subscriber!(session, "key/expression")
+      iex> Zenohex.Subscriber.recv_timeout!(subscriber, 1000)
+      :timeout
+  """
+  @spec recv_timeout!(t(), pos_integer()) :: integer() | float() | binary() | :timeout
+  def recv_timeout!(subscriber, timeout_us)
+      when is_reference(subscriber) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.subscriber_recv_timeout(subscriber, timeout_us)
   end
 end
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 36b6069..908b3da 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -1,5 +1,5 @@
 defmodule Zenohex.NifTest do
-  use ExUnit.Case
+  use ExUnit.Case, async: true
 
   alias Zenohex.Nif
 
diff --git a/test/zenohex/publisher_test.exs b/test/zenohex/publisher_test.exs
new file mode 100644
index 0000000..87eee73
--- /dev/null
+++ b/test/zenohex/publisher_test.exs
@@ -0,0 +1,4 @@
+defmodule Zenohex.PublisherTest do
+  use ExUnit.Case, async: true
+  doctest Zenohex.Publisher
+end
diff --git a/test/zenohex/pull_subscriber_test.exs b/test/zenohex/pull_subscriber_test.exs
new file mode 100644
index 0000000..8272d6b
--- /dev/null
+++ b/test/zenohex/pull_subscriber_test.exs
@@ -0,0 +1,4 @@
+defmodule Zenohex.PullSubscriberTest do
+  use ExUnit.Case, async: true
+  doctest Zenohex.PullSubscriber
+end
diff --git a/test/zenohex/session_test.exs b/test/zenohex/session_test.exs
new file mode 100644
index 0000000..d00c612
--- /dev/null
+++ b/test/zenohex/session_test.exs
@@ -0,0 +1,4 @@
+defmodule Zenohex.SessionTest do
+  use ExUnit.Case, async: true
+  doctest Zenohex.Session
+end
diff --git a/test/zenohex/subscriber_test.exs b/test/zenohex/subscriber_test.exs
new file mode 100644
index 0000000..4d055a8
--- /dev/null
+++ b/test/zenohex/subscriber_test.exs
@@ -0,0 +1,4 @@
+defmodule Zenohex.SubscriberTest do
+  use ExUnit.Case, async: true
+  doctest Zenohex.Subscriber
+end
diff --git a/test/zenohex_test.exs b/test/zenohex_test.exs
index 720da75..cb93faa 100644
--- a/test/zenohex_test.exs
+++ b/test/zenohex_test.exs
@@ -1,4 +1,17 @@
 defmodule ZenohexTest do
-  use ExUnit.Case
+  use ExUnit.Case, async: true
   doctest Zenohex
+
+  test "pub/sub" do
+    session = Zenohex.open!()
+    publisher = Zenohex.Session.declare_publisher!(session, "pub/sub")
+    subscriber = Zenohex.Session.declare_subscriber!(session, "pub/sub")
+
+    for i <- 1..100 do
+      :ok = Zenohex.Publisher.put!(publisher, "Hello Zenoh Dragon #{i}")
+
+      assert Zenohex.Subscriber.recv_timeout!(subscriber, 1000) ==
+               "Hello Zenoh Dragon #{i}"
+    end
+  end
 end

From 91674ff3caa51fdda0ec2aefb77d4446378dbe21 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 29 Jan 2024 16:44:56 +0900
Subject: [PATCH 034/165] Add toml to deps

---
 mix.exs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/mix.exs b/mix.exs
index 6008860..42d001b 100644
--- a/mix.exs
+++ b/mix.exs
@@ -29,7 +29,8 @@ defmodule Zenohex.MixProject do
       {:ex_doc, "~> 0.31.0", only: :dev},
       {:mix_test_watch, "~> 1.0", only: [:dev, :test], runtime: false},
       {:credo, "~> 1.7", only: [:dev, :test], runtime: false},
-      {:dialyxir, "~> 1.4", only: [:dev, :test], runtime: false}
+      {:dialyxir, "~> 1.4", only: [:dev, :test], runtime: false},
+      {:toml, "~> 0.7", runtime: false}
     ]
   end
 

From 2472cc7b63d47d85639de2e6e7eb7f32229adbe7 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 29 Jan 2024 16:26:11 +0900
Subject: [PATCH 035/165] Add test/version_match_test.exs

---
 .github/workflows/ci.yaml     |  2 +-
 .tool-versions                |  4 +--
 native/zenohex_nif/Cargo.lock |  2 +-
 native/zenohex_nif/Cargo.toml |  2 +-
 test/version_match_test.exs   | 60 +++++++++++++++++++++++++++++++++++
 5 files changed, 65 insertions(+), 5 deletions(-)
 create mode 100644 test/version_match_test.exs

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 1a7a4ff..17d3b80 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -1,5 +1,5 @@
 env:
-  OTP_VERSION: 26.1.1
+  OTP_VERSION: 26.1.2
   ELIXIR_VERSION: 1.15.7
 
 # based https://github.com/erlef/setup-beam
diff --git a/.tool-versions b/.tool-versions
index 9f88665..510eaf4 100644
--- a/.tool-versions
+++ b/.tool-versions
@@ -1,2 +1,2 @@
-elixir 1.15.6-otp-26
-erlang 26.1.1
+elixir 1.15.7-otp-26
+erlang 26.1.2
diff --git a/native/zenohex_nif/Cargo.lock b/native/zenohex_nif/Cargo.lock
index d0cdde2..e6a1038 100644
--- a/native/zenohex_nif/Cargo.lock
+++ b/native/zenohex_nif/Cargo.lock
@@ -3322,7 +3322,7 @@ dependencies = [
 
 [[package]]
 name = "zenohex_nif"
-version = "0.1.0"
+version = "0.2.0-dev"
 dependencies = [
  "flume",
  "futures",
diff --git a/native/zenohex_nif/Cargo.toml b/native/zenohex_nif/Cargo.toml
index 0365090..f83fbd7 100644
--- a/native/zenohex_nif/Cargo.toml
+++ b/native/zenohex_nif/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "zenohex_nif"
-version = "0.1.0"
+version = "0.2.0-dev"
 authors = []
 edition = "2021"
 
diff --git a/test/version_match_test.exs b/test/version_match_test.exs
new file mode 100644
index 0000000..ada7744
--- /dev/null
+++ b/test/version_match_test.exs
@@ -0,0 +1,60 @@
+defmodule Zenohex.VersionMatchTest do
+  use ExUnit.Case, async: true
+
+  describe "CI" do
+    test "version match" do
+      tool_versions_map =
+        File.read!(".tool-versions")
+        |> String.split("\n")
+        |> Enum.reduce(%{}, fn line, acc ->
+          cond do
+            String.contains?(line, "erlang") ->
+              [_, version] = String.split(line, " ")
+              Map.put(acc, :erlang, version)
+
+            String.contains?(line, "elixir") ->
+              [_, version] = String.split(line, " ")
+              [version, "otp", _] = String.split(version, "-")
+              Map.put(acc, :elixir, version)
+
+            true ->
+              acc
+          end
+        end)
+
+      ciyaml_versions_map =
+        File.read!(".github/workflows/ci.yaml")
+        |> String.split("\n")
+        |> Enum.reduce(%{}, fn line, acc ->
+          cond do
+            String.contains?(line, "OTP_VERSION: ") ->
+              [_, version] = String.split(line, ": ")
+              Map.put(acc, :erlang, version)
+
+            String.contains?(line, "ELIXIR_VERSION: ") ->
+              [_, version] = String.split(line, ": ")
+              Map.put(acc, :elixir, version)
+
+            true ->
+              acc
+          end
+        end)
+
+      assert tool_versions_map.erlang == ciyaml_versions_map.erlang
+      assert tool_versions_map.elixir == ciyaml_versions_map.elixir
+    end
+  end
+
+  describe "Elixir/Rust" do
+    test "version match" do
+      version_on_mix_exs =
+        Mix.Project.config()
+        |> Keyword.fetch!(:version)
+
+      version_on_cargo_toml =
+        Toml.decode_file!("native/zenohex_nif/Cargo.toml")["package"]["version"]
+
+      assert version_on_mix_exs == version_on_cargo_toml
+    end
+  end
+end

From d8238ed13619bdee1390af5f3fcd8c1ed89f71dc Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 09:26:57 +0900
Subject: [PATCH 036/165] [zenohex_nif] Apply rustler_precompiled

---
 .github/workflows/nif_precompile.yml  |  8 ++++----
 lib/zenohex/nif.ex                    | 10 +++++++++-
 native/zenohex_nif/.cargo/config.toml | 10 ++++++++++
 native/zenohex_nif/Cargo.toml         |  2 +-
 4 files changed, 24 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/nif_precompile.yml b/.github/workflows/nif_precompile.yml
index 0c5f3eb..16e7014 100644
--- a/.github/workflows/nif_precompile.yml
+++ b/.github/workflows/nif_precompile.yml
@@ -12,7 +12,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        nif: ["2.16", "2.15"]
+        nif: ["2.15"]
         job:
           - { target: arm-unknown-linux-gnueabihf , os: ubuntu-20.04 , use-cross: true }
           - { target: aarch64-unknown-linux-gnu   , os: ubuntu-20.04 , use-cross: true }
@@ -25,7 +25,7 @@ jobs:
 
     steps:
     - name: Checkout source code
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Extract project version
       shell: bash
@@ -42,12 +42,12 @@ jobs:
       id: build-crate
       uses: philss/rustler-precompiled-action@v1.0.0
       with:
-        project-name: nifzenoh
+        project-name: zenohex_nif
         project-version: ${{ env.PROJECT_VERSION }}
         target: ${{ matrix.job.target }}
         nif-version: ${{ matrix.nif }}
         use-cross: ${{ matrix.job.use-cross }}
-        project-dir: "native/nifzenoh"
+        project-dir: "native/zenohex_nif"
 
     - name: Artifact upload
       uses: actions/upload-artifact@v3
diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index 06c5c31..83cdd14 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -1,7 +1,15 @@
 defmodule Zenohex.Nif do
   @moduledoc false
 
-  use Rustler, otp_app: :zenohex, crate: "zenohex_nif"
+  mix_config = Mix.Project.config()
+  version = mix_config[:version]
+  github_url = mix_config[:package][:links]["GitHub"]
+
+  use RustlerPrecompiled,
+    otp_app: :zenohex,
+    crate: "zenohex_nif",
+    version: version,
+    base_url: "#{github_url}/releases/download/v#{version}"
 
   alias Zenohex.Publisher
   alias Zenohex.Subscriber
diff --git a/native/zenohex_nif/.cargo/config.toml b/native/zenohex_nif/.cargo/config.toml
index 20f03f3..5158329 100644
--- a/native/zenohex_nif/.cargo/config.toml
+++ b/native/zenohex_nif/.cargo/config.toml
@@ -3,3 +3,13 @@ rustflags = [
     "-C", "link-arg=-undefined",
     "-C", "link-arg=dynamic_lookup",
 ]
+
+# See https://github.com/rust-lang/rust/issues/59302
+[target.x86_64-unknown-linux-musl]
+rustflags = [
+  "-C", "target-feature=-crt-static"
+]
+
+# Provides a small build size, but takes more time to build.
+[profile.release]
+lto = true
diff --git a/native/zenohex_nif/Cargo.toml b/native/zenohex_nif/Cargo.toml
index f83fbd7..a7d32f6 100644
--- a/native/zenohex_nif/Cargo.toml
+++ b/native/zenohex_nif/Cargo.toml
@@ -12,5 +12,5 @@ crate-type = ["cdylib"]
 [dependencies]
 flume = "0.11.0"
 futures = "0.3.30"
-rustler = "0.30.0"
+rustler = { version = "0.30.0", default-features = false, features = ["derive", "nif_version_2_15"] }
 zenoh = "0.10.1-rc"

From 84b9406ad07fe5c43dd8d21a5bee27b202f3bc85 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 10:18:45 +0900
Subject: [PATCH 037/165] Update .github/workflows/ci.yaml

---
 .github/workflows/ci.yaml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 17d3b80..3a99783 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -1,3 +1,5 @@
+name: CI
+
 env:
   OTP_VERSION: 26.1.2
   ELIXIR_VERSION: 1.15.7
@@ -17,7 +19,7 @@ jobs:
       MIX_ENV: test
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - uses: erlef/setup-beam@v1
         with:

From 317a2be9d12efca123ba525aaa6ac8a74cf06dbe Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 11:32:32 +0900
Subject: [PATCH 038/165] Remove nifzenoh codes

---
 checksum-Elixir.NifZenoh.exs       |   18 -
 lib/nif_zenoh.ex                   |   59 -
 lib/publisher.ex                   |   11 -
 lib/session.ex                     |   11 -
 lib/tester.ex                      |   11 -
 native/nifzenoh/.cargo/config.toml |   14 -
 native/nifzenoh/.gitignore         |    1 -
 native/nifzenoh/Cargo.lock         | 3274 ----------------------------
 native/nifzenoh/Cargo.toml         |   21 -
 native/nifzenoh/Cross.toml         |    4 -
 native/nifzenoh/README.md          |   20 -
 native/nifzenoh/src/lib.rs         |  119 -
 native/nifzenoh/src/tester.rs      |   63 -
 13 files changed, 3626 deletions(-)
 delete mode 100644 checksum-Elixir.NifZenoh.exs
 delete mode 100644 lib/nif_zenoh.ex
 delete mode 100644 lib/publisher.ex
 delete mode 100644 lib/session.ex
 delete mode 100644 lib/tester.ex
 delete mode 100644 native/nifzenoh/.cargo/config.toml
 delete mode 100644 native/nifzenoh/.gitignore
 delete mode 100644 native/nifzenoh/Cargo.lock
 delete mode 100644 native/nifzenoh/Cargo.toml
 delete mode 100644 native/nifzenoh/Cross.toml
 delete mode 100644 native/nifzenoh/README.md
 delete mode 100644 native/nifzenoh/src/lib.rs
 delete mode 100644 native/nifzenoh/src/tester.rs

diff --git a/checksum-Elixir.NifZenoh.exs b/checksum-Elixir.NifZenoh.exs
deleted file mode 100644
index c56f1fb..0000000
--- a/checksum-Elixir.NifZenoh.exs
+++ /dev/null
@@ -1,18 +0,0 @@
-%{
-  "libnifzenoh-v0.1.3-nif-2.15-aarch64-apple-darwin.so.tar.gz" => "sha256:e575f80ec7f5158505d869fe41683840bd66589ac1a13931ed8e69571d24452b",
-  "libnifzenoh-v0.1.3-nif-2.15-aarch64-unknown-linux-gnu.so.tar.gz" => "sha256:b693ec00cff1a1b770f8175e3507db3fd7a31a096fe526e9dc213155d7b8c6ce",
-  "libnifzenoh-v0.1.3-nif-2.15-arm-unknown-linux-gnueabihf.so.tar.gz" => "sha256:10b19333605e6da1fef0193c906ecf4e39954e634aaf02087f85de9d21bb9c18",
-  "libnifzenoh-v0.1.3-nif-2.15-x86_64-apple-darwin.so.tar.gz" => "sha256:22f153adf7f777cf3630c75aec377906f82bb58836583a57a1cd2c4ee8fd9122",
-  "libnifzenoh-v0.1.3-nif-2.15-x86_64-unknown-linux-gnu.so.tar.gz" => "sha256:4a30af7dd557c2a87c70fc34b6ee4d41001f8ab5ea3b4cfbcbedb2ec5ac7cb6a",
-  "libnifzenoh-v0.1.3-nif-2.15-x86_64-unknown-linux-musl.so.tar.gz" => "sha256:895ab63756c41b12ae2ea3c152ccd029cec5f821d03635420a3eb606a2f71ef2",
-  "libnifzenoh-v0.1.3-nif-2.16-aarch64-apple-darwin.so.tar.gz" => "sha256:1ce1cf28a5f1c3e50eadec53f50df92637155f0fd9b1437fb775e84853f8dd20",
-  "libnifzenoh-v0.1.3-nif-2.16-aarch64-unknown-linux-gnu.so.tar.gz" => "sha256:62fe27ab4ac77e98b8ead32374c166f6060ceac7dbad0288e16530401795575e",
-  "libnifzenoh-v0.1.3-nif-2.16-arm-unknown-linux-gnueabihf.so.tar.gz" => "sha256:9413820ba7550a501b12d869b688e1714eb2f1ad0cf36f6c5189d76ae71c27e5",
-  "libnifzenoh-v0.1.3-nif-2.16-x86_64-apple-darwin.so.tar.gz" => "sha256:38414f9092a9f89f55f378bf55d39b29ec6edaa6b3490ba1681429fbd0fa179f",
-  "libnifzenoh-v0.1.3-nif-2.16-x86_64-unknown-linux-gnu.so.tar.gz" => "sha256:bed047c01f4410898c98e083f21f5dcb62731b3e414b257ade7f98c9e12f94f8",
-  "libnifzenoh-v0.1.3-nif-2.16-x86_64-unknown-linux-musl.so.tar.gz" => "sha256:27bba8210a88f3b601fea0f1ac328e7da10a083ab99b30ebc856578b2f54dc29",
-  "nifzenoh-v0.1.3-nif-2.15-x86_64-pc-windows-gnu.dll.tar.gz" => "sha256:645184368a09a1e418a11b03bf9581193fa90c9b1f6d4efb7a0d8ff237c04a39",
-  "nifzenoh-v0.1.3-nif-2.15-x86_64-pc-windows-msvc.dll.tar.gz" => "sha256:c4700abbf0408b2174e11cfc633d3661df1f4abb5f1b992e3e89cb9bb3f0839a",
-  "nifzenoh-v0.1.3-nif-2.16-x86_64-pc-windows-gnu.dll.tar.gz" => "sha256:f0efedb893f0a6b33a5fc665c02ced36fe4611b0b480507491b8cbb5abb894d3",
-  "nifzenoh-v0.1.3-nif-2.16-x86_64-pc-windows-msvc.dll.tar.gz" => "sha256:46bd8c0fc5cf35edbb95b6f4fa95cffa02c613c3756507d66400c2a88f147fde",
-}
diff --git a/lib/nif_zenoh.ex b/lib/nif_zenoh.ex
deleted file mode 100644
index 0bebc9a..0000000
--- a/lib/nif_zenoh.ex
+++ /dev/null
@@ -1,59 +0,0 @@
-defmodule NifZenoh do
-  version = Mix.Project.config()[:version]
-
-  use RustlerPrecompiled,
-    otp_app: :zenohex,
-    crate: "nifzenoh",
-    base_url: "https://github.com/b5g-ex/zenohex/releases/download/v#{version}",
-    force_build: System.get_env("RUSTLER_PRECOMPILATION_EXAMPLE_BUILD") in ["1", "true"],
-    targets:
-      Enum.uniq(["aarch64-unknown-linux-gnu" | RustlerPrecompiled.Config.default_targets()]),
-    version: version
-
-  @type session() :: reference()
-  @type publisher() :: reference()
-
-  @spec zenoh_open :: session() | no_return()
-  def zenoh_open(), do: :erlang.nif_error("NIF zenoh_open is not implemented")
-
-  @spec session_declare_publisher(session(), charlist()) :: {:ok, publisher()}
-  def session_declare_publisher(_session, _keyexpr),
-    do: :erlang.nif_error("NIF session_declare_publisher is not implemented")
-
-  @spec publisher_put_string(publisher(), charlist()) :: no_return()
-  def publisher_put_string(_publisher, _value),
-    do: :erlang.nif_error("NIF publisher_put is not implemented")
-
-  @spec publisher_put_integer(publisher(), charlist()) :: no_return()
-  def publisher_put_integer(_publisher, _value),
-    do: :erlang.nif_error("NIF publisher_put is not implemented")
-
-  @spec publisher_put_float(publisher(), charlist()) :: no_return()
-  def publisher_put_float(_publisher, _value),
-    do: :erlang.nif_error("NIF publisher_put is not implemented")
-
-  @spec tester_pub(charlist(), charlist()) :: no_return()
-  def tester_pub(_keyexpr, _value), do: :erlang.nif_error("NIF tester_pub is not implemented")
-
-  @spec tester_sub(charlist()) :: no_return()
-  def tester_sub(_keyexpr), do: :erlang.nif_error("NIF tester_sub is not implemented")
-
-  @spec session_declare_subscriber(session(), charlist(), pid()) :: no_return()
-  def session_declare_subscriber(_session, _keyexpr, _callbackpid),
-    do: :erlang.nif_error("NIF session_declare_subscriber is not implemented")
-
-  @spec session_declare_subscriber_wrapper(session(), charlist(), function()) :: no_return()
-  def session_declare_subscriber_wrapper(session, keyexpr, callback) do
-    pid = spawn(NifZenoh, :wait_message, [callback])
-
-    session_declare_subscriber(session, keyexpr, pid)
-  end
-
-  def wait_message(callback) do
-    receive do
-      msg -> callback.(msg)
-    end
-
-    wait_message(callback)
-  end
-end
diff --git a/lib/publisher.ex b/lib/publisher.ex
deleted file mode 100644
index 74e63c4..0000000
--- a/lib/publisher.ex
+++ /dev/null
@@ -1,11 +0,0 @@
-defmodule Publisher do
-  @spec put(NifZenoh.publisher(), any) :: none
-  def put(publisher, value) do
-    cond do
-      is_binary(value) -> NifZenoh.publisher_put_string(publisher, value)
-      is_float(value) -> NifZenoh.publisher_put_float(publisher, value)
-      is_integer(value) -> NifZenoh.publisher_put_integer(publisher, value)
-      true -> :error
-    end
-  end
-end
diff --git a/lib/session.ex b/lib/session.ex
deleted file mode 100644
index 852808a..0000000
--- a/lib/session.ex
+++ /dev/null
@@ -1,11 +0,0 @@
-defmodule Session do
-  @spec declare_publisher(NifZenoh.session(), charlist()) :: {:ok, NifZenoh.publisher()}
-  def declare_publisher(session, key) do
-    NifZenoh.session_declare_publisher(session, key)
-  end
-
-  @spec declare_subscriber(NifZenoh.session(), charlist(), function()) :: no_return()
-  def declare_subscriber(session, keyexpr, callback) do
-    NifZenoh.session_declare_subscriber_wrapper(session, keyexpr, callback)
-  end
-end
diff --git a/lib/tester.ex b/lib/tester.ex
deleted file mode 100644
index 28ef626..0000000
--- a/lib/tester.ex
+++ /dev/null
@@ -1,11 +0,0 @@
-defmodule Tester do
-  @spec pub(charlist(), charlist()) :: no_return()
-  def pub(keyexpr, value) do
-    NifZenoh.tester_pub(keyexpr, value)
-  end
-
-  @spec sub(charlist()) :: no_return()
-  def sub(keyexpr) do
-    NifZenoh.tester_sub(keyexpr)
-  end
-end
diff --git a/native/nifzenoh/.cargo/config.toml b/native/nifzenoh/.cargo/config.toml
deleted file mode 100644
index b5d186c..0000000
--- a/native/nifzenoh/.cargo/config.toml
+++ /dev/null
@@ -1,14 +0,0 @@
-[target.'cfg(target_os = "macos")']
-rustflags = [
-    "-C", "link-arg=-undefined",
-    "-C", "link-arg=dynamic_lookup",
-]
-
-[target.x86_64-unknown-linux-musl]
-rustflags = [
-  "-C", "target-feature=-crt-static"
-]
-
-# Provides a small build size, but takes more time to build.
-[profile.release]
-lto = true
\ No newline at end of file
diff --git a/native/nifzenoh/.gitignore b/native/nifzenoh/.gitignore
deleted file mode 100644
index ea8c4bf..0000000
--- a/native/nifzenoh/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/target
diff --git a/native/nifzenoh/Cargo.lock b/native/nifzenoh/Cargo.lock
deleted file mode 100644
index 2d23e88..0000000
--- a/native/nifzenoh/Cargo.lock
+++ /dev/null
@@ -1,3274 +0,0 @@
-# This file is automatically @generated by Cargo.
-# It is not intended for manual editing.
-version = 3
-
-[[package]]
-name = "addr2line"
-version = "0.21.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a30b2e23b9e17a9f90641c7ab1549cd9b44f296d3ccbf309d2863cfe398a0cb"
-dependencies = [
- "gimli",
-]
-
-[[package]]
-name = "adler"
-version = "1.0.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
-
-[[package]]
-name = "aes"
-version = "0.8.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ac1f845298e95f983ff1944b728ae08b8cebab80d684f0a832ed0fc74dfa27e2"
-dependencies = [
- "cfg-if",
- "cipher",
- "cpufeatures",
-]
-
-[[package]]
-name = "ahash"
-version = "0.8.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2c99f64d1e06488f620f932677e24bc6e2897582980441ae90a671415bd7ec2f"
-dependencies = [
- "cfg-if",
- "once_cell",
- "version_check",
-]
-
-[[package]]
-name = "aho-corasick"
-version = "1.1.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ea5d730647d4fadd988536d06fecce94b7b4f2a7efdae548f1cf4b63205518ab"
-dependencies = [
- "memchr",
-]
-
-[[package]]
-name = "allocator-api2"
-version = "0.2.16"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0942ffc6dcaadf03badf6e6a2d0228460359d5e34b57ccdc720b7382dfbd5ec5"
-
-[[package]]
-name = "anstream"
-version = "0.6.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4cd2405b3ac1faab2990b74d728624cd9fd115651fcecc7c2d8daf01376275ba"
-dependencies = [
- "anstyle",
- "anstyle-parse",
- "anstyle-query",
- "anstyle-wincon",
- "colorchoice",
- "utf8parse",
-]
-
-[[package]]
-name = "anstyle"
-version = "1.0.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7079075b41f533b8c61d2a4d073c4676e1f8b249ff94a393b0595db304e0dd87"
-
-[[package]]
-name = "anstyle-parse"
-version = "0.2.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "317b9a89c1868f5ea6ff1d9539a69f45dffc21ce321ac1fd1160dfa48c8e2140"
-dependencies = [
- "utf8parse",
-]
-
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-checksum = "fc5bafb58c3841d19f0a1b07248c29c4a952cf9fd118a867034c0b6528a3ab5e"
-dependencies = [
- "async-rustls",
- "async-std",
- "async-trait",
- "base64",
- "futures",
- "log",
- "rustls",
- "rustls-pemfile 2.0.0",
- "rustls-webpki 0.102.1",
- "secrecy",
- "webpki-roots",
- "zenoh-config",
- "zenoh-core",
- "zenoh-link-commons",
- "zenoh-protocol",
- "zenoh-result",
- "zenoh-sync",
- "zenoh-util",
-]
-
-[[package]]
-name = "zenoh-link-udp"
-version = "0.10.1-rc"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "540459645821cc63c9aebd6d405509adfec0f5584673f9551de26004ff3ddbff"
-dependencies = [
- "async-std",
- "async-trait",
- "log",
- "socket2 0.5.4",
- "zenoh-buffers",
- "zenoh-collections",
- "zenoh-core",
- "zenoh-link-commons",
- "zenoh-protocol",
- "zenoh-result",
- "zenoh-sync",
- "zenoh-util",
-]
-
-[[package]]
-name = "zenoh-link-unixsock_stream"
-version = "0.10.1-rc"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d281e37dfc0c0ca3bace54dec15bdfd5b12b3cb4a01593e71e1a4ef59e48b57c"
-dependencies = [
- "async-std",
- "async-trait",
- "futures",
- "log",
- "nix",
- "uuid",
- "zenoh-core",
- "zenoh-link-commons",
- "zenoh-protocol",
- "zenoh-result",
- "zenoh-sync",
-]
-
-[[package]]
-name = "zenoh-link-ws"
-version = "0.10.1-rc"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "766663fc1e96c382e59eb009f751744a6967bf76537e1091584382722a5d9d50"
-dependencies = [
- "async-std",
- "async-trait",
- "futures-util",
- "log",
- "tokio",
- "tokio-tungstenite",
- "url",
- "zenoh-core",
- "zenoh-link-commons",
- "zenoh-protocol",
- "zenoh-result",
- "zenoh-sync",
- "zenoh-util",
-]
-
-[[package]]
-name = "zenoh-macros"
-version = "0.10.1-rc"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2826db61e1526dea78371a1cdf7ce7b933fd390abfbec1eff07b22262cebc4f8"
-dependencies = [
- "proc-macro2",
- "quote",
- "rustc_version",
- "syn 2.0.37",
- "unzip-n",
- "zenoh-keyexpr",
-]
-
-[[package]]
-name = "zenoh-plugin-trait"
-version = "0.10.1-rc"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a45fd679f3fdf661ef914ebf4ed8210357bfa7144411f8fdbb18199a903d6270"
-dependencies = [
- "libloading",
- "log",
- "serde_json",
- "zenoh-macros",
- "zenoh-result",
- "zenoh-util",
-]
-
-[[package]]
-name = "zenoh-protocol"
-version = "0.10.1-rc"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b4af91145a94f60b9165e85b0ac6fa84e2f0448f9cde3e3065f6e73bb5b2ef3c"
-dependencies = [
- "const_format",
- "hex",
- "rand",
- "serde",
- "uhlc",
- "uuid",
- "zenoh-buffers",
- "zenoh-keyexpr",
- "zenoh-result",
-]
-
-[[package]]
-name = "zenoh-result"
-version = "0.10.1-rc"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d3b5209dc13bf96dc62921a389af38e757fb0baea54f2078e29636d2238e958"
-dependencies = [
- "anyhow",
-]
-
-[[package]]
-name = "zenoh-sync"
-version = "0.10.1-rc"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f515dae61f3216a4c5ed9229fcaa9fb6f5837622f56e94c7454141bfba844b69"
-dependencies = [
- "async-std",
- "event-listener 4.0.3",
- "flume",
- "futures",
- "tokio",
- "zenoh-buffers",
- "zenoh-collections",
- "zenoh-core",
-]
-
-[[package]]
-name = "zenoh-transport"
-version = "0.10.1-rc"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "08a888646bbaa18c0901081207eab56200ec13bcaec7b5629b9389ee3255eab6"
-dependencies = [
- "async-executor",
- "async-global-executor",
- "async-std",
- "async-trait",
- "flume",
- "log",
- "lz4_flex",
- "paste",
- "rand",
- "ringbuffer-spsc",
- "rsa",
- "serde",
- "sha3",
- "zenoh-buffers",
- "zenoh-codec",
- "zenoh-collections",
- "zenoh-config",
- "zenoh-core",
- "zenoh-crypto",
- "zenoh-link",
- "zenoh-protocol",
- "zenoh-result",
- "zenoh-sync",
- "zenoh-util",
-]
-
-[[package]]
-name = "zenoh-util"
-version = "0.10.1-rc"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e867296dc177ca7d5870f76374153cc30087ef0ba9914f567addf52e05d2259"
-dependencies = [
- "async-std",
- "async-trait",
- "clap",
- "const_format",
- "flume",
- "futures",
- "hex",
- "home",
- "humantime",
- "lazy_static",
- "libc",
- "libloading",
- "log",
- "pnet",
- "pnet_datalink",
- "shellexpand",
- "winapi",
- "zenoh-core",
- "zenoh-protocol",
- "zenoh-result",
-]
-
-[[package]]
-name = "zeroize"
-version = "1.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2a0956f1ba7c7909bfb66c2e9e4124ab6f6482560f6628b5aaeba39207c9aad9"
diff --git a/native/nifzenoh/Cargo.toml b/native/nifzenoh/Cargo.toml
deleted file mode 100644
index 8dae30d..0000000
--- a/native/nifzenoh/Cargo.toml
+++ /dev/null
@@ -1,21 +0,0 @@
-[package]
-name = "nifzenoh"
-version = "0.1.5"
-authors = []
-edition = "2018"
-
-[lib]
-name = "nifzenoh"
-path = "src/lib.rs"
-crate-type = ["cdylib"]
-
-[dependencies]
-rustler = "0.30.0"
-zenoh = { version = "0.10.1-rc", default-features = true }
-async-std = { version = "=1.12.0", default-features = false, features = [
-  "attributes",
-] }
-env_logger = "0.10.1"
-clap = "4.4.16"
-futures = "0.3.30"
-flume = "0.11.0"
diff --git a/native/nifzenoh/Cross.toml b/native/nifzenoh/Cross.toml
deleted file mode 100644
index ea92ea7..0000000
--- a/native/nifzenoh/Cross.toml
+++ /dev/null
@@ -1,4 +0,0 @@
-[build.env]
-passthrough = [
-  "RUSTLER_NIF_VERSION"
-]
\ No newline at end of file
diff --git a/native/nifzenoh/README.md b/native/nifzenoh/README.md
deleted file mode 100644
index a5a73dc..0000000
--- a/native/nifzenoh/README.md
+++ /dev/null
@@ -1,20 +0,0 @@
-# NIF for Elixir.NifZenoh
-
-## To build the NIF module:
-
-- Your NIF will now build along with your project.
-
-## To load the NIF:
-
-```elixir
-defmodule NifZenoh do
-  use Rustler, otp_app: :zenohex, crate: "nifzenoh"
-
-  # When your NIF is loaded, it will override this function.
-  def add(_a, _b), do: :erlang.nif_error(:nif_not_loaded)
-end
-```
-
-## Examples
-
-[This](https://github.com/rusterlium/NifIo) is a complete example of a NIF written in Rust.
diff --git a/native/nifzenoh/src/lib.rs b/native/nifzenoh/src/lib.rs
deleted file mode 100644
index 860576a..0000000
--- a/native/nifzenoh/src/lib.rs
+++ /dev/null
@@ -1,119 +0,0 @@
-use futures::executor::block_on;
-use rustler::types::atom::ok;
-use rustler::types::{Encoder, Pid};
-use rustler::{Env, OwnedEnv, ResourceArc, Term};
-use std::sync::Mutex;
-use zenoh::config::Config;
-use zenoh::prelude::r#async::*;
-use zenoh::publication::Publisher;
-pub mod tester;
-use tester::tester::{tester_pub, tester_sub};
-
-struct SessionContainer {
-    session_mux: Mutex<&'static Session>,
-}
-
-struct PublisherContainer {
-    publisher_mux: Mutex<Publisher<'static>>,
-}
-
-fn load<'a>(env: Env<'a>, _: Term<'a>) -> bool {
-    rustler::resource!(SessionContainer, env);
-    rustler::resource!(PublisherContainer, env);
-    true
-}
-
-#[rustler::nif]
-fn zenoh_open<'a>() -> ResourceArc<SessionContainer> {
-    ResourceArc::new(SessionContainer {
-        session_mux: Mutex::new(Session::leak(
-            block_on(zenoh::open(Config::default()).res()).unwrap(),
-        )),
-    })
-}
-
-#[rustler::nif]
-fn session_declare_publisher<'a>(
-    env: Env<'a>,
-    resource_session: ResourceArc<SessionContainer>,
-    keyexpr: String,
-) -> Term<'a> {
-    let session = resource_session.session_mux.lock().unwrap();
-    let publisher = session.declare_publisher(keyexpr);
-    let resource_publisher = ResourceArc::new(PublisherContainer {
-        publisher_mux: Mutex::new(block_on(publisher.res()).unwrap()),
-    });
-    (ok(), resource_publisher).encode(env)
-}
-
-fn publisher_put<'a>(
-    env: Env<'a>,
-    resource_session: ResourceArc<PublisherContainer>,
-    value: Value,
-) -> Term<'a> {
-    let publisher = &resource_session.publisher_mux.lock().unwrap();
-    block_on(publisher.put(value).res()).unwrap();
-    (ok()).encode(env)
-}
-
-#[rustler::nif]
-fn publisher_put_string<'a>(
-    env: Env<'a>,
-    resource_session: ResourceArc<PublisherContainer>,
-    value: String,
-) -> Term<'a> {
-    publisher_put(env, resource_session, Value::from(value))
-}
-
-#[rustler::nif]
-fn publisher_put_integer<'a>(
-    env: Env<'a>,
-    resource_session: ResourceArc<PublisherContainer>,
-    value: i64,
-) -> Term<'a> {
-    publisher_put(env, resource_session, Value::from(value))
-}
-
-#[rustler::nif]
-fn publisher_put_float<'a>(
-    env: Env<'a>,
-    resource_session: ResourceArc<PublisherContainer>,
-    value: f64,
-) -> Term<'a> {
-    publisher_put(env, resource_session, Value::from(value))
-}
-
-#[rustler::nif]
-fn session_declare_subscriber<'a>(
-    env: Env<'a>,
-    resource_session: ResourceArc<SessionContainer>,
-    keyexpr: String,
-    pid: Pid,
-) -> Term<'a> {
-    let mut subscriber_env = OwnedEnv::new();
-
-    let session = resource_session.session_mux.lock().unwrap();
-    let subscriber = block_on(session.declare_subscriber(keyexpr).res()).unwrap();
-
-    std::thread::spawn(move || loop {
-        let sample = block_on(subscriber.recv_async()).unwrap();
-        subscriber_env.send_and_clear(&pid, |env| sample.value.to_string().encode(env));
-    });
-
-    ok().encode(env)
-}
-
-rustler::init!(
-    "Elixir.NifZenoh",
-    [
-        zenoh_open,
-        session_declare_publisher,
-        publisher_put_string,
-        publisher_put_float,
-        publisher_put_integer,
-        tester_pub,
-        tester_sub,
-        session_declare_subscriber,
-    ],
-    load = load
-);
diff --git a/native/nifzenoh/src/tester.rs b/native/nifzenoh/src/tester.rs
deleted file mode 100644
index cc0ee89..0000000
--- a/native/nifzenoh/src/tester.rs
+++ /dev/null
@@ -1,63 +0,0 @@
-pub mod tester {
-    use async_std::task::sleep;
-    use futures::executor::block_on;
-    use futures::prelude::*;
-    use futures::select;
-    use std::time::Duration;
-    use zenoh::config::Config;
-    use zenoh::prelude::r#async::*;
-
-    pub async fn pub_zenoh(key_expr: String, value: String) {
-        env_logger::init();
-
-        let session = zenoh::open(Config::default()).res().await.unwrap();
-        println!("Declaring Publisher on '{}'...", key_expr);
-        let publisher = session.declare_publisher(&key_expr).res().await.unwrap();
-
-        for idx in 0..u32::MAX {
-            sleep(Duration::from_secs(1)).await;
-            let buf = format!("[{:4}] {}", idx, value);
-            println!("Putting Data ('{}': '{}')...", &key_expr, buf);
-            publisher.put(buf).res().await.unwrap();
-        }
-    }
-
-    pub async fn sub_zenoh(key_expr: String) {
-        env_logger::init();
-
-        println!("Opening session...");
-        let session = zenoh::open(Config::default()).res().await.unwrap();
-
-        println!("Declaring Subscriber on '{}'...", &key_expr);
-        let subscriber = session.declare_subscriber(&key_expr).res().await.unwrap();
-
-        println!("Enter 'q' to quit...");
-        let mut stdin = async_std::io::stdin();
-        let mut input = [0_u8];
-        loop {
-            select!(
-                sample = subscriber.recv_async() => {
-                    let sample = sample.unwrap();
-                    println!(">> [Subscriber] Received {} ('{}': '{}')",
-                        sample.kind, sample.key_expr.as_str(), sample.value);
-                },
-
-                _ = stdin.read_exact(&mut input).fuse() => {
-                    match input[0] {
-                        b'q' => break,
-                        0 => sleep(Duration::from_secs(1)).await,
-                        _ => (),
-                    }
-                }
-            );
-        }
-    }
-    #[rustler::nif]
-    fn tester_pub(key_expr: String, value: String) {
-        block_on(pub_zenoh(key_expr, value));
-    }
-    #[rustler::nif]
-    pub fn tester_sub(key_exprt: String) {
-        block_on(sub_zenoh(key_exprt));
-    }
-}

From 1fcc0b397bd379ccbd8597efaba3b314db138d49 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 11:33:06 +0900
Subject: [PATCH 039/165] Update mix.exs

---
 mix.exs | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/mix.exs b/mix.exs
index 42d001b..cbd16b3 100644
--- a/mix.exs
+++ b/mix.exs
@@ -39,9 +39,11 @@ defmodule Zenohex.MixProject do
       name: "zenohex",
       files: [
         "lib",
-        "native/nifzenoh/.cargo",
-        "native/nifzenoh/src",
-        "native/nifzenoh/Cargo*",
+        "native/zenohex_nif/.cargo",
+        "native/zenohex_nif/src",
+        "native/zenohex_nif/Cargo*",
+        "LICENSE",
+        "README.md",
         "checksum-*.exs",
         "mix.exs"
       ],

From 211b5cea58631c63f9a5a6478ae3cbd567d6192e Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 11:33:55 +0900
Subject: [PATCH 040/165] Update README.md

---
 README.md | 52 ++++++++++++++++++++++++----------------------------
 1 file changed, 24 insertions(+), 28 deletions(-)

diff --git a/README.md b/README.md
index 9c58ad4..474952f 100644
--- a/README.md
+++ b/README.md
@@ -6,8 +6,8 @@
 
 Zenohex is the [zenoh](https://zenoh.io/) client library for elixir.
 
-Currently zenohex uses version 0.10.1-rc of zenoh.
-If you want to communicate with Rust version of Zenoh, please use the same version. 
+**Currently zenohex uses version 0.10.1-rc of zenoh.  
+If you want to communicate with other Zenoh clients or routers, please use the same version.**
 
 ## Installation
 
@@ -27,40 +27,36 @@ and published on [HexDocs](https://hexdocs.pm). Once published, the docs can
 be found at <https://hexdocs.pm/zenohex>.
 
 ### Install rust (Optional)
+
 Since version 0.1.3, Zenohex uses rustler precompiled and does not require Rust to be installed.
 
-If you need to build rust NIFs code, please set the environment variable and install rust.
-```
-export RUSTLER_PRECOMPILATION_EXAMPLE_BUILD=1
+If you want to build rust NIFs code, please add following to your config file.
+
+```elixir
+config :rustler_precompiled, :force_build, zenohex: true
 ```
+
 https://www.rust-lang.org/tools/install
 
 ## Getting Started
 
-### Publisher example
-#### terminal 1 (Subscriber)
-```
-iex -S mix
-iex> NifZenoh.tester_sub "demo/example/zenoh-rs-pub"
-```
+### Pub/Sub example
 
-#### terminal 2 (Publisher)
-```
-iex -S mix
-iex> session = Zenohex.open
-iex> {:ok, publisher} = Session.declare_publisher(session, "demo/example/zenoh-rs-pub")
-iex> Publisher.put(publisher, "Hello zenoh?")
+```sh
+$ iex -S mix
 ```
 
-### Subscriber example
-```
-(Subscriber)
-iex -S mix
-iex> session = Zenohex.open
-iex> Session.declare_subscriber(session, "demo/example/zenoh-rs-pub", fn m -> IO.inspect(m) end)
-(third argument is callback function)
-
-(Publisher)
-iex> {:ok, publisher} = Session.declare_publisher(session, "demo/example/zenoh-rs-pub")
-iex> Publisher.put(publisher, "Hello zenoh?")
+```elixir
+iex(1)> session = Zenohex.open!()
+#Reference<>
+iex(2)> publisher = Zenohex.Session.declare_publisher!(session, "pub/sub")
+#Reference<>
+iex(3)> subscriber = Zenohex.Session.declare_subscriber!(session, "pub/sub")
+#Reference<>
+iex(4)> Zenohex.Publisher.put!(publisher, "Hello Zenoh Dragon")
+:ok
+iex(5)> Zenohex.Subscriber.recv_timeout!(subscriber, 1000)
+"Hello Zenoh Dragon"
+iex(6)> Zenohex.Subscriber.recv_timeout!(subscriber, 1000)
+:timeout
 ```

From 62d020c2e17499e5853720a3f5ab97883e8e6a4d Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 11:34:10 +0900
Subject: [PATCH 041/165] Change dev version from 0.2.0-dev to 0.2.0-dev.0

---
 mix.exs                       | 2 +-
 native/zenohex_nif/Cargo.lock | 2 +-
 native/zenohex_nif/Cargo.toml | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/mix.exs b/mix.exs
index cbd16b3..6c544b1 100644
--- a/mix.exs
+++ b/mix.exs
@@ -1,6 +1,6 @@
 defmodule Zenohex.MixProject do
   use Mix.Project
-  @version "0.2.0-dev"
+  @version "0.2.0-dev.0"
 
   def project do
     [
diff --git a/native/zenohex_nif/Cargo.lock b/native/zenohex_nif/Cargo.lock
index e6a1038..9e507e5 100644
--- a/native/zenohex_nif/Cargo.lock
+++ b/native/zenohex_nif/Cargo.lock
@@ -3322,7 +3322,7 @@ dependencies = [
 
 [[package]]
 name = "zenohex_nif"
-version = "0.2.0-dev"
+version = "0.2.0-dev.0"
 dependencies = [
  "flume",
  "futures",
diff --git a/native/zenohex_nif/Cargo.toml b/native/zenohex_nif/Cargo.toml
index a7d32f6..e4cca41 100644
--- a/native/zenohex_nif/Cargo.toml
+++ b/native/zenohex_nif/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "zenohex_nif"
-version = "0.2.0-dev"
+version = "0.2.0-dev.0"
 authors = []
 edition = "2021"
 

From 3e20e172c9a5f41b3d10912c40acf1f530979a4a Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 12:15:32 +0900
Subject: [PATCH 042/165] Update mix.exs

---
 mix.exs | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/mix.exs b/mix.exs
index 6c544b1..43147eb 100644
--- a/mix.exs
+++ b/mix.exs
@@ -1,6 +1,8 @@
 defmodule Zenohex.MixProject do
   use Mix.Project
+
   @version "0.2.0-dev.0"
+  @source_url "https://github.com/b5g-ex/zenohex"
 
   def project do
     [
@@ -10,7 +12,11 @@ defmodule Zenohex.MixProject do
       description: "Zenoh client library for elixir.",
       package: package(),
       start_permanent: Mix.env() == :prod,
-      deps: deps()
+      deps: deps(),
+      # Docs
+      name: "ZenohEx",
+      source_url: @source_url,
+      docs: docs()
     ]
   end
 
@@ -49,7 +55,11 @@ defmodule Zenohex.MixProject do
       ],
       maintainers: ["s-hosoai"],
       licenses: ["MIT"],
-      links: %{"GitHub" => "https://github.com/b5g-ex/zenohex"}
+      links: %{"GitHub" => @source_url}
     ]
   end
+
+  defp docs() do
+    [extras: ["README.md", "LICENSE"], main: "readme"]
+  end
 end

From e5c613d8dc876005dc5ff06c3de90d02a78cbff8 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 14:31:29 +0900
Subject: [PATCH 043/165] Add config.exs

---
 config/config.exs | 3 +++
 1 file changed, 3 insertions(+)
 create mode 100644 config/config.exs

diff --git a/config/config.exs b/config/config.exs
new file mode 100644
index 0000000..51e395f
--- /dev/null
+++ b/config/config.exs
@@ -0,0 +1,3 @@
+import Config
+
+config :rustler_precompiled, :force_build, zenohex: true

From bb562344defabb62a0b3574c7a76894f0e6dd6b0 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 14:32:04 +0900
Subject: [PATCH 044/165] Change version from 0.2.0-dev.0 to 0.2.0-rc.0

---
 mix.exs                       | 2 +-
 native/zenohex_nif/Cargo.lock | 2 +-
 native/zenohex_nif/Cargo.toml | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/mix.exs b/mix.exs
index 43147eb..40c45c3 100644
--- a/mix.exs
+++ b/mix.exs
@@ -1,7 +1,7 @@
 defmodule Zenohex.MixProject do
   use Mix.Project
 
-  @version "0.2.0-dev.0"
+  @version "0.2.0-rc.0"
   @source_url "https://github.com/b5g-ex/zenohex"
 
   def project do
diff --git a/native/zenohex_nif/Cargo.lock b/native/zenohex_nif/Cargo.lock
index 9e507e5..4edaa1c 100644
--- a/native/zenohex_nif/Cargo.lock
+++ b/native/zenohex_nif/Cargo.lock
@@ -3322,7 +3322,7 @@ dependencies = [
 
 [[package]]
 name = "zenohex_nif"
-version = "0.2.0-dev.0"
+version = "0.2.0-rc.0"
 dependencies = [
  "flume",
  "futures",
diff --git a/native/zenohex_nif/Cargo.toml b/native/zenohex_nif/Cargo.toml
index e4cca41..bcd3c24 100644
--- a/native/zenohex_nif/Cargo.toml
+++ b/native/zenohex_nif/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "zenohex_nif"
-version = "0.2.0-dev.0"
+version = "0.2.0-rc.0"
 authors = []
 edition = "2021"
 

From 80e2b2e96a96b66bde3b754f9d0c1942c104b46d Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 15:02:46 +0900
Subject: [PATCH 045/165] Add targets to .github/workflows/nif_precompile.yml
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

WHY: riscv64gc-unknown-linux-gnu をターゲットに含めない

Zenoh が依存する ring v0.16.20 が対応していないため
---
 .github/workflows/nif_precompile.yml  | 9 +++++----
 lib/zenohex/nif.ex                    | 5 ++++-
 native/zenohex_nif/.cargo/config.toml | 5 +++++
 3 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/nif_precompile.yml b/.github/workflows/nif_precompile.yml
index 16e7014..ed9746f 100644
--- a/.github/workflows/nif_precompile.yml
+++ b/.github/workflows/nif_precompile.yml
@@ -14,14 +14,15 @@ jobs:
       matrix:
         nif: ["2.15"]
         job:
-          - { target: arm-unknown-linux-gnueabihf , os: ubuntu-20.04 , use-cross: true }
-          - { target: aarch64-unknown-linux-gnu   , os: ubuntu-20.04 , use-cross: true }
           - { target: aarch64-apple-darwin        , os: macos-11      }
+          - { target: aarch64-unknown-linux-gnu   , os: ubuntu-20.04 , use-cross: true }
+          - { target: aarch64-unknown-linux-musl  , os: ubuntu-20.04 , use-cross: true }
+          - { target: arm-unknown-linux-gnueabihf , os: ubuntu-20.04 , use-cross: true }
           - { target: x86_64-apple-darwin         , os: macos-11      }
-          - { target: x86_64-unknown-linux-gnu    , os: ubuntu-20.04  }
-          - { target: x86_64-unknown-linux-musl   , os: ubuntu-20.04 , use-cross: true }
           - { target: x86_64-pc-windows-gnu       , os: windows-2019  }
           - { target: x86_64-pc-windows-msvc      , os: windows-2019  }
+          - { target: x86_64-unknown-linux-gnu    , os: ubuntu-20.04  }
+          - { target: x86_64-unknown-linux-musl   , os: ubuntu-20.04 , use-cross: true }
 
     steps:
     - name: Checkout source code
diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index 83cdd14..bc1524b 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -9,7 +9,10 @@ defmodule Zenohex.Nif do
     otp_app: :zenohex,
     crate: "zenohex_nif",
     version: version,
-    base_url: "#{github_url}/releases/download/v#{version}"
+    base_url: "#{github_url}/releases/download/v#{version}",
+    targets:
+      RustlerPrecompiled.Config.default_targets()
+      |> Enum.reject(&(&1 == "riscv64gc-unknown-linux-gnu"))
 
   alias Zenohex.Publisher
   alias Zenohex.Subscriber
diff --git a/native/zenohex_nif/.cargo/config.toml b/native/zenohex_nif/.cargo/config.toml
index 5158329..6a4c852 100644
--- a/native/zenohex_nif/.cargo/config.toml
+++ b/native/zenohex_nif/.cargo/config.toml
@@ -10,6 +10,11 @@ rustflags = [
   "-C", "target-feature=-crt-static"
 ]
 
+[target.aarch64-unknown-linux-musl]
+rustflags = [
+  "-C", "target-feature=-crt-static"
+]
+
 # Provides a small build size, but takes more time to build.
 [profile.release]
 lto = true

From 5b401d188c08534c9c617912518336ff1c92473b Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 15:05:18 +0900
Subject: [PATCH 046/165] Bump version from 0.2.0-rc.0 to 0.2.0-rc.1

---
 mix.exs                       | 2 +-
 native/zenohex_nif/Cargo.lock | 2 +-
 native/zenohex_nif/Cargo.toml | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/mix.exs b/mix.exs
index 40c45c3..70df1c7 100644
--- a/mix.exs
+++ b/mix.exs
@@ -1,7 +1,7 @@
 defmodule Zenohex.MixProject do
   use Mix.Project
 
-  @version "0.2.0-rc.0"
+  @version "0.2.0-rc.1"
   @source_url "https://github.com/b5g-ex/zenohex"
 
   def project do
diff --git a/native/zenohex_nif/Cargo.lock b/native/zenohex_nif/Cargo.lock
index 4edaa1c..ce6e395 100644
--- a/native/zenohex_nif/Cargo.lock
+++ b/native/zenohex_nif/Cargo.lock
@@ -3322,7 +3322,7 @@ dependencies = [
 
 [[package]]
 name = "zenohex_nif"
-version = "0.2.0-rc.0"
+version = "0.2.0-rc.1"
 dependencies = [
  "flume",
  "futures",
diff --git a/native/zenohex_nif/Cargo.toml b/native/zenohex_nif/Cargo.toml
index bcd3c24..7918c17 100644
--- a/native/zenohex_nif/Cargo.toml
+++ b/native/zenohex_nif/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "zenohex_nif"
-version = "0.2.0-rc.0"
+version = "0.2.0-rc.1"
 authors = []
 edition = "2021"
 

From 737ae553b0a21d2609af1d42a8cd5913580d6cb6 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 15:46:54 +0900
Subject: [PATCH 047/165] Add checksum-Elixir.Zenohex.Nif.exs for v0.2.0-rc.1

---
 checksum-Elixir.Zenohex.Nif.exs | 11 +++++++++++
 1 file changed, 11 insertions(+)
 create mode 100644 checksum-Elixir.Zenohex.Nif.exs

diff --git a/checksum-Elixir.Zenohex.Nif.exs b/checksum-Elixir.Zenohex.Nif.exs
new file mode 100644
index 0000000..aab9cbd
--- /dev/null
+++ b/checksum-Elixir.Zenohex.Nif.exs
@@ -0,0 +1,11 @@
+%{
+  "libzenohex_nif-v0.2.0-rc.1-nif-2.15-aarch64-apple-darwin.so.tar.gz" => "sha256:7877bc6913c252485ed10bbd6e4081b8f74be84dd8f251e3bf40b767871ea3da",
+  "libzenohex_nif-v0.2.0-rc.1-nif-2.15-aarch64-unknown-linux-gnu.so.tar.gz" => "sha256:9353f1943337976731ab1111f3df524510fc990217a39989714dc0b56a813880",
+  "libzenohex_nif-v0.2.0-rc.1-nif-2.15-aarch64-unknown-linux-musl.so.tar.gz" => "sha256:3ab203d686436f0d935907dd80fe035890c3f692fc94b1a8d03536d88f9a6f61",
+  "libzenohex_nif-v0.2.0-rc.1-nif-2.15-arm-unknown-linux-gnueabihf.so.tar.gz" => "sha256:b1406f2bc2cda6df768432c700d1bb571dd6ca2b85584af4cc88d17dd4cbaa96",
+  "libzenohex_nif-v0.2.0-rc.1-nif-2.15-x86_64-apple-darwin.so.tar.gz" => "sha256:4fdcaac50d65e6d069fde911b25e30c04aff4c8c8fd69917906a870db47814e3",
+  "libzenohex_nif-v0.2.0-rc.1-nif-2.15-x86_64-unknown-linux-gnu.so.tar.gz" => "sha256:32bc5b176bb81b384265f061e4953fd0b265dc6cc2219897962689059a1f8c6e",
+  "libzenohex_nif-v0.2.0-rc.1-nif-2.15-x86_64-unknown-linux-musl.so.tar.gz" => "sha256:0c306e0b3a4cb790a7f99037c2925ea76efebf254ab7d9a238820097c68b95ce",
+  "zenohex_nif-v0.2.0-rc.1-nif-2.15-x86_64-pc-windows-gnu.dll.tar.gz" => "sha256:32d156d75f8815338dfd0ff0664eef43030b5469c505fd741e14b1d2b9c14eca",
+  "zenohex_nif-v0.2.0-rc.1-nif-2.15-x86_64-pc-windows-msvc.dll.tar.gz" => "sha256:81c7fec9f38006f74843230ae82d9a6895912e7b1353261e06c781ea9f87174b",
+}

From d667ff43eaedcd14e0c6af9dc208b5a6e7ec37f3 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 15:53:13 +0900
Subject: [PATCH 048/165] Update README.md

---
 README.md | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/README.md b/README.md
index 474952f..c838573 100644
--- a/README.md
+++ b/README.md
@@ -60,3 +60,9 @@ iex(5)> Zenohex.Subscriber.recv_timeout!(subscriber, 1000)
 iex(6)> Zenohex.Subscriber.recv_timeout!(subscriber, 1000)
 :timeout
 ```
+
+## For developer
+
+### How to release
+
+Follow [Recommended flow](https://hexdocs.pm/rustler_precompiled/precompilation_guide.html#recommended-flow).

From cb34befeb2a279960d00b71805e423d9916c4001 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 16:25:28 +0900
Subject: [PATCH 049/165] [zenohex_nif] Update nif.ex

---
 lib/zenohex/nif.ex | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index bc1524b..18e3c85 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -14,6 +14,9 @@ defmodule Zenohex.Nif do
       RustlerPrecompiled.Config.default_targets()
       |> Enum.reject(&(&1 == "riscv64gc-unknown-linux-gnu"))
 
+  # for Nerves
+  @compile {:autoload, false}
+
   alias Zenohex.Publisher
   alias Zenohex.Subscriber
   alias Zenohex.Queryable

From eb11dedc8f87f14685757ea4d7a3cfd8b1fb646d Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 30 Jan 2024 16:32:35 +0900
Subject: [PATCH 050/165] Update README.md, fix wrong link

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index c838573..8baf9f9 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,7 @@
 # Zenohex
 
 [![Hex version](https://img.shields.io/hexpm/v/zenohex.svg "Hex version")](https://hex.pm/packages/zenohex)
-[![API docs](https://img.shields.io/hexpm/v/rclex.svg?label=hexdocs "API docs")](https://hexdocs.pm/zenohex/)
+[![API docs](https://img.shields.io/hexpm/v/zenohex.svg?label=hexdocs "API docs")](https://hexdocs.pm/zenohex/)
 [![License](https://img.shields.io/hexpm/l/zenohex.svg)](https://github.com/zenohex/zenohex/blob/main/LICENSE)
 
 Zenohex is the [zenoh](https://zenoh.io/) client library for elixir.

From d5b6030626671e742ba08694339183f406391df6 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 31 Jan 2024 14:44:26 +0900
Subject: [PATCH 051/165] Reduce testing time, fix #11

This fix reference is https://github.com/eclipse-zenoh/zenoh/issues/460#issuecomment-1508818164
---
 lib/zenohex.ex                |  6 +++++-
 lib/zenohex/nif.ex            |  4 ++++
 mix.exs                       | 20 +++++++++++++++++++-
 native/zenohex_nif/src/lib.rs | 13 +++++++++++++
 4 files changed, 41 insertions(+), 2 deletions(-)

diff --git a/lib/zenohex.ex b/lib/zenohex.ex
index 3c97c97..4cd2737 100644
--- a/lib/zenohex.ex
+++ b/lib/zenohex.ex
@@ -15,6 +15,10 @@ defmodule Zenohex do
   """
   @spec open! :: Session.t()
   def open!() do
-    Nif.zenoh_open()
+    if System.get_env("SCOUTING_DELAY") == "0" do
+      Nif.zenoh_scouting_delay_zero_session()
+    else
+      Nif.zenoh_open()
+    end
   end
 end
diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index 18e3c85..dd4139b 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -32,6 +32,10 @@ defmodule Zenohex.Nif do
     :erlang.nif_error(:nif_not_loaded)
   end
 
+  def zenoh_scouting_delay_zero_session() do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
   for type <- ["integer", "float", "binary"] do
     def unquote(:"session_put_#{type}")(_session, _key_expr, _value) do
       :erlang.nif_error(:nif_not_loaded)
diff --git a/mix.exs b/mix.exs
index 70df1c7..465a8c7 100644
--- a/mix.exs
+++ b/mix.exs
@@ -16,7 +16,8 @@ defmodule Zenohex.MixProject do
       # Docs
       name: "ZenohEx",
       source_url: @source_url,
-      docs: docs()
+      docs: docs(),
+      aliases: [test: [&disable_zenoh_delay/1, "test"]]
     ]
   end
 
@@ -62,4 +63,21 @@ defmodule Zenohex.MixProject do
   defp docs() do
     [extras: ["README.md", "LICENSE"], main: "readme"]
   end
+
+  defp disable_zenoh_delay(_args) do
+    :ok =
+      """
+      =================================================================
+      HEY, ZENOHEX DEVELOPER. TO REDUCE TESTING TIME,
+      WE COMPILE WITH API_OPEN_SESSION_DELAY=0 AND SET SCOUTING DELAY 0
+      =================================================================
+      """
+      |> String.trim_trailing()
+      |> Mix.shell().info()
+
+    :ok = System.put_env("API_OPEN_SESSION_DELAY", "0")
+    :ok = System.put_env("SCOUTING_DELAY", "0")
+
+    Mix.Task.run("compile", ["--force"])
+  end
 end
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index e3ce719..b6b8078 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -49,6 +49,18 @@ fn zenoh_open() -> ResourceArc<ExSessionRef> {
     ResourceArc::new(ExSessionRef(session.into_arc()))
 }
 
+#[rustler::nif]
+fn zenoh_scouting_delay_zero_session() -> ResourceArc<ExSessionRef> {
+    let mut config = config::peer();
+    config
+        .scouting
+        .set_delay(Some(0))
+        .expect("set_delay failed");
+
+    let session: Session = zenoh::open(config).res_sync().expect("zenoh_open failed");
+    ResourceArc::new(ExSessionRef(session.into_arc()))
+}
+
 #[rustler::nif]
 fn declare_publisher(
     resource: ResourceArc<ExSessionRef>,
@@ -172,6 +184,7 @@ rustler::init!(
         add,
         test_thread,
         zenoh_open,
+        zenoh_scouting_delay_zero_session,
         declare_publisher,
         declare_subscriber,
         declare_pull_subscriber,

From 294a39495374464a4be2772cc82152c30bdea4f8 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 31 Jan 2024 14:52:22 +0900
Subject: [PATCH 052/165] Update .github/workflows/ci.yaml

---
 .github/workflows/ci.yaml | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 3a99783..1ec7b6a 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -33,9 +33,6 @@ jobs:
       - name: get deps
         run: mix do deps.get, deps.compile
 
-      - name: compile
-        run: mix compile
-
       - name: format
         run: mix format --check-formatted
 
@@ -43,5 +40,5 @@ jobs:
         working-directory: native/zenohex_nif
         run: cargo fmt --all -- --check
 
-      - name: test
+      - name: compile & test
         run: mix test --warnings-as-errors

From 0e26b006f20742affca5ea36b0980cd14738bf79 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 31 Jan 2024 21:46:44 +0900
Subject: [PATCH 053/165] Change API

follow https://hexdocs.pm/elixir/main/design-anti-patterns.html#exceptions-for-control-flow
---
 README.md                                 | 22 +++---
 lib/zenohex.ex                            |  6 +-
 lib/zenohex/publisher.ex                  | 50 +++++++------
 lib/zenohex/pull_subscriber.ex            | 25 ++++---
 lib/zenohex/session.ex                    | 78 ++++++++++----------
 lib/zenohex/subscriber.ex                 | 15 ++--
 native/zenohex_nif/src/lib.rs             | 88 ++++++++++++-----------
 native/zenohex_nif/src/publisher.rs       | 41 ++++++-----
 native/zenohex_nif/src/pull_subscriber.rs | 19 +++--
 native/zenohex_nif/src/session.rs         | 74 +++++++++----------
 native/zenohex_nif/src/subscriber.rs      |  6 +-
 test/zenohex/nif_test.exs                 | 65 +++++++++--------
 test/zenohex_test.exs                     | 12 ++--
 13 files changed, 265 insertions(+), 236 deletions(-)

diff --git a/README.md b/README.md
index 8baf9f9..d7e1d2d 100644
--- a/README.md
+++ b/README.md
@@ -47,18 +47,18 @@ $ iex -S mix
 ```
 
 ```elixir
-iex(1)> session = Zenohex.open!()
-#Reference<>
-iex(2)> publisher = Zenohex.Session.declare_publisher!(session, "pub/sub")
-#Reference<>
-iex(3)> subscriber = Zenohex.Session.declare_subscriber!(session, "pub/sub")
-#Reference<>
-iex(4)> Zenohex.Publisher.put!(publisher, "Hello Zenoh Dragon")
+iex(1)> {:ok, session} = Zenohex.open()
+{:ok, #Reference<>}
+iex(2)> {:ok, publisher} = Zenohex.Session.declare_publisher(session, "pub/sub")
+{:ok, #Reference<>}
+iex(3)> {:ok, subscriber} = Zenohex.Session.declare_subscriber(session, "pub/sub")
+{:ok, #Reference<>}
+iex(4)> Zenohex.Publisher.put(publisher, "Hello Zenoh Dragon")
 :ok
-iex(5)> Zenohex.Subscriber.recv_timeout!(subscriber, 1000)
-"Hello Zenoh Dragon"
-iex(6)> Zenohex.Subscriber.recv_timeout!(subscriber, 1000)
-:timeout
+iex(5)> Zenohex.Subscriber.recv_timeout(subscriber, 1000)
+{:ok, "Hello Zenoh Dragon"}
+iex(6)> Zenohex.Subscriber.recv_timeout(subscriber, 1000)
+{:error, :timeout}
 ```
 
 ## For developer
diff --git a/lib/zenohex.ex b/lib/zenohex.ex
index 4cd2737..fb9b9a8 100644
--- a/lib/zenohex.ex
+++ b/lib/zenohex.ex
@@ -11,10 +11,10 @@ defmodule Zenohex do
 
   ## Examples
 
-      iex> Zenohex.open!()
+      iex> Zenohex.open()
   """
-  @spec open! :: Session.t()
-  def open!() do
+  @spec open :: {:ok, Session.t()} | {:error, reason :: String.t()}
+  def open() do
     if System.get_env("SCOUTING_DELAY") == "0" do
       Nif.zenoh_scouting_delay_zero_session()
     else
diff --git a/lib/zenohex/publisher.ex b/lib/zenohex/publisher.ex
index 4da4212..c2c7aa3 100644
--- a/lib/zenohex/publisher.ex
+++ b/lib/zenohex/publisher.ex
@@ -31,24 +31,22 @@ defmodule Zenohex.Publisher do
 
   ## Examples
 
-      iex> session = Zenohex.open!()
-      iex> publisher = Zenohex.Session.declare_publisher!(session, "key/expression")
-      iex> :ok = Zenohex.Publisher.put!(publisher, "value")
-      iex> :ok = Zenohex.Publisher.put!(publisher, 0)
-      iex> :ok = Zenohex.Publisher.put!(publisher, 0.0)
+      iex> {:ok, session} = Zenohex.open()
+      iex> {:ok, publisher} = Zenohex.Session.declare_publisher(session, "key/expression")
+      iex> :ok = Zenohex.Publisher.put(publisher, "value")
+      iex> :ok = Zenohex.Publisher.put(publisher, 0)
+      iex> :ok = Zenohex.Publisher.put(publisher, 0.0)
   """
-  @spec put!(t(), binary()) :: :ok
-  def put!(publisher, value) when is_binary(value) do
+  @spec put(t(), binary() | integer() | float()) :: :ok | {:error, reason :: String.t()}
+  def put(publisher, value) when is_binary(value) do
     Nif.publisher_put_binary(publisher, value)
   end
 
-  @spec put!(t(), integer()) :: :ok
-  def put!(publisher, value) when is_integer(value) do
+  def put(publisher, value) when is_integer(value) do
     Nif.publisher_put_integer(publisher, value)
   end
 
-  @spec put!(t(), float()) :: :ok
-  def put!(publisher, value) when is_float(value) do
+  def put(publisher, value) when is_float(value) do
     Nif.publisher_put_float(publisher, value)
   end
 
@@ -57,12 +55,12 @@ defmodule Zenohex.Publisher do
 
   ## Examples
 
-      iex> session = Zenohex.open!()
-      iex> publisher = Zenohex.Session.declare_publisher!(session, "key/expression")
-      iex> :ok = Zenohex.Publisher.delete!(publisher)
+      iex> {:ok, session} = Zenohex.open()
+      iex> {:ok, publisher} = Zenohex.Session.declare_publisher(session, "key/expression")
+      iex> :ok = Zenohex.Publisher.delete(publisher)
   """
-  @spec delete!(t()) :: :ok
-  def delete!(publisher) do
+  @spec delete(t()) :: :ok | {:error, reason :: String.t()}
+  def delete(publisher) do
     Nif.publisher_delete(publisher)
   end
 
@@ -71,12 +69,12 @@ defmodule Zenohex.Publisher do
 
   ## Examples
 
-      iex> session = Zenohex.open!()
-      iex> publisher = Zenohex.Session.declare_publisher!(session, "key/expression")
-      iex> Zenohex.Publisher.congestion_control!(publisher, :drop)
+      iex> {:ok, session} = Zenohex.open()
+      iex> {:ok, publisher} = Zenohex.Session.declare_publisher(session, "key/expression")
+      iex> Zenohex.Publisher.congestion_control(publisher, :drop)
   """
-  @spec congestion_control!(t(), Options.congestion_control()) :: t()
-  def congestion_control!(publisher, congestion_control) do
+  @spec congestion_control(t(), Options.congestion_control()) :: t()
+  def congestion_control(publisher, congestion_control) do
     Nif.publisher_congestion_control(publisher, congestion_control)
   end
 
@@ -85,12 +83,12 @@ defmodule Zenohex.Publisher do
 
   ## Examples
 
-      iex> session = Zenohex.open!()
-      iex> publisher = Zenohex.Session.declare_publisher!(session, "key/expression")
-      iex> Zenohex.Publisher.priority!(publisher, :real_time)
+      iex> {:ok, session} = Zenohex.open()
+      iex> {:ok, publisher} = Zenohex.Session.declare_publisher(session, "key/expression")
+      iex> Zenohex.Publisher.priority(publisher, :real_time)
   """
-  @spec priority!(t(), Options.priority()) :: t()
-  def priority!(publisher, priority) do
+  @spec priority(t(), Options.priority()) :: t()
+  def priority(publisher, priority) do
     Nif.publisher_priority(publisher, priority)
   end
 end
diff --git a/lib/zenohex/pull_subscriber.ex b/lib/zenohex/pull_subscriber.ex
index 3cb5130..b5f73df 100644
--- a/lib/zenohex/pull_subscriber.ex
+++ b/lib/zenohex/pull_subscriber.ex
@@ -12,13 +12,13 @@ defmodule Zenohex.PullSubscriber do
 
   ## Examples
 
-      iex> session = Zenohex.open!()
-      iex> subscriber = Zenohex.Session.declare_pull_subscriber!(session, "key/expression")
-      iex> Zenohex.PullSubscriber.pull!(subscriber)
+      iex> {:ok, session} = Zenohex.open()
+      iex> {:ok, pull_subscriber} = Zenohex.Session.declare_pull_subscriber(session, "key/expression")
+      iex> Zenohex.PullSubscriber.pull(pull_subscriber)
       :ok
   """
-  @spec pull!(t()) :: :ok
-  def pull!(pull_subscriber) when is_reference(pull_subscriber) do
+  @spec pull(t()) :: :ok | {:error, reason :: String.t()}
+  def pull(pull_subscriber) when is_reference(pull_subscriber) do
     Nif.pull_subscriber_pull(pull_subscriber)
   end
 
@@ -27,13 +27,16 @@ defmodule Zenohex.PullSubscriber do
 
   ## Examples
 
-      iex> session = Zenohex.open!()
-      iex> subscriber = Zenohex.Session.declare_pull_subscriber!(session, "key/expression")
-      iex> Zenohex.PullSubscriber.recv_timeout!(subscriber, 1000)
-      :timeout
+      iex> {:ok, session} = Zenohex.open()
+      iex> {:ok, pull_subscriber} = Zenohex.Session.declare_pull_subscriber(session, "key/expression")
+      iex> Zenohex.PullSubscriber.recv_timeout(pull_subscriber, 1000)
+      {:error, :timeout}
   """
-  @spec recv_timeout!(t(), pos_integer()) :: integer() | float() | binary() | :timeout
-  def recv_timeout!(pull_subscriber, timeout_us)
+  @spec recv_timeout(t(), pos_integer()) ::
+          {:ok, integer() | float() | binary()}
+          | {:error, :timeout}
+          | {:error, reason :: String.t()}
+  def recv_timeout(pull_subscriber, timeout_us)
       when is_reference(pull_subscriber) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.pull_subscriber_recv_timeout(pull_subscriber, timeout_us)
   end
diff --git a/lib/zenohex/session.ex b/lib/zenohex/session.ex
index cc825c8..fe9b5d0 100644
--- a/lib/zenohex/session.ex
+++ b/lib/zenohex/session.ex
@@ -6,6 +6,7 @@ defmodule Zenohex.Session do
   alias Zenohex.Nif
   alias Zenohex.Publisher
   alias Zenohex.Subscriber
+  alias Zenohex.PullSubscriber
   alias Zenohex.Queryable
 
   @type t :: reference()
@@ -15,11 +16,12 @@ defmodule Zenohex.Session do
 
   ## Examples
 
-      iex> session = Zenohex.open!()
-      iex> Zenohex.Session.declare_publisher!(session, "key/expression")
+      iex> {:ok, session} = Zenohex.open()
+      iex> Zenohex.Session.declare_publisher(session, "key/expression")
   """
-  @spec declare_publisher!(t(), String.t(), Publisher.Options.t()) :: Publisher.t()
-  def declare_publisher!(session, key_expr, opts \\ %Publisher.Options{})
+  @spec declare_publisher(t(), String.t(), Publisher.Options.t()) ::
+          {:ok, Publisher.t()} | {:error, reason :: String.t()}
+  def declare_publisher(session, key_expr, opts \\ %Publisher.Options{})
       when is_reference(session) and is_binary(key_expr) and is_struct(opts, Publisher.Options) do
     Nif.declare_publisher(session, key_expr, opts)
   end
@@ -29,11 +31,12 @@ defmodule Zenohex.Session do
 
   ## Examples
 
-      iex> session = Zenohex.open!()
-      iex> Zenohex.Session.declare_subscriber!(session, "key/expression")
+      iex> {:ok, session} = Zenohex.open()
+      iex> Zenohex.Session.declare_subscriber(session, "key/expression")
   """
-  @spec declare_subscriber!(t(), String.t(), Subscriber.Options.t()) :: Subscriber.t()
-  def declare_subscriber!(session, key_expr, opts \\ %Subscriber.Options{})
+  @spec declare_subscriber(t(), String.t(), Subscriber.Options.t()) ::
+          {:ok, Subscriber.t()} | {:error, reason :: String.t()}
+  def declare_subscriber(session, key_expr, opts \\ %Subscriber.Options{})
       when is_reference(session) and is_binary(key_expr) and is_struct(opts, Subscriber.Options) do
     Nif.declare_subscriber(session, key_expr, opts)
   end
@@ -43,11 +46,12 @@ defmodule Zenohex.Session do
 
   ## Examples
 
-      iex> session = Zenohex.open!()
-      iex> Zenohex.Session.declare_pull_subscriber!(session, "key/expression")
+      iex> {:ok, session} = Zenohex.open()
+      iex> Zenohex.Session.declare_pull_subscriber(session, "key/expression")
   """
-  @spec declare_pull_subscriber!(t(), String.t(), Subscriber.Options.t()) :: Subscriber.t()
-  def declare_pull_subscriber!(session, key_expr, opts \\ %Subscriber.Options{})
+  @spec declare_pull_subscriber(t(), String.t(), Subscriber.Options.t()) ::
+          {:ok, PullSubscriber.t()} | {:error, reason :: String.t()}
+  def declare_pull_subscriber(session, key_expr, opts \\ %Subscriber.Options{})
       when is_reference(session) and is_binary(key_expr) and is_struct(opts, Subscriber.Options) do
     Nif.declare_pull_subscriber(session, key_expr, opts)
   end
@@ -57,11 +61,12 @@ defmodule Zenohex.Session do
 
   ## Examples
 
-      iex> session = Zenohex.open!()
-      iex> Zenohex.Session.declare_queryable!(session, "key/expression")
+      iex> {:ok, session} = Zenohex.open()
+      iex> Zenohex.Session.declare_queryable(session, "key/expression")
   """
-  @spec declare_queryable!(t(), String.t(), Queryable.Options.t()) :: Queryable.t()
-  def declare_queryable!(session, key_expr, opts \\ %Queryable.Options{})
+  @spec declare_queryable(t(), String.t(), Queryable.Options.t()) ::
+          {:ok, Queryable.t()} | {:error, reason :: String.t()}
+  def declare_queryable(session, key_expr, opts \\ %Queryable.Options{})
       when is_reference(session) and is_binary(key_expr) and is_struct(opts, Queryable.Options) do
     Nif.declare_queryable(session, key_expr, opts)
   end
@@ -71,25 +76,24 @@ defmodule Zenohex.Session do
 
   ## Examples
 
-      iex> session = Zenohex.open!()
-      iex> :ok = Zenohex.Session.put!(session, "key/expression", "value")
-      iex> :ok = Zenohex.Session.put!(session, "key/expression", 0)
-      iex> :ok = Zenohex.Session.put!(session, "key/expression", 0.0)
+      iex> {:ok, session} = Zenohex.open()
+      iex> :ok = Zenohex.Session.put(session, "key/expression", "value")
+      iex> :ok = Zenohex.Session.put(session, "key/expression", 0)
+      iex> :ok = Zenohex.Session.put(session, "key/expression", 0.0)
   """
-  @spec put!(t(), String.t(), binary()) :: :ok
-  def put!(session, key_expr, value)
+  @spec put(t(), String.t(), binary() | integer() | float()) ::
+          :ok | {:error, reason :: String.t()}
+  def put(session, key_expr, value)
       when is_reference(session) and is_binary(key_expr) and is_binary(value) do
     Nif.session_put_binary(session, key_expr, value)
   end
 
-  @spec put!(t(), String.t(), integer()) :: :ok
-  def put!(session, key_expr, value)
+  def put(session, key_expr, value)
       when is_reference(session) and is_binary(key_expr) and is_integer(value) do
     Nif.session_put_integer(session, key_expr, value)
   end
 
-  @spec put!(t(), String.t(), float()) :: :ok
-  def put!(session, key_expr, value)
+  def put(session, key_expr, value)
       when is_reference(session) and is_binary(key_expr) and is_float(value) do
     Nif.session_put_float(session, key_expr, value)
   end
@@ -99,14 +103,16 @@ defmodule Zenohex.Session do
 
   ## Examples
 
-      iex> session = Zenohex.open!()
-      iex> Zenohex.Session.get_timeout!(session, "key/**", 1000)
-      :timeout
+      iex> {:ok, session} = Zenohex.open()
+      iex> Zenohex.Session.get_timeout(session, "key/**", 1000)
+      {:error, :timeout}
   """
-  @spec get_timeout!(t(), String.t(), pos_integer()) ::
-          binary() | integer() | float() | :timeout
+  @spec get_timeout(t(), String.t(), pos_integer()) ::
+          {:ok, binary() | integer() | float()}
+          | {:error, :timeout}
+          | {:error, reason :: String.t()}
   # FIXME 返り値がリストになるケースがあるはずなので、 Nif を含めて見直し修正すること
-  def get_timeout!(session, selector, timeout_us)
+  def get_timeout(session, selector, timeout_us)
       when is_reference(session) and is_binary(selector) and is_integer(timeout_us) and
              timeout_us > 0 do
     Nif.session_get_timeout(session, selector, timeout_us)
@@ -117,12 +123,12 @@ defmodule Zenohex.Session do
 
   ## Examples
 
-      iex> session = Zenohex.open!()
-      iex> Zenohex.Session.delete!(session, "key/expression")
+      iex> {:ok, session} = Zenohex.open()
+      iex> Zenohex.Session.delete(session, "key/expression")
       :ok
   """
-  @spec delete!(t(), String.t()) :: :ok
-  def delete!(session, key_expr) when is_reference(session) and is_binary(key_expr) do
+  @spec delete(t(), String.t()) :: :ok | {:error, reason :: String.t()}
+  def delete(session, key_expr) when is_reference(session) and is_binary(key_expr) do
     Nif.session_delete(session, key_expr)
   end
 end
diff --git a/lib/zenohex/subscriber.ex b/lib/zenohex/subscriber.ex
index 3c9fe57..b5fd22c 100644
--- a/lib/zenohex/subscriber.ex
+++ b/lib/zenohex/subscriber.ex
@@ -22,13 +22,16 @@ defmodule Zenohex.Subscriber do
 
   ## Examples
 
-      iex> session = Zenohex.open!()
-      iex> subscriber = Zenohex.Session.declare_subscriber!(session, "key/expression")
-      iex> Zenohex.Subscriber.recv_timeout!(subscriber, 1000)
-      :timeout
+      iex> {:ok, session} = Zenohex.open()
+      iex> {:ok, subscriber} = Zenohex.Session.declare_subscriber(session, "key/expression")
+      iex> Zenohex.Subscriber.recv_timeout(subscriber, 1000)
+      {:error, :timeout}
   """
-  @spec recv_timeout!(t(), pos_integer()) :: integer() | float() | binary() | :timeout
-  def recv_timeout!(subscriber, timeout_us)
+  @spec recv_timeout(t(), pos_integer()) ::
+          {:ok, integer() | float() | binary()}
+          | {:error, :timeout}
+          | {:error, reason :: String.t()}
+  def recv_timeout(subscriber, timeout_us)
       when is_reference(subscriber) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.subscriber_recv_timeout(subscriber, timeout_us)
   end
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index b6b8078..dcff1a4 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -43,22 +43,26 @@ fn test_thread(env: Env) -> Atom {
 }
 
 #[rustler::nif]
-fn zenoh_open() -> ResourceArc<ExSessionRef> {
+fn zenoh_open() -> Result<ResourceArc<ExSessionRef>, String> {
     let config = config::peer();
-    let session: Session = zenoh::open(config).res_sync().expect("zenoh_open failed");
-    ResourceArc::new(ExSessionRef(session.into_arc()))
+    match zenoh::open(config).res_sync() {
+        Ok(session) => Ok(ResourceArc::new(ExSessionRef(session.into_arc()))),
+        Err(error) => Err(error.to_string()),
+    }
 }
 
 #[rustler::nif]
-fn zenoh_scouting_delay_zero_session() -> ResourceArc<ExSessionRef> {
+fn zenoh_scouting_delay_zero_session() -> Result<ResourceArc<ExSessionRef>, String> {
     let mut config = config::peer();
-    config
-        .scouting
-        .set_delay(Some(0))
-        .expect("set_delay failed");
-
-    let session: Session = zenoh::open(config).res_sync().expect("zenoh_open failed");
-    ResourceArc::new(ExSessionRef(session.into_arc()))
+    let config = match config.scouting.set_delay(Some(0)) {
+        Ok(_) => config,
+        Err(_) => return Err("set_delay failed".to_string()),
+    };
+
+    match zenoh::open(config).res_sync() {
+        Ok(session) => Ok(ResourceArc::new(ExSessionRef(session.into_arc()))),
+        Err(error) => Err(error.to_string()),
+    }
 }
 
 #[rustler::nif]
@@ -66,16 +70,17 @@ fn declare_publisher(
     resource: ResourceArc<ExSessionRef>,
     key_expr: String,
     opts: publisher::PublisherOptions,
-) -> ResourceArc<ExPublisherRef> {
+) -> Result<ResourceArc<ExPublisherRef>, String> {
     let session: &Arc<Session> = &resource.0;
-    let publisher: Publisher = session
+    match session
         .declare_publisher(key_expr)
         .congestion_control(opts.congestion_control.into())
         .priority(opts.priority.into())
         .res_sync()
-        .expect("declare_publisher failed");
-
-    ResourceArc::new(ExPublisherRef(publisher))
+    {
+        Ok(publisher) => Ok(ResourceArc::new(ExPublisherRef(publisher))),
+        Err(error) => Err(error.to_string()),
+    }
 }
 
 #[rustler::nif]
@@ -83,15 +88,16 @@ fn declare_subscriber(
     resource: ResourceArc<ExSessionRef>,
     key_expr: String,
     opts: subscriber::SubscriberOptions,
-) -> ResourceArc<ExSubscriberRef> {
+) -> Result<ResourceArc<ExSubscriberRef>, String> {
     let session: &Arc<Session> = &resource.0;
-    let subscriber: Subscriber<'_, Receiver<Sample>> = session
+    match session
         .declare_subscriber(key_expr)
         .reliability(opts.reliability.into())
         .res_sync()
-        .expect("declare_subscriber failed");
-
-    ResourceArc::new(ExSubscriberRef(subscriber))
+    {
+        Ok(subscriber) => Ok(ResourceArc::new(ExSubscriberRef(subscriber))),
+        Err(error) => Err(error.to_string()),
+    }
 }
 
 #[rustler::nif]
@@ -99,16 +105,17 @@ fn declare_pull_subscriber(
     resource: ResourceArc<ExSessionRef>,
     key_expr: String,
     opts: subscriber::SubscriberOptions,
-) -> ResourceArc<ExPullSubscriberRef> {
+) -> Result<ResourceArc<ExPullSubscriberRef>, String> {
     let session: &Arc<Session> = &resource.0;
-    let pull_subscriber: PullSubscriber<'_, Receiver<Sample>> = session
+    match session
         .declare_subscriber(key_expr)
         .reliability(opts.reliability.into())
         .pull_mode()
         .res_sync()
-        .expect("declare_pull_subscriber failed");
-
-    ResourceArc::new(ExPullSubscriberRef(pull_subscriber))
+    {
+        Ok(pull_subscriber) => Ok(ResourceArc::new(ExPullSubscriberRef(pull_subscriber))),
+        Err(error) => Err(error.to_string()),
+    }
 }
 
 #[rustler::nif]
@@ -116,43 +123,44 @@ fn declare_queryable(
     resource: ResourceArc<ExSessionRef>,
     key_expr: String,
     opts: queryable::QueryableOptions,
-) -> ResourceArc<ExQueryableRef> {
+) -> Result<ResourceArc<ExQueryableRef>, String> {
     let session: &Arc<Session> = &resource.0;
-    let queryable: Queryable<'_, Receiver<Query>> = session
+    match session
         .declare_queryable(key_expr)
         .complete(opts.complete)
         .res_sync()
-        .expect("declare_queryable failed");
-
-    ResourceArc::new(ExQueryableRef(queryable))
+    {
+        Ok(queryable) => Ok(ResourceArc::new(ExQueryableRef(queryable))),
+        Err(error) => Err(error.to_string()),
+    }
 }
 
-fn to_term<'a>(value: &Value, env: Env<'a>) -> Term<'a> {
+fn to_result<'a>(value: &Value, env: Env<'a>) -> Result<Term<'a>, Term<'a>> {
     match value.encoding.prefix() {
         KnownEncoding::Empty => unimplemented!(),
         KnownEncoding::AppOctetStream => match Cow::try_from(value) {
             Ok(value) => {
                 let mut binary = OwnedBinary::new(value.len()).unwrap();
                 binary.as_mut_slice().write_all(&value).unwrap();
-                binary.release(env).encode(env)
+                Ok(binary.release(env).encode(env))
             }
-            Err(_err) => atom::error().encode(env),
+            Err(error) => Err(error.to_string().encode(env)),
         },
         KnownEncoding::AppCustom => unimplemented!(),
         KnownEncoding::TextPlain => match String::try_from(value) {
-            Ok(value) => value.encode(env),
-            Err(_err) => atom::error().encode(env),
+            Ok(value) => Ok(value.encode(env)),
+            Err(error) => Err(error.to_string().encode(env)),
         },
         KnownEncoding::AppProperties => unimplemented!(),
         KnownEncoding::AppJson => unimplemented!(),
         KnownEncoding::AppSql => unimplemented!(),
         KnownEncoding::AppInteger => match i64::try_from(value) {
-            Ok(value) => value.encode(env),
-            Err(_err) => atom::error().encode(env),
+            Ok(value) => Ok(value.encode(env)),
+            Err(error) => Err(error.to_string().encode(env)),
         },
         KnownEncoding::AppFloat => match f64::try_from(value) {
-            Ok(value) => value.encode(env),
-            Err(_err) => atom::error().encode(env),
+            Ok(value) => Ok(value.encode(env)),
+            Err(error) => Err(error.to_string().encode(env)),
         },
         KnownEncoding::AppXml => unimplemented!(),
         KnownEncoding::AppXhtmlXml => unimplemented!(),
diff --git a/native/zenohex_nif/src/publisher.rs b/native/zenohex_nif/src/publisher.rs
index 891c8bb..05ce1c0 100644
--- a/native/zenohex_nif/src/publisher.rs
+++ b/native/zenohex_nif/src/publisher.rs
@@ -1,42 +1,45 @@
 use crate::ExPublisherRef;
-use rustler::{types::atom, Atom, Binary, ResourceArc};
+use rustler::{types::atom, Binary, Encoder, Env, ResourceArc, Term};
 use zenoh::{prelude::sync::SyncResolve, publication::Publisher, value::Value};
 
 #[rustler::nif]
-fn publisher_put_integer(resource: ResourceArc<ExPublisherRef>, value: i64) -> Atom {
-    publisher_put_impl(resource, value)
+fn publisher_put_integer(env: Env, resource: ResourceArc<ExPublisherRef>, value: i64) -> Term {
+    publisher_put_impl(env, resource, value)
 }
 
 #[rustler::nif]
-fn publisher_put_float(resource: ResourceArc<ExPublisherRef>, value: f64) -> Atom {
-    publisher_put_impl(resource, value)
+fn publisher_put_float(env: Env, resource: ResourceArc<ExPublisherRef>, value: f64) -> Term {
+    publisher_put_impl(env, resource, value)
 }
 
 #[rustler::nif]
-fn publisher_put_binary(resource: ResourceArc<ExPublisherRef>, value: Binary) -> Atom {
-    publisher_put_impl(resource, Value::from(value.as_slice()))
+fn publisher_put_binary<'a>(
+    env: Env<'a>,
+    resource: ResourceArc<ExPublisherRef>,
+    value: Binary<'a>,
+) -> Term<'a> {
+    publisher_put_impl(env, resource, Value::from(value.as_slice()))
 }
 
 fn publisher_put_impl<T: Into<zenoh::value::Value>>(
+    env: Env,
     resource: ResourceArc<ExPublisherRef>,
     value: T,
-) -> Atom {
+) -> Term {
     let publisher: &Publisher = &resource.0;
-    publisher
-        .put(value)
-        .res_sync()
-        .expect("publisher_put_impl failed");
-    atom::ok()
+    match publisher.put(value).res_sync() {
+        Ok(_) => atom::ok().encode(env),
+        Err(error) => (atom::error(), error.to_string()).encode(env),
+    }
 }
 
 #[rustler::nif]
-fn publisher_delete(resource: ResourceArc<ExPublisherRef>) -> Atom {
+fn publisher_delete(env: Env, resource: ResourceArc<ExPublisherRef>) -> Term {
     let publisher: &Publisher = &resource.0;
-    publisher
-        .delete()
-        .res_sync()
-        .expect("publisher_delete failed.");
-    atom::ok()
+    match publisher.delete().res_sync() {
+        Ok(_) => atom::ok().encode(env),
+        Err(error) => (atom::error(), error.to_string()).encode(env),
+    }
 }
 
 #[rustler::nif]
diff --git a/native/zenohex_nif/src/pull_subscriber.rs b/native/zenohex_nif/src/pull_subscriber.rs
index e0f3ac9..9de7027 100644
--- a/native/zenohex_nif/src/pull_subscriber.rs
+++ b/native/zenohex_nif/src/pull_subscriber.rs
@@ -1,7 +1,7 @@
 use std::time::Duration;
 
 use flume::Receiver;
-use rustler::{types::atom, Atom, Encoder, Env, ResourceArc, Term};
+use rustler::{types::atom, Encoder, Env, ResourceArc, Term};
 use zenoh::{prelude::sync::SyncResolve, sample::Sample, subscriber::PullSubscriber};
 
 #[rustler::nif]
@@ -9,20 +9,19 @@ fn pull_subscriber_recv_timeout(
     env: Env,
     resource: ResourceArc<crate::ExPullSubscriberRef>,
     timeout_us: u64,
-) -> Term {
+) -> Result<Term, Term> {
     let pull_subscriber: &PullSubscriber<'_, Receiver<Sample>> = &resource.0;
     match pull_subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
-        Ok(sample) => crate::to_term(&sample.value, env),
-        Err(_recv_timeout_error) => crate::atoms::timeout().encode(env),
+        Ok(sample) => crate::to_result(&sample.value, env),
+        Err(_recv_timeout_error) => Err(crate::atoms::timeout().encode(env)),
     }
 }
 
 #[rustler::nif]
-fn pull_subscriber_pull(resource: ResourceArc<crate::ExPullSubscriberRef>) -> Atom {
+fn pull_subscriber_pull(env: Env, resource: ResourceArc<crate::ExPullSubscriberRef>) -> Term {
     let pull_subscriber: &PullSubscriber<'_, Receiver<Sample>> = &resource.0;
-    pull_subscriber
-        .pull()
-        .res_sync()
-        .expect("pull_subscriber_pull failed");
-    atom::ok()
+    match pull_subscriber.pull().res_sync() {
+        Ok(_) => atom::ok().encode(env),
+        Err(error) => (atom::error(), error.to_string()).encode(env),
+    }
 }
diff --git a/native/zenohex_nif/src/session.rs b/native/zenohex_nif/src/session.rs
index ba0a011..1c1f31f 100644
--- a/native/zenohex_nif/src/session.rs
+++ b/native/zenohex_nif/src/session.rs
@@ -1,48 +1,49 @@
 use std::{sync::Arc, time::Duration};
 
-use rustler::{types::atom, Atom, Binary, Encoder, Env, ResourceArc, Term};
+use rustler::{types::atom, Binary, Encoder, Env, ResourceArc, Term};
 use zenoh::{prelude::sync::SyncResolve, value::Value, Session};
 
 #[rustler::nif]
 fn session_put_integer(
+    env: Env,
     resource: ResourceArc<crate::ExSessionRef>,
     key_expr: String,
     value: i64,
-) -> Atom {
-    let session: &Arc<Session> = &resource.0;
-    session
-        .put(key_expr, value)
-        .res_sync()
-        .expect("session_put_integer failed");
-    atom::ok()
+) -> Term {
+    session_put_impl(env, resource, key_expr, value)
 }
 
 #[rustler::nif]
 fn session_put_float(
+    env: Env,
     resource: ResourceArc<crate::ExSessionRef>,
     key_expr: String,
     value: f64,
-) -> Atom {
-    let session: &Arc<Session> = &resource.0;
-    session
-        .put(key_expr, value)
-        .res_sync()
-        .expect("session_put_float failed");
-    atom::ok()
+) -> Term {
+    session_put_impl(env, resource, key_expr, value)
 }
 
 #[rustler::nif]
-fn session_put_binary(
+fn session_put_binary<'a>(
+    env: Env<'a>,
     resource: ResourceArc<crate::ExSessionRef>,
     key_expr: String,
-    value: Binary,
-) -> Atom {
+    value: Binary<'a>,
+) -> Term<'a> {
+    session_put_impl(env, resource, key_expr, Value::from(value.as_slice()))
+}
+
+fn session_put_impl<T: Into<zenoh::value::Value>>(
+    env: Env,
+    resource: ResourceArc<crate::ExSessionRef>,
+    key_expr: String,
+    value: T,
+) -> Term {
     let session: &Arc<Session> = &resource.0;
-    session
-        .put(key_expr, Value::from(value.as_slice()))
-        .res_sync()
-        .expect("session_put_float failed");
-    atom::ok()
+    match session.put(key_expr, value).res_sync() {
+        Ok(_) => atom::ok().encode(env),
+        Err(error) => (atom::error(), error.to_string()).encode(env),
+    }
 }
 
 #[rustler::nif]
@@ -51,27 +52,26 @@ fn session_get_timeout(
     resource: ResourceArc<crate::ExSessionRef>,
     selector: String,
     timeout_us: u64,
-) -> Term {
+) -> Result<Term, Term> {
     let session: &Arc<Session> = &resource.0;
-    let receiver = session
-        .get(selector)
-        .res_sync()
-        .expect("session_get failed");
+    let receiver = match session.get(selector).res_sync() {
+        Ok(receiver) => receiver,
+        Err(error) => return Err(error.to_string().encode(env)),
+    };
     match receiver.recv_timeout(Duration::from_micros(timeout_us)) {
         Ok(reply) => match reply.sample {
-            Ok(sample) => crate::to_term(&sample.value, env).encode(env),
-            Err(value) => crate::to_term(&value, env).encode(env),
+            Ok(sample) => crate::to_result(&sample.value, env),
+            Err(value) => crate::to_result(&value, env),
         },
-        Err(_recv_timeout_error) => crate::atoms::timeout().encode(env),
+        Err(_recv_timeout_error) => Err(crate::atoms::timeout().encode(env)),
     }
 }
 
 #[rustler::nif]
-fn session_delete(resource: ResourceArc<crate::ExSessionRef>, key_expr: String) -> Atom {
+fn session_delete(env: Env, resource: ResourceArc<crate::ExSessionRef>, key_expr: String) -> Term {
     let session: &Arc<Session> = &resource.0;
-    session
-        .delete(key_expr)
-        .res_sync()
-        .expect("session_delete failed");
-    atom::ok()
+    match session.delete(key_expr).res_sync() {
+        Ok(_) => atom::ok().encode(env),
+        Err(error) => (atom::error(), error.to_string()).encode(env),
+    }
 }
diff --git a/native/zenohex_nif/src/subscriber.rs b/native/zenohex_nif/src/subscriber.rs
index c6e9aa5..489c383 100644
--- a/native/zenohex_nif/src/subscriber.rs
+++ b/native/zenohex_nif/src/subscriber.rs
@@ -9,11 +9,11 @@ fn subscriber_recv_timeout(
     env: Env,
     resource: ResourceArc<crate::ExSubscriberRef>,
     timeout_us: u64,
-) -> Term {
+) -> Result<Term, Term> {
     let subscriber: &Subscriber<'_, Receiver<Sample>> = &resource.0;
     match subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
-        Ok(sample) => crate::to_term(&sample.value, env),
-        Err(_recv_timeout_error) => crate::atoms::timeout().encode(env),
+        Ok(sample) => crate::to_result(&sample.value, env),
+        Err(_recv_timeout_error) => Err(crate::atoms::timeout().encode(env)),
     }
 }
 
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 908b3da..dda2bfc 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -14,7 +14,8 @@ defmodule Zenohex.NifTest do
   end
 
   setup_all do
-    %{session: Nif.zenoh_open()}
+    {:ok, session} = Nif.zenoh_open()
+    %{session: session}
   end
 
   describe "session" do
@@ -31,7 +32,7 @@ defmodule Zenohex.NifTest do
     end
 
     test "session_get_timeout/3", %{session: session} do
-      assert Nif.session_get_timeout(session, "key_expression", 1000) == :timeout
+      assert Nif.session_get_timeout(session, "key_expression", 1000) == {:error, :timeout}
     end
 
     test "session_delete/2", %{session: session} do
@@ -43,21 +44,23 @@ defmodule Zenohex.NifTest do
     alias Zenohex.Publisher.Options
 
     test "declare_publisher/2", %{session: session} do
-      assert is_reference(Nif.declare_publisher(session, "key/expression"))
+      {:ok, publisher} = Nif.declare_publisher(session, "key/expression")
+      assert is_reference(publisher)
     end
 
     test "declare_publisher/3", %{session: session} do
       opts = %Options{congestion_control: :block, priority: :real_time}
-      assert is_reference(Nif.declare_publisher(session, "key/expression", opts))
+      {:ok, publisher} = Nif.declare_publisher(session, "key/expression", opts)
+      assert is_reference(publisher)
     end
 
     test "publisher_congestion_control/2", %{session: session} do
-      publisher = Nif.declare_publisher(session, "key/expression")
+      {:ok, publisher} = Nif.declare_publisher(session, "key/expression")
       assert is_reference(Nif.publisher_congestion_control(publisher, :block))
     end
 
     test "publisher_priority/2", %{session: session} do
-      publisher = Nif.declare_publisher(session, "key/expression")
+      {:ok, publisher} = Nif.declare_publisher(session, "key/expression")
       assert is_reference(Nif.publisher_priority(publisher, :real_time))
     end
 
@@ -69,13 +72,13 @@ defmodule Zenohex.NifTest do
       test "publisher_put_#{type}/2", %{session: session} do
         type = unquote(type)
         value = unquote(value)
-        publisher = Nif.declare_publisher(session, "key/expression")
+        {:ok, publisher} = Nif.declare_publisher(session, "key/expression")
         assert apply(Nif, :"publisher_put_#{type}", [publisher, value]) == :ok
       end
     end
 
     test "publisher_delete/1", %{session: session} do
-      publisher = Nif.declare_publisher(session, "key/expression")
+      {:ok, publisher} = Nif.declare_publisher(session, "key/expression")
       assert Nif.publisher_delete(publisher) == :ok
     end
   end
@@ -84,27 +87,29 @@ defmodule Zenohex.NifTest do
     alias Zenohex.Subscriber.Options
 
     test "declare_subscriber/2", %{session: session} do
-      assert is_reference(Nif.declare_subscriber(session, "key/expression"))
+      {:ok, subscriber} = Nif.declare_subscriber(session, "key/expression")
+      assert is_reference(subscriber)
     end
 
     test "declare_subscriber/3", %{session: session} do
       opts = %Options{reliability: :reliable}
-      assert is_reference(Nif.declare_subscriber(session, "key/expression", opts))
+      {:ok, subscriber} = Nif.declare_subscriber(session, "key/expression", opts)
+      assert is_reference(subscriber)
     end
 
     test "subscriber_recv_timeout/1", %{session: session} do
-      publisher = Nif.declare_publisher(session, "key/expression")
-      subscriber = Nif.declare_subscriber(session, "key/expression")
+      {:ok, publisher} = Nif.declare_publisher(session, "key/expression")
+      {:ok, subscriber} = Nif.declare_subscriber(session, "key/expression")
 
       Nif.publisher_put_integer(publisher, 0)
-      assert Nif.subscriber_recv_timeout(subscriber, 1000) == 0
+      assert Nif.subscriber_recv_timeout(subscriber, 1000) == {:ok, 0}
 
       Nif.publisher_put_float(publisher, 0.0)
-      assert Nif.subscriber_recv_timeout(subscriber, 1000) == 0.0
+      assert Nif.subscriber_recv_timeout(subscriber, 1000) == {:ok, 0.0}
 
       Nif.publisher_put_binary(publisher, "binary")
-      assert Nif.subscriber_recv_timeout(subscriber, 1000) == "binary"
-      assert Nif.subscriber_recv_timeout(subscriber, 1000) == :timeout
+      assert Nif.subscriber_recv_timeout(subscriber, 1000) == {:ok, "binary"}
+      assert Nif.subscriber_recv_timeout(subscriber, 1000) == {:error, :timeout}
     end
   end
 
@@ -112,31 +117,33 @@ defmodule Zenohex.NifTest do
     alias Zenohex.Subscriber.Options
 
     test "declare_pull_subscriber/2", %{session: session} do
-      assert is_reference(Nif.declare_pull_subscriber(session, "key/expression"))
+      {:ok, pull_subscriber} = Nif.declare_pull_subscriber(session, "key/expression")
+      assert is_reference(pull_subscriber)
     end
 
     test "declare_pull_subscriber/3", %{session: session} do
       opts = %Options{reliability: :reliable}
-      assert is_reference(Nif.declare_pull_subscriber(session, "key/expression", opts))
+      {:ok, pull_subscriber} = Nif.declare_pull_subscriber(session, "key/expression", opts)
+      assert is_reference(pull_subscriber)
     end
 
     test "pull_subscriber_pull/1", %{session: session} do
-      publisher = Nif.declare_publisher(session, "key/expression")
-      pull_subscriber = Nif.declare_pull_subscriber(session, "key/expression")
+      {:ok, publisher} = Nif.declare_publisher(session, "key/expression")
+      {:ok, pull_subscriber} = Nif.declare_pull_subscriber(session, "key/expression")
 
       :ok = Nif.publisher_put_integer(publisher, 0)
-      0 = Nif.pull_subscriber_recv_timeout(pull_subscriber, 1000)
-      :timeout = Nif.pull_subscriber_recv_timeout(pull_subscriber, 1000)
+      {:ok, 0} = Nif.pull_subscriber_recv_timeout(pull_subscriber, 1000)
+      {:error, :timeout} = Nif.pull_subscriber_recv_timeout(pull_subscriber, 1000)
       assert Nif.pull_subscriber_pull(pull_subscriber) == :ok
-      assert Nif.pull_subscriber_recv_timeout(pull_subscriber, 1000) == 0
+      assert Nif.pull_subscriber_recv_timeout(pull_subscriber, 1000) == {:ok, 0}
     end
   end
 
   describe "binary pub/sub" do
     setup context do
       key_expr = "key/expression"
-      publisher = Nif.declare_publisher(context.session, key_expr)
-      subscriber = Nif.declare_subscriber(context.session, key_expr)
+      {:ok, publisher} = Nif.declare_publisher(context.session, key_expr)
+      {:ok, subscriber} = Nif.declare_subscriber(context.session, key_expr)
       %{publisher: publisher, subscriber: subscriber}
     end
 
@@ -147,7 +154,7 @@ defmodule Zenohex.NifTest do
       test "#{test_name}", %{publisher: publisher, subscriber: subscriber} do
         binary = unquote(binary)
         Nif.publisher_put_binary(publisher, binary)
-        assert Nif.subscriber_recv_timeout(subscriber, 1000) == binary
+        assert Nif.subscriber_recv_timeout(subscriber, 1000) == {:ok, binary}
       end
     end
   end
@@ -156,12 +163,14 @@ defmodule Zenohex.NifTest do
     alias Zenohex.Queryable.Options
 
     test "declare_queryable/2", %{session: session} do
-      assert is_reference(Nif.declare_queryable(session, "key/expression"))
+      {:ok, queryable} = Nif.declare_queryable(session, "key/expression")
+      assert is_reference(queryable)
     end
 
     test "declare_queryable/3", %{session: session} do
       opts = %Options{complete: true}
-      assert is_reference(Nif.declare_queryable(session, "key/expression", opts))
+      {:ok, queryable} = Nif.declare_queryable(session, "key/expression", opts)
+      assert is_reference(queryable)
     end
   end
 end
diff --git a/test/zenohex_test.exs b/test/zenohex_test.exs
index cb93faa..7650904 100644
--- a/test/zenohex_test.exs
+++ b/test/zenohex_test.exs
@@ -3,15 +3,15 @@ defmodule ZenohexTest do
   doctest Zenohex
 
   test "pub/sub" do
-    session = Zenohex.open!()
-    publisher = Zenohex.Session.declare_publisher!(session, "pub/sub")
-    subscriber = Zenohex.Session.declare_subscriber!(session, "pub/sub")
+    {:ok, session} = Zenohex.open()
+    {:ok, publisher} = Zenohex.Session.declare_publisher(session, "pub/sub")
+    {:ok, subscriber} = Zenohex.Session.declare_subscriber(session, "pub/sub")
 
     for i <- 1..100 do
-      :ok = Zenohex.Publisher.put!(publisher, "Hello Zenoh Dragon #{i}")
+      :ok = Zenohex.Publisher.put(publisher, "Hello Zenoh Dragon #{i}")
 
-      assert Zenohex.Subscriber.recv_timeout!(subscriber, 1000) ==
-               "Hello Zenoh Dragon #{i}"
+      assert Zenohex.Subscriber.recv_timeout(subscriber, 1000) ==
+               {:ok, "Hello Zenoh Dragon #{i}"}
     end
   end
 end

From d401df3c9fee5dc984052c3e4e7df92c5ca77641 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 1 Feb 2024 14:49:53 +0900
Subject: [PATCH 054/165] Fix session get, to be able to receive multiple reply

---
 lib/zenohex/nif.ex                |  7 +++++-
 lib/zenohex/query.ex              | 18 +++++++++++++
 lib/zenohex/session.ex            | 36 ++++++++++++++++++--------
 native/zenohex_nif/src/lib.rs     |  8 ++++--
 native/zenohex_nif/src/query.rs   | 42 +++++++++++++++++++++++++++++++
 native/zenohex_nif/src/session.rs | 36 +++++++++++++++++++-------
 test/zenohex/nif_test.exs         | 10 ++++++--
 7 files changed, 132 insertions(+), 25 deletions(-)
 create mode 100644 lib/zenohex/query.ex
 create mode 100644 native/zenohex_nif/src/query.rs

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index dd4139b..b866f00 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -20,6 +20,7 @@ defmodule Zenohex.Nif do
   alias Zenohex.Publisher
   alias Zenohex.Subscriber
   alias Zenohex.Queryable
+  alias Zenohex.Query
 
   # When your NIF is loaded, it will override this function.
   def add(_a, _b), do: :erlang.nif_error(:nif_not_loaded)
@@ -42,7 +43,11 @@ defmodule Zenohex.Nif do
     end
   end
 
-  def session_get_timeout(_session, _selector, _timeout_us) do
+  def session_get_reply_receiver(_session, _selector, _opts \\ %Query.Options{}) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
+  def session_get_reply_timeout(_receiver, _timeout_us) do
     :erlang.nif_error(:nif_not_loaded)
   end
 
diff --git a/lib/zenohex/query.ex b/lib/zenohex/query.ex
new file mode 100644
index 0000000..1550654
--- /dev/null
+++ b/lib/zenohex/query.ex
@@ -0,0 +1,18 @@
+defmodule Zenohex.Query do
+  @moduledoc """
+  Documentation for `#{__MODULE__}`.
+  """
+
+  @type t :: reference()
+
+  defmodule Options do
+    @moduledoc """
+    Documentation for `#{__MODULE__}`.
+    """
+
+    @type t :: %__MODULE__{target: target(), consolidation: consolidation()}
+    @type target :: :best_matching | :all | :all_complete
+    @type consolidation :: :auto | :none | :monotonic | :latest
+    defstruct target: :best_matching, consolidation: :auto
+  end
+end
diff --git a/lib/zenohex/session.ex b/lib/zenohex/session.ex
index fe9b5d0..ba63810 100644
--- a/lib/zenohex/session.ex
+++ b/lib/zenohex/session.ex
@@ -8,8 +8,10 @@ defmodule Zenohex.Session do
   alias Zenohex.Subscriber
   alias Zenohex.PullSubscriber
   alias Zenohex.Queryable
+  alias Zenohex.Query
 
   @type t :: reference()
+  @type receiver :: reference()
 
   @doc ~S"""
   Create a Publisher for the given key expression.
@@ -99,23 +101,35 @@ defmodule Zenohex.Session do
   end
 
   @doc ~S"""
-  Query data from the matching queryables in the system.
+  Get reply receiver from the matching queryables in the system.
 
   ## Examples
 
       iex> {:ok, session} = Zenohex.open()
-      iex> Zenohex.Session.get_timeout(session, "key/**", 1000)
+      iex> Zenohex.Session.get_reply_receiver(session, "key/**")
+  """
+  @spec get_reply_receiver(t(), String.t(), Query.Options.t()) ::
+          {:ok, receiver()} | {:error, reason :: String.t()}
+  def get_reply_receiver(session, selector, opts \\ %Query.Options{})
+      when is_reference(session) and is_binary(selector) and is_struct(opts, Query.Options) do
+    Nif.session_get_reply_receiver(session, selector, opts)
+  end
+
+  @doc ~S"""
+  Query data from receiver.
+
+  ## Examples
+
+      iex> {:ok, session} = Zenohex.open()
+      iex> {:ok, receiver} = Zenohex.Session.get_reply_receiver(session, "key/**")
+      iex> Zenohex.Session.get_reply_timeout(receiver, 1000)
       {:error, :timeout}
   """
-  @spec get_timeout(t(), String.t(), pos_integer()) ::
-          {:ok, binary() | integer() | float()}
-          | {:error, :timeout}
-          | {:error, reason :: String.t()}
-  # FIXME 返り値がリストになるケースがあるはずなので、 Nif を含めて見直し修正すること
-  def get_timeout(session, selector, timeout_us)
-      when is_reference(session) and is_binary(selector) and is_integer(timeout_us) and
-             timeout_us > 0 do
-    Nif.session_get_timeout(session, selector, timeout_us)
+  @spec get_reply_timeout(receiver(), pos_integer()) ::
+          {:ok, binary() | integer() | float()} | {:error, :timeout} | {:error, reason :: any()}
+  def get_reply_timeout(receiver, timeout_us)
+      when is_reference(receiver) and is_integer(timeout_us) and timeout_us > 0 do
+    Nif.session_get_reply_timeout(receiver, timeout_us)
   end
 
   @doc ~S"""
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index dcff1a4..5a89356 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -11,7 +11,7 @@ use zenoh::{
     publication::Publisher, queryable::Queryable, subscriber::PullSubscriber,
     subscriber::Subscriber, Session,
 };
-use zenoh::{queryable::Query, sample::Sample};
+use zenoh::{query::Reply, queryable::Query, sample::Sample};
 
 mod atoms {
     rustler::atoms! {
@@ -20,6 +20,7 @@ mod atoms {
 }
 mod publisher;
 mod pull_subscriber;
+mod query;
 mod queryable;
 mod session;
 mod subscriber;
@@ -29,6 +30,7 @@ pub struct ExPublisherRef(Publisher<'static>);
 pub struct ExSubscriberRef(Subscriber<'static, Receiver<Sample>>);
 pub struct ExPullSubscriberRef(PullSubscriber<'static, Receiver<Sample>>);
 pub struct ExQueryableRef(Queryable<'static, Receiver<Query>>);
+pub struct ExReplyReceiverRef(Receiver<Reply>);
 
 #[rustler::nif]
 fn add(a: i64, b: i64) -> i64 {
@@ -183,6 +185,7 @@ fn load(env: Env, _term: Term) -> bool {
     rustler::resource!(ExSubscriberRef, env);
     rustler::resource!(ExPullSubscriberRef, env);
     rustler::resource!(ExQueryableRef, env);
+    rustler::resource!(ExReplyReceiverRef, env);
     true
 }
 
@@ -200,7 +203,8 @@ rustler::init!(
         session::session_put_integer,
         session::session_put_float,
         session::session_put_binary,
-        session::session_get_timeout,
+        session::session_get_reply_receiver,
+        session::session_get_reply_timeout,
         session::session_delete,
         publisher::publisher_put_integer,
         publisher::publisher_put_float,
diff --git a/native/zenohex_nif/src/query.rs b/native/zenohex_nif/src/query.rs
new file mode 100644
index 0000000..4bf4c2a
--- /dev/null
+++ b/native/zenohex_nif/src/query.rs
@@ -0,0 +1,42 @@
+#[derive(rustler::NifStruct)]
+#[module = "Zenohex.Query.Options"]
+pub struct QueryOptions {
+    pub(crate) target: QueryTarget,
+    pub(crate) consolidation: ConsolidationMode,
+}
+
+#[derive(rustler::NifUnitEnum)]
+pub enum QueryTarget {
+    BestMatching,
+    All,
+    AllComplete,
+}
+
+impl From<QueryTarget> for zenoh::query::QueryTarget {
+    fn from(value: QueryTarget) -> Self {
+        match value {
+            QueryTarget::BestMatching => zenoh::query::QueryTarget::BestMatching,
+            QueryTarget::All => zenoh::query::QueryTarget::All,
+            QueryTarget::AllComplete => zenoh::query::QueryTarget::AllComplete,
+        }
+    }
+}
+
+#[derive(rustler::NifUnitEnum)]
+pub enum ConsolidationMode {
+    Auto,
+    None,
+    Monotonic,
+    Latest,
+}
+
+impl From<ConsolidationMode> for zenoh::query::QueryConsolidation {
+    fn from(value: ConsolidationMode) -> Self {
+        match value {
+            ConsolidationMode::Auto => zenoh::query::Mode::Auto.into(),
+            ConsolidationMode::None => zenoh::query::ConsolidationMode::None.into(),
+            ConsolidationMode::Monotonic => zenoh::query::ConsolidationMode::Monotonic.into(),
+            ConsolidationMode::Latest => zenoh::query::ConsolidationMode::Latest.into(),
+        }
+    }
+}
diff --git a/native/zenohex_nif/src/session.rs b/native/zenohex_nif/src/session.rs
index 1c1f31f..71edff9 100644
--- a/native/zenohex_nif/src/session.rs
+++ b/native/zenohex_nif/src/session.rs
@@ -1,7 +1,8 @@
 use std::{sync::Arc, time::Duration};
 
+use flume::Receiver;
 use rustler::{types::atom, Binary, Encoder, Env, ResourceArc, Term};
-use zenoh::{prelude::sync::SyncResolve, value::Value, Session};
+use zenoh::{prelude::sync::SyncResolve, query::Reply, value::Value, Session};
 
 #[rustler::nif]
 fn session_put_integer(
@@ -47,21 +48,38 @@ fn session_put_impl<T: Into<zenoh::value::Value>>(
 }
 
 #[rustler::nif]
-fn session_get_timeout(
-    env: Env,
+fn session_get_reply_receiver(
     resource: ResourceArc<crate::ExSessionRef>,
     selector: String,
+    opts: crate::query::QueryOptions,
+) -> Result<ResourceArc<crate::ExReplyReceiverRef>, String> {
+    let session: &Arc<Session> = &resource.0;
+    // TODO: with_value の実装は用途が出てきたら検討
+    match session
+        .get(selector)
+        .target(opts.target.into())
+        .consolidation(opts.consolidation)
+        .res_sync()
+    {
+        Ok(receiver) => Ok(ResourceArc::new(crate::ExReplyReceiverRef(receiver))),
+        Err(error) => Err(error.to_string()),
+    }
+}
+
+#[rustler::nif]
+fn session_get_reply_timeout(
+    env: Env,
+    resource: ResourceArc<crate::ExReplyReceiverRef>,
     timeout_us: u64,
 ) -> Result<Term, Term> {
-    let session: &Arc<Session> = &resource.0;
-    let receiver = match session.get(selector).res_sync() {
-        Ok(receiver) => receiver,
-        Err(error) => return Err(error.to_string().encode(env)),
-    };
+    let receiver: &Receiver<Reply> = &resource.0;
     match receiver.recv_timeout(Duration::from_micros(timeout_us)) {
         Ok(reply) => match reply.sample {
             Ok(sample) => crate::to_result(&sample.value, env),
-            Err(value) => crate::to_result(&value, env),
+            Err(value) => match crate::to_result(&value, env) {
+                Ok(term) => Err(term),
+                Err(term) => Err(term),
+            },
         },
         Err(_recv_timeout_error) => Err(crate::atoms::timeout().encode(env)),
     }
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index dda2bfc..c4af207 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -31,8 +31,14 @@ defmodule Zenohex.NifTest do
       end
     end
 
-    test "session_get_timeout/3", %{session: session} do
-      assert Nif.session_get_timeout(session, "key_expression", 1000) == {:error, :timeout}
+    test "session_get_reply_receiver/3", %{session: session} do
+      {:ok, receiver} = Nif.session_get_reply_receiver(session, "key_expression")
+      assert is_reference(receiver)
+    end
+
+    test "session_get_reply_timeout/2", %{session: session} do
+      {:ok, receiver} = Nif.session_get_reply_receiver(session, "key_expression")
+      assert Nif.session_get_reply_timeout(receiver, 1000) == {:error, :timeout}
     end
 
     test "session_delete/2", %{session: session} do

From 617c19a599564b28f50bf8f3d6b32aeceac88ff5 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 1 Feb 2024 14:50:07 +0900
Subject: [PATCH 055/165] Update mix aliases

---
 mix.exs | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/mix.exs b/mix.exs
index 465a8c7..142bc1c 100644
--- a/mix.exs
+++ b/mix.exs
@@ -17,7 +17,10 @@ defmodule Zenohex.MixProject do
       name: "ZenohEx",
       source_url: @source_url,
       docs: docs(),
-      aliases: [test: [&disable_zenoh_delay/1, "test"]]
+      aliases: [
+        {:test, [&disable_zenoh_delay/1, "test"]},
+        {:"test.watch", [&disable_zenoh_delay/1, "test.watch"]}
+      ]
     ]
   end
 

From 49a4dce7939f0507decfaafe97861e5e4a5cb04d Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 2 Feb 2024 10:48:29 +0900
Subject: [PATCH 056/165] Add Sample struct

We need to know sample kind, put/delete, to control storage like KV store.
---
 lib/zenohex/pull_subscriber.ex            |  5 +--
 lib/zenohex/sample.ex                     | 12 ++++++
 lib/zenohex/session.ex                    |  3 +-
 lib/zenohex/subscriber.ex                 |  5 +--
 native/zenohex_nif/src/lib.rs             | 48 ++--------------------
 native/zenohex_nif/src/pull_subscriber.rs |  2 +-
 native/zenohex_nif/src/sample.rs          | 34 +++++++++++++++
 native/zenohex_nif/src/session.rs         |  7 +---
 native/zenohex_nif/src/subscriber.rs      |  2 +-
 native/zenohex_nif/src/value.rs           | 50 +++++++++++++++++++++++
 test/zenohex/nif_test.exs                 | 13 +++---
 test/zenohex_test.exs                     |  4 +-
 12 files changed, 119 insertions(+), 66 deletions(-)
 create mode 100644 lib/zenohex/sample.ex
 create mode 100644 native/zenohex_nif/src/sample.rs
 create mode 100644 native/zenohex_nif/src/value.rs

diff --git a/lib/zenohex/pull_subscriber.ex b/lib/zenohex/pull_subscriber.ex
index b5f73df..9c2c176 100644
--- a/lib/zenohex/pull_subscriber.ex
+++ b/lib/zenohex/pull_subscriber.ex
@@ -4,6 +4,7 @@ defmodule Zenohex.PullSubscriber do
   """
 
   alias Zenohex.Nif
+  alias Zenohex.Sample
 
   @type t :: reference()
 
@@ -33,9 +34,7 @@ defmodule Zenohex.PullSubscriber do
       {:error, :timeout}
   """
   @spec recv_timeout(t(), pos_integer()) ::
-          {:ok, integer() | float() | binary()}
-          | {:error, :timeout}
-          | {:error, reason :: String.t()}
+          {:ok, Sample.t()} | {:error, :timeout} | {:error, reason :: String.t()}
   def recv_timeout(pull_subscriber, timeout_us)
       when is_reference(pull_subscriber) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.pull_subscriber_recv_timeout(pull_subscriber, timeout_us)
diff --git a/lib/zenohex/sample.ex b/lib/zenohex/sample.ex
new file mode 100644
index 0000000..e7fda70
--- /dev/null
+++ b/lib/zenohex/sample.ex
@@ -0,0 +1,12 @@
+defmodule Zenohex.Sample do
+  @moduledoc """
+  Documentation for `#{__MODULE__}`.
+  """
+
+  @type t :: %__MODULE__{
+          key_expr: String.t(),
+          value: binary() | integer() | float(),
+          kind: :put | :delete
+        }
+  defstruct [:key_expr, :value, :kind]
+end
diff --git a/lib/zenohex/session.ex b/lib/zenohex/session.ex
index ba63810..d541f18 100644
--- a/lib/zenohex/session.ex
+++ b/lib/zenohex/session.ex
@@ -9,6 +9,7 @@ defmodule Zenohex.Session do
   alias Zenohex.PullSubscriber
   alias Zenohex.Queryable
   alias Zenohex.Query
+  alias Zenohex.Sample
 
   @type t :: reference()
   @type receiver :: reference()
@@ -126,7 +127,7 @@ defmodule Zenohex.Session do
       {:error, :timeout}
   """
   @spec get_reply_timeout(receiver(), pos_integer()) ::
-          {:ok, binary() | integer() | float()} | {:error, :timeout} | {:error, reason :: any()}
+          {:ok, Sample.t()} | {:error, :timeout} | {:error, reason :: any()}
   def get_reply_timeout(receiver, timeout_us)
       when is_reference(receiver) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.session_get_reply_timeout(receiver, timeout_us)
diff --git a/lib/zenohex/subscriber.ex b/lib/zenohex/subscriber.ex
index b5fd22c..707db26 100644
--- a/lib/zenohex/subscriber.ex
+++ b/lib/zenohex/subscriber.ex
@@ -4,6 +4,7 @@ defmodule Zenohex.Subscriber do
   """
 
   alias Zenohex.Nif
+  alias Zenohex.Sample
 
   @opaque t :: reference()
 
@@ -28,9 +29,7 @@ defmodule Zenohex.Subscriber do
       {:error, :timeout}
   """
   @spec recv_timeout(t(), pos_integer()) ::
-          {:ok, integer() | float() | binary()}
-          | {:error, :timeout}
-          | {:error, reason :: String.t()}
+          {:ok, Sample.t()} | {:error, :timeout} | {:error, reason :: String.t()}
   def recv_timeout(subscriber, timeout_us)
       when is_reference(subscriber) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.subscriber_recv_timeout(subscriber, timeout_us)
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index 5a89356..03b8e5a 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -1,10 +1,8 @@
-use std::borrow::Cow;
-use std::io::Write;
 use std::sync::Arc;
 
 use flume::Receiver;
 use rustler::types::atom;
-use rustler::{thread, Encoder, OwnedBinary};
+use rustler::{thread, Encoder};
 use rustler::{Atom, Env, ResourceArc, Term};
 use zenoh::prelude::sync::*;
 use zenoh::{
@@ -22,8 +20,10 @@ mod publisher;
 mod pull_subscriber;
 mod query;
 mod queryable;
+mod sample;
 mod session;
 mod subscriber;
+mod value;
 
 pub struct ExSessionRef(Arc<Session>);
 pub struct ExPublisherRef(Publisher<'static>);
@@ -137,48 +137,6 @@ fn declare_queryable(
     }
 }
 
-fn to_result<'a>(value: &Value, env: Env<'a>) -> Result<Term<'a>, Term<'a>> {
-    match value.encoding.prefix() {
-        KnownEncoding::Empty => unimplemented!(),
-        KnownEncoding::AppOctetStream => match Cow::try_from(value) {
-            Ok(value) => {
-                let mut binary = OwnedBinary::new(value.len()).unwrap();
-                binary.as_mut_slice().write_all(&value).unwrap();
-                Ok(binary.release(env).encode(env))
-            }
-            Err(error) => Err(error.to_string().encode(env)),
-        },
-        KnownEncoding::AppCustom => unimplemented!(),
-        KnownEncoding::TextPlain => match String::try_from(value) {
-            Ok(value) => Ok(value.encode(env)),
-            Err(error) => Err(error.to_string().encode(env)),
-        },
-        KnownEncoding::AppProperties => unimplemented!(),
-        KnownEncoding::AppJson => unimplemented!(),
-        KnownEncoding::AppSql => unimplemented!(),
-        KnownEncoding::AppInteger => match i64::try_from(value) {
-            Ok(value) => Ok(value.encode(env)),
-            Err(error) => Err(error.to_string().encode(env)),
-        },
-        KnownEncoding::AppFloat => match f64::try_from(value) {
-            Ok(value) => Ok(value.encode(env)),
-            Err(error) => Err(error.to_string().encode(env)),
-        },
-        KnownEncoding::AppXml => unimplemented!(),
-        KnownEncoding::AppXhtmlXml => unimplemented!(),
-        KnownEncoding::AppXWwwFormUrlencoded => unimplemented!(),
-        KnownEncoding::TextJson => unimplemented!(),
-        KnownEncoding::TextHtml => unimplemented!(),
-        KnownEncoding::TextXml => unimplemented!(),
-        KnownEncoding::TextCss => unimplemented!(),
-        KnownEncoding::TextCsv => unimplemented!(),
-        KnownEncoding::TextJavascript => unimplemented!(),
-        KnownEncoding::ImageJpeg => unimplemented!(),
-        KnownEncoding::ImagePng => unimplemented!(),
-        KnownEncoding::ImageGif => unimplemented!(),
-    }
-}
-
 fn load(env: Env, _term: Term) -> bool {
     rustler::resource!(ExSessionRef, env);
     rustler::resource!(ExPublisherRef, env);
diff --git a/native/zenohex_nif/src/pull_subscriber.rs b/native/zenohex_nif/src/pull_subscriber.rs
index 9de7027..f2f05b1 100644
--- a/native/zenohex_nif/src/pull_subscriber.rs
+++ b/native/zenohex_nif/src/pull_subscriber.rs
@@ -12,7 +12,7 @@ fn pull_subscriber_recv_timeout(
 ) -> Result<Term, Term> {
     let pull_subscriber: &PullSubscriber<'_, Receiver<Sample>> = &resource.0;
     match pull_subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
-        Ok(sample) => crate::to_result(&sample.value, env),
+        Ok(sample) => Ok(crate::sample::Sample::from(env, sample).encode(env)),
         Err(_recv_timeout_error) => Err(crate::atoms::timeout().encode(env)),
     }
 }
diff --git a/native/zenohex_nif/src/sample.rs b/native/zenohex_nif/src/sample.rs
new file mode 100644
index 0000000..8bd902b
--- /dev/null
+++ b/native/zenohex_nif/src/sample.rs
@@ -0,0 +1,34 @@
+use rustler::{Env, Term};
+
+#[derive(rustler::NifStruct)]
+#[module = "Zenohex.Sample"]
+pub struct Sample<'a> {
+    pub(crate) key_expr: String,
+    pub(crate) value: Term<'a>,
+    pub(crate) kind: SampleKind,
+}
+
+impl Sample<'_> {
+    pub(crate) fn from(env: Env, sample: zenoh::sample::Sample) -> Sample {
+        Sample {
+            key_expr: sample.key_expr.to_string(),
+            value: crate::value::Value::to_term(env, &sample.value),
+            kind: sample.kind.into(),
+        }
+    }
+}
+
+#[derive(rustler::NifUnitEnum)]
+pub enum SampleKind {
+    Put,
+    Delete,
+}
+
+impl From<zenoh::prelude::SampleKind> for SampleKind {
+    fn from(kind: zenoh::prelude::SampleKind) -> Self {
+        match kind {
+            zenoh::prelude::SampleKind::Put => SampleKind::Put,
+            zenoh::prelude::SampleKind::Delete => SampleKind::Delete,
+        }
+    }
+}
diff --git a/native/zenohex_nif/src/session.rs b/native/zenohex_nif/src/session.rs
index 71edff9..89e585a 100644
--- a/native/zenohex_nif/src/session.rs
+++ b/native/zenohex_nif/src/session.rs
@@ -75,11 +75,8 @@ fn session_get_reply_timeout(
     let receiver: &Receiver<Reply> = &resource.0;
     match receiver.recv_timeout(Duration::from_micros(timeout_us)) {
         Ok(reply) => match reply.sample {
-            Ok(sample) => crate::to_result(&sample.value, env),
-            Err(value) => match crate::to_result(&value, env) {
-                Ok(term) => Err(term),
-                Err(term) => Err(term),
-            },
+            Ok(sample) => Ok(crate::sample::Sample::from(env, sample).encode(env)),
+            Err(value) => Err(crate::value::Value::to_term(env, &value)),
         },
         Err(_recv_timeout_error) => Err(crate::atoms::timeout().encode(env)),
     }
diff --git a/native/zenohex_nif/src/subscriber.rs b/native/zenohex_nif/src/subscriber.rs
index 489c383..bef35a2 100644
--- a/native/zenohex_nif/src/subscriber.rs
+++ b/native/zenohex_nif/src/subscriber.rs
@@ -12,7 +12,7 @@ fn subscriber_recv_timeout(
 ) -> Result<Term, Term> {
     let subscriber: &Subscriber<'_, Receiver<Sample>> = &resource.0;
     match subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
-        Ok(sample) => crate::to_result(&sample.value, env),
+        Ok(sample) => Ok(crate::sample::Sample::from(env, sample).encode(env)),
         Err(_recv_timeout_error) => Err(crate::atoms::timeout().encode(env)),
     }
 }
diff --git a/native/zenohex_nif/src/value.rs b/native/zenohex_nif/src/value.rs
new file mode 100644
index 0000000..3012fc1
--- /dev/null
+++ b/native/zenohex_nif/src/value.rs
@@ -0,0 +1,50 @@
+use std::{borrow::Cow, io::Write};
+
+use rustler::{Encoder, Env, OwnedBinary, Term};
+use zenoh::prelude::KnownEncoding;
+
+pub(crate) struct Value;
+
+impl Value {
+    pub(crate) fn to_term<'a>(env: Env<'a>, value: &zenoh::value::Value) -> Term<'a> {
+        match value.encoding.prefix() {
+            KnownEncoding::Empty => unimplemented!(),
+            KnownEncoding::AppOctetStream => match Cow::try_from(value) {
+                Ok(value) => {
+                    let mut binary = OwnedBinary::new(value.len()).unwrap();
+                    binary.as_mut_slice().write_all(&value).unwrap();
+                    binary.release(env).encode(env)
+                }
+                Err(error) => panic!("{}", error.to_string()),
+            },
+            KnownEncoding::AppCustom => unimplemented!(),
+            KnownEncoding::TextPlain => match String::try_from(value) {
+                Ok(value) => value.encode(env),
+                Err(error) => panic!("{}", error.to_string()),
+            },
+            KnownEncoding::AppProperties => unimplemented!(),
+            KnownEncoding::AppJson => unimplemented!(),
+            KnownEncoding::AppSql => unimplemented!(),
+            KnownEncoding::AppInteger => match i64::try_from(value) {
+                Ok(value) => value.encode(env),
+                Err(error) => panic!("{}", error.to_string()),
+            },
+            KnownEncoding::AppFloat => match f64::try_from(value) {
+                Ok(value) => value.encode(env),
+                Err(error) => panic!("{}", error.to_string()),
+            },
+            KnownEncoding::AppXml => unimplemented!(),
+            KnownEncoding::AppXhtmlXml => unimplemented!(),
+            KnownEncoding::AppXWwwFormUrlencoded => unimplemented!(),
+            KnownEncoding::TextJson => unimplemented!(),
+            KnownEncoding::TextHtml => unimplemented!(),
+            KnownEncoding::TextXml => unimplemented!(),
+            KnownEncoding::TextCss => unimplemented!(),
+            KnownEncoding::TextCsv => unimplemented!(),
+            KnownEncoding::TextJavascript => unimplemented!(),
+            KnownEncoding::ImageJpeg => unimplemented!(),
+            KnownEncoding::ImagePng => unimplemented!(),
+            KnownEncoding::ImageGif => unimplemented!(),
+        }
+    }
+}
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index c4af207..6dbfb62 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -2,6 +2,7 @@ defmodule Zenohex.NifTest do
   use ExUnit.Case, async: true
 
   alias Zenohex.Nif
+  alias Zenohex.Sample
 
   test "add/2" do
     assert Nif.add(1, 2) == 3
@@ -108,13 +109,13 @@ defmodule Zenohex.NifTest do
       {:ok, subscriber} = Nif.declare_subscriber(session, "key/expression")
 
       Nif.publisher_put_integer(publisher, 0)
-      assert Nif.subscriber_recv_timeout(subscriber, 1000) == {:ok, 0}
+      assert {:ok, %Sample{value: 0}} = Nif.subscriber_recv_timeout(subscriber, 1000)
 
       Nif.publisher_put_float(publisher, 0.0)
-      assert Nif.subscriber_recv_timeout(subscriber, 1000) == {:ok, 0.0}
+      assert {:ok, %Sample{value: 0.0}} = Nif.subscriber_recv_timeout(subscriber, 1000)
 
       Nif.publisher_put_binary(publisher, "binary")
-      assert Nif.subscriber_recv_timeout(subscriber, 1000) == {:ok, "binary"}
+      assert {:ok, %Sample{value: "binary"}} = Nif.subscriber_recv_timeout(subscriber, 1000)
       assert Nif.subscriber_recv_timeout(subscriber, 1000) == {:error, :timeout}
     end
   end
@@ -138,10 +139,10 @@ defmodule Zenohex.NifTest do
       {:ok, pull_subscriber} = Nif.declare_pull_subscriber(session, "key/expression")
 
       :ok = Nif.publisher_put_integer(publisher, 0)
-      {:ok, 0} = Nif.pull_subscriber_recv_timeout(pull_subscriber, 1000)
+      {:ok, %Sample{value: 0}} = Nif.pull_subscriber_recv_timeout(pull_subscriber, 1000)
       {:error, :timeout} = Nif.pull_subscriber_recv_timeout(pull_subscriber, 1000)
       assert Nif.pull_subscriber_pull(pull_subscriber) == :ok
-      assert Nif.pull_subscriber_recv_timeout(pull_subscriber, 1000) == {:ok, 0}
+      assert {:ok, %Sample{value: 0}} = Nif.pull_subscriber_recv_timeout(pull_subscriber, 1000)
     end
   end
 
@@ -160,7 +161,7 @@ defmodule Zenohex.NifTest do
       test "#{test_name}", %{publisher: publisher, subscriber: subscriber} do
         binary = unquote(binary)
         Nif.publisher_put_binary(publisher, binary)
-        assert Nif.subscriber_recv_timeout(subscriber, 1000) == {:ok, binary}
+        assert {:ok, %Sample{value: ^binary}} = Nif.subscriber_recv_timeout(subscriber, 1000)
       end
     end
   end
diff --git a/test/zenohex_test.exs b/test/zenohex_test.exs
index 7650904..3d6405a 100644
--- a/test/zenohex_test.exs
+++ b/test/zenohex_test.exs
@@ -2,6 +2,8 @@ defmodule ZenohexTest do
   use ExUnit.Case, async: true
   doctest Zenohex
 
+  alias Zenohex.Sample
+
   test "pub/sub" do
     {:ok, session} = Zenohex.open()
     {:ok, publisher} = Zenohex.Session.declare_publisher(session, "pub/sub")
@@ -11,7 +13,7 @@ defmodule ZenohexTest do
       :ok = Zenohex.Publisher.put(publisher, "Hello Zenoh Dragon #{i}")
 
       assert Zenohex.Subscriber.recv_timeout(subscriber, 1000) ==
-               {:ok, "Hello Zenoh Dragon #{i}"}
+               {:ok, %Sample{key_expr: "pub/sub", value: "Hello Zenoh Dragon #{i}", kind: :put}}
     end
   end
 end

From f8333a00adaf2747236351877f5ca6f904a4e8d2 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 2 Feb 2024 14:23:57 +0900
Subject: [PATCH 057/165] Add `schedule = "DirtyIo"` to NIFs

---
 native/zenohex_nif/src/lib.rs             | 4 ++--
 native/zenohex_nif/src/pull_subscriber.rs | 2 +-
 native/zenohex_nif/src/session.rs         | 2 +-
 native/zenohex_nif/src/subscriber.rs      | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index 03b8e5a..e4d1f4f 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -44,7 +44,7 @@ fn test_thread(env: Env) -> Atom {
     atom::ok()
 }
 
-#[rustler::nif]
+#[rustler::nif(schedule = "DirtyIo")]
 fn zenoh_open() -> Result<ResourceArc<ExSessionRef>, String> {
     let config = config::peer();
     match zenoh::open(config).res_sync() {
@@ -53,7 +53,7 @@ fn zenoh_open() -> Result<ResourceArc<ExSessionRef>, String> {
     }
 }
 
-#[rustler::nif]
+#[rustler::nif(schedule = "DirtyIo")]
 fn zenoh_scouting_delay_zero_session() -> Result<ResourceArc<ExSessionRef>, String> {
     let mut config = config::peer();
     let config = match config.scouting.set_delay(Some(0)) {
diff --git a/native/zenohex_nif/src/pull_subscriber.rs b/native/zenohex_nif/src/pull_subscriber.rs
index f2f05b1..2d2b840 100644
--- a/native/zenohex_nif/src/pull_subscriber.rs
+++ b/native/zenohex_nif/src/pull_subscriber.rs
@@ -4,7 +4,7 @@ use flume::Receiver;
 use rustler::{types::atom, Encoder, Env, ResourceArc, Term};
 use zenoh::{prelude::sync::SyncResolve, sample::Sample, subscriber::PullSubscriber};
 
-#[rustler::nif]
+#[rustler::nif(schedule = "DirtyIo")]
 fn pull_subscriber_recv_timeout(
     env: Env,
     resource: ResourceArc<crate::ExPullSubscriberRef>,
diff --git a/native/zenohex_nif/src/session.rs b/native/zenohex_nif/src/session.rs
index 89e585a..eed8528 100644
--- a/native/zenohex_nif/src/session.rs
+++ b/native/zenohex_nif/src/session.rs
@@ -66,7 +66,7 @@ fn session_get_reply_receiver(
     }
 }
 
-#[rustler::nif]
+#[rustler::nif(schedule = "DirtyIo")]
 fn session_get_reply_timeout(
     env: Env,
     resource: ResourceArc<crate::ExReplyReceiverRef>,
diff --git a/native/zenohex_nif/src/subscriber.rs b/native/zenohex_nif/src/subscriber.rs
index bef35a2..dd59b51 100644
--- a/native/zenohex_nif/src/subscriber.rs
+++ b/native/zenohex_nif/src/subscriber.rs
@@ -4,7 +4,7 @@ use flume::Receiver;
 use rustler::{Encoder, Env, ResourceArc, Term};
 use zenoh::{sample::Sample, subscriber::Subscriber};
 
-#[rustler::nif]
+#[rustler::nif(schedule = "DirtyIo")]
 fn subscriber_recv_timeout(
     env: Env,
     resource: ResourceArc<crate::ExSubscriberRef>,

From edff6eea180b780358473ba07b48d06706ae16b7 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 2 Feb 2024 14:33:36 +0900
Subject: [PATCH 058/165] Add storage example

---
 lib/zenohex/examples/storage.ex            | 21 ++++++++++
 lib/zenohex/examples/storage/store.ex      | 38 ++++++++++++++++++
 lib/zenohex/examples/storage/subscriber.ex | 38 ++++++++++++++++++
 lib/zenohex/storage_behaviour.ex           |  7 ++++
 test/zenohex/examples/storage_test.exs     | 45 ++++++++++++++++++++++
 5 files changed, 149 insertions(+)
 create mode 100644 lib/zenohex/examples/storage.ex
 create mode 100644 lib/zenohex/examples/storage/store.ex
 create mode 100644 lib/zenohex/examples/storage/subscriber.ex
 create mode 100644 lib/zenohex/storage_behaviour.ex
 create mode 100644 test/zenohex/examples/storage_test.exs

diff --git a/lib/zenohex/examples/storage.ex b/lib/zenohex/examples/storage.ex
new file mode 100644
index 0000000..fd50e4c
--- /dev/null
+++ b/lib/zenohex/examples/storage.ex
@@ -0,0 +1,21 @@
+defmodule Zenohex.Examples.Storage do
+  use Supervisor
+
+  alias Zenohex.Examples.Storage
+
+  def start_link(args) when is_map(args) do
+    Supervisor.start_link(__MODULE__, args, name: __MODULE__)
+  end
+
+  def init(args) when is_map(args) do
+    true = Map.has_key?(args, :session)
+    true = Map.has_key?(args, :key_expr)
+
+    children = [
+      {Storage.Store, %{}},
+      {Storage.Subscriber, args}
+    ]
+
+    Supervisor.init(children, strategy: :one_for_one)
+  end
+end
diff --git a/lib/zenohex/examples/storage/store.ex b/lib/zenohex/examples/storage/store.ex
new file mode 100644
index 0000000..33469a7
--- /dev/null
+++ b/lib/zenohex/examples/storage/store.ex
@@ -0,0 +1,38 @@
+defmodule Zenohex.Examples.Storage.Store do
+  @behaviour Zenohex.StorageBehaviour
+
+  use Agent
+
+  require Logger
+
+  def start_link(initial_state) do
+    Agent.start_link(fn -> initial_state end, name: __MODULE__)
+  end
+
+  @impl true
+  def put(key_expr, sample) do
+    Agent.update(__MODULE__, fn map ->
+      Map.put(map, key_expr, sample)
+    end)
+  end
+
+  @impl true
+  def delete(key_expr) do
+    Agent.update(__MODULE__, fn map ->
+      Map.delete(map, key_expr)
+    end)
+  end
+
+  @impl true
+  def get(key_expr) do
+    Agent.get(
+      __MODULE__,
+      fn map ->
+        case Map.get(map, key_expr) do
+          nil -> {:error, :not_found}
+          sample -> {:ok, [sample]}
+        end
+      end
+    )
+  end
+end
diff --git a/lib/zenohex/examples/storage/subscriber.ex b/lib/zenohex/examples/storage/subscriber.ex
new file mode 100644
index 0000000..82d03eb
--- /dev/null
+++ b/lib/zenohex/examples/storage/subscriber.ex
@@ -0,0 +1,38 @@
+defmodule Zenohex.Examples.Storage.Subscriber do
+  use GenServer
+
+  require Logger
+
+  alias Zenohex.Session
+  alias Zenohex.Subscriber
+  alias Zenohex.Sample
+  alias Zenohex.Examples.Storage.Store
+
+  def start_link(args) do
+    GenServer.start_link(__MODULE__, args, name: __MODULE__)
+  end
+
+  def init(args) do
+    {:ok, subscriber} = Session.declare_subscriber(args.session, args.key_expr)
+    send(self(), :loop)
+    {:ok, %{subscriber: subscriber}}
+  end
+
+  def handle_info(:loop, state) do
+    case Subscriber.recv_timeout(state.subscriber, 1000) do
+      {:ok, sample} -> store(sample)
+      {:error, :timeout} -> nil
+      {:error, reason} -> Logger.error(inspect(reason))
+    end
+
+    send(self(), :loop)
+    {:noreply, state}
+  end
+
+  defp store(sample) when is_struct(sample, Sample) do
+    case sample.kind do
+      :put -> Store.put(sample.key_expr, sample)
+      :delete -> Store.delete(sample.key_expr)
+    end
+  end
+end
diff --git a/lib/zenohex/storage_behaviour.ex b/lib/zenohex/storage_behaviour.ex
new file mode 100644
index 0000000..23032fd
--- /dev/null
+++ b/lib/zenohex/storage_behaviour.ex
@@ -0,0 +1,7 @@
+defmodule Zenohex.StorageBehaviour do
+  alias Zenohex.Sample
+
+  @callback put(key_expr :: String.t(), sample :: Sample.t()) :: :ok | {:error, reason :: any()}
+  @callback delete(key_expr :: String.t()) :: :ok | {:error, reason :: any()}
+  @callback get(selector :: String.t()) :: {:ok, [Sample.t()]} | {:error, reason :: any()}
+end
diff --git a/test/zenohex/examples/storage_test.exs b/test/zenohex/examples/storage_test.exs
new file mode 100644
index 0000000..4259804
--- /dev/null
+++ b/test/zenohex/examples/storage_test.exs
@@ -0,0 +1,45 @@
+defmodule Zenohex.Examples.StorageTest do
+  use ExUnit.Case
+
+  alias Zenohex.Examples.Storage
+  alias Zenohex.Session
+
+  setup do
+    {:ok, session} = Zenohex.open()
+    start_supervised!({Storage, %{session: session, key_expr: "demo/example/**"}})
+
+    %{session: session}
+  end
+
+  test "put", %{session: session} do
+    key_expr = "demo/example/put"
+    value = 0
+    :ok = Session.put(session, key_expr, value)
+
+    confirm_put(key_expr, value)
+  end
+
+  test "delete", %{session: session} do
+    key_expr = "demo/example/delete"
+    value = 0
+    :ok = Session.put(session, key_expr, value)
+    confirm_put(key_expr, value)
+
+    :ok = Session.delete(session, key_expr)
+    confirm_delete(key_expr)
+  end
+
+  defp confirm_put(key_expr, value, retry_count \\ 100) when retry_count > 0 do
+    case Storage.Store.get(key_expr) do
+      {:ok, [sample]} -> assert sample.value == value
+      {:error, :not_found} -> confirm_put(key_expr, value, retry_count - 1)
+    end
+  end
+
+  defp confirm_delete(key_expr, retry_count \\ 100) when retry_count > 0 do
+    case Storage.Store.get(key_expr) do
+      {:error, :not_found} -> assert true
+      {:ok, [_sample]} -> confirm_delete(key_expr, retry_count - 1)
+    end
+  end
+end

From 63f8cf5185bd679c13bd2bc6af32bb796ecb29a6 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Sat, 3 Feb 2024 11:35:23 +0900
Subject: [PATCH 059/165] Add queryable server to storage example

---
 lib/zenohex/examples/storage.ex           |  3 +-
 lib/zenohex/examples/storage/queryable.ex | 50 +++++++++++++++++++++++
 lib/zenohex/examples/storage/store.ex     |  4 ++
 lib/zenohex/nif.ex                        |  8 ++++
 lib/zenohex/query.ex                      | 16 +++++++-
 lib/zenohex/queryable.ex                  | 20 +++++++++
 lib/zenohex/sample.ex                     |  5 ++-
 lib/zenohex/session.ex                    | 18 ++++++++
 native/zenohex_nif/src/lib.rs             |  6 +++
 native/zenohex_nif/src/query.rs           | 38 +++++++++++++++++
 native/zenohex_nif/src/queryable.rs       | 21 ++++++++++
 native/zenohex_nif/src/sample.rs          |  6 ++-
 test/zenohex/examples/storage_test.exs    | 40 +++++++++++++++---
 test/zenohex/queryable_test.exs           |  4 ++
 test/zenohex_test.exs                     |  6 ++-
 15 files changed, 232 insertions(+), 13 deletions(-)
 create mode 100644 lib/zenohex/examples/storage/queryable.ex
 create mode 100644 test/zenohex/queryable_test.exs

diff --git a/lib/zenohex/examples/storage.ex b/lib/zenohex/examples/storage.ex
index fd50e4c..8806bc4 100644
--- a/lib/zenohex/examples/storage.ex
+++ b/lib/zenohex/examples/storage.ex
@@ -13,7 +13,8 @@ defmodule Zenohex.Examples.Storage do
 
     children = [
       {Storage.Store, %{}},
-      {Storage.Subscriber, args}
+      {Storage.Subscriber, args},
+      {Storage.Queryable, args}
     ]
 
     Supervisor.init(children, strategy: :one_for_one)
diff --git a/lib/zenohex/examples/storage/queryable.ex b/lib/zenohex/examples/storage/queryable.ex
new file mode 100644
index 0000000..8a1c649
--- /dev/null
+++ b/lib/zenohex/examples/storage/queryable.ex
@@ -0,0 +1,50 @@
+defmodule Zenohex.Examples.Storage.Queryable do
+  use GenServer
+
+  require Logger
+
+  alias Zenohex.Session
+  alias Zenohex.Queryable
+  alias Zenohex.Examples.Storage.Store
+  alias Zenohex.Query
+
+  def start_link(args) do
+    GenServer.start_link(__MODULE__, args, name: __MODULE__)
+  end
+
+  def init(args) do
+    {:ok, queryable} = Session.declare_queryable(args.session, args.key_expr)
+    send(self(), :loop)
+    {:ok, %{queryable: queryable}}
+  end
+
+  def handle_info(:loop, state) do
+    case Queryable.recv_timeout(state.queryable, 1000) do
+      {:ok, query} ->
+        case store(query) do
+          {:error, :not_found} ->
+            nil
+
+          {:ok, [sample]} ->
+            :ok = Query.reply(query, sample)
+
+            # NOTE: It seems that when the query is dropped, the socket is closed and the data is flushed.
+            # Therefore, it seems necessary to explicitly perform GC of the process and drop the query.
+            :erlang.garbage_collect()
+        end
+
+      {:error, :timeout} ->
+        nil
+
+      {:error, reason} ->
+        Logger.error(inspect(reason))
+    end
+
+    send(self(), :loop)
+    {:noreply, state}
+  end
+
+  defp store(query) when is_struct(query, Query) do
+    Store.get(query.key_expr)
+  end
+end
diff --git a/lib/zenohex/examples/storage/store.ex b/lib/zenohex/examples/storage/store.ex
index 33469a7..79d3111 100644
--- a/lib/zenohex/examples/storage/store.ex
+++ b/lib/zenohex/examples/storage/store.ex
@@ -35,4 +35,8 @@ defmodule Zenohex.Examples.Storage.Store do
       end
     )
   end
+
+  def dump() do
+    Agent.get(__MODULE__, fn map -> map end)
+  end
 end
diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index b866f00..7489445 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -100,4 +100,12 @@ defmodule Zenohex.Nif do
   def declare_queryable(_session, _key_expr, _opts \\ %Queryable.Options{}) do
     :erlang.nif_error(:nif_not_loaded)
   end
+
+  def queryable_recv_timeout(_queryable, _timeout_us) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
+
+  def query_reply(_query, _sample) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
 end
diff --git a/lib/zenohex/query.ex b/lib/zenohex/query.ex
index 1550654..24f653c 100644
--- a/lib/zenohex/query.ex
+++ b/lib/zenohex/query.ex
@@ -3,7 +3,16 @@ defmodule Zenohex.Query do
   Documentation for `#{__MODULE__}`.
   """
 
-  @type t :: reference()
+  alias Zenohex.Nif
+  alias Zenohex.Sample
+
+  @type t :: %__MODULE__{
+          key_expr: String.t(),
+          parameters: String.t(),
+          value: binary() | integer() | float() | nil,
+          reference: reference()
+        }
+  defstruct [:key_expr, :parameters, :value, :reference]
 
   defmodule Options do
     @moduledoc """
@@ -15,4 +24,9 @@ defmodule Zenohex.Query do
     @type consolidation :: :auto | :none | :monotonic | :latest
     defstruct target: :best_matching, consolidation: :auto
   end
+
+  @spec reply(t(), Sample.t()) :: :ok | {:error, reason :: String.t()}
+  def reply(query, sample) when is_struct(query, __MODULE__) and is_struct(sample, Sample) do
+    Nif.query_reply(query, sample)
+  end
 end
diff --git a/lib/zenohex/queryable.ex b/lib/zenohex/queryable.ex
index 0bda468..4117b1d 100644
--- a/lib/zenohex/queryable.ex
+++ b/lib/zenohex/queryable.ex
@@ -3,6 +3,9 @@ defmodule Zenohex.Queryable do
   Documentation for `#{__MODULE__}`.
   """
 
+  alias Zenohex.Nif
+  alias Zenohex.Query
+
   @type t :: reference()
 
   defmodule Options do
@@ -14,4 +17,21 @@ defmodule Zenohex.Queryable do
     @type complete :: boolean()
     defstruct complete: false
   end
+
+  @doc """
+  Receive query.
+
+  ## Examples
+
+      iex> {:ok, session} = Zenohex.open()
+      iex> {:ok, queryable} = Zenohex.Session.declare_queryable(session, "key/expression")
+      iex> Zenohex.Queryable.recv_timeout(queryable, 1000)
+      {:error, :timeout}
+  """
+  @spec recv_timeout(t(), pos_integer()) ::
+          {:ok, Query.t()} | {:error, :timeout} | {:error, reason :: String.t()}
+  def recv_timeout(queryable, timeout_us)
+      when is_reference(queryable) and is_integer(timeout_us) and timeout_us > 0 do
+    Nif.queryable_recv_timeout(queryable, timeout_us)
+  end
 end
diff --git a/lib/zenohex/sample.ex b/lib/zenohex/sample.ex
index e7fda70..d6d641a 100644
--- a/lib/zenohex/sample.ex
+++ b/lib/zenohex/sample.ex
@@ -6,7 +6,8 @@ defmodule Zenohex.Sample do
   @type t :: %__MODULE__{
           key_expr: String.t(),
           value: binary() | integer() | float(),
-          kind: :put | :delete
+          kind: :put | :delete,
+          reference: reference()
         }
-  defstruct [:key_expr, :value, :kind]
+  defstruct [:key_expr, :value, :kind, :reference]
 end
diff --git a/lib/zenohex/session.ex b/lib/zenohex/session.ex
index d541f18..7574309 100644
--- a/lib/zenohex/session.ex
+++ b/lib/zenohex/session.ex
@@ -101,6 +101,24 @@ defmodule Zenohex.Session do
     Nif.session_put_float(session, key_expr, value)
   end
 
+  @doc ~S"""
+  Get data from the matching queryables in the system.
+
+  ## Examples
+
+      iex> {:ok, session} = Zenohex.open()
+      iex> Zenohex.Session.get_timeout(session, "key/**", 1000)
+      {:error, :timeout}
+  """
+  @spec get_timeout(t(), String.t(), pos_integer(), Query.Options.t()) ::
+          {:ok, Sample.t()} | {:error, :timeout} | {:error, reason :: any()}
+  def get_timeout(session, selector, timeout_us, opts \\ %Query.Options{}) do
+    case get_reply_receiver(session, selector, opts) do
+      {:ok, receiver} -> get_reply_timeout(receiver, timeout_us)
+      error -> error
+    end
+  end
+
   @doc ~S"""
   Get reply receiver from the matching queryables in the system.
 
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index e4d1f4f..e8c536a 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -31,6 +31,8 @@ pub struct ExSubscriberRef(Subscriber<'static, Receiver<Sample>>);
 pub struct ExPullSubscriberRef(PullSubscriber<'static, Receiver<Sample>>);
 pub struct ExQueryableRef(Queryable<'static, Receiver<Query>>);
 pub struct ExReplyReceiverRef(Receiver<Reply>);
+pub struct ExQueryRef(Query);
+pub struct ExSampleRef(Sample);
 
 #[rustler::nif]
 fn add(a: i64, b: i64) -> i64 {
@@ -144,6 +146,8 @@ fn load(env: Env, _term: Term) -> bool {
     rustler::resource!(ExPullSubscriberRef, env);
     rustler::resource!(ExQueryableRef, env);
     rustler::resource!(ExReplyReceiverRef, env);
+    rustler::resource!(ExQueryRef, env);
+    rustler::resource!(ExSampleRef, env);
     true
 }
 
@@ -173,6 +177,8 @@ rustler::init!(
         subscriber::subscriber_recv_timeout,
         pull_subscriber::pull_subscriber_pull,
         pull_subscriber::pull_subscriber_recv_timeout,
+        queryable::queryable_recv_timeout,
+        query::query_reply,
     ],
     load = load
 );
diff --git a/native/zenohex_nif/src/query.rs b/native/zenohex_nif/src/query.rs
index 4bf4c2a..00ebedc 100644
--- a/native/zenohex_nif/src/query.rs
+++ b/native/zenohex_nif/src/query.rs
@@ -1,3 +1,41 @@
+use rustler::{types::atom, Encoder, Env, ResourceArc, Term};
+use zenoh::prelude::sync::SyncResolve;
+
+use crate::ExQueryRef;
+
+#[derive(rustler::NifStruct)]
+#[module = "Zenohex.Query"]
+pub struct Query<'a> {
+    key_expr: String,
+    parameters: String,
+    value: Term<'a>,
+    reference: ResourceArc<ExQueryRef>,
+}
+
+impl Query<'_> {
+    pub(crate) fn from(env: Env, query: zenoh::queryable::Query) -> Query {
+        Query {
+            key_expr: query.key_expr().to_string(),
+            parameters: query.parameters().to_string(),
+            value: match query.value() {
+                Some(value) => crate::value::Value::to_term(env, value),
+                None => atom::nil().encode(env),
+            },
+            reference: ResourceArc::new(ExQueryRef(query)),
+        }
+    }
+}
+
+#[rustler::nif(schedule = "DirtyIo")]
+fn query_reply<'a>(env: Env<'a>, query: Query<'a>, sample: crate::sample::Sample<'a>) -> Term<'a> {
+    let query: &zenoh::queryable::Query = &query.reference.0;
+    let sample: &zenoh::sample::Sample = &sample.reference.0;
+    match query.reply(Ok(sample.clone())).res_sync() {
+        Ok(_) => atom::ok().encode(env),
+        Err(error) => (atom::error(), error.to_string()).encode(env),
+    }
+}
+
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Query.Options"]
 pub struct QueryOptions {
diff --git a/native/zenohex_nif/src/queryable.rs b/native/zenohex_nif/src/queryable.rs
index 33013ea..2fae0c2 100644
--- a/native/zenohex_nif/src/queryable.rs
+++ b/native/zenohex_nif/src/queryable.rs
@@ -1,3 +1,24 @@
+use std::time::Duration;
+
+use flume::Receiver;
+use rustler::{Encoder, Env, ResourceArc, Term};
+use zenoh::queryable::{Query, Queryable};
+
+use crate::{atoms, ExQueryableRef};
+
+#[rustler::nif(schedule = "DirtyIo")]
+fn queryable_recv_timeout(
+    env: Env,
+    resource: ResourceArc<ExQueryableRef>,
+    timeout_us: u64,
+) -> Result<Term, Term> {
+    let queryable: &Queryable<'_, Receiver<Query>> = &resource.0;
+    match queryable.recv_timeout(Duration::from_micros(timeout_us)) {
+        Ok(query) => Ok(crate::query::Query::from(env, query).encode(env)),
+        Err(_recv_timeout_error) => Err(atoms::timeout().encode(env)),
+    }
+}
+
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Queryable.Options"]
 pub struct QueryableOptions {
diff --git a/native/zenohex_nif/src/sample.rs b/native/zenohex_nif/src/sample.rs
index 8bd902b..9b97a0b 100644
--- a/native/zenohex_nif/src/sample.rs
+++ b/native/zenohex_nif/src/sample.rs
@@ -1,4 +1,6 @@
-use rustler::{Env, Term};
+use rustler::{Env, ResourceArc, Term};
+
+use crate::ExSampleRef;
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Sample"]
@@ -6,6 +8,7 @@ pub struct Sample<'a> {
     pub(crate) key_expr: String,
     pub(crate) value: Term<'a>,
     pub(crate) kind: SampleKind,
+    pub(crate) reference: ResourceArc<ExSampleRef>,
 }
 
 impl Sample<'_> {
@@ -14,6 +17,7 @@ impl Sample<'_> {
             key_expr: sample.key_expr.to_string(),
             value: crate::value::Value::to_term(env, &sample.value),
             kind: sample.kind.into(),
+            reference: ResourceArc::new(ExSampleRef(sample)),
         }
     }
 }
diff --git a/test/zenohex/examples/storage_test.exs b/test/zenohex/examples/storage_test.exs
index 4259804..602dbda 100644
--- a/test/zenohex/examples/storage_test.exs
+++ b/test/zenohex/examples/storage_test.exs
@@ -29,17 +29,45 @@ defmodule Zenohex.Examples.StorageTest do
     confirm_delete(key_expr)
   end
 
-  defp confirm_put(key_expr, value, retry_count \\ 100) when retry_count > 0 do
+  test "get", %{session: session} do
+    key_expr = "demo/example/get"
+    value = 0
+    :ok = Session.put(session, key_expr, value)
+    confirm_put(key_expr, value)
+
+    confirm_get(session, key_expr, value)
+  end
+
+  defp confirm_put(key_expr, value, retry_count \\ 10) when retry_count > 0 do
     case Storage.Store.get(key_expr) do
-      {:ok, [sample]} -> assert sample.value == value
-      {:error, :not_found} -> confirm_put(key_expr, value, retry_count - 1)
+      {:ok, [sample]} ->
+        assert sample.value == value
+
+      {:error, :not_found} ->
+        Process.sleep(1)
+        confirm_put(key_expr, value, retry_count - 1)
     end
   end
 
-  defp confirm_delete(key_expr, retry_count \\ 100) when retry_count > 0 do
+  defp confirm_delete(key_expr, retry_count \\ 10) when retry_count > 0 do
     case Storage.Store.get(key_expr) do
-      {:error, :not_found} -> assert true
-      {:ok, [_sample]} -> confirm_delete(key_expr, retry_count - 1)
+      {:error, :not_found} ->
+        assert true
+
+      {:ok, [_sample]} ->
+        Process.sleep(1)
+        confirm_delete(key_expr, retry_count - 1)
+    end
+  end
+
+  defp confirm_get(session, key_expr, value, retry_count \\ 10) when retry_count > 0 do
+    case Session.get_timeout(session, key_expr, 1000) do
+      {:ok, sample} ->
+        assert sample.value == value
+
+      {:error, :timeout} ->
+        Process.sleep(1)
+        confirm_get(session, key_expr, value, retry_count - 1)
     end
   end
 end
diff --git a/test/zenohex/queryable_test.exs b/test/zenohex/queryable_test.exs
new file mode 100644
index 0000000..d06eb19
--- /dev/null
+++ b/test/zenohex/queryable_test.exs
@@ -0,0 +1,4 @@
+defmodule Zenohex.QueryableTest do
+  use ExUnit.Case, async: true
+  doctest Zenohex.Queryable
+end
diff --git a/test/zenohex_test.exs b/test/zenohex_test.exs
index 3d6405a..6d25522 100644
--- a/test/zenohex_test.exs
+++ b/test/zenohex_test.exs
@@ -12,8 +12,10 @@ defmodule ZenohexTest do
     for i <- 1..100 do
       :ok = Zenohex.Publisher.put(publisher, "Hello Zenoh Dragon #{i}")
 
-      assert Zenohex.Subscriber.recv_timeout(subscriber, 1000) ==
-               {:ok, %Sample{key_expr: "pub/sub", value: "Hello Zenoh Dragon #{i}", kind: :put}}
+      {:ok, %Sample{key_expr: "pub/sub", value: value, kind: :put}} =
+        Zenohex.Subscriber.recv_timeout(subscriber, 1000)
+
+      assert value == "Hello Zenoh Dragon #{i}"
     end
   end
 end

From 455e743b1642381807794bbce02087e3b382c3fe Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Sun, 4 Feb 2024 13:57:23 +0900
Subject: [PATCH 060/165] Update storage example's queryable NOTE

---
 lib/zenohex/examples/storage/queryable.ex | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/lib/zenohex/examples/storage/queryable.ex b/lib/zenohex/examples/storage/queryable.ex
index 8a1c649..2ff7ad7 100644
--- a/lib/zenohex/examples/storage/queryable.ex
+++ b/lib/zenohex/examples/storage/queryable.ex
@@ -28,8 +28,9 @@ defmodule Zenohex.Examples.Storage.Queryable do
           {:ok, [sample]} ->
             :ok = Query.reply(query, sample)
 
-            # NOTE: It seems that when the query is dropped, the socket is closed and the data is flushed.
-            # Therefore, it seems necessary to explicitly perform GC of the process and drop the query.
+            # NOTE: `send_redponse_final` is invoked When QueryInnter dropped.
+            # So we need to do GC, which release ResourceArc<ExQueryRef>, to finish the reply.
+            # ref. https://github.com/eclipse-zenoh/zenoh/blob/0.10.1-rc/zenoh/src/queryable.rs#L55-L69
             :erlang.garbage_collect()
         end
 

From 5dc1599ead9f542fbb5f3adf31864e50cb659049 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Sun, 4 Feb 2024 14:19:39 +0900
Subject: [PATCH 061/165] Modify Sample, use ErlOption for reference

---
 lib/zenohex/sample.ex            |  2 +-
 native/zenohex_nif/src/query.rs  | 10 +++++++---
 native/zenohex_nif/src/sample.rs |  6 +++---
 3 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/lib/zenohex/sample.ex b/lib/zenohex/sample.ex
index d6d641a..059dd07 100644
--- a/lib/zenohex/sample.ex
+++ b/lib/zenohex/sample.ex
@@ -7,7 +7,7 @@ defmodule Zenohex.Sample do
           key_expr: String.t(),
           value: binary() | integer() | float(),
           kind: :put | :delete,
-          reference: reference()
+          reference: reference() | :undefined
         }
   defstruct [:key_expr, :value, :kind, :reference]
 end
diff --git a/native/zenohex_nif/src/query.rs b/native/zenohex_nif/src/query.rs
index 00ebedc..3eb8df8 100644
--- a/native/zenohex_nif/src/query.rs
+++ b/native/zenohex_nif/src/query.rs
@@ -1,7 +1,7 @@
 use rustler::{types::atom, Encoder, Env, ResourceArc, Term};
 use zenoh::prelude::sync::SyncResolve;
 
-use crate::ExQueryRef;
+use crate::{ExQueryRef, ExSampleRef};
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Query"]
@@ -29,8 +29,12 @@ impl Query<'_> {
 #[rustler::nif(schedule = "DirtyIo")]
 fn query_reply<'a>(env: Env<'a>, query: Query<'a>, sample: crate::sample::Sample<'a>) -> Term<'a> {
     let query: &zenoh::queryable::Query = &query.reference.0;
-    let sample: &zenoh::sample::Sample = &sample.reference.0;
-    match query.reply(Ok(sample.clone())).res_sync() {
+    let sample: zenoh::sample::Sample =
+        match Option::<ResourceArc<ExSampleRef>>::from(sample.reference) {
+            Some(resource) => resource.0.clone(),
+            None => todo!(), // TODO: Zenoh 外のデータから Sample を作る場合に実装する
+        };
+    match query.reply(Ok(sample)).res_sync() {
         Ok(_) => atom::ok().encode(env),
         Err(error) => (atom::error(), error.to_string()).encode(env),
     }
diff --git a/native/zenohex_nif/src/sample.rs b/native/zenohex_nif/src/sample.rs
index 9b97a0b..2270489 100644
--- a/native/zenohex_nif/src/sample.rs
+++ b/native/zenohex_nif/src/sample.rs
@@ -1,4 +1,4 @@
-use rustler::{Env, ResourceArc, Term};
+use rustler::{Env, ErlOption, ResourceArc, Term};
 
 use crate::ExSampleRef;
 
@@ -8,7 +8,7 @@ pub struct Sample<'a> {
     pub(crate) key_expr: String,
     pub(crate) value: Term<'a>,
     pub(crate) kind: SampleKind,
-    pub(crate) reference: ResourceArc<ExSampleRef>,
+    pub(crate) reference: ErlOption<ResourceArc<ExSampleRef>>,
 }
 
 impl Sample<'_> {
@@ -17,7 +17,7 @@ impl Sample<'_> {
             key_expr: sample.key_expr.to_string(),
             value: crate::value::Value::to_term(env, &sample.value),
             kind: sample.kind.into(),
-            reference: ResourceArc::new(ExSampleRef(sample)),
+            reference: ErlOption::some(ResourceArc::new(ExSampleRef(sample))),
         }
     }
 }

From 037b8378b6214332ae15ab5e9316631292e828e6 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Sun, 4 Feb 2024 14:44:12 +0900
Subject: [PATCH 062/165] Modify Query struct

---
 lib/zenohex/query.ex            | 2 +-
 native/zenohex_nif/src/query.rs | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/lib/zenohex/query.ex b/lib/zenohex/query.ex
index 24f653c..0300c2d 100644
--- a/lib/zenohex/query.ex
+++ b/lib/zenohex/query.ex
@@ -9,7 +9,7 @@ defmodule Zenohex.Query do
   @type t :: %__MODULE__{
           key_expr: String.t(),
           parameters: String.t(),
-          value: binary() | integer() | float() | nil,
+          value: binary() | integer() | float() | :undefined,
           reference: reference()
         }
   defstruct [:key_expr, :parameters, :value, :reference]
diff --git a/native/zenohex_nif/src/query.rs b/native/zenohex_nif/src/query.rs
index 3eb8df8..6291a74 100644
--- a/native/zenohex_nif/src/query.rs
+++ b/native/zenohex_nif/src/query.rs
@@ -1,4 +1,4 @@
-use rustler::{types::atom, Encoder, Env, ResourceArc, Term};
+use rustler::{types::atom, Encoder, Env, ErlOption, ResourceArc, Term};
 use zenoh::prelude::sync::SyncResolve;
 
 use crate::{ExQueryRef, ExSampleRef};
@@ -8,7 +8,7 @@ use crate::{ExQueryRef, ExSampleRef};
 pub struct Query<'a> {
     key_expr: String,
     parameters: String,
-    value: Term<'a>,
+    value: ErlOption<Term<'a>>,
     reference: ResourceArc<ExQueryRef>,
 }
 
@@ -18,8 +18,8 @@ impl Query<'_> {
             key_expr: query.key_expr().to_string(),
             parameters: query.parameters().to_string(),
             value: match query.value() {
-                Some(value) => crate::value::Value::to_term(env, value),
-                None => atom::nil().encode(env),
+                Some(value) => ErlOption::some(crate::value::Value::to_term(env, value)),
+                None => ErlOption::none(),
             },
             reference: ResourceArc::new(ExQueryRef(query)),
         }

From b64eda386044c69ca4a51aa23b11df84423c9f66 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Sun, 4 Feb 2024 21:47:27 +0900
Subject: [PATCH 063/165] Refactor zenohex_nif mod

---
 native/zenohex_nif/src/lib.rs     | 88 +++----------------------------
 native/zenohex_nif/src/session.rs | 74 +++++++++++++++++++++++++-
 2 files changed, 80 insertions(+), 82 deletions(-)

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index e8c536a..1bc397a 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -1,15 +1,11 @@
 use std::sync::Arc;
 
 use flume::Receiver;
-use rustler::types::atom;
-use rustler::{thread, Encoder};
-use rustler::{Atom, Env, ResourceArc, Term};
-use zenoh::prelude::sync::*;
+use rustler::{thread, types::atom, Atom, Encoder, Env, ResourceArc, Term};
 use zenoh::{
-    publication::Publisher, queryable::Queryable, subscriber::PullSubscriber,
-    subscriber::Subscriber, Session,
+    prelude::sync::*, publication::Publisher, query::Reply, queryable::Query, queryable::Queryable,
+    sample::Sample, subscriber::PullSubscriber, subscriber::Subscriber, Session,
 };
-use zenoh::{query::Reply, queryable::Query, sample::Sample};
 
 mod atoms {
     rustler::atoms! {
@@ -69,76 +65,6 @@ fn zenoh_scouting_delay_zero_session() -> Result<ResourceArc<ExSessionRef>, Stri
     }
 }
 
-#[rustler::nif]
-fn declare_publisher(
-    resource: ResourceArc<ExSessionRef>,
-    key_expr: String,
-    opts: publisher::PublisherOptions,
-) -> Result<ResourceArc<ExPublisherRef>, String> {
-    let session: &Arc<Session> = &resource.0;
-    match session
-        .declare_publisher(key_expr)
-        .congestion_control(opts.congestion_control.into())
-        .priority(opts.priority.into())
-        .res_sync()
-    {
-        Ok(publisher) => Ok(ResourceArc::new(ExPublisherRef(publisher))),
-        Err(error) => Err(error.to_string()),
-    }
-}
-
-#[rustler::nif]
-fn declare_subscriber(
-    resource: ResourceArc<ExSessionRef>,
-    key_expr: String,
-    opts: subscriber::SubscriberOptions,
-) -> Result<ResourceArc<ExSubscriberRef>, String> {
-    let session: &Arc<Session> = &resource.0;
-    match session
-        .declare_subscriber(key_expr)
-        .reliability(opts.reliability.into())
-        .res_sync()
-    {
-        Ok(subscriber) => Ok(ResourceArc::new(ExSubscriberRef(subscriber))),
-        Err(error) => Err(error.to_string()),
-    }
-}
-
-#[rustler::nif]
-fn declare_pull_subscriber(
-    resource: ResourceArc<ExSessionRef>,
-    key_expr: String,
-    opts: subscriber::SubscriberOptions,
-) -> Result<ResourceArc<ExPullSubscriberRef>, String> {
-    let session: &Arc<Session> = &resource.0;
-    match session
-        .declare_subscriber(key_expr)
-        .reliability(opts.reliability.into())
-        .pull_mode()
-        .res_sync()
-    {
-        Ok(pull_subscriber) => Ok(ResourceArc::new(ExPullSubscriberRef(pull_subscriber))),
-        Err(error) => Err(error.to_string()),
-    }
-}
-
-#[rustler::nif]
-fn declare_queryable(
-    resource: ResourceArc<ExSessionRef>,
-    key_expr: String,
-    opts: queryable::QueryableOptions,
-) -> Result<ResourceArc<ExQueryableRef>, String> {
-    let session: &Arc<Session> = &resource.0;
-    match session
-        .declare_queryable(key_expr)
-        .complete(opts.complete)
-        .res_sync()
-    {
-        Ok(queryable) => Ok(ResourceArc::new(ExQueryableRef(queryable))),
-        Err(error) => Err(error.to_string()),
-    }
-}
-
 fn load(env: Env, _term: Term) -> bool {
     rustler::resource!(ExSessionRef, env);
     rustler::resource!(ExPublisherRef, env);
@@ -158,10 +84,10 @@ rustler::init!(
         test_thread,
         zenoh_open,
         zenoh_scouting_delay_zero_session,
-        declare_publisher,
-        declare_subscriber,
-        declare_pull_subscriber,
-        declare_queryable,
+        session::declare_publisher,
+        session::declare_subscriber,
+        session::declare_pull_subscriber,
+        session::declare_queryable,
         session::session_put_integer,
         session::session_put_float,
         session::session_put_binary,
diff --git a/native/zenohex_nif/src/session.rs b/native/zenohex_nif/src/session.rs
index eed8528..9050ae8 100644
--- a/native/zenohex_nif/src/session.rs
+++ b/native/zenohex_nif/src/session.rs
@@ -2,7 +2,79 @@ use std::{sync::Arc, time::Duration};
 
 use flume::Receiver;
 use rustler::{types::atom, Binary, Encoder, Env, ResourceArc, Term};
-use zenoh::{prelude::sync::SyncResolve, query::Reply, value::Value, Session};
+use zenoh::{prelude::sync::*, query::Reply, value::Value, Session};
+
+#[rustler::nif]
+fn declare_publisher(
+    resource: ResourceArc<crate::ExSessionRef>,
+    key_expr: String,
+    opts: crate::publisher::PublisherOptions,
+) -> Result<ResourceArc<crate::ExPublisherRef>, String> {
+    let session: &Arc<Session> = &resource.0;
+    match session
+        .declare_publisher(key_expr)
+        .congestion_control(opts.congestion_control.into())
+        .priority(opts.priority.into())
+        .res_sync()
+    {
+        Ok(publisher) => Ok(ResourceArc::new(crate::ExPublisherRef(publisher))),
+        Err(error) => Err(error.to_string()),
+    }
+}
+
+#[rustler::nif]
+fn declare_subscriber(
+    resource: ResourceArc<crate::ExSessionRef>,
+    key_expr: String,
+    opts: crate::subscriber::SubscriberOptions,
+) -> Result<ResourceArc<crate::ExSubscriberRef>, String> {
+    let session: &Arc<Session> = &resource.0;
+    match session
+        .declare_subscriber(key_expr)
+        .reliability(opts.reliability.into())
+        .res_sync()
+    {
+        Ok(subscriber) => Ok(ResourceArc::new(crate::ExSubscriberRef(subscriber))),
+        Err(error) => Err(error.to_string()),
+    }
+}
+
+#[rustler::nif]
+fn declare_pull_subscriber(
+    resource: ResourceArc<crate::ExSessionRef>,
+    key_expr: String,
+    opts: crate::subscriber::SubscriberOptions,
+) -> Result<ResourceArc<crate::ExPullSubscriberRef>, String> {
+    let session: &Arc<Session> = &resource.0;
+    match session
+        .declare_subscriber(key_expr)
+        .reliability(opts.reliability.into())
+        .pull_mode()
+        .res_sync()
+    {
+        Ok(pull_subscriber) => Ok(ResourceArc::new(crate::ExPullSubscriberRef(
+            pull_subscriber,
+        ))),
+        Err(error) => Err(error.to_string()),
+    }
+}
+
+#[rustler::nif]
+fn declare_queryable(
+    resource: ResourceArc<crate::ExSessionRef>,
+    key_expr: String,
+    opts: crate::queryable::QueryableOptions,
+) -> Result<ResourceArc<crate::ExQueryableRef>, String> {
+    let session: &Arc<Session> = &resource.0;
+    match session
+        .declare_queryable(key_expr)
+        .complete(opts.complete)
+        .res_sync()
+    {
+        Ok(queryable) => Ok(ResourceArc::new(crate::ExQueryableRef(queryable))),
+        Err(error) => Err(error.to_string()),
+    }
+}
 
 #[rustler::nif]
 fn session_put_integer(

From 6aa9f5333b31134ceff342041a6ddfa1176b683c Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Sun, 4 Feb 2024 21:56:34 +0900
Subject: [PATCH 064/165] Remove unused NIFs

---
 lib/zenohex/nif.ex            |  7 -------
 native/zenohex_nif/src/lib.rs | 16 +---------------
 test/zenohex/nif_test.exs     | 10 ----------
 3 files changed, 1 insertion(+), 32 deletions(-)

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index 7489445..59cfc0c 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -22,13 +22,6 @@ defmodule Zenohex.Nif do
   alias Zenohex.Queryable
   alias Zenohex.Query
 
-  # When your NIF is loaded, it will override this function.
-  def add(_a, _b), do: :erlang.nif_error(:nif_not_loaded)
-
-  def test_thread() do
-    :erlang.nif_error(:nif_not_loaded)
-  end
-
   def zenoh_open() do
     :erlang.nif_error(:nif_not_loaded)
   end
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index 1bc397a..eff42a5 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -1,7 +1,7 @@
 use std::sync::Arc;
 
 use flume::Receiver;
-use rustler::{thread, types::atom, Atom, Encoder, Env, ResourceArc, Term};
+use rustler::{Env, ResourceArc, Term};
 use zenoh::{
     prelude::sync::*, publication::Publisher, query::Reply, queryable::Query, queryable::Queryable,
     sample::Sample, subscriber::PullSubscriber, subscriber::Subscriber, Session,
@@ -30,18 +30,6 @@ pub struct ExReplyReceiverRef(Receiver<Reply>);
 pub struct ExQueryRef(Query);
 pub struct ExSampleRef(Sample);
 
-#[rustler::nif]
-fn add(a: i64, b: i64) -> i64 {
-    a + b
-}
-
-#[rustler::nif]
-fn test_thread(env: Env) -> Atom {
-    let pid = env.pid();
-    thread::spawn::<thread::ThreadSpawner, _>(env, move |thread_env| pid.encode(thread_env));
-    atom::ok()
-}
-
 #[rustler::nif(schedule = "DirtyIo")]
 fn zenoh_open() -> Result<ResourceArc<ExSessionRef>, String> {
     let config = config::peer();
@@ -80,8 +68,6 @@ fn load(env: Env, _term: Term) -> bool {
 rustler::init!(
     "Elixir.Zenohex.Nif",
     [
-        add,
-        test_thread,
         zenoh_open,
         zenoh_scouting_delay_zero_session,
         session::declare_publisher,
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 6dbfb62..35e8a15 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -4,16 +4,6 @@ defmodule Zenohex.NifTest do
   alias Zenohex.Nif
   alias Zenohex.Sample
 
-  test "add/2" do
-    assert Nif.add(1, 2) == 3
-  end
-
-  test "test_thread/0" do
-    pid = self()
-    assert Nif.test_thread() == :ok
-    assert_receive ^pid
-  end
-
   setup_all do
     {:ok, session} = Nif.zenoh_open()
     %{session: session}

From a1ec9aab70f2c52a19beaf9da649aaa46337247b Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 5 Feb 2024 17:12:07 +0900
Subject: [PATCH 065/165] Fix visibility of zenohex_nif

---
 native/zenohex_nif/src/lib.rs        | 16 ++++++++--------
 native/zenohex_nif/src/publisher.rs  |  6 +++---
 native/zenohex_nif/src/query.rs      |  8 ++++----
 native/zenohex_nif/src/queryable.rs  |  2 +-
 native/zenohex_nif/src/sample.rs     |  4 ++--
 native/zenohex_nif/src/subscriber.rs |  4 ++--
 6 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index eff42a5..54368e1 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -21,14 +21,14 @@ mod session;
 mod subscriber;
 mod value;
 
-pub struct ExSessionRef(Arc<Session>);
-pub struct ExPublisherRef(Publisher<'static>);
-pub struct ExSubscriberRef(Subscriber<'static, Receiver<Sample>>);
-pub struct ExPullSubscriberRef(PullSubscriber<'static, Receiver<Sample>>);
-pub struct ExQueryableRef(Queryable<'static, Receiver<Query>>);
-pub struct ExReplyReceiverRef(Receiver<Reply>);
-pub struct ExQueryRef(Query);
-pub struct ExSampleRef(Sample);
+struct ExSessionRef(Arc<Session>);
+struct ExPublisherRef(Publisher<'static>);
+struct ExSubscriberRef(Subscriber<'static, Receiver<Sample>>);
+struct ExPullSubscriberRef(PullSubscriber<'static, Receiver<Sample>>);
+struct ExQueryableRef(Queryable<'static, Receiver<Query>>);
+struct ExReplyReceiverRef(Receiver<Reply>);
+struct ExQueryRef(Query);
+struct ExSampleRef(Sample);
 
 #[rustler::nif(schedule = "DirtyIo")]
 fn zenoh_open() -> Result<ResourceArc<ExSessionRef>, String> {
diff --git a/native/zenohex_nif/src/publisher.rs b/native/zenohex_nif/src/publisher.rs
index 05ce1c0..f76f0f1 100644
--- a/native/zenohex_nif/src/publisher.rs
+++ b/native/zenohex_nif/src/publisher.rs
@@ -66,13 +66,13 @@ fn publisher_priority(
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Publisher.Options"]
-pub struct PublisherOptions {
+pub(crate) struct PublisherOptions {
     pub(crate) congestion_control: CongestionControl,
     pub(crate) priority: Priority,
 }
 
 #[derive(rustler::NifUnitEnum)]
-pub enum CongestionControl {
+pub(crate) enum CongestionControl {
     Drop,
     Block,
 }
@@ -87,7 +87,7 @@ impl From<CongestionControl> for zenoh::publication::CongestionControl {
 }
 
 #[derive(rustler::NifUnitEnum)]
-pub enum Priority {
+pub(crate) enum Priority {
     RealTime,
     InteractiveHigh,
     InteractiveLow,
diff --git a/native/zenohex_nif/src/query.rs b/native/zenohex_nif/src/query.rs
index 6291a74..73a8b08 100644
--- a/native/zenohex_nif/src/query.rs
+++ b/native/zenohex_nif/src/query.rs
@@ -5,7 +5,7 @@ use crate::{ExQueryRef, ExSampleRef};
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Query"]
-pub struct Query<'a> {
+pub(crate) struct Query<'a> {
     key_expr: String,
     parameters: String,
     value: ErlOption<Term<'a>>,
@@ -42,13 +42,13 @@ fn query_reply<'a>(env: Env<'a>, query: Query<'a>, sample: crate::sample::Sample
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Query.Options"]
-pub struct QueryOptions {
+pub(crate) struct QueryOptions {
     pub(crate) target: QueryTarget,
     pub(crate) consolidation: ConsolidationMode,
 }
 
 #[derive(rustler::NifUnitEnum)]
-pub enum QueryTarget {
+pub(crate) enum QueryTarget {
     BestMatching,
     All,
     AllComplete,
@@ -65,7 +65,7 @@ impl From<QueryTarget> for zenoh::query::QueryTarget {
 }
 
 #[derive(rustler::NifUnitEnum)]
-pub enum ConsolidationMode {
+pub(crate) enum ConsolidationMode {
     Auto,
     None,
     Monotonic,
diff --git a/native/zenohex_nif/src/queryable.rs b/native/zenohex_nif/src/queryable.rs
index 2fae0c2..e3b5819 100644
--- a/native/zenohex_nif/src/queryable.rs
+++ b/native/zenohex_nif/src/queryable.rs
@@ -21,6 +21,6 @@ fn queryable_recv_timeout(
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Queryable.Options"]
-pub struct QueryableOptions {
+pub(crate) struct QueryableOptions {
     pub(crate) complete: bool,
 }
diff --git a/native/zenohex_nif/src/sample.rs b/native/zenohex_nif/src/sample.rs
index 2270489..25f1c74 100644
--- a/native/zenohex_nif/src/sample.rs
+++ b/native/zenohex_nif/src/sample.rs
@@ -4,7 +4,7 @@ use crate::ExSampleRef;
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Sample"]
-pub struct Sample<'a> {
+pub(crate) struct Sample<'a> {
     pub(crate) key_expr: String,
     pub(crate) value: Term<'a>,
     pub(crate) kind: SampleKind,
@@ -23,7 +23,7 @@ impl Sample<'_> {
 }
 
 #[derive(rustler::NifUnitEnum)]
-pub enum SampleKind {
+pub(crate) enum SampleKind {
     Put,
     Delete,
 }
diff --git a/native/zenohex_nif/src/subscriber.rs b/native/zenohex_nif/src/subscriber.rs
index dd59b51..d8ef6fa 100644
--- a/native/zenohex_nif/src/subscriber.rs
+++ b/native/zenohex_nif/src/subscriber.rs
@@ -19,12 +19,12 @@ fn subscriber_recv_timeout(
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Subscriber.Options"]
-pub struct SubscriberOptions {
+pub(crate) struct SubscriberOptions {
     pub(crate) reliability: Reliability,
 }
 
 #[derive(rustler::NifUnitEnum)]
-pub enum Reliability {
+pub(crate) enum Reliability {
     BestEffort,
     Reliable,
 }

From c52f44f36606329d024c31b99afbded71eac10c3 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 6 Feb 2024 10:42:24 +0900
Subject: [PATCH 066/165] Add finish_reply/1 to Zenohex.Query

---
 lib/zenohex/examples/storage/queryable.ex |  8 ++---
 lib/zenohex/nif.ex                        |  4 +++
 lib/zenohex/query.ex                      |  5 +++
 native/zenohex_nif/src/lib.rs             |  5 +--
 native/zenohex_nif/src/query.rs           | 44 +++++++++++++++++++++--
 5 files changed, 57 insertions(+), 9 deletions(-)

diff --git a/lib/zenohex/examples/storage/queryable.ex b/lib/zenohex/examples/storage/queryable.ex
index 2ff7ad7..067c322 100644
--- a/lib/zenohex/examples/storage/queryable.ex
+++ b/lib/zenohex/examples/storage/queryable.ex
@@ -27,11 +27,9 @@ defmodule Zenohex.Examples.Storage.Queryable do
 
           {:ok, [sample]} ->
             :ok = Query.reply(query, sample)
-
-            # NOTE: `send_redponse_final` is invoked When QueryInnter dropped.
-            # So we need to do GC, which release ResourceArc<ExQueryRef>, to finish the reply.
-            # ref. https://github.com/eclipse-zenoh/zenoh/blob/0.10.1-rc/zenoh/src/queryable.rs#L55-L69
-            :erlang.garbage_collect()
+            :ok = Query.finish_reply(query)
+            # following line is not needed, this is just example of double call
+            {:error, "ResponseFinal has already been sent"} = Query.finish_reply(query)
         end
 
       {:error, :timeout} ->
diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index 59cfc0c..be26ca8 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -101,4 +101,8 @@ defmodule Zenohex.Nif do
   def query_reply(_query, _sample) do
     :erlang.nif_error(:nif_not_loaded)
   end
+
+  def query_finish_reply(_query) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
 end
diff --git a/lib/zenohex/query.ex b/lib/zenohex/query.ex
index 0300c2d..0e64df9 100644
--- a/lib/zenohex/query.ex
+++ b/lib/zenohex/query.ex
@@ -29,4 +29,9 @@ defmodule Zenohex.Query do
   def reply(query, sample) when is_struct(query, __MODULE__) and is_struct(sample, Sample) do
     Nif.query_reply(query, sample)
   end
+
+  @spec finish_reply(t()) :: :ok | {:error, reason :: String.t()}
+  def finish_reply(query) when is_struct(query, __MODULE__) do
+    Nif.query_finish_reply(query)
+  end
 end
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index 54368e1..fb76cbf 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -1,4 +1,4 @@
-use std::sync::Arc;
+use std::sync::{Arc, RwLock};
 
 use flume::Receiver;
 use rustler::{Env, ResourceArc, Term};
@@ -27,7 +27,7 @@ struct ExSubscriberRef(Subscriber<'static, Receiver<Sample>>);
 struct ExPullSubscriberRef(PullSubscriber<'static, Receiver<Sample>>);
 struct ExQueryableRef(Queryable<'static, Receiver<Query>>);
 struct ExReplyReceiverRef(Receiver<Reply>);
-struct ExQueryRef(Query);
+struct ExQueryRef(RwLock<Option<Query>>);
 struct ExSampleRef(Sample);
 
 #[rustler::nif(schedule = "DirtyIo")]
@@ -91,6 +91,7 @@ rustler::init!(
         pull_subscriber::pull_subscriber_recv_timeout,
         queryable::queryable_recv_timeout,
         query::query_reply,
+        query::query_finish_reply,
     ],
     load = load
 );
diff --git a/native/zenohex_nif/src/query.rs b/native/zenohex_nif/src/query.rs
index 73a8b08..ccce91c 100644
--- a/native/zenohex_nif/src/query.rs
+++ b/native/zenohex_nif/src/query.rs
@@ -1,3 +1,5 @@
+use std::sync::RwLock;
+
 use rustler::{types::atom, Encoder, Env, ErlOption, ResourceArc, Term};
 use zenoh::prelude::sync::SyncResolve;
 
@@ -21,14 +23,28 @@ impl Query<'_> {
                 Some(value) => ErlOption::some(crate::value::Value::to_term(env, value)),
                 None => ErlOption::none(),
             },
-            reference: ResourceArc::new(ExQueryRef(query)),
+            reference: ResourceArc::new(ExQueryRef(RwLock::new(Some(query)))),
         }
     }
 }
 
 #[rustler::nif(schedule = "DirtyIo")]
 fn query_reply<'a>(env: Env<'a>, query: Query<'a>, sample: crate::sample::Sample<'a>) -> Term<'a> {
-    let query: &zenoh::queryable::Query = &query.reference.0;
+    let lock: &RwLock<Option<zenoh::queryable::Query>> = &query.reference.0;
+    let guard = match lock.read() {
+        Ok(guard) => guard,
+        Err(error) => return (atom::error(), error.to_string()).encode(env),
+    };
+    let query: &zenoh::queryable::Query = match &*guard {
+        Some(query) => query,
+        None => {
+            return (
+                atom::error(),
+                "ResponseFinal has already been sent".to_string(),
+            )
+                .encode(env)
+        }
+    };
     let sample: zenoh::sample::Sample =
         match Option::<ResourceArc<ExSampleRef>>::from(sample.reference) {
             Some(resource) => resource.0.clone(),
@@ -40,6 +56,30 @@ fn query_reply<'a>(env: Env<'a>, query: Query<'a>, sample: crate::sample::Sample
     }
 }
 
+#[rustler::nif(schedule = "DirtyIo")]
+fn query_finish_reply<'a>(env: Env<'a>, query: Query<'a>) -> Term<'a> {
+    let lock: &RwLock<Option<zenoh::queryable::Query>> = &query.reference.0;
+    let mut guard = match lock.write() {
+        Ok(guard) => guard,
+        Err(error) => return (atom::error(), error.to_string()).encode(env),
+    };
+    match Option::take(&mut *guard) {
+        Some(query) => {
+            // When Query drops, ResponseFinal is sent.
+            // So we need to drop the query at the end of the reply by calling this function.
+            drop(query);
+            atom::ok().encode(env)
+        }
+        None => {
+            return (
+                atom::error(),
+                "ResponseFinal has already been sent".to_string(),
+            )
+                .encode(env)
+        }
+    }
+}
+
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Query.Options"]
 pub(crate) struct QueryOptions {

From 31b12127dd7fa03cf7a2bfa42a3120aec2919893 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 6 Feb 2024 11:20:09 +0900
Subject: [PATCH 067/165] Rename Ex...Ref name with ...Ref

---
 native/zenohex_nif/src/lib.rs             | 40 ++++++++++-----------
 native/zenohex_nif/src/publisher.rs       | 24 ++++++-------
 native/zenohex_nif/src/pull_subscriber.rs |  4 +--
 native/zenohex_nif/src/query.rs           |  8 ++---
 native/zenohex_nif/src/queryable.rs       |  4 +--
 native/zenohex_nif/src/sample.rs          |  6 ++--
 native/zenohex_nif/src/session.rs         | 44 +++++++++++------------
 native/zenohex_nif/src/subscriber.rs      |  2 +-
 8 files changed, 65 insertions(+), 67 deletions(-)

diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index fb76cbf..faecfeb 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -21,26 +21,26 @@ mod session;
 mod subscriber;
 mod value;
 
-struct ExSessionRef(Arc<Session>);
-struct ExPublisherRef(Publisher<'static>);
-struct ExSubscriberRef(Subscriber<'static, Receiver<Sample>>);
-struct ExPullSubscriberRef(PullSubscriber<'static, Receiver<Sample>>);
-struct ExQueryableRef(Queryable<'static, Receiver<Query>>);
-struct ExReplyReceiverRef(Receiver<Reply>);
-struct ExQueryRef(RwLock<Option<Query>>);
-struct ExSampleRef(Sample);
+struct SessionRef(Arc<Session>);
+struct PublisherRef(Publisher<'static>);
+struct SubscriberRef(Subscriber<'static, Receiver<Sample>>);
+struct PullSubscriberRef(PullSubscriber<'static, Receiver<Sample>>);
+struct QueryableRef(Queryable<'static, Receiver<Query>>);
+struct ReplyReceiverRef(Receiver<Reply>);
+struct QueryRef(RwLock<Option<Query>>);
+struct SampleRef(Sample);
 
 #[rustler::nif(schedule = "DirtyIo")]
-fn zenoh_open() -> Result<ResourceArc<ExSessionRef>, String> {
+fn zenoh_open() -> Result<ResourceArc<SessionRef>, String> {
     let config = config::peer();
     match zenoh::open(config).res_sync() {
-        Ok(session) => Ok(ResourceArc::new(ExSessionRef(session.into_arc()))),
+        Ok(session) => Ok(ResourceArc::new(SessionRef(session.into_arc()))),
         Err(error) => Err(error.to_string()),
     }
 }
 
 #[rustler::nif(schedule = "DirtyIo")]
-fn zenoh_scouting_delay_zero_session() -> Result<ResourceArc<ExSessionRef>, String> {
+fn zenoh_scouting_delay_zero_session() -> Result<ResourceArc<SessionRef>, String> {
     let mut config = config::peer();
     let config = match config.scouting.set_delay(Some(0)) {
         Ok(_) => config,
@@ -48,20 +48,20 @@ fn zenoh_scouting_delay_zero_session() -> Result<ResourceArc<ExSessionRef>, Stri
     };
 
     match zenoh::open(config).res_sync() {
-        Ok(session) => Ok(ResourceArc::new(ExSessionRef(session.into_arc()))),
+        Ok(session) => Ok(ResourceArc::new(SessionRef(session.into_arc()))),
         Err(error) => Err(error.to_string()),
     }
 }
 
 fn load(env: Env, _term: Term) -> bool {
-    rustler::resource!(ExSessionRef, env);
-    rustler::resource!(ExPublisherRef, env);
-    rustler::resource!(ExSubscriberRef, env);
-    rustler::resource!(ExPullSubscriberRef, env);
-    rustler::resource!(ExQueryableRef, env);
-    rustler::resource!(ExReplyReceiverRef, env);
-    rustler::resource!(ExQueryRef, env);
-    rustler::resource!(ExSampleRef, env);
+    rustler::resource!(SessionRef, env);
+    rustler::resource!(PublisherRef, env);
+    rustler::resource!(SubscriberRef, env);
+    rustler::resource!(PullSubscriberRef, env);
+    rustler::resource!(QueryableRef, env);
+    rustler::resource!(ReplyReceiverRef, env);
+    rustler::resource!(QueryRef, env);
+    rustler::resource!(SampleRef, env);
     true
 }
 
diff --git a/native/zenohex_nif/src/publisher.rs b/native/zenohex_nif/src/publisher.rs
index f76f0f1..fcfda84 100644
--- a/native/zenohex_nif/src/publisher.rs
+++ b/native/zenohex_nif/src/publisher.rs
@@ -1,21 +1,21 @@
-use crate::ExPublisherRef;
+use crate::PublisherRef;
 use rustler::{types::atom, Binary, Encoder, Env, ResourceArc, Term};
 use zenoh::{prelude::sync::SyncResolve, publication::Publisher, value::Value};
 
 #[rustler::nif]
-fn publisher_put_integer(env: Env, resource: ResourceArc<ExPublisherRef>, value: i64) -> Term {
+fn publisher_put_integer(env: Env, resource: ResourceArc<PublisherRef>, value: i64) -> Term {
     publisher_put_impl(env, resource, value)
 }
 
 #[rustler::nif]
-fn publisher_put_float(env: Env, resource: ResourceArc<ExPublisherRef>, value: f64) -> Term {
+fn publisher_put_float(env: Env, resource: ResourceArc<PublisherRef>, value: f64) -> Term {
     publisher_put_impl(env, resource, value)
 }
 
 #[rustler::nif]
 fn publisher_put_binary<'a>(
     env: Env<'a>,
-    resource: ResourceArc<ExPublisherRef>,
+    resource: ResourceArc<PublisherRef>,
     value: Binary<'a>,
 ) -> Term<'a> {
     publisher_put_impl(env, resource, Value::from(value.as_slice()))
@@ -23,7 +23,7 @@ fn publisher_put_binary<'a>(
 
 fn publisher_put_impl<T: Into<zenoh::value::Value>>(
     env: Env,
-    resource: ResourceArc<ExPublisherRef>,
+    resource: ResourceArc<PublisherRef>,
     value: T,
 ) -> Term {
     let publisher: &Publisher = &resource.0;
@@ -34,7 +34,7 @@ fn publisher_put_impl<T: Into<zenoh::value::Value>>(
 }
 
 #[rustler::nif]
-fn publisher_delete(env: Env, resource: ResourceArc<ExPublisherRef>) -> Term {
+fn publisher_delete(env: Env, resource: ResourceArc<PublisherRef>) -> Term {
     let publisher: &Publisher = &resource.0;
     match publisher.delete().res_sync() {
         Ok(_) => atom::ok().encode(env),
@@ -44,24 +44,24 @@ fn publisher_delete(env: Env, resource: ResourceArc<ExPublisherRef>) -> Term {
 
 #[rustler::nif]
 fn publisher_congestion_control(
-    resource: ResourceArc<ExPublisherRef>,
+    resource: ResourceArc<PublisherRef>,
     value: CongestionControl,
-) -> ResourceArc<ExPublisherRef> {
+) -> ResourceArc<PublisherRef> {
     let publisher: &Publisher = &resource.0;
     let publisher: Publisher = publisher.clone().congestion_control(value.into());
 
-    ResourceArc::new(ExPublisherRef(publisher))
+    ResourceArc::new(PublisherRef(publisher))
 }
 
 #[rustler::nif]
 fn publisher_priority(
-    resource: ResourceArc<ExPublisherRef>,
+    resource: ResourceArc<PublisherRef>,
     value: Priority,
-) -> ResourceArc<ExPublisherRef> {
+) -> ResourceArc<PublisherRef> {
     let publisher: &Publisher = &resource.0;
     let publisher: Publisher = publisher.clone().priority(value.into());
 
-    ResourceArc::new(ExPublisherRef(publisher))
+    ResourceArc::new(PublisherRef(publisher))
 }
 
 #[derive(rustler::NifStruct)]
diff --git a/native/zenohex_nif/src/pull_subscriber.rs b/native/zenohex_nif/src/pull_subscriber.rs
index 2d2b840..98cdd9b 100644
--- a/native/zenohex_nif/src/pull_subscriber.rs
+++ b/native/zenohex_nif/src/pull_subscriber.rs
@@ -7,7 +7,7 @@ use zenoh::{prelude::sync::SyncResolve, sample::Sample, subscriber::PullSubscrib
 #[rustler::nif(schedule = "DirtyIo")]
 fn pull_subscriber_recv_timeout(
     env: Env,
-    resource: ResourceArc<crate::ExPullSubscriberRef>,
+    resource: ResourceArc<crate::PullSubscriberRef>,
     timeout_us: u64,
 ) -> Result<Term, Term> {
     let pull_subscriber: &PullSubscriber<'_, Receiver<Sample>> = &resource.0;
@@ -18,7 +18,7 @@ fn pull_subscriber_recv_timeout(
 }
 
 #[rustler::nif]
-fn pull_subscriber_pull(env: Env, resource: ResourceArc<crate::ExPullSubscriberRef>) -> Term {
+fn pull_subscriber_pull(env: Env, resource: ResourceArc<crate::PullSubscriberRef>) -> Term {
     let pull_subscriber: &PullSubscriber<'_, Receiver<Sample>> = &resource.0;
     match pull_subscriber.pull().res_sync() {
         Ok(_) => atom::ok().encode(env),
diff --git a/native/zenohex_nif/src/query.rs b/native/zenohex_nif/src/query.rs
index ccce91c..54750db 100644
--- a/native/zenohex_nif/src/query.rs
+++ b/native/zenohex_nif/src/query.rs
@@ -3,7 +3,7 @@ use std::sync::RwLock;
 use rustler::{types::atom, Encoder, Env, ErlOption, ResourceArc, Term};
 use zenoh::prelude::sync::SyncResolve;
 
-use crate::{ExQueryRef, ExSampleRef};
+use crate::{QueryRef, SampleRef};
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Query"]
@@ -11,7 +11,7 @@ pub(crate) struct Query<'a> {
     key_expr: String,
     parameters: String,
     value: ErlOption<Term<'a>>,
-    reference: ResourceArc<ExQueryRef>,
+    reference: ResourceArc<QueryRef>,
 }
 
 impl Query<'_> {
@@ -23,7 +23,7 @@ impl Query<'_> {
                 Some(value) => ErlOption::some(crate::value::Value::to_term(env, value)),
                 None => ErlOption::none(),
             },
-            reference: ResourceArc::new(ExQueryRef(RwLock::new(Some(query)))),
+            reference: ResourceArc::new(QueryRef(RwLock::new(Some(query)))),
         }
     }
 }
@@ -46,7 +46,7 @@ fn query_reply<'a>(env: Env<'a>, query: Query<'a>, sample: crate::sample::Sample
         }
     };
     let sample: zenoh::sample::Sample =
-        match Option::<ResourceArc<ExSampleRef>>::from(sample.reference) {
+        match Option::<ResourceArc<SampleRef>>::from(sample.reference) {
             Some(resource) => resource.0.clone(),
             None => todo!(), // TODO: Zenoh 外のデータから Sample を作る場合に実装する
         };
diff --git a/native/zenohex_nif/src/queryable.rs b/native/zenohex_nif/src/queryable.rs
index e3b5819..c3d50d1 100644
--- a/native/zenohex_nif/src/queryable.rs
+++ b/native/zenohex_nif/src/queryable.rs
@@ -4,12 +4,12 @@ use flume::Receiver;
 use rustler::{Encoder, Env, ResourceArc, Term};
 use zenoh::queryable::{Query, Queryable};
 
-use crate::{atoms, ExQueryableRef};
+use crate::{atoms, QueryableRef};
 
 #[rustler::nif(schedule = "DirtyIo")]
 fn queryable_recv_timeout(
     env: Env,
-    resource: ResourceArc<ExQueryableRef>,
+    resource: ResourceArc<QueryableRef>,
     timeout_us: u64,
 ) -> Result<Term, Term> {
     let queryable: &Queryable<'_, Receiver<Query>> = &resource.0;
diff --git a/native/zenohex_nif/src/sample.rs b/native/zenohex_nif/src/sample.rs
index 25f1c74..8f535b7 100644
--- a/native/zenohex_nif/src/sample.rs
+++ b/native/zenohex_nif/src/sample.rs
@@ -1,6 +1,6 @@
 use rustler::{Env, ErlOption, ResourceArc, Term};
 
-use crate::ExSampleRef;
+use crate::SampleRef;
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Sample"]
@@ -8,7 +8,7 @@ pub(crate) struct Sample<'a> {
     pub(crate) key_expr: String,
     pub(crate) value: Term<'a>,
     pub(crate) kind: SampleKind,
-    pub(crate) reference: ErlOption<ResourceArc<ExSampleRef>>,
+    pub(crate) reference: ErlOption<ResourceArc<SampleRef>>,
 }
 
 impl Sample<'_> {
@@ -17,7 +17,7 @@ impl Sample<'_> {
             key_expr: sample.key_expr.to_string(),
             value: crate::value::Value::to_term(env, &sample.value),
             kind: sample.kind.into(),
-            reference: ErlOption::some(ResourceArc::new(ExSampleRef(sample))),
+            reference: ErlOption::some(ResourceArc::new(SampleRef(sample))),
         }
     }
 }
diff --git a/native/zenohex_nif/src/session.rs b/native/zenohex_nif/src/session.rs
index 9050ae8..8d5946b 100644
--- a/native/zenohex_nif/src/session.rs
+++ b/native/zenohex_nif/src/session.rs
@@ -6,10 +6,10 @@ use zenoh::{prelude::sync::*, query::Reply, value::Value, Session};
 
 #[rustler::nif]
 fn declare_publisher(
-    resource: ResourceArc<crate::ExSessionRef>,
+    resource: ResourceArc<crate::SessionRef>,
     key_expr: String,
     opts: crate::publisher::PublisherOptions,
-) -> Result<ResourceArc<crate::ExPublisherRef>, String> {
+) -> Result<ResourceArc<crate::PublisherRef>, String> {
     let session: &Arc<Session> = &resource.0;
     match session
         .declare_publisher(key_expr)
@@ -17,34 +17,34 @@ fn declare_publisher(
         .priority(opts.priority.into())
         .res_sync()
     {
-        Ok(publisher) => Ok(ResourceArc::new(crate::ExPublisherRef(publisher))),
+        Ok(publisher) => Ok(ResourceArc::new(crate::PublisherRef(publisher))),
         Err(error) => Err(error.to_string()),
     }
 }
 
 #[rustler::nif]
 fn declare_subscriber(
-    resource: ResourceArc<crate::ExSessionRef>,
+    resource: ResourceArc<crate::SessionRef>,
     key_expr: String,
     opts: crate::subscriber::SubscriberOptions,
-) -> Result<ResourceArc<crate::ExSubscriberRef>, String> {
+) -> Result<ResourceArc<crate::SubscriberRef>, String> {
     let session: &Arc<Session> = &resource.0;
     match session
         .declare_subscriber(key_expr)
         .reliability(opts.reliability.into())
         .res_sync()
     {
-        Ok(subscriber) => Ok(ResourceArc::new(crate::ExSubscriberRef(subscriber))),
+        Ok(subscriber) => Ok(ResourceArc::new(crate::SubscriberRef(subscriber))),
         Err(error) => Err(error.to_string()),
     }
 }
 
 #[rustler::nif]
 fn declare_pull_subscriber(
-    resource: ResourceArc<crate::ExSessionRef>,
+    resource: ResourceArc<crate::SessionRef>,
     key_expr: String,
     opts: crate::subscriber::SubscriberOptions,
-) -> Result<ResourceArc<crate::ExPullSubscriberRef>, String> {
+) -> Result<ResourceArc<crate::PullSubscriberRef>, String> {
     let session: &Arc<Session> = &resource.0;
     match session
         .declare_subscriber(key_expr)
@@ -52,26 +52,24 @@ fn declare_pull_subscriber(
         .pull_mode()
         .res_sync()
     {
-        Ok(pull_subscriber) => Ok(ResourceArc::new(crate::ExPullSubscriberRef(
-            pull_subscriber,
-        ))),
+        Ok(pull_subscriber) => Ok(ResourceArc::new(crate::PullSubscriberRef(pull_subscriber))),
         Err(error) => Err(error.to_string()),
     }
 }
 
 #[rustler::nif]
 fn declare_queryable(
-    resource: ResourceArc<crate::ExSessionRef>,
+    resource: ResourceArc<crate::SessionRef>,
     key_expr: String,
     opts: crate::queryable::QueryableOptions,
-) -> Result<ResourceArc<crate::ExQueryableRef>, String> {
+) -> Result<ResourceArc<crate::QueryableRef>, String> {
     let session: &Arc<Session> = &resource.0;
     match session
         .declare_queryable(key_expr)
         .complete(opts.complete)
         .res_sync()
     {
-        Ok(queryable) => Ok(ResourceArc::new(crate::ExQueryableRef(queryable))),
+        Ok(queryable) => Ok(ResourceArc::new(crate::QueryableRef(queryable))),
         Err(error) => Err(error.to_string()),
     }
 }
@@ -79,7 +77,7 @@ fn declare_queryable(
 #[rustler::nif]
 fn session_put_integer(
     env: Env,
-    resource: ResourceArc<crate::ExSessionRef>,
+    resource: ResourceArc<crate::SessionRef>,
     key_expr: String,
     value: i64,
 ) -> Term {
@@ -89,7 +87,7 @@ fn session_put_integer(
 #[rustler::nif]
 fn session_put_float(
     env: Env,
-    resource: ResourceArc<crate::ExSessionRef>,
+    resource: ResourceArc<crate::SessionRef>,
     key_expr: String,
     value: f64,
 ) -> Term {
@@ -99,7 +97,7 @@ fn session_put_float(
 #[rustler::nif]
 fn session_put_binary<'a>(
     env: Env<'a>,
-    resource: ResourceArc<crate::ExSessionRef>,
+    resource: ResourceArc<crate::SessionRef>,
     key_expr: String,
     value: Binary<'a>,
 ) -> Term<'a> {
@@ -108,7 +106,7 @@ fn session_put_binary<'a>(
 
 fn session_put_impl<T: Into<zenoh::value::Value>>(
     env: Env,
-    resource: ResourceArc<crate::ExSessionRef>,
+    resource: ResourceArc<crate::SessionRef>,
     key_expr: String,
     value: T,
 ) -> Term {
@@ -121,10 +119,10 @@ fn session_put_impl<T: Into<zenoh::value::Value>>(
 
 #[rustler::nif]
 fn session_get_reply_receiver(
-    resource: ResourceArc<crate::ExSessionRef>,
+    resource: ResourceArc<crate::SessionRef>,
     selector: String,
     opts: crate::query::QueryOptions,
-) -> Result<ResourceArc<crate::ExReplyReceiverRef>, String> {
+) -> Result<ResourceArc<crate::ReplyReceiverRef>, String> {
     let session: &Arc<Session> = &resource.0;
     // TODO: with_value の実装は用途が出てきたら検討
     match session
@@ -133,7 +131,7 @@ fn session_get_reply_receiver(
         .consolidation(opts.consolidation)
         .res_sync()
     {
-        Ok(receiver) => Ok(ResourceArc::new(crate::ExReplyReceiverRef(receiver))),
+        Ok(receiver) => Ok(ResourceArc::new(crate::ReplyReceiverRef(receiver))),
         Err(error) => Err(error.to_string()),
     }
 }
@@ -141,7 +139,7 @@ fn session_get_reply_receiver(
 #[rustler::nif(schedule = "DirtyIo")]
 fn session_get_reply_timeout(
     env: Env,
-    resource: ResourceArc<crate::ExReplyReceiverRef>,
+    resource: ResourceArc<crate::ReplyReceiverRef>,
     timeout_us: u64,
 ) -> Result<Term, Term> {
     let receiver: &Receiver<Reply> = &resource.0;
@@ -155,7 +153,7 @@ fn session_get_reply_timeout(
 }
 
 #[rustler::nif]
-fn session_delete(env: Env, resource: ResourceArc<crate::ExSessionRef>, key_expr: String) -> Term {
+fn session_delete(env: Env, resource: ResourceArc<crate::SessionRef>, key_expr: String) -> Term {
     let session: &Arc<Session> = &resource.0;
     match session.delete(key_expr).res_sync() {
         Ok(_) => atom::ok().encode(env),
diff --git a/native/zenohex_nif/src/subscriber.rs b/native/zenohex_nif/src/subscriber.rs
index d8ef6fa..8f97dbe 100644
--- a/native/zenohex_nif/src/subscriber.rs
+++ b/native/zenohex_nif/src/subscriber.rs
@@ -7,7 +7,7 @@ use zenoh::{sample::Sample, subscriber::Subscriber};
 #[rustler::nif(schedule = "DirtyIo")]
 fn subscriber_recv_timeout(
     env: Env,
-    resource: ResourceArc<crate::ExSubscriberRef>,
+    resource: ResourceArc<crate::SubscriberRef>,
     timeout_us: u64,
 ) -> Result<Term, Term> {
     let subscriber: &Subscriber<'_, Receiver<Sample>> = &resource.0;

From 2e2d7b34106e24343418a7eeba4e161b9f8a969d Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 6 Feb 2024 12:12:23 +0900
Subject: [PATCH 068/165] Refactor zenohex_nif variable names

---
 native/zenohex_nif/src/publisher.rs       | 40 +++++++++---------
 native/zenohex_nif/src/pull_subscriber.rs |  2 +-
 native/zenohex_nif/src/query.rs           | 50 ++++++++++++-----------
 native/zenohex_nif/src/queryable.rs       |  4 +-
 native/zenohex_nif/src/sample.rs          | 20 ++++-----
 native/zenohex_nif/src/session.rs         | 10 ++---
 native/zenohex_nif/src/subscriber.rs      | 14 +++----
 native/zenohex_nif/src/value.rs           |  6 +--
 8 files changed, 75 insertions(+), 71 deletions(-)

diff --git a/native/zenohex_nif/src/publisher.rs b/native/zenohex_nif/src/publisher.rs
index fcfda84..e4e0754 100644
--- a/native/zenohex_nif/src/publisher.rs
+++ b/native/zenohex_nif/src/publisher.rs
@@ -45,7 +45,7 @@ fn publisher_delete(env: Env, resource: ResourceArc<PublisherRef>) -> Term {
 #[rustler::nif]
 fn publisher_congestion_control(
     resource: ResourceArc<PublisherRef>,
-    value: CongestionControl,
+    value: ExCongestionControl,
 ) -> ResourceArc<PublisherRef> {
     let publisher: &Publisher = &resource.0;
     let publisher: Publisher = publisher.clone().congestion_control(value.into());
@@ -56,7 +56,7 @@ fn publisher_congestion_control(
 #[rustler::nif]
 fn publisher_priority(
     resource: ResourceArc<PublisherRef>,
-    value: Priority,
+    value: ExPriority,
 ) -> ResourceArc<PublisherRef> {
     let publisher: &Publisher = &resource.0;
     let publisher: Publisher = publisher.clone().priority(value.into());
@@ -66,28 +66,28 @@ fn publisher_priority(
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Publisher.Options"]
-pub(crate) struct PublisherOptions {
-    pub(crate) congestion_control: CongestionControl,
-    pub(crate) priority: Priority,
+pub(crate) struct ExPublisherOptions {
+    pub(crate) congestion_control: ExCongestionControl,
+    pub(crate) priority: ExPriority,
 }
 
 #[derive(rustler::NifUnitEnum)]
-pub(crate) enum CongestionControl {
+pub(crate) enum ExCongestionControl {
     Drop,
     Block,
 }
 
-impl From<CongestionControl> for zenoh::publication::CongestionControl {
-    fn from(value: CongestionControl) -> Self {
+impl From<ExCongestionControl> for zenoh::publication::CongestionControl {
+    fn from(value: ExCongestionControl) -> Self {
         match value {
-            CongestionControl::Drop => zenoh::publication::CongestionControl::Drop,
-            CongestionControl::Block => zenoh::publication::CongestionControl::Block,
+            ExCongestionControl::Drop => zenoh::publication::CongestionControl::Drop,
+            ExCongestionControl::Block => zenoh::publication::CongestionControl::Block,
         }
     }
 }
 
 #[derive(rustler::NifUnitEnum)]
-pub(crate) enum Priority {
+pub(crate) enum ExPriority {
     RealTime,
     InteractiveHigh,
     InteractiveLow,
@@ -97,16 +97,16 @@ pub(crate) enum Priority {
     Background,
 }
 
-impl From<Priority> for zenoh::publication::Priority {
-    fn from(value: Priority) -> Self {
+impl From<ExPriority> for zenoh::publication::Priority {
+    fn from(value: ExPriority) -> Self {
         match value {
-            Priority::RealTime => zenoh::publication::Priority::RealTime,
-            Priority::InteractiveHigh => zenoh::publication::Priority::InteractiveHigh,
-            Priority::InteractiveLow => zenoh::publication::Priority::InteractiveLow,
-            Priority::DataHigh => zenoh::publication::Priority::DataHigh,
-            Priority::Data => zenoh::publication::Priority::Data,
-            Priority::DataLow => zenoh::publication::Priority::DataLow,
-            Priority::Background => zenoh::publication::Priority::Background,
+            ExPriority::RealTime => zenoh::publication::Priority::RealTime,
+            ExPriority::InteractiveHigh => zenoh::publication::Priority::InteractiveHigh,
+            ExPriority::InteractiveLow => zenoh::publication::Priority::InteractiveLow,
+            ExPriority::DataHigh => zenoh::publication::Priority::DataHigh,
+            ExPriority::Data => zenoh::publication::Priority::Data,
+            ExPriority::DataLow => zenoh::publication::Priority::DataLow,
+            ExPriority::Background => zenoh::publication::Priority::Background,
         }
     }
 }
diff --git a/native/zenohex_nif/src/pull_subscriber.rs b/native/zenohex_nif/src/pull_subscriber.rs
index 98cdd9b..6002c6d 100644
--- a/native/zenohex_nif/src/pull_subscriber.rs
+++ b/native/zenohex_nif/src/pull_subscriber.rs
@@ -12,7 +12,7 @@ fn pull_subscriber_recv_timeout(
 ) -> Result<Term, Term> {
     let pull_subscriber: &PullSubscriber<'_, Receiver<Sample>> = &resource.0;
     match pull_subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
-        Ok(sample) => Ok(crate::sample::Sample::from(env, sample).encode(env)),
+        Ok(sample) => Ok(crate::sample::ExSample::from(env, sample).encode(env)),
         Err(_recv_timeout_error) => Err(crate::atoms::timeout().encode(env)),
     }
 }
diff --git a/native/zenohex_nif/src/query.rs b/native/zenohex_nif/src/query.rs
index 54750db..4223953 100644
--- a/native/zenohex_nif/src/query.rs
+++ b/native/zenohex_nif/src/query.rs
@@ -7,20 +7,20 @@ use crate::{QueryRef, SampleRef};
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Query"]
-pub(crate) struct Query<'a> {
+pub(crate) struct ExQuery<'a> {
     key_expr: String,
     parameters: String,
     value: ErlOption<Term<'a>>,
     reference: ResourceArc<QueryRef>,
 }
 
-impl Query<'_> {
-    pub(crate) fn from(env: Env, query: zenoh::queryable::Query) -> Query {
-        Query {
+impl ExQuery<'_> {
+    pub(crate) fn from(env: Env, query: zenoh::queryable::Query) -> ExQuery {
+        ExQuery {
             key_expr: query.key_expr().to_string(),
             parameters: query.parameters().to_string(),
             value: match query.value() {
-                Some(value) => ErlOption::some(crate::value::Value::to_term(env, value)),
+                Some(value) => ErlOption::some(crate::value::ExValue::from(env, value)),
                 None => ErlOption::none(),
             },
             reference: ResourceArc::new(QueryRef(RwLock::new(Some(query)))),
@@ -29,7 +29,11 @@ impl Query<'_> {
 }
 
 #[rustler::nif(schedule = "DirtyIo")]
-fn query_reply<'a>(env: Env<'a>, query: Query<'a>, sample: crate::sample::Sample<'a>) -> Term<'a> {
+fn query_reply<'a>(
+    env: Env<'a>,
+    query: ExQuery<'a>,
+    sample: crate::sample::ExSample<'a>,
+) -> Term<'a> {
     let lock: &RwLock<Option<zenoh::queryable::Query>> = &query.reference.0;
     let guard = match lock.read() {
         Ok(guard) => guard,
@@ -57,7 +61,7 @@ fn query_reply<'a>(env: Env<'a>, query: Query<'a>, sample: crate::sample::Sample
 }
 
 #[rustler::nif(schedule = "DirtyIo")]
-fn query_finish_reply<'a>(env: Env<'a>, query: Query<'a>) -> Term<'a> {
+fn query_finish_reply<'a>(env: Env<'a>, query: ExQuery<'a>) -> Term<'a> {
     let lock: &RwLock<Option<zenoh::queryable::Query>> = &query.reference.0;
     let mut guard = match lock.write() {
         Ok(guard) => guard,
@@ -82,43 +86,43 @@ fn query_finish_reply<'a>(env: Env<'a>, query: Query<'a>) -> Term<'a> {
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Query.Options"]
-pub(crate) struct QueryOptions {
-    pub(crate) target: QueryTarget,
-    pub(crate) consolidation: ConsolidationMode,
+pub(crate) struct ExQueryOptions {
+    pub(crate) target: ExQueryTarget,
+    pub(crate) consolidation: ExConsolidationMode,
 }
 
 #[derive(rustler::NifUnitEnum)]
-pub(crate) enum QueryTarget {
+pub(crate) enum ExQueryTarget {
     BestMatching,
     All,
     AllComplete,
 }
 
-impl From<QueryTarget> for zenoh::query::QueryTarget {
-    fn from(value: QueryTarget) -> Self {
+impl From<ExQueryTarget> for zenoh::query::QueryTarget {
+    fn from(value: ExQueryTarget) -> Self {
         match value {
-            QueryTarget::BestMatching => zenoh::query::QueryTarget::BestMatching,
-            QueryTarget::All => zenoh::query::QueryTarget::All,
-            QueryTarget::AllComplete => zenoh::query::QueryTarget::AllComplete,
+            ExQueryTarget::BestMatching => zenoh::query::QueryTarget::BestMatching,
+            ExQueryTarget::All => zenoh::query::QueryTarget::All,
+            ExQueryTarget::AllComplete => zenoh::query::QueryTarget::AllComplete,
         }
     }
 }
 
 #[derive(rustler::NifUnitEnum)]
-pub(crate) enum ConsolidationMode {
+pub(crate) enum ExConsolidationMode {
     Auto,
     None,
     Monotonic,
     Latest,
 }
 
-impl From<ConsolidationMode> for zenoh::query::QueryConsolidation {
-    fn from(value: ConsolidationMode) -> Self {
+impl From<ExConsolidationMode> for zenoh::query::QueryConsolidation {
+    fn from(value: ExConsolidationMode) -> Self {
         match value {
-            ConsolidationMode::Auto => zenoh::query::Mode::Auto.into(),
-            ConsolidationMode::None => zenoh::query::ConsolidationMode::None.into(),
-            ConsolidationMode::Monotonic => zenoh::query::ConsolidationMode::Monotonic.into(),
-            ConsolidationMode::Latest => zenoh::query::ConsolidationMode::Latest.into(),
+            ExConsolidationMode::Auto => zenoh::query::Mode::Auto.into(),
+            ExConsolidationMode::None => zenoh::query::ConsolidationMode::None.into(),
+            ExConsolidationMode::Monotonic => zenoh::query::ConsolidationMode::Monotonic.into(),
+            ExConsolidationMode::Latest => zenoh::query::ConsolidationMode::Latest.into(),
         }
     }
 }
diff --git a/native/zenohex_nif/src/queryable.rs b/native/zenohex_nif/src/queryable.rs
index c3d50d1..abe9919 100644
--- a/native/zenohex_nif/src/queryable.rs
+++ b/native/zenohex_nif/src/queryable.rs
@@ -14,13 +14,13 @@ fn queryable_recv_timeout(
 ) -> Result<Term, Term> {
     let queryable: &Queryable<'_, Receiver<Query>> = &resource.0;
     match queryable.recv_timeout(Duration::from_micros(timeout_us)) {
-        Ok(query) => Ok(crate::query::Query::from(env, query).encode(env)),
+        Ok(query) => Ok(crate::query::ExQuery::from(env, query).encode(env)),
         Err(_recv_timeout_error) => Err(atoms::timeout().encode(env)),
     }
 }
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Queryable.Options"]
-pub(crate) struct QueryableOptions {
+pub(crate) struct ExQueryableOptions {
     pub(crate) complete: bool,
 }
diff --git a/native/zenohex_nif/src/sample.rs b/native/zenohex_nif/src/sample.rs
index 8f535b7..5111676 100644
--- a/native/zenohex_nif/src/sample.rs
+++ b/native/zenohex_nif/src/sample.rs
@@ -4,18 +4,18 @@ use crate::SampleRef;
 
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Sample"]
-pub(crate) struct Sample<'a> {
+pub(crate) struct ExSample<'a> {
     pub(crate) key_expr: String,
     pub(crate) value: Term<'a>,
-    pub(crate) kind: SampleKind,
+    pub(crate) kind: ExSampleKind,
     pub(crate) reference: ErlOption<ResourceArc<SampleRef>>,
 }
 
-impl Sample<'_> {
-    pub(crate) fn from(env: Env, sample: zenoh::sample::Sample) -> Sample {
-        Sample {
+impl ExSample<'_> {
+    pub(crate) fn from(env: Env, sample: zenoh::sample::Sample) -> ExSample {
+        ExSample {
             key_expr: sample.key_expr.to_string(),
-            value: crate::value::Value::to_term(env, &sample.value),
+            value: crate::value::ExValue::from(env, &sample.value),
             kind: sample.kind.into(),
             reference: ErlOption::some(ResourceArc::new(SampleRef(sample))),
         }
@@ -23,16 +23,16 @@ impl Sample<'_> {
 }
 
 #[derive(rustler::NifUnitEnum)]
-pub(crate) enum SampleKind {
+pub(crate) enum ExSampleKind {
     Put,
     Delete,
 }
 
-impl From<zenoh::prelude::SampleKind> for SampleKind {
+impl From<zenoh::prelude::SampleKind> for ExSampleKind {
     fn from(kind: zenoh::prelude::SampleKind) -> Self {
         match kind {
-            zenoh::prelude::SampleKind::Put => SampleKind::Put,
-            zenoh::prelude::SampleKind::Delete => SampleKind::Delete,
+            zenoh::prelude::SampleKind::Put => ExSampleKind::Put,
+            zenoh::prelude::SampleKind::Delete => ExSampleKind::Delete,
         }
     }
 }
diff --git a/native/zenohex_nif/src/session.rs b/native/zenohex_nif/src/session.rs
index 8d5946b..31c88d2 100644
--- a/native/zenohex_nif/src/session.rs
+++ b/native/zenohex_nif/src/session.rs
@@ -8,7 +8,7 @@ use zenoh::{prelude::sync::*, query::Reply, value::Value, Session};
 fn declare_publisher(
     resource: ResourceArc<crate::SessionRef>,
     key_expr: String,
-    opts: crate::publisher::PublisherOptions,
+    opts: crate::publisher::ExPublisherOptions,
 ) -> Result<ResourceArc<crate::PublisherRef>, String> {
     let session: &Arc<Session> = &resource.0;
     match session
@@ -61,7 +61,7 @@ fn declare_pull_subscriber(
 fn declare_queryable(
     resource: ResourceArc<crate::SessionRef>,
     key_expr: String,
-    opts: crate::queryable::QueryableOptions,
+    opts: crate::queryable::ExQueryableOptions,
 ) -> Result<ResourceArc<crate::QueryableRef>, String> {
     let session: &Arc<Session> = &resource.0;
     match session
@@ -121,7 +121,7 @@ fn session_put_impl<T: Into<zenoh::value::Value>>(
 fn session_get_reply_receiver(
     resource: ResourceArc<crate::SessionRef>,
     selector: String,
-    opts: crate::query::QueryOptions,
+    opts: crate::query::ExQueryOptions,
 ) -> Result<ResourceArc<crate::ReplyReceiverRef>, String> {
     let session: &Arc<Session> = &resource.0;
     // TODO: with_value の実装は用途が出てきたら検討
@@ -145,8 +145,8 @@ fn session_get_reply_timeout(
     let receiver: &Receiver<Reply> = &resource.0;
     match receiver.recv_timeout(Duration::from_micros(timeout_us)) {
         Ok(reply) => match reply.sample {
-            Ok(sample) => Ok(crate::sample::Sample::from(env, sample).encode(env)),
-            Err(value) => Err(crate::value::Value::to_term(env, &value)),
+            Ok(sample) => Ok(crate::sample::ExSample::from(env, sample).encode(env)),
+            Err(value) => Err(crate::value::ExValue::from(env, &value).encode(env)),
         },
         Err(_recv_timeout_error) => Err(crate::atoms::timeout().encode(env)),
     }
diff --git a/native/zenohex_nif/src/subscriber.rs b/native/zenohex_nif/src/subscriber.rs
index 8f97dbe..ca7c91a 100644
--- a/native/zenohex_nif/src/subscriber.rs
+++ b/native/zenohex_nif/src/subscriber.rs
@@ -12,7 +12,7 @@ fn subscriber_recv_timeout(
 ) -> Result<Term, Term> {
     let subscriber: &Subscriber<'_, Receiver<Sample>> = &resource.0;
     match subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
-        Ok(sample) => Ok(crate::sample::Sample::from(env, sample).encode(env)),
+        Ok(sample) => Ok(crate::sample::ExSample::from(env, sample).encode(env)),
         Err(_recv_timeout_error) => Err(crate::atoms::timeout().encode(env)),
     }
 }
@@ -20,20 +20,20 @@ fn subscriber_recv_timeout(
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Subscriber.Options"]
 pub(crate) struct SubscriberOptions {
-    pub(crate) reliability: Reliability,
+    pub(crate) reliability: ExReliability,
 }
 
 #[derive(rustler::NifUnitEnum)]
-pub(crate) enum Reliability {
+pub(crate) enum ExReliability {
     BestEffort,
     Reliable,
 }
 
-impl From<Reliability> for zenoh::subscriber::Reliability {
-    fn from(value: Reliability) -> Self {
+impl From<ExReliability> for zenoh::subscriber::Reliability {
+    fn from(value: ExReliability) -> Self {
         match value {
-            Reliability::BestEffort => zenoh::subscriber::Reliability::BestEffort,
-            Reliability::Reliable => zenoh::subscriber::Reliability::Reliable,
+            ExReliability::BestEffort => zenoh::subscriber::Reliability::BestEffort,
+            ExReliability::Reliable => zenoh::subscriber::Reliability::Reliable,
         }
     }
 }
diff --git a/native/zenohex_nif/src/value.rs b/native/zenohex_nif/src/value.rs
index 3012fc1..bee2749 100644
--- a/native/zenohex_nif/src/value.rs
+++ b/native/zenohex_nif/src/value.rs
@@ -3,10 +3,10 @@ use std::{borrow::Cow, io::Write};
 use rustler::{Encoder, Env, OwnedBinary, Term};
 use zenoh::prelude::KnownEncoding;
 
-pub(crate) struct Value;
+pub(crate) struct ExValue;
 
-impl Value {
-    pub(crate) fn to_term<'a>(env: Env<'a>, value: &zenoh::value::Value) -> Term<'a> {
+impl ExValue {
+    pub(crate) fn from<'a>(env: Env<'a>, value: &zenoh::value::Value) -> Term<'a> {
         match value.encoding.prefix() {
             KnownEncoding::Empty => unimplemented!(),
             KnownEncoding::AppOctetStream => match Cow::try_from(value) {

From 71d24b01692a6fd824b806a0c93311c842b0f2ac Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 6 Feb 2024 14:00:48 +0900
Subject: [PATCH 069/165] Add From trait impl to sample.rs

---
 lib/zenohex/sample.ex            |  2 +-
 native/zenohex_nif/src/query.rs  |  4 ++--
 native/zenohex_nif/src/sample.rs | 30 +++++++++++++++++++++++++++++-
 3 files changed, 32 insertions(+), 4 deletions(-)

diff --git a/lib/zenohex/sample.ex b/lib/zenohex/sample.ex
index 059dd07..8ce0cef 100644
--- a/lib/zenohex/sample.ex
+++ b/lib/zenohex/sample.ex
@@ -9,5 +9,5 @@ defmodule Zenohex.Sample do
           kind: :put | :delete,
           reference: reference() | :undefined
         }
-  defstruct [:key_expr, :value, :kind, :reference]
+  defstruct key_expr: "", value: "", kind: :put, reference: :undefined
 end
diff --git a/native/zenohex_nif/src/query.rs b/native/zenohex_nif/src/query.rs
index 4223953..88acecb 100644
--- a/native/zenohex_nif/src/query.rs
+++ b/native/zenohex_nif/src/query.rs
@@ -50,9 +50,9 @@ fn query_reply<'a>(
         }
     };
     let sample: zenoh::sample::Sample =
-        match Option::<ResourceArc<SampleRef>>::from(sample.reference) {
+        match Option::<ResourceArc<SampleRef>>::from(sample.reference.clone()) {
             Some(resource) => resource.0.clone(),
-            None => todo!(), // TODO: Zenoh 外のデータから Sample を作る場合に実装する
+            None => sample.into(),
         };
     match query.reply(Ok(sample)).res_sync() {
         Ok(_) => atom::ok().encode(env),
diff --git a/native/zenohex_nif/src/sample.rs b/native/zenohex_nif/src/sample.rs
index 5111676..3673f13 100644
--- a/native/zenohex_nif/src/sample.rs
+++ b/native/zenohex_nif/src/sample.rs
@@ -1,4 +1,4 @@
-use rustler::{Env, ErlOption, ResourceArc, Term};
+use rustler::{Binary, Env, ErlOption, ResourceArc, Term};
 
 use crate::SampleRef;
 
@@ -22,6 +22,34 @@ impl ExSample<'_> {
     }
 }
 
+impl From<ExSample<'_>> for zenoh::sample::Sample {
+    fn from(sample: ExSample) -> Self {
+        let key_expr = unsafe { zenoh::key_expr::KeyExpr::from_string_unchecked(sample.key_expr) };
+        let value = match sample.value.get_type() {
+            rustler::TermType::Atom => unimplemented!(),
+            rustler::TermType::Binary => {
+                let binary = sample.value.decode::<Binary>().unwrap();
+                zenoh::value::Value::from(binary.as_slice())
+            }
+            rustler::TermType::Fun => unimplemented!(),
+            rustler::TermType::List => unimplemented!(),
+            rustler::TermType::Map => unimplemented!(),
+            rustler::TermType::Integer => {
+                zenoh::value::Value::from(sample.value.decode::<i64>().unwrap())
+            }
+            rustler::TermType::Float => {
+                zenoh::value::Value::from(sample.value.decode::<f64>().unwrap())
+            }
+            rustler::TermType::Pid => unimplemented!(),
+            rustler::TermType::Port => unimplemented!(),
+            rustler::TermType::Ref => unimplemented!(),
+            rustler::TermType::Tuple => unimplemented!(),
+            rustler::TermType::Unknown => unimplemented!(),
+        };
+        zenoh::sample::Sample::new(key_expr, value)
+    }
+}
+
 #[derive(rustler::NifUnitEnum)]
 pub(crate) enum ExSampleKind {
     Put,

From 9a3c817365cf5c5a73b7f0adff1e41c6f405aabb Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 6 Feb 2024 15:35:31 +0900
Subject: [PATCH 070/165] Add key_expr_intersects/2 to NIFs

---
 lib/zenohex/examples/storage/queryable.ex |  7 +++++--
 lib/zenohex/examples/storage/store.ex     | 22 +++++++++++++++++++---
 lib/zenohex/keyexpr.ex                    |  8 ++++++++
 lib/zenohex/nif.ex                        |  4 ++++
 native/zenohex_nif/src/keyexpr.rs         |  8 ++++++++
 native/zenohex_nif/src/lib.rs             |  2 ++
 test/zenohex/nif_test.exs                 |  7 +++++++
 7 files changed, 53 insertions(+), 5 deletions(-)
 create mode 100644 lib/zenohex/keyexpr.ex
 create mode 100644 native/zenohex_nif/src/keyexpr.rs

diff --git a/lib/zenohex/examples/storage/queryable.ex b/lib/zenohex/examples/storage/queryable.ex
index 067c322..80d73a5 100644
--- a/lib/zenohex/examples/storage/queryable.ex
+++ b/lib/zenohex/examples/storage/queryable.ex
@@ -25,8 +25,11 @@ defmodule Zenohex.Examples.Storage.Queryable do
           {:error, :not_found} ->
             nil
 
-          {:ok, [sample]} ->
-            :ok = Query.reply(query, sample)
+          {:ok, samples} ->
+            Enum.each(samples, fn sample ->
+              :ok = Query.reply(query, sample)
+            end)
+
             :ok = Query.finish_reply(query)
             # following line is not needed, this is just example of double call
             {:error, "ResponseFinal has already been sent"} = Query.finish_reply(query)
diff --git a/lib/zenohex/examples/storage/store.ex b/lib/zenohex/examples/storage/store.ex
index 79d3111..c463827 100644
--- a/lib/zenohex/examples/storage/store.ex
+++ b/lib/zenohex/examples/storage/store.ex
@@ -5,6 +5,8 @@ defmodule Zenohex.Examples.Storage.Store do
 
   require Logger
 
+  alias Zenohex.KeyExpr
+
   def start_link(initial_state) do
     Agent.start_link(fn -> initial_state end, name: __MODULE__)
   end
@@ -28,9 +30,12 @@ defmodule Zenohex.Examples.Storage.Store do
     Agent.get(
       __MODULE__,
       fn map ->
-        case Map.get(map, key_expr) do
-          nil -> {:error, :not_found}
-          sample -> {:ok, [sample]}
+        samples = collect_samples(map, key_expr)
+
+        if samples == [] do
+          {:error, :not_found}
+        else
+          {:ok, samples}
         end
       end
     )
@@ -39,4 +44,15 @@ defmodule Zenohex.Examples.Storage.Store do
   def dump() do
     Agent.get(__MODULE__, fn map -> map end)
   end
+
+  defp collect_samples(map, key_expr) do
+    Map.keys(map)
+    |> Enum.filter(&KeyExpr.intersects?(key_expr, &1))
+    |> Enum.reduce([], fn key, acc ->
+      case Map.get(map, key) do
+        nil -> acc
+        sample -> [sample | acc]
+      end
+    end)
+  end
 end
diff --git a/lib/zenohex/keyexpr.ex b/lib/zenohex/keyexpr.ex
new file mode 100644
index 0000000..8b8c73e
--- /dev/null
+++ b/lib/zenohex/keyexpr.ex
@@ -0,0 +1,8 @@
+defmodule Zenohex.KeyExpr do
+  alias Zenohex.Nif
+
+  @spec intersects?(String.t(), String.t()) :: boolean()
+  def intersects?(l, r) when is_binary(l) and is_binary(r) do
+    Nif.key_expr_intersects(l, r)
+  end
+end
diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index be26ca8..f809a51 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -105,4 +105,8 @@ defmodule Zenohex.Nif do
   def query_finish_reply(_query) do
     :erlang.nif_error(:nif_not_loaded)
   end
+
+  def key_expr_intersects(_l, _r) do
+    :erlang.nif_error(:nif_not_loaded)
+  end
 end
diff --git a/native/zenohex_nif/src/keyexpr.rs b/native/zenohex_nif/src/keyexpr.rs
new file mode 100644
index 0000000..5065423
--- /dev/null
+++ b/native/zenohex_nif/src/keyexpr.rs
@@ -0,0 +1,8 @@
+use zenoh::key_expr::{keyexpr, KeyExpr};
+
+#[rustler::nif]
+fn key_expr_intersects(l: String, r: String) -> bool {
+    let lke = unsafe { KeyExpr::from_string_unchecked(l) };
+    let rke = unsafe { KeyExpr::from_string_unchecked(r) };
+    keyexpr::intersects(&lke, &rke)
+}
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index faecfeb..c5b11a1 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -12,6 +12,7 @@ mod atoms {
         timeout,
     }
 }
+mod keyexpr;
 mod publisher;
 mod pull_subscriber;
 mod query;
@@ -92,6 +93,7 @@ rustler::init!(
         queryable::queryable_recv_timeout,
         query::query_reply,
         query::query_finish_reply,
+        keyexpr::key_expr_intersects,
     ],
     load = load
 );
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 35e8a15..38dc72b 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -170,4 +170,11 @@ defmodule Zenohex.NifTest do
       assert is_reference(queryable)
     end
   end
+
+  describe "key_expr" do
+    test "key_expr_intersects/2" do
+      assert Nif.key_expr_intersects("key/expression/**", "key/expression/demo")
+      refute Nif.key_expr_intersects("key/expression/**", "key/value")
+    end
+  end
 end

From 132c5cf389cb2b761f2794d35659dc4cc6e29947 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 7 Feb 2024 07:57:45 +0900
Subject: [PATCH 071/165] Add test to check Nif.key_expr_intersects/2's left
 and right are equal

---
 lib/zenohex/examples/storage/store.ex | 2 +-
 test/zenohex/nif_test.exs             | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/lib/zenohex/examples/storage/store.ex b/lib/zenohex/examples/storage/store.ex
index c463827..81f1d7c 100644
--- a/lib/zenohex/examples/storage/store.ex
+++ b/lib/zenohex/examples/storage/store.ex
@@ -47,7 +47,7 @@ defmodule Zenohex.Examples.Storage.Store do
 
   defp collect_samples(map, key_expr) do
     Map.keys(map)
-    |> Enum.filter(&KeyExpr.intersects?(key_expr, &1))
+    |> Enum.filter(&KeyExpr.intersects?(&1, key_expr))
     |> Enum.reduce([], fn key, acc ->
       case Map.get(map, key) do
         nil -> acc
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 38dc72b..672a9fa 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -174,7 +174,9 @@ defmodule Zenohex.NifTest do
   describe "key_expr" do
     test "key_expr_intersects/2" do
       assert Nif.key_expr_intersects("key/expression/**", "key/expression/demo")
+      assert Nif.key_expr_intersects("key/expression/demo", "key/expression/**")
       refute Nif.key_expr_intersects("key/expression/**", "key/value")
+      refute Nif.key_expr_intersects("key/value", "key/expression/**")
     end
   end
 end

From 6783023840f9305d5c74a7cc24ceae2e02dffea9 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 7 Feb 2024 09:37:21 +0900
Subject: [PATCH 072/165] Add {:error, :disconnected} return to *_timeout NIFs

---
 lib/zenohex/pull_subscriber.ex            |  5 ++++-
 lib/zenohex/queryable.ex                  |  5 ++++-
 lib/zenohex/session.ex                    | 14 ++++++++++----
 lib/zenohex/subscriber.ex                 |  5 ++++-
 native/zenohex_nif/src/lib.rs             |  1 +
 native/zenohex_nif/src/pull_subscriber.rs |  5 +++--
 native/zenohex_nif/src/queryable.rs       |  5 +++--
 native/zenohex_nif/src/session.rs         |  5 +++--
 native/zenohex_nif/src/subscriber.rs      |  5 +++--
 test/zenohex/nif_test.exs                 |  2 +-
 10 files changed, 36 insertions(+), 16 deletions(-)

diff --git a/lib/zenohex/pull_subscriber.ex b/lib/zenohex/pull_subscriber.ex
index 9c2c176..d3d013e 100644
--- a/lib/zenohex/pull_subscriber.ex
+++ b/lib/zenohex/pull_subscriber.ex
@@ -34,7 +34,10 @@ defmodule Zenohex.PullSubscriber do
       {:error, :timeout}
   """
   @spec recv_timeout(t(), pos_integer()) ::
-          {:ok, Sample.t()} | {:error, :timeout} | {:error, reason :: String.t()}
+          {:ok, Sample.t()}
+          | {:error, :timeout}
+          | {:error, :disconnected}
+          | {:error, reason :: String.t()}
   def recv_timeout(pull_subscriber, timeout_us)
       when is_reference(pull_subscriber) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.pull_subscriber_recv_timeout(pull_subscriber, timeout_us)
diff --git a/lib/zenohex/queryable.ex b/lib/zenohex/queryable.ex
index 4117b1d..fecfe33 100644
--- a/lib/zenohex/queryable.ex
+++ b/lib/zenohex/queryable.ex
@@ -29,7 +29,10 @@ defmodule Zenohex.Queryable do
       {:error, :timeout}
   """
   @spec recv_timeout(t(), pos_integer()) ::
-          {:ok, Query.t()} | {:error, :timeout} | {:error, reason :: String.t()}
+          {:ok, Query.t()}
+          | {:error, :timeout}
+          | {:error, :disconnected}
+          | {:error, reason :: String.t()}
   def recv_timeout(queryable, timeout_us)
       when is_reference(queryable) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.queryable_recv_timeout(queryable, timeout_us)
diff --git a/lib/zenohex/session.ex b/lib/zenohex/session.ex
index 7574309..2c36ea1 100644
--- a/lib/zenohex/session.ex
+++ b/lib/zenohex/session.ex
@@ -108,10 +108,13 @@ defmodule Zenohex.Session do
 
       iex> {:ok, session} = Zenohex.open()
       iex> Zenohex.Session.get_timeout(session, "key/**", 1000)
-      {:error, :timeout}
+      {:error, :disconnected}
   """
   @spec get_timeout(t(), String.t(), pos_integer(), Query.Options.t()) ::
-          {:ok, Sample.t()} | {:error, :timeout} | {:error, reason :: any()}
+          {:ok, Sample.t()}
+          | {:error, :timeout}
+          | {:error, :disconnected}
+          | {:error, reason :: any()}
   def get_timeout(session, selector, timeout_us, opts \\ %Query.Options{}) do
     case get_reply_receiver(session, selector, opts) do
       {:ok, receiver} -> get_reply_timeout(receiver, timeout_us)
@@ -142,10 +145,13 @@ defmodule Zenohex.Session do
       iex> {:ok, session} = Zenohex.open()
       iex> {:ok, receiver} = Zenohex.Session.get_reply_receiver(session, "key/**")
       iex> Zenohex.Session.get_reply_timeout(receiver, 1000)
-      {:error, :timeout}
+      {:error, :disconnected}
   """
   @spec get_reply_timeout(receiver(), pos_integer()) ::
-          {:ok, Sample.t()} | {:error, :timeout} | {:error, reason :: any()}
+          {:ok, Sample.t()}
+          | {:error, :timeout}
+          | {:error, :disconnected}
+          | {:error, reason :: any()}
   def get_reply_timeout(receiver, timeout_us)
       when is_reference(receiver) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.session_get_reply_timeout(receiver, timeout_us)
diff --git a/lib/zenohex/subscriber.ex b/lib/zenohex/subscriber.ex
index 707db26..574d735 100644
--- a/lib/zenohex/subscriber.ex
+++ b/lib/zenohex/subscriber.ex
@@ -29,7 +29,10 @@ defmodule Zenohex.Subscriber do
       {:error, :timeout}
   """
   @spec recv_timeout(t(), pos_integer()) ::
-          {:ok, Sample.t()} | {:error, :timeout} | {:error, reason :: String.t()}
+          {:ok, Sample.t()}
+          | {:error, :timeout}
+          | {:error, :disconnected}
+          | {:error, reason :: String.t()}
   def recv_timeout(subscriber, timeout_us)
       when is_reference(subscriber) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.subscriber_recv_timeout(subscriber, timeout_us)
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index c5b11a1..cbcf8ab 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -10,6 +10,7 @@ use zenoh::{
 mod atoms {
     rustler::atoms! {
         timeout,
+        disconnected,
     }
 }
 mod keyexpr;
diff --git a/native/zenohex_nif/src/pull_subscriber.rs b/native/zenohex_nif/src/pull_subscriber.rs
index 6002c6d..f832286 100644
--- a/native/zenohex_nif/src/pull_subscriber.rs
+++ b/native/zenohex_nif/src/pull_subscriber.rs
@@ -1,6 +1,6 @@
 use std::time::Duration;
 
-use flume::Receiver;
+use flume::{Receiver, RecvTimeoutError};
 use rustler::{types::atom, Encoder, Env, ResourceArc, Term};
 use zenoh::{prelude::sync::SyncResolve, sample::Sample, subscriber::PullSubscriber};
 
@@ -13,7 +13,8 @@ fn pull_subscriber_recv_timeout(
     let pull_subscriber: &PullSubscriber<'_, Receiver<Sample>> = &resource.0;
     match pull_subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
         Ok(sample) => Ok(crate::sample::ExSample::from(env, sample).encode(env)),
-        Err(_recv_timeout_error) => Err(crate::atoms::timeout().encode(env)),
+        Err(RecvTimeoutError::Timeout) => Err(crate::atoms::timeout().encode(env)),
+        Err(RecvTimeoutError::Disconnected) => Err(crate::atoms::disconnected().encode(env)),
     }
 }
 
diff --git a/native/zenohex_nif/src/queryable.rs b/native/zenohex_nif/src/queryable.rs
index abe9919..d1a7f13 100644
--- a/native/zenohex_nif/src/queryable.rs
+++ b/native/zenohex_nif/src/queryable.rs
@@ -1,6 +1,6 @@
 use std::time::Duration;
 
-use flume::Receiver;
+use flume::{Receiver, RecvTimeoutError};
 use rustler::{Encoder, Env, ResourceArc, Term};
 use zenoh::queryable::{Query, Queryable};
 
@@ -15,7 +15,8 @@ fn queryable_recv_timeout(
     let queryable: &Queryable<'_, Receiver<Query>> = &resource.0;
     match queryable.recv_timeout(Duration::from_micros(timeout_us)) {
         Ok(query) => Ok(crate::query::ExQuery::from(env, query).encode(env)),
-        Err(_recv_timeout_error) => Err(atoms::timeout().encode(env)),
+        Err(RecvTimeoutError::Timeout) => Err(atoms::timeout().encode(env)),
+        Err(RecvTimeoutError::Disconnected) => Err(atoms::disconnected().encode(env)),
     }
 }
 
diff --git a/native/zenohex_nif/src/session.rs b/native/zenohex_nif/src/session.rs
index 31c88d2..0111941 100644
--- a/native/zenohex_nif/src/session.rs
+++ b/native/zenohex_nif/src/session.rs
@@ -1,6 +1,6 @@
 use std::{sync::Arc, time::Duration};
 
-use flume::Receiver;
+use flume::{Receiver, RecvTimeoutError};
 use rustler::{types::atom, Binary, Encoder, Env, ResourceArc, Term};
 use zenoh::{prelude::sync::*, query::Reply, value::Value, Session};
 
@@ -148,7 +148,8 @@ fn session_get_reply_timeout(
             Ok(sample) => Ok(crate::sample::ExSample::from(env, sample).encode(env)),
             Err(value) => Err(crate::value::ExValue::from(env, &value).encode(env)),
         },
-        Err(_recv_timeout_error) => Err(crate::atoms::timeout().encode(env)),
+        Err(RecvTimeoutError::Timeout) => Err(crate::atoms::timeout().encode(env)),
+        Err(RecvTimeoutError::Disconnected) => Err(crate::atoms::disconnected().encode(env)),
     }
 }
 
diff --git a/native/zenohex_nif/src/subscriber.rs b/native/zenohex_nif/src/subscriber.rs
index ca7c91a..d83ee69 100644
--- a/native/zenohex_nif/src/subscriber.rs
+++ b/native/zenohex_nif/src/subscriber.rs
@@ -1,6 +1,6 @@
 use std::time::Duration;
 
-use flume::Receiver;
+use flume::{Receiver, RecvTimeoutError};
 use rustler::{Encoder, Env, ResourceArc, Term};
 use zenoh::{sample::Sample, subscriber::Subscriber};
 
@@ -13,7 +13,8 @@ fn subscriber_recv_timeout(
     let subscriber: &Subscriber<'_, Receiver<Sample>> = &resource.0;
     match subscriber.recv_timeout(Duration::from_micros(timeout_us)) {
         Ok(sample) => Ok(crate::sample::ExSample::from(env, sample).encode(env)),
-        Err(_recv_timeout_error) => Err(crate::atoms::timeout().encode(env)),
+        Err(RecvTimeoutError::Timeout) => Err(crate::atoms::timeout().encode(env)),
+        Err(RecvTimeoutError::Disconnected) => Err(crate::atoms::disconnected().encode(env)),
     }
 }
 
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 672a9fa..f97899a 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -29,7 +29,7 @@ defmodule Zenohex.NifTest do
 
     test "session_get_reply_timeout/2", %{session: session} do
       {:ok, receiver} = Nif.session_get_reply_receiver(session, "key_expression")
-      assert Nif.session_get_reply_timeout(receiver, 1000) == {:error, :timeout}
+      assert Nif.session_get_reply_timeout(receiver, 1000) == {:error, :disconnected}
     end
 
     test "session_delete/2", %{session: session} do

From e200a2183ed34da92ce6a1e25483a740c701bd14 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 7 Feb 2024 12:16:12 +0900
Subject: [PATCH 073/165] Add queryable_server to examples

---
 lib/zenohex/examples/queryable_server.ex      | 42 +++++++++++++++++++
 .../examples/queryable_server_test.exs        | 25 +++++++++++
 2 files changed, 67 insertions(+)
 create mode 100644 lib/zenohex/examples/queryable_server.ex
 create mode 100644 test/zenohex/examples/queryable_server_test.exs

diff --git a/lib/zenohex/examples/queryable_server.ex b/lib/zenohex/examples/queryable_server.ex
new file mode 100644
index 0000000..42adea6
--- /dev/null
+++ b/lib/zenohex/examples/queryable_server.ex
@@ -0,0 +1,42 @@
+defmodule Zenohex.Examples.QueryableServer do
+  use GenServer
+
+  require Logger
+
+  alias Zenohex.Session
+  alias Zenohex.Queryable
+
+  def start_link(args) do
+    GenServer.start_link(__MODULE__, args, name: __MODULE__)
+  end
+
+  def init(args) do
+    session = Map.fetch!(args, :session)
+    key_expr = Map.fetch!(args, :key_expr)
+    callback = Map.fetch!(args, :callback)
+    {:ok, queryable} = Session.declare_queryable(session, key_expr)
+
+    send(self(), :loop)
+
+    {:ok, %{queryable: queryable, callback: callback}}
+  end
+
+  def handle_info(:loop, state) do
+    case Queryable.recv_timeout(state.queryable, 1000) do
+      {:ok, query} ->
+        state.callback.(query)
+        send(self(), :loop)
+
+      {:error, :timeout} ->
+        send(self(), :loop)
+
+      {:error, :disconnected} ->
+        raise("unreachable!")
+
+      {:error, error} ->
+        Logger.error(inspect(error))
+    end
+
+    {:noreply, state}
+  end
+end
diff --git a/test/zenohex/examples/queryable_server_test.exs b/test/zenohex/examples/queryable_server_test.exs
new file mode 100644
index 0000000..be368d7
--- /dev/null
+++ b/test/zenohex/examples/queryable_server_test.exs
@@ -0,0 +1,25 @@
+defmodule Zenohex.Examples.QueryableServerTest do
+  use ExUnit.Case
+
+  require Logger
+
+  alias Zenohex.Examples.QueryableServer
+  alias Zenohex.Session
+  alias Zenohex.Query
+
+  test "start_link/1" do
+    {:ok, session} = Zenohex.open()
+    key_expr = "key/expression/**"
+
+    me = self()
+    callback = fn query -> send(me, query) end
+
+    start_supervised!(
+      {QueryableServer, %{session: session, key_expr: key_expr, callback: callback}}
+    )
+
+    Session.get_timeout(session, key_expr, 1000)
+
+    assert_receive(%Query{})
+  end
+end

From db408620d71a7afd10e9a382f311d1e0f15d1f39 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 7 Feb 2024 12:16:22 +0900
Subject: [PATCH 074/165] Add session_server to examples

---
 lib/zenohex/examples/session_server.ex        | 78 +++++++++++++++++++
 test/zenohex/examples/session_server_test.exs | 49 ++++++++++++
 2 files changed, 127 insertions(+)
 create mode 100644 lib/zenohex/examples/session_server.ex
 create mode 100644 test/zenohex/examples/session_server_test.exs

diff --git a/lib/zenohex/examples/session_server.ex b/lib/zenohex/examples/session_server.ex
new file mode 100644
index 0000000..6c1e563
--- /dev/null
+++ b/lib/zenohex/examples/session_server.ex
@@ -0,0 +1,78 @@
+defmodule Zenohex.Examples.SessionServer do
+  use GenServer
+
+  require Logger
+
+  alias Zenohex.Session
+
+  def start_link(args) do
+    GenServer.start_link(__MODULE__, args, name: __MODULE__)
+  end
+
+  def session() do
+    GenServer.call(__MODULE__, :session)
+  end
+
+  def put(key_expr, value) do
+    GenServer.call(__MODULE__, {:put, key_expr, value})
+  end
+
+  def set_disconnected_cb(callback) do
+    GenServer.call(__MODULE__, {:set_disconnected_cb, callback})
+  end
+
+  def get(selector, callback) do
+    GenServer.call(__MODULE__, {:get, selector, callback})
+  end
+
+  def init(_args) do
+    {:ok, session} = Zenohex.open()
+
+    {:ok,
+     %{
+       session: session,
+       selector: nil,
+       receiver: nil,
+       callback: nil,
+       disconnected_cb: fn -> nil end
+     }}
+  end
+
+  def handle_call(:session, _from, state) do
+    {:reply, state.session, state}
+  end
+
+  def handle_call({:put, key_expr, value}, _from, state) do
+    ret = Session.put(state.session, key_expr, value)
+    {:reply, ret, state}
+  end
+
+  def handle_call({:set_disconnected_cb, callback}, _from, state) do
+    {:reply, :ok, %{state | disconnected_cb: callback}}
+  end
+
+  def handle_call({:get, selector, callback}, _from, state) do
+    {:ok, receiver} = Session.get_reply_receiver(state.session, selector)
+    send(self(), :get_reply)
+    {:reply, :ok, %{state | selector: selector, receiver: receiver, callback: callback}}
+  end
+
+  def handle_info(:get_reply, state) do
+    case Session.get_reply_timeout(state.receiver, 1000) do
+      {:ok, sample} ->
+        state.callback.(sample)
+        send(self(), :get_reply)
+
+      {:error, :timeout} ->
+        send(self(), :get_reply)
+
+      {:error, :disconnected} ->
+        state.disconnected_cb.()
+
+      {:error, error} ->
+        Logger.error(inspect(error))
+    end
+
+    {:noreply, state}
+  end
+end
diff --git a/test/zenohex/examples/session_server_test.exs b/test/zenohex/examples/session_server_test.exs
new file mode 100644
index 0000000..ba72bb7
--- /dev/null
+++ b/test/zenohex/examples/session_server_test.exs
@@ -0,0 +1,49 @@
+defmodule Zenohex.Examples.SessionServerTest do
+  use ExUnit.Case
+
+  alias Zenohex.Examples.SessionServer
+  alias Zenohex.Examples.QueryableServer
+  alias Zenohex.Query
+  alias Zenohex.Sample
+
+  setup do
+    start_supervised!({SessionServer, nil})
+    :ok
+  end
+
+  test "session/2" do
+    assert is_reference(SessionServer.session())
+  end
+
+  test "put/2" do
+    assert SessionServer.put("key/expression", "value") == :ok
+  end
+
+  describe "get/2" do
+    test "without queryable" do
+      me = self()
+      callback = fn sample -> send(me, sample) end
+      :ok = SessionServer.set_disconnected_cb(fn -> send(me, :disconnected) end)
+
+      assert SessionServer.get("key/expression/**", callback) == :ok
+      assert_receive :disconnected
+    end
+
+    test "with queryable" do
+      start_supervised!(
+        {QueryableServer,
+         %{
+           session: SessionServer.session(),
+           key_expr: "key/expression/**",
+           callback: fn query -> Query.reply(query, %Sample{key_expr: "key/expression/reply"}) end
+         }}
+      )
+
+      me = self()
+      callback = fn sample -> send(me, sample) end
+
+      assert SessionServer.get("key/expression/**", callback) == :ok
+      assert_receive %Sample{}
+    end
+  end
+end

From 18af264fcd834f2c1d2283128dea3211e70722c4 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 7 Feb 2024 15:08:28 +0900
Subject: [PATCH 075/165] Add publisher_server to examples

---
 lib/zenohex/examples/publisher_server.ex      | 53 +++++++++++++++++++
 .../examples/publisher_server_test.exs        | 30 +++++++++++
 2 files changed, 83 insertions(+)
 create mode 100644 lib/zenohex/examples/publisher_server.ex
 create mode 100644 test/zenohex/examples/publisher_server_test.exs

diff --git a/lib/zenohex/examples/publisher_server.ex b/lib/zenohex/examples/publisher_server.ex
new file mode 100644
index 0000000..6633521
--- /dev/null
+++ b/lib/zenohex/examples/publisher_server.ex
@@ -0,0 +1,53 @@
+defmodule Zenohex.Examples.PublisherServer do
+  use GenServer
+
+  alias Zenohex.Session
+  alias Zenohex.Publisher
+
+  def start_link(args) do
+    GenServer.start_link(__MODULE__, args, name: __MODULE__)
+  end
+
+  def put(value) do
+    GenServer.call(__MODULE__, {:put, value})
+  end
+
+  def delete() do
+    GenServer.call(__MODULE__, :delete)
+  end
+
+  def congestion_control(value) do
+    GenServer.call(__MODULE__, {:congestion_control, value})
+  end
+
+  def priority(value) do
+    GenServer.call(__MODULE__, {:priority, value})
+  end
+
+  def init(args) do
+    session = Map.fetch!(args, :session)
+    key_expr = Map.fetch!(args, :key_expr)
+    {:ok, publisher} = Session.declare_publisher(session, key_expr)
+    {:ok, %{publisher: publisher}}
+  end
+
+  def handle_call({:put, value}, _from, state) do
+    :ok = Publisher.put(state.publisher, value)
+    {:reply, :ok, state}
+  end
+
+  def handle_call(:delete, _from, state) do
+    :ok = Publisher.delete(state.publisher)
+    {:reply, :ok, state}
+  end
+
+  def handle_call({:congestion_control, value}, _from, state) do
+    publisher = Publisher.congestion_control(state.publisher, value)
+    {:reply, :ok, %{state | publisher: publisher}}
+  end
+
+  def handle_call({:priority, value}, _from, state) do
+    publisher = Publisher.priority(state.publisher, value)
+    {:reply, :ok, %{state | publisher: publisher}}
+  end
+end
diff --git a/test/zenohex/examples/publisher_server_test.exs b/test/zenohex/examples/publisher_server_test.exs
new file mode 100644
index 0000000..1f3b82c
--- /dev/null
+++ b/test/zenohex/examples/publisher_server_test.exs
@@ -0,0 +1,30 @@
+defmodule Zenohex.Examples.PublisherTest do
+  use ExUnit.Case
+
+  alias Zenohex.Examples.PublisherServer
+
+  setup do
+    {:ok, session} = Zenohex.open()
+    key_expr = "key/expression/pub"
+    start_supervised!({PublisherServer, %{session: session, key_expr: key_expr}})
+    :ok
+  end
+
+  test "put/1" do
+    assert PublisherServer.put("put") == :ok
+  end
+
+  test "delete/0" do
+    assert PublisherServer.delete() == :ok
+  end
+
+  test "congestion_control/1" do
+    assert PublisherServer.congestion_control(:block) == :ok
+    assert PublisherServer.put("put") == :ok
+  end
+
+  test "priority/1" do
+    assert PublisherServer.priority(:real_time) == :ok
+    assert PublisherServer.put("put") == :ok
+  end
+end

From cce46712f36b72ed92906e9dd4cda4c29a765d8e Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 7 Feb 2024 15:08:37 +0900
Subject: [PATCH 076/165] Add subscriber_server to examples

---
 lib/zenohex/examples/subscriber_server.ex     | 42 +++++++++++++++++++
 .../examples/subscriber_server_test.exs       | 23 ++++++++++
 2 files changed, 65 insertions(+)
 create mode 100644 lib/zenohex/examples/subscriber_server.ex
 create mode 100644 test/zenohex/examples/subscriber_server_test.exs

diff --git a/lib/zenohex/examples/subscriber_server.ex b/lib/zenohex/examples/subscriber_server.ex
new file mode 100644
index 0000000..74c54b8
--- /dev/null
+++ b/lib/zenohex/examples/subscriber_server.ex
@@ -0,0 +1,42 @@
+defmodule Zenohex.Examples.SubscriberServer do
+  use GenServer
+
+  require Logger
+
+  alias Zenohex.Session
+  alias Zenohex.Subscriber
+
+  def start_link(args) do
+    GenServer.start_link(__MODULE__, args, name: __MODULE__)
+  end
+
+  def init(args) do
+    session = Map.fetch!(args, :session)
+    key_expr = Map.fetch!(args, :key_expr)
+    callback = Map.fetch!(args, :callback)
+
+    {:ok, subscriber} = Session.declare_subscriber(session, key_expr)
+    send(self(), :loop)
+
+    {:ok, %{subscriber: subscriber, callback: callback}}
+  end
+
+  def handle_info(:loop, state) do
+    case Subscriber.recv_timeout(state.subscriber, 1000) do
+      {:ok, sample} ->
+        state.callback.(sample)
+        send(self(), :loop)
+
+      {:error, :timeout} ->
+        send(self(), :loop)
+
+      {:error, :disconnected} ->
+        raise("unreachable!")
+
+      {:error, error} ->
+        Logger.error(inspect(error))
+    end
+
+    {:noreply, state}
+  end
+end
diff --git a/test/zenohex/examples/subscriber_server_test.exs b/test/zenohex/examples/subscriber_server_test.exs
new file mode 100644
index 0000000..7939712
--- /dev/null
+++ b/test/zenohex/examples/subscriber_server_test.exs
@@ -0,0 +1,23 @@
+defmodule Zenohex.Examples.SubscriberServerTest do
+  use ExUnit.Case
+
+  alias Zenohex.Examples.SubscriberServer
+  alias Zenohex.Session
+  alias Zenohex.Sample
+
+  test "start_link/1" do
+    {:ok, session} = Zenohex.open()
+    key_expr = "key/expression/**"
+
+    me = self()
+    callback = fn sample -> send(me, sample) end
+
+    start_supervised!(
+      {SubscriberServer, %{session: session, key_expr: key_expr, callback: callback}}
+    )
+
+    Session.put(session, "key/expression/put", "put")
+
+    assert_receive(%Sample{key_expr: "key/expression/put", value: "put"})
+  end
+end

From 304e06ee71d865addbd2bf8f5707b5961376e1bc Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 7 Feb 2024 15:08:44 +0900
Subject: [PATCH 077/165] Add pull_subscriber_server to examples

---
 .../examples/pull_subscriber_server.ex        | 51 +++++++++++++++++++
 .../examples/pull_subscriber_server_test.exs  | 42 +++++++++++++++
 2 files changed, 93 insertions(+)
 create mode 100644 lib/zenohex/examples/pull_subscriber_server.ex
 create mode 100644 test/zenohex/examples/pull_subscriber_server_test.exs

diff --git a/lib/zenohex/examples/pull_subscriber_server.ex b/lib/zenohex/examples/pull_subscriber_server.ex
new file mode 100644
index 0000000..7a56aad
--- /dev/null
+++ b/lib/zenohex/examples/pull_subscriber_server.ex
@@ -0,0 +1,51 @@
+defmodule Zenohex.Examples.PullSubscriberServer do
+  use GenServer
+
+  require Logger
+
+  alias Zenohex.Session
+  alias Zenohex.PullSubscriber
+
+  def start_link(args) do
+    GenServer.start_link(__MODULE__, args, name: __MODULE__)
+  end
+
+  def pull() do
+    GenServer.call(__MODULE__, :pull)
+  end
+
+  def init(args) do
+    session = Map.fetch!(args, :session)
+    key_expr = Map.fetch!(args, :key_expr)
+    callback = Map.fetch!(args, :callback)
+
+    {:ok, pull_subscriber} = Session.declare_pull_subscriber(session, key_expr)
+    send(self(), :loop)
+
+    {:ok, %{pull_subscriber: pull_subscriber, callback: callback}}
+  end
+
+  def handle_info(:loop, state) do
+    case PullSubscriber.recv_timeout(state.pull_subscriber, 1000) do
+      {:ok, sample} ->
+        state.callback.(sample)
+        send(self(), :loop)
+
+      {:error, :timeout} ->
+        send(self(), :loop)
+
+      {:error, :disconnected} ->
+        raise("unreachable!")
+
+      {:error, error} ->
+        Logger.error(inspect(error))
+    end
+
+    {:noreply, state}
+  end
+
+  def handle_call(:pull, _from, state) do
+    :ok = PullSubscriber.pull(state.pull_subscriber)
+    {:reply, :ok, state}
+  end
+end
diff --git a/test/zenohex/examples/pull_subscriber_server_test.exs b/test/zenohex/examples/pull_subscriber_server_test.exs
new file mode 100644
index 0000000..a17c192
--- /dev/null
+++ b/test/zenohex/examples/pull_subscriber_server_test.exs
@@ -0,0 +1,42 @@
+defmodule Zenohex.Examples.PullSubscriberServerTest do
+  use ExUnit.Case
+
+  alias Zenohex.Examples.PullSubscriberServer
+  alias Zenohex.Session
+  alias Zenohex.Sample
+
+  test "start_link/1" do
+    {:ok, session} = Zenohex.open()
+    key_expr = "key/expression/**"
+
+    me = self()
+    callback = fn sample -> send(me, sample) end
+
+    start_supervised!(
+      {PullSubscriberServer, %{session: session, key_expr: key_expr, callback: callback}}
+    )
+
+    Session.put(session, "key/expression/put", "put")
+
+    assert_receive(%Sample{key_expr: "key/expression/put", value: "put"})
+  end
+
+  test "pull/0" do
+    {:ok, session} = Zenohex.open()
+    key_expr = "key/expression/**"
+
+    me = self()
+    callback = fn sample -> send(me, sample) end
+
+    start_supervised!(
+      {PullSubscriberServer, %{session: session, key_expr: key_expr, callback: callback}}
+    )
+
+    Session.put(session, "key/expression/put", "put")
+
+    assert_receive(%Sample{key_expr: "key/expression/put", value: "put"})
+    refute_receive(%Sample{key_expr: "key/expression/put", value: "put"})
+    PullSubscriberServer.pull()
+    assert_receive(%Sample{key_expr: "key/expression/put", value: "put"})
+  end
+end

From 1337253304ceb0ebb77661ae5d1187230b187dcc Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 7 Feb 2024 15:35:25 +0900
Subject: [PATCH 078/165] Add delete/1 to examples/session_server

---
 lib/zenohex/examples/session_server.ex | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/lib/zenohex/examples/session_server.ex b/lib/zenohex/examples/session_server.ex
index 6c1e563..6464f79 100644
--- a/lib/zenohex/examples/session_server.ex
+++ b/lib/zenohex/examples/session_server.ex
@@ -21,6 +21,10 @@ defmodule Zenohex.Examples.SessionServer do
     GenServer.call(__MODULE__, {:set_disconnected_cb, callback})
   end
 
+  def delete(key_expr) do
+    GenServer.call(__MODULE__, {:delete, key_expr})
+  end
+
   def get(selector, callback) do
     GenServer.call(__MODULE__, {:get, selector, callback})
   end
@@ -51,6 +55,11 @@ defmodule Zenohex.Examples.SessionServer do
     {:reply, :ok, %{state | disconnected_cb: callback}}
   end
 
+  def handle_call({:delete, key_expr}, _from, state) do
+    :ok = Session.delete(state.session, key_expr)
+    {:reply, :ok, state}
+  end
+
   def handle_call({:get, selector, callback}, _from, state) do
     {:ok, receiver} = Session.get_reply_receiver(state.session, selector)
     send(self(), :get_reply)

From 88b5463a774abaf4a1beae14e3ad5c02df498c6e Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 7 Feb 2024 15:35:46 +0900
Subject: [PATCH 079/165] Modify examples/session_server's test

---
 test/zenohex/examples/session_server_test.exs | 37 ++++++++++++++++++-
 1 file changed, 35 insertions(+), 2 deletions(-)

diff --git a/test/zenohex/examples/session_server_test.exs b/test/zenohex/examples/session_server_test.exs
index ba72bb7..2391b86 100644
--- a/test/zenohex/examples/session_server_test.exs
+++ b/test/zenohex/examples/session_server_test.exs
@@ -2,6 +2,7 @@ defmodule Zenohex.Examples.SessionServerTest do
   use ExUnit.Case
 
   alias Zenohex.Examples.SessionServer
+  alias Zenohex.Examples.SubscriberServer
   alias Zenohex.Examples.QueryableServer
   alias Zenohex.Query
   alias Zenohex.Sample
@@ -15,8 +16,40 @@ defmodule Zenohex.Examples.SessionServerTest do
     assert is_reference(SessionServer.session())
   end
 
-  test "put/2" do
-    assert SessionServer.put("key/expression", "value") == :ok
+  describe "put/2" do
+    test "with subscriber" do
+      me = self()
+
+      start_supervised!(
+        {SubscriberServer,
+         %{
+           session: SessionServer.session(),
+           key_expr: "key/expression/**",
+           callback: fn sample -> send(me, sample) end
+         }}
+      )
+
+      assert SessionServer.put("key/expression/put", "value") == :ok
+      assert_receive %Sample{key_expr: "key/expression/put", value: "value"}
+    end
+  end
+
+  describe "delete/1" do
+    test "with subscriber" do
+      me = self()
+
+      start_supervised!(
+        {SubscriberServer,
+         %{
+           session: SessionServer.session(),
+           key_expr: "key/expression/**",
+           callback: fn sample -> send(me, sample) end
+         }}
+      )
+
+      assert SessionServer.delete("key/expression/delete") == :ok
+      assert_receive %Sample{key_expr: "key/expression/delete", kind: :delete}
+    end
   end
 
   describe "get/2" do

From 2b0ac0782e8da0485e3cab1ae97f346eff61d173 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 7 Feb 2024 15:35:54 +0900
Subject: [PATCH 080/165] Modify examples/publisher_server's test

---
 .../examples/publisher_server_test.exs        | 41 ++++++++++++++++---
 1 file changed, 36 insertions(+), 5 deletions(-)

diff --git a/test/zenohex/examples/publisher_server_test.exs b/test/zenohex/examples/publisher_server_test.exs
index 1f3b82c..0590646 100644
--- a/test/zenohex/examples/publisher_server_test.exs
+++ b/test/zenohex/examples/publisher_server_test.exs
@@ -2,20 +2,51 @@ defmodule Zenohex.Examples.PublisherTest do
   use ExUnit.Case
 
   alias Zenohex.Examples.PublisherServer
+  alias Zenohex.Examples.SubscriberServer
+  alias Zenohex.Sample
 
   setup do
     {:ok, session} = Zenohex.open()
     key_expr = "key/expression/pub"
     start_supervised!({PublisherServer, %{session: session, key_expr: key_expr}})
-    :ok
+
+    %{session: session}
   end
 
-  test "put/1" do
-    assert PublisherServer.put("put") == :ok
+  describe "put/1" do
+    test "with subscriber", %{session: session} do
+      me = self()
+
+      start_supervised!(
+        {SubscriberServer,
+         %{
+           session: session,
+           key_expr: "key/expression/**",
+           callback: fn sample -> send(me, sample) end
+         }}
+      )
+
+      assert PublisherServer.put("put") == :ok
+      assert_receive %Sample{key_expr: "key/expression/pub", kind: :put, value: "put"}
+    end
   end
 
-  test "delete/0" do
-    assert PublisherServer.delete() == :ok
+  describe "delete/0" do
+    test "with subscriber", %{session: session} do
+      me = self()
+
+      start_supervised!(
+        {SubscriberServer,
+         %{
+           session: session,
+           key_expr: "key/expression/**",
+           callback: fn sample -> send(me, sample) end
+         }}
+      )
+
+      assert PublisherServer.delete() == :ok
+      assert_receive %Sample{key_expr: "key/expression/pub", kind: :delete}
+    end
   end
 
   test "congestion_control/1" do

From e92be88fc096061aec36b57a17a92ecd86eff580 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 7 Feb 2024 15:44:49 +0900
Subject: [PATCH 081/165] Fix examples/session_server test

---
 test/zenohex/examples/session_server_test.exs | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/test/zenohex/examples/session_server_test.exs b/test/zenohex/examples/session_server_test.exs
index 2391b86..16f5d46 100644
--- a/test/zenohex/examples/session_server_test.exs
+++ b/test/zenohex/examples/session_server_test.exs
@@ -68,7 +68,10 @@ defmodule Zenohex.Examples.SessionServerTest do
          %{
            session: SessionServer.session(),
            key_expr: "key/expression/**",
-           callback: fn query -> Query.reply(query, %Sample{key_expr: "key/expression/reply"}) end
+           callback: fn query ->
+             :ok = Query.reply(query, %Sample{key_expr: "key/expression/reply"})
+             :ok = Query.finish_reply(query)
+           end
          }}
       )
 

From e314b962af55ed03168cb7ccc74854a1d058f497 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 7 Feb 2024 21:08:30 +0900
Subject: [PATCH 082/165] Enhance examples/publiser_server test

---
 test/zenohex/examples/publisher_server_test.exs | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/test/zenohex/examples/publisher_server_test.exs b/test/zenohex/examples/publisher_server_test.exs
index 0590646..52dc305 100644
--- a/test/zenohex/examples/publisher_server_test.exs
+++ b/test/zenohex/examples/publisher_server_test.exs
@@ -26,8 +26,10 @@ defmodule Zenohex.Examples.PublisherTest do
          }}
       )
 
-      assert PublisherServer.put("put") == :ok
-      assert_receive %Sample{key_expr: "key/expression/pub", kind: :put, value: "put"}
+      for i <- 0..100 do
+        assert PublisherServer.put(i) == :ok
+        assert_receive %Sample{key_expr: "key/expression/pub", kind: :put, value: ^i}
+      end
     end
   end
 

From 1ea2bc26e44c4b21e190fc9b0b8eb7f594a7b527 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 08:59:53 +0900
Subject: [PATCH 083/165] Fix examples/storage/store, make it possible to
 delete with wildcard

---
 lib/zenohex/examples/storage/store.ex | 23 ++++++++++++-----------
 1 file changed, 12 insertions(+), 11 deletions(-)

diff --git a/lib/zenohex/examples/storage/store.ex b/lib/zenohex/examples/storage/store.ex
index 81f1d7c..170e89f 100644
--- a/lib/zenohex/examples/storage/store.ex
+++ b/lib/zenohex/examples/storage/store.ex
@@ -21,7 +21,8 @@ defmodule Zenohex.Examples.Storage.Store do
   @impl true
   def delete(key_expr) do
     Agent.update(__MODULE__, fn map ->
-      Map.delete(map, key_expr)
+      find_keys(map, key_expr)
+      |> Enum.reduce(map, &Map.delete(&2, &1))
     end)
   end
 
@@ -30,7 +31,14 @@ defmodule Zenohex.Examples.Storage.Store do
     Agent.get(
       __MODULE__,
       fn map ->
-        samples = collect_samples(map, key_expr)
+        samples =
+          find_keys(map, key_expr)
+          |> Enum.reduce([], fn key, acc ->
+            case Map.get(map, key) do
+              nil -> acc
+              sample -> [sample | acc]
+            end
+          end)
 
         if samples == [] do
           {:error, :not_found}
@@ -45,14 +53,7 @@ defmodule Zenohex.Examples.Storage.Store do
     Agent.get(__MODULE__, fn map -> map end)
   end
 
-  defp collect_samples(map, key_expr) do
-    Map.keys(map)
-    |> Enum.filter(&KeyExpr.intersects?(&1, key_expr))
-    |> Enum.reduce([], fn key, acc ->
-      case Map.get(map, key) do
-        nil -> acc
-        sample -> [sample | acc]
-      end
-    end)
+  defp find_keys(map, key_expr) do
+    Map.keys(map) |> Enum.filter(&KeyExpr.intersects?(&1, key_expr))
   end
 end

From 4aed6cc658b9a3b14224c2a6c89e30a1a339e89f Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 09:23:02 +0900
Subject: [PATCH 084/165] Change return typespec, from {:error, String.t()} to
 {:error, any()}

---
 lib/zenohex.ex                 |  2 +-
 lib/zenohex/publisher.ex       |  4 ++--
 lib/zenohex/pull_subscriber.ex |  4 ++--
 lib/zenohex/query.ex           |  4 ++--
 lib/zenohex/queryable.ex       |  2 +-
 lib/zenohex/session.ex         | 14 +++++++-------
 lib/zenohex/subscriber.ex      |  2 +-
 7 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/lib/zenohex.ex b/lib/zenohex.ex
index fb9b9a8..2f5bc80 100644
--- a/lib/zenohex.ex
+++ b/lib/zenohex.ex
@@ -13,7 +13,7 @@ defmodule Zenohex do
 
       iex> Zenohex.open()
   """
-  @spec open :: {:ok, Session.t()} | {:error, reason :: String.t()}
+  @spec open :: {:ok, Session.t()} | {:error, reason :: any()}
   def open() do
     if System.get_env("SCOUTING_DELAY") == "0" do
       Nif.zenoh_scouting_delay_zero_session()
diff --git a/lib/zenohex/publisher.ex b/lib/zenohex/publisher.ex
index c2c7aa3..4ed85fb 100644
--- a/lib/zenohex/publisher.ex
+++ b/lib/zenohex/publisher.ex
@@ -37,7 +37,7 @@ defmodule Zenohex.Publisher do
       iex> :ok = Zenohex.Publisher.put(publisher, 0)
       iex> :ok = Zenohex.Publisher.put(publisher, 0.0)
   """
-  @spec put(t(), binary() | integer() | float()) :: :ok | {:error, reason :: String.t()}
+  @spec put(t(), binary() | integer() | float()) :: :ok | {:error, reason :: any()}
   def put(publisher, value) when is_binary(value) do
     Nif.publisher_put_binary(publisher, value)
   end
@@ -59,7 +59,7 @@ defmodule Zenohex.Publisher do
       iex> {:ok, publisher} = Zenohex.Session.declare_publisher(session, "key/expression")
       iex> :ok = Zenohex.Publisher.delete(publisher)
   """
-  @spec delete(t()) :: :ok | {:error, reason :: String.t()}
+  @spec delete(t()) :: :ok | {:error, reason :: any()}
   def delete(publisher) do
     Nif.publisher_delete(publisher)
   end
diff --git a/lib/zenohex/pull_subscriber.ex b/lib/zenohex/pull_subscriber.ex
index d3d013e..2cf282d 100644
--- a/lib/zenohex/pull_subscriber.ex
+++ b/lib/zenohex/pull_subscriber.ex
@@ -18,7 +18,7 @@ defmodule Zenohex.PullSubscriber do
       iex> Zenohex.PullSubscriber.pull(pull_subscriber)
       :ok
   """
-  @spec pull(t()) :: :ok | {:error, reason :: String.t()}
+  @spec pull(t()) :: :ok | {:error, reason :: any()}
   def pull(pull_subscriber) when is_reference(pull_subscriber) do
     Nif.pull_subscriber_pull(pull_subscriber)
   end
@@ -37,7 +37,7 @@ defmodule Zenohex.PullSubscriber do
           {:ok, Sample.t()}
           | {:error, :timeout}
           | {:error, :disconnected}
-          | {:error, reason :: String.t()}
+          | {:error, reason :: any()}
   def recv_timeout(pull_subscriber, timeout_us)
       when is_reference(pull_subscriber) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.pull_subscriber_recv_timeout(pull_subscriber, timeout_us)
diff --git a/lib/zenohex/query.ex b/lib/zenohex/query.ex
index 0e64df9..1a20af1 100644
--- a/lib/zenohex/query.ex
+++ b/lib/zenohex/query.ex
@@ -25,12 +25,12 @@ defmodule Zenohex.Query do
     defstruct target: :best_matching, consolidation: :auto
   end
 
-  @spec reply(t(), Sample.t()) :: :ok | {:error, reason :: String.t()}
+  @spec reply(t(), Sample.t()) :: :ok | {:error, reason :: any()}
   def reply(query, sample) when is_struct(query, __MODULE__) and is_struct(sample, Sample) do
     Nif.query_reply(query, sample)
   end
 
-  @spec finish_reply(t()) :: :ok | {:error, reason :: String.t()}
+  @spec finish_reply(t()) :: :ok | {:error, reason :: any()}
   def finish_reply(query) when is_struct(query, __MODULE__) do
     Nif.query_finish_reply(query)
   end
diff --git a/lib/zenohex/queryable.ex b/lib/zenohex/queryable.ex
index fecfe33..ce5693c 100644
--- a/lib/zenohex/queryable.ex
+++ b/lib/zenohex/queryable.ex
@@ -32,7 +32,7 @@ defmodule Zenohex.Queryable do
           {:ok, Query.t()}
           | {:error, :timeout}
           | {:error, :disconnected}
-          | {:error, reason :: String.t()}
+          | {:error, reason :: any()}
   def recv_timeout(queryable, timeout_us)
       when is_reference(queryable) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.queryable_recv_timeout(queryable, timeout_us)
diff --git a/lib/zenohex/session.ex b/lib/zenohex/session.ex
index 2c36ea1..608aa21 100644
--- a/lib/zenohex/session.ex
+++ b/lib/zenohex/session.ex
@@ -23,7 +23,7 @@ defmodule Zenohex.Session do
       iex> Zenohex.Session.declare_publisher(session, "key/expression")
   """
   @spec declare_publisher(t(), String.t(), Publisher.Options.t()) ::
-          {:ok, Publisher.t()} | {:error, reason :: String.t()}
+          {:ok, Publisher.t()} | {:error, reason :: any()}
   def declare_publisher(session, key_expr, opts \\ %Publisher.Options{})
       when is_reference(session) and is_binary(key_expr) and is_struct(opts, Publisher.Options) do
     Nif.declare_publisher(session, key_expr, opts)
@@ -38,7 +38,7 @@ defmodule Zenohex.Session do
       iex> Zenohex.Session.declare_subscriber(session, "key/expression")
   """
   @spec declare_subscriber(t(), String.t(), Subscriber.Options.t()) ::
-          {:ok, Subscriber.t()} | {:error, reason :: String.t()}
+          {:ok, Subscriber.t()} | {:error, reason :: any()}
   def declare_subscriber(session, key_expr, opts \\ %Subscriber.Options{})
       when is_reference(session) and is_binary(key_expr) and is_struct(opts, Subscriber.Options) do
     Nif.declare_subscriber(session, key_expr, opts)
@@ -53,7 +53,7 @@ defmodule Zenohex.Session do
       iex> Zenohex.Session.declare_pull_subscriber(session, "key/expression")
   """
   @spec declare_pull_subscriber(t(), String.t(), Subscriber.Options.t()) ::
-          {:ok, PullSubscriber.t()} | {:error, reason :: String.t()}
+          {:ok, PullSubscriber.t()} | {:error, reason :: any()}
   def declare_pull_subscriber(session, key_expr, opts \\ %Subscriber.Options{})
       when is_reference(session) and is_binary(key_expr) and is_struct(opts, Subscriber.Options) do
     Nif.declare_pull_subscriber(session, key_expr, opts)
@@ -68,7 +68,7 @@ defmodule Zenohex.Session do
       iex> Zenohex.Session.declare_queryable(session, "key/expression")
   """
   @spec declare_queryable(t(), String.t(), Queryable.Options.t()) ::
-          {:ok, Queryable.t()} | {:error, reason :: String.t()}
+          {:ok, Queryable.t()} | {:error, reason :: any()}
   def declare_queryable(session, key_expr, opts \\ %Queryable.Options{})
       when is_reference(session) and is_binary(key_expr) and is_struct(opts, Queryable.Options) do
     Nif.declare_queryable(session, key_expr, opts)
@@ -85,7 +85,7 @@ defmodule Zenohex.Session do
       iex> :ok = Zenohex.Session.put(session, "key/expression", 0.0)
   """
   @spec put(t(), String.t(), binary() | integer() | float()) ::
-          :ok | {:error, reason :: String.t()}
+          :ok | {:error, reason :: any()}
   def put(session, key_expr, value)
       when is_reference(session) and is_binary(key_expr) and is_binary(value) do
     Nif.session_put_binary(session, key_expr, value)
@@ -131,7 +131,7 @@ defmodule Zenohex.Session do
       iex> Zenohex.Session.get_reply_receiver(session, "key/**")
   """
   @spec get_reply_receiver(t(), String.t(), Query.Options.t()) ::
-          {:ok, receiver()} | {:error, reason :: String.t()}
+          {:ok, receiver()} | {:error, reason :: any()}
   def get_reply_receiver(session, selector, opts \\ %Query.Options{})
       when is_reference(session) and is_binary(selector) and is_struct(opts, Query.Options) do
     Nif.session_get_reply_receiver(session, selector, opts)
@@ -166,7 +166,7 @@ defmodule Zenohex.Session do
       iex> Zenohex.Session.delete(session, "key/expression")
       :ok
   """
-  @spec delete(t(), String.t()) :: :ok | {:error, reason :: String.t()}
+  @spec delete(t(), String.t()) :: :ok | {:error, reason :: any()}
   def delete(session, key_expr) when is_reference(session) and is_binary(key_expr) do
     Nif.session_delete(session, key_expr)
   end
diff --git a/lib/zenohex/subscriber.ex b/lib/zenohex/subscriber.ex
index 574d735..b9d6ebb 100644
--- a/lib/zenohex/subscriber.ex
+++ b/lib/zenohex/subscriber.ex
@@ -32,7 +32,7 @@ defmodule Zenohex.Subscriber do
           {:ok, Sample.t()}
           | {:error, :timeout}
           | {:error, :disconnected}
-          | {:error, reason :: String.t()}
+          | {:error, reason :: any()}
   def recv_timeout(subscriber, timeout_us)
       when is_reference(subscriber) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.subscriber_recv_timeout(subscriber, timeout_us)

From 7166a6b321b2b238cff1f80365e1bea965192903 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 09:32:49 +0900
Subject: [PATCH 085/165] Fix credo issues, nested too deep

---
 lib/zenohex/examples/storage/queryable.ex |  5 +----
 lib/zenohex/examples/storage/store.ex     | 19 +++++++++++--------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/lib/zenohex/examples/storage/queryable.ex b/lib/zenohex/examples/storage/queryable.ex
index 80d73a5..aaad20c 100644
--- a/lib/zenohex/examples/storage/queryable.ex
+++ b/lib/zenohex/examples/storage/queryable.ex
@@ -26,10 +26,7 @@ defmodule Zenohex.Examples.Storage.Queryable do
             nil
 
           {:ok, samples} ->
-            Enum.each(samples, fn sample ->
-              :ok = Query.reply(query, sample)
-            end)
-
+            Enum.each(samples, &Query.reply(query, &1))
             :ok = Query.finish_reply(query)
             # following line is not needed, this is just example of double call
             {:error, "ResponseFinal has already been sent"} = Query.finish_reply(query)
diff --git a/lib/zenohex/examples/storage/store.ex b/lib/zenohex/examples/storage/store.ex
index 170e89f..f40e15a 100644
--- a/lib/zenohex/examples/storage/store.ex
+++ b/lib/zenohex/examples/storage/store.ex
@@ -31,14 +31,7 @@ defmodule Zenohex.Examples.Storage.Store do
     Agent.get(
       __MODULE__,
       fn map ->
-        samples =
-          find_keys(map, key_expr)
-          |> Enum.reduce([], fn key, acc ->
-            case Map.get(map, key) do
-              nil -> acc
-              sample -> [sample | acc]
-            end
-          end)
+        samples = collect_samples(map, key_expr)
 
         if samples == [] do
           {:error, :not_found}
@@ -56,4 +49,14 @@ defmodule Zenohex.Examples.Storage.Store do
   defp find_keys(map, key_expr) do
     Map.keys(map) |> Enum.filter(&KeyExpr.intersects?(&1, key_expr))
   end
+
+  defp collect_samples(map, key_expr) do
+    find_keys(map, key_expr)
+    |> Enum.reduce([], fn key, acc ->
+      case Map.get(map, key) do
+        nil -> acc
+        sample -> [sample | acc]
+      end
+    end)
+  end
 end

From 39cd42ebf4ec94e770901c04e402649c8f6ae582 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 09:35:36 +0900
Subject: [PATCH 086/165] Change StorageBehaviour file location

---
 lib/zenohex/examples/storage/store.ex           | 2 +-
 lib/zenohex/{ => examples}/storage_behaviour.ex | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)
 rename lib/zenohex/{ => examples}/storage_behaviour.ex (86%)

diff --git a/lib/zenohex/examples/storage/store.ex b/lib/zenohex/examples/storage/store.ex
index f40e15a..690fdd5 100644
--- a/lib/zenohex/examples/storage/store.ex
+++ b/lib/zenohex/examples/storage/store.ex
@@ -1,5 +1,5 @@
 defmodule Zenohex.Examples.Storage.Store do
-  @behaviour Zenohex.StorageBehaviour
+  @behaviour Zenohex.Examples.StorageBehaviour
 
   use Agent
 
diff --git a/lib/zenohex/storage_behaviour.ex b/lib/zenohex/examples/storage_behaviour.ex
similarity index 86%
rename from lib/zenohex/storage_behaviour.ex
rename to lib/zenohex/examples/storage_behaviour.ex
index 23032fd..16161d6 100644
--- a/lib/zenohex/storage_behaviour.ex
+++ b/lib/zenohex/examples/storage_behaviour.ex
@@ -1,4 +1,4 @@
-defmodule Zenohex.StorageBehaviour do
+defmodule Zenohex.Examples.StorageBehaviour do
   alias Zenohex.Sample
 
   @callback put(key_expr :: String.t(), sample :: Sample.t()) :: :ok | {:error, reason :: any()}

From 8b28e2cae3fce601b8b04916df4772cf1de8cab0 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 10:43:47 +0900
Subject: [PATCH 087/165] Add `@moduledoc false` to examples

---
 lib/zenohex/examples/publisher_server.ex       | 2 ++
 lib/zenohex/examples/pull_subscriber_server.ex | 2 ++
 lib/zenohex/examples/queryable_server.ex       | 2 ++
 lib/zenohex/examples/session_server.ex         | 2 ++
 lib/zenohex/examples/storage.ex                | 2 ++
 lib/zenohex/examples/storage/queryable.ex      | 2 ++
 lib/zenohex/examples/storage/store.ex          | 2 ++
 lib/zenohex/examples/storage/subscriber.ex     | 2 ++
 lib/zenohex/examples/storage_behaviour.ex      | 2 ++
 lib/zenohex/examples/subscriber_server.ex      | 2 ++
 10 files changed, 20 insertions(+)

diff --git a/lib/zenohex/examples/publisher_server.ex b/lib/zenohex/examples/publisher_server.ex
index 6633521..393e472 100644
--- a/lib/zenohex/examples/publisher_server.ex
+++ b/lib/zenohex/examples/publisher_server.ex
@@ -1,4 +1,6 @@
 defmodule Zenohex.Examples.PublisherServer do
+  @moduledoc false
+
   use GenServer
 
   alias Zenohex.Session
diff --git a/lib/zenohex/examples/pull_subscriber_server.ex b/lib/zenohex/examples/pull_subscriber_server.ex
index 7a56aad..b79bfcb 100644
--- a/lib/zenohex/examples/pull_subscriber_server.ex
+++ b/lib/zenohex/examples/pull_subscriber_server.ex
@@ -1,4 +1,6 @@
 defmodule Zenohex.Examples.PullSubscriberServer do
+  @moduledoc false
+
   use GenServer
 
   require Logger
diff --git a/lib/zenohex/examples/queryable_server.ex b/lib/zenohex/examples/queryable_server.ex
index 42adea6..4f717f2 100644
--- a/lib/zenohex/examples/queryable_server.ex
+++ b/lib/zenohex/examples/queryable_server.ex
@@ -1,4 +1,6 @@
 defmodule Zenohex.Examples.QueryableServer do
+  @moduledoc false
+
   use GenServer
 
   require Logger
diff --git a/lib/zenohex/examples/session_server.ex b/lib/zenohex/examples/session_server.ex
index 6464f79..18deb85 100644
--- a/lib/zenohex/examples/session_server.ex
+++ b/lib/zenohex/examples/session_server.ex
@@ -1,4 +1,6 @@
 defmodule Zenohex.Examples.SessionServer do
+  @moduledoc false
+
   use GenServer
 
   require Logger
diff --git a/lib/zenohex/examples/storage.ex b/lib/zenohex/examples/storage.ex
index 8806bc4..04c4e9c 100644
--- a/lib/zenohex/examples/storage.ex
+++ b/lib/zenohex/examples/storage.ex
@@ -1,4 +1,6 @@
 defmodule Zenohex.Examples.Storage do
+  @moduledoc false
+
   use Supervisor
 
   alias Zenohex.Examples.Storage
diff --git a/lib/zenohex/examples/storage/queryable.ex b/lib/zenohex/examples/storage/queryable.ex
index aaad20c..218c415 100644
--- a/lib/zenohex/examples/storage/queryable.ex
+++ b/lib/zenohex/examples/storage/queryable.ex
@@ -1,4 +1,6 @@
 defmodule Zenohex.Examples.Storage.Queryable do
+  @moduledoc false
+
   use GenServer
 
   require Logger
diff --git a/lib/zenohex/examples/storage/store.ex b/lib/zenohex/examples/storage/store.ex
index 690fdd5..0bd2754 100644
--- a/lib/zenohex/examples/storage/store.ex
+++ b/lib/zenohex/examples/storage/store.ex
@@ -1,4 +1,6 @@
 defmodule Zenohex.Examples.Storage.Store do
+  @moduledoc false
+
   @behaviour Zenohex.Examples.StorageBehaviour
 
   use Agent
diff --git a/lib/zenohex/examples/storage/subscriber.ex b/lib/zenohex/examples/storage/subscriber.ex
index 82d03eb..a880ad9 100644
--- a/lib/zenohex/examples/storage/subscriber.ex
+++ b/lib/zenohex/examples/storage/subscriber.ex
@@ -1,4 +1,6 @@
 defmodule Zenohex.Examples.Storage.Subscriber do
+  @moduledoc false
+
   use GenServer
 
   require Logger
diff --git a/lib/zenohex/examples/storage_behaviour.ex b/lib/zenohex/examples/storage_behaviour.ex
index 16161d6..3f3b24c 100644
--- a/lib/zenohex/examples/storage_behaviour.ex
+++ b/lib/zenohex/examples/storage_behaviour.ex
@@ -1,4 +1,6 @@
 defmodule Zenohex.Examples.StorageBehaviour do
+  @moduledoc false
+
   alias Zenohex.Sample
 
   @callback put(key_expr :: String.t(), sample :: Sample.t()) :: :ok | {:error, reason :: any()}
diff --git a/lib/zenohex/examples/subscriber_server.ex b/lib/zenohex/examples/subscriber_server.ex
index 74c54b8..a56308e 100644
--- a/lib/zenohex/examples/subscriber_server.ex
+++ b/lib/zenohex/examples/subscriber_server.ex
@@ -1,4 +1,6 @@
 defmodule Zenohex.Examples.SubscriberServer do
+  @moduledoc false
+
   use GenServer
 
   require Logger

From 0e75985ec9f8d2a2b96c01396bae0b5664d78b78 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 10:50:15 +0900
Subject: [PATCH 088/165] Add document to KeyExpr.intersects/2

---
 lib/zenohex/keyexpr.ex | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/lib/zenohex/keyexpr.ex b/lib/zenohex/keyexpr.ex
index 8b8c73e..23ccdc6 100644
--- a/lib/zenohex/keyexpr.ex
+++ b/lib/zenohex/keyexpr.ex
@@ -1,8 +1,16 @@
 defmodule Zenohex.KeyExpr do
+  @moduledoc """
+  Documentation for `#{__MODULE__}`.
+  """
+
   alias Zenohex.Nif
 
+  @doc ~S"""
+  Returns true if the keyexprs intersect.  
+  i.e. there exists at least one key which is contained in both of the sets defined by key_expr1 and key_expr2.
+  """
   @spec intersects?(String.t(), String.t()) :: boolean()
-  def intersects?(l, r) when is_binary(l) and is_binary(r) do
-    Nif.key_expr_intersects(l, r)
+  def intersects?(key_expr1, key_expr2) when is_binary(key_expr1) and is_binary(key_expr2) do
+    Nif.key_expr_intersects(key_expr1, key_expr2)
   end
 end

From b1ff76f4a7aae8d3a53fe64560383e4988f8bec6 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 10:53:27 +0900
Subject: [PATCH 089/165] Add credo to .github/workflows/ci.yaml

---
 .github/workflows/ci.yaml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 1ec7b6a..eb46413 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -42,3 +42,6 @@ jobs:
 
       - name: compile & test
         run: mix test --warnings-as-errors
+
+      - name: credo
+        run: mix credo --all

From 563eb100402ab40ecdfbf6f2ad1267076425eed9 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 11:16:37 +0900
Subject: [PATCH 090/165] Add default timeout_us, 1ms

Normally users do not need to change this value.
---
 lib/zenohex/examples/pull_subscriber_server.ex | 2 +-
 lib/zenohex/examples/queryable_server.ex       | 2 +-
 lib/zenohex/examples/session_server.ex         | 2 +-
 lib/zenohex/examples/storage/queryable.ex      | 2 +-
 lib/zenohex/examples/storage/subscriber.ex     | 2 +-
 lib/zenohex/examples/subscriber_server.ex      | 2 +-
 lib/zenohex/pull_subscriber.ex                 | 5 +++--
 lib/zenohex/queryable.ex                       | 5 +++--
 lib/zenohex/session.ex                         | 5 +++--
 lib/zenohex/subscriber.ex                      | 5 +++--
 test/zenohex_test.exs                          | 2 +-
 11 files changed, 19 insertions(+), 15 deletions(-)

diff --git a/lib/zenohex/examples/pull_subscriber_server.ex b/lib/zenohex/examples/pull_subscriber_server.ex
index b79bfcb..ae748a4 100644
--- a/lib/zenohex/examples/pull_subscriber_server.ex
+++ b/lib/zenohex/examples/pull_subscriber_server.ex
@@ -28,7 +28,7 @@ defmodule Zenohex.Examples.PullSubscriberServer do
   end
 
   def handle_info(:loop, state) do
-    case PullSubscriber.recv_timeout(state.pull_subscriber, 1000) do
+    case PullSubscriber.recv_timeout(state.pull_subscriber) do
       {:ok, sample} ->
         state.callback.(sample)
         send(self(), :loop)
diff --git a/lib/zenohex/examples/queryable_server.ex b/lib/zenohex/examples/queryable_server.ex
index 4f717f2..f458b9b 100644
--- a/lib/zenohex/examples/queryable_server.ex
+++ b/lib/zenohex/examples/queryable_server.ex
@@ -24,7 +24,7 @@ defmodule Zenohex.Examples.QueryableServer do
   end
 
   def handle_info(:loop, state) do
-    case Queryable.recv_timeout(state.queryable, 1000) do
+    case Queryable.recv_timeout(state.queryable) do
       {:ok, query} ->
         state.callback.(query)
         send(self(), :loop)
diff --git a/lib/zenohex/examples/session_server.ex b/lib/zenohex/examples/session_server.ex
index 18deb85..7180add 100644
--- a/lib/zenohex/examples/session_server.ex
+++ b/lib/zenohex/examples/session_server.ex
@@ -69,7 +69,7 @@ defmodule Zenohex.Examples.SessionServer do
   end
 
   def handle_info(:get_reply, state) do
-    case Session.get_reply_timeout(state.receiver, 1000) do
+    case Session.get_reply_timeout(state.receiver) do
       {:ok, sample} ->
         state.callback.(sample)
         send(self(), :get_reply)
diff --git a/lib/zenohex/examples/storage/queryable.ex b/lib/zenohex/examples/storage/queryable.ex
index 218c415..2e9d35e 100644
--- a/lib/zenohex/examples/storage/queryable.ex
+++ b/lib/zenohex/examples/storage/queryable.ex
@@ -21,7 +21,7 @@ defmodule Zenohex.Examples.Storage.Queryable do
   end
 
   def handle_info(:loop, state) do
-    case Queryable.recv_timeout(state.queryable, 1000) do
+    case Queryable.recv_timeout(state.queryable) do
       {:ok, query} ->
         case store(query) do
           {:error, :not_found} ->
diff --git a/lib/zenohex/examples/storage/subscriber.ex b/lib/zenohex/examples/storage/subscriber.ex
index a880ad9..713cc48 100644
--- a/lib/zenohex/examples/storage/subscriber.ex
+++ b/lib/zenohex/examples/storage/subscriber.ex
@@ -21,7 +21,7 @@ defmodule Zenohex.Examples.Storage.Subscriber do
   end
 
   def handle_info(:loop, state) do
-    case Subscriber.recv_timeout(state.subscriber, 1000) do
+    case Subscriber.recv_timeout(state.subscriber) do
       {:ok, sample} -> store(sample)
       {:error, :timeout} -> nil
       {:error, reason} -> Logger.error(inspect(reason))
diff --git a/lib/zenohex/examples/subscriber_server.ex b/lib/zenohex/examples/subscriber_server.ex
index a56308e..d1a3b81 100644
--- a/lib/zenohex/examples/subscriber_server.ex
+++ b/lib/zenohex/examples/subscriber_server.ex
@@ -24,7 +24,7 @@ defmodule Zenohex.Examples.SubscriberServer do
   end
 
   def handle_info(:loop, state) do
-    case Subscriber.recv_timeout(state.subscriber, 1000) do
+    case Subscriber.recv_timeout(state.subscriber) do
       {:ok, sample} ->
         state.callback.(sample)
         send(self(), :loop)
diff --git a/lib/zenohex/pull_subscriber.ex b/lib/zenohex/pull_subscriber.ex
index 2cf282d..a781118 100644
--- a/lib/zenohex/pull_subscriber.ex
+++ b/lib/zenohex/pull_subscriber.ex
@@ -25,12 +25,13 @@ defmodule Zenohex.PullSubscriber do
 
   @doc """
   Receive data.
+  Normally users don't need to change the default timeout_us.
 
   ## Examples
 
       iex> {:ok, session} = Zenohex.open()
       iex> {:ok, pull_subscriber} = Zenohex.Session.declare_pull_subscriber(session, "key/expression")
-      iex> Zenohex.PullSubscriber.recv_timeout(pull_subscriber, 1000)
+      iex> Zenohex.PullSubscriber.recv_timeout(pull_subscriber)
       {:error, :timeout}
   """
   @spec recv_timeout(t(), pos_integer()) ::
@@ -38,7 +39,7 @@ defmodule Zenohex.PullSubscriber do
           | {:error, :timeout}
           | {:error, :disconnected}
           | {:error, reason :: any()}
-  def recv_timeout(pull_subscriber, timeout_us)
+  def recv_timeout(pull_subscriber, timeout_us \\ 1000)
       when is_reference(pull_subscriber) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.pull_subscriber_recv_timeout(pull_subscriber, timeout_us)
   end
diff --git a/lib/zenohex/queryable.ex b/lib/zenohex/queryable.ex
index ce5693c..a20b052 100644
--- a/lib/zenohex/queryable.ex
+++ b/lib/zenohex/queryable.ex
@@ -20,12 +20,13 @@ defmodule Zenohex.Queryable do
 
   @doc """
   Receive query.
+  Normally users don't need to change the default timeout_us.
 
   ## Examples
 
       iex> {:ok, session} = Zenohex.open()
       iex> {:ok, queryable} = Zenohex.Session.declare_queryable(session, "key/expression")
-      iex> Zenohex.Queryable.recv_timeout(queryable, 1000)
+      iex> Zenohex.Queryable.recv_timeout(queryable)
       {:error, :timeout}
   """
   @spec recv_timeout(t(), pos_integer()) ::
@@ -33,7 +34,7 @@ defmodule Zenohex.Queryable do
           | {:error, :timeout}
           | {:error, :disconnected}
           | {:error, reason :: any()}
-  def recv_timeout(queryable, timeout_us)
+  def recv_timeout(queryable, timeout_us \\ 1000)
       when is_reference(queryable) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.queryable_recv_timeout(queryable, timeout_us)
   end
diff --git a/lib/zenohex/session.ex b/lib/zenohex/session.ex
index 608aa21..f7a752c 100644
--- a/lib/zenohex/session.ex
+++ b/lib/zenohex/session.ex
@@ -139,12 +139,13 @@ defmodule Zenohex.Session do
 
   @doc ~S"""
   Query data from receiver.
+  Normally users don't need to change the default timeout_us.
 
   ## Examples
 
       iex> {:ok, session} = Zenohex.open()
       iex> {:ok, receiver} = Zenohex.Session.get_reply_receiver(session, "key/**")
-      iex> Zenohex.Session.get_reply_timeout(receiver, 1000)
+      iex> Zenohex.Session.get_reply_timeout(receiver)
       {:error, :disconnected}
   """
   @spec get_reply_timeout(receiver(), pos_integer()) ::
@@ -152,7 +153,7 @@ defmodule Zenohex.Session do
           | {:error, :timeout}
           | {:error, :disconnected}
           | {:error, reason :: any()}
-  def get_reply_timeout(receiver, timeout_us)
+  def get_reply_timeout(receiver, timeout_us \\ 1000)
       when is_reference(receiver) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.session_get_reply_timeout(receiver, timeout_us)
   end
diff --git a/lib/zenohex/subscriber.ex b/lib/zenohex/subscriber.ex
index b9d6ebb..092ec08 100644
--- a/lib/zenohex/subscriber.ex
+++ b/lib/zenohex/subscriber.ex
@@ -20,12 +20,13 @@ defmodule Zenohex.Subscriber do
 
   @doc """
   Receive data.
+  Normally users don't need to change the default timeout_us.
 
   ## Examples
 
       iex> {:ok, session} = Zenohex.open()
       iex> {:ok, subscriber} = Zenohex.Session.declare_subscriber(session, "key/expression")
-      iex> Zenohex.Subscriber.recv_timeout(subscriber, 1000)
+      iex> Zenohex.Subscriber.recv_timeout(subscriber)
       {:error, :timeout}
   """
   @spec recv_timeout(t(), pos_integer()) ::
@@ -33,7 +34,7 @@ defmodule Zenohex.Subscriber do
           | {:error, :timeout}
           | {:error, :disconnected}
           | {:error, reason :: any()}
-  def recv_timeout(subscriber, timeout_us)
+  def recv_timeout(subscriber, timeout_us \\ 1000)
       when is_reference(subscriber) and is_integer(timeout_us) and timeout_us > 0 do
     Nif.subscriber_recv_timeout(subscriber, timeout_us)
   end
diff --git a/test/zenohex_test.exs b/test/zenohex_test.exs
index 6d25522..1410320 100644
--- a/test/zenohex_test.exs
+++ b/test/zenohex_test.exs
@@ -13,7 +13,7 @@ defmodule ZenohexTest do
       :ok = Zenohex.Publisher.put(publisher, "Hello Zenoh Dragon #{i}")
 
       {:ok, %Sample{key_expr: "pub/sub", value: value, kind: :put}} =
-        Zenohex.Subscriber.recv_timeout(subscriber, 1000)
+        Zenohex.Subscriber.recv_timeout(subscriber)
 
       assert value == "Hello Zenoh Dragon #{i}"
     end

From 747a22fe66df034e6e7c556fa6368a9bea5702b4 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 11:22:45 +0900
Subject: [PATCH 091/165] Remove useless recv_timeout/1,2 return types from
 PullSubscriber, Queryable, Subscriber

---
 lib/zenohex/examples/pull_subscriber_server.ex | 3 ---
 lib/zenohex/examples/queryable_server.ex       | 3 ---
 lib/zenohex/examples/subscriber_server.ex      | 3 ---
 lib/zenohex/pull_subscriber.ex                 | 1 -
 lib/zenohex/queryable.ex                       | 1 -
 lib/zenohex/subscriber.ex                      | 1 -
 6 files changed, 12 deletions(-)

diff --git a/lib/zenohex/examples/pull_subscriber_server.ex b/lib/zenohex/examples/pull_subscriber_server.ex
index ae748a4..05fc957 100644
--- a/lib/zenohex/examples/pull_subscriber_server.ex
+++ b/lib/zenohex/examples/pull_subscriber_server.ex
@@ -36,9 +36,6 @@ defmodule Zenohex.Examples.PullSubscriberServer do
       {:error, :timeout} ->
         send(self(), :loop)
 
-      {:error, :disconnected} ->
-        raise("unreachable!")
-
       {:error, error} ->
         Logger.error(inspect(error))
     end
diff --git a/lib/zenohex/examples/queryable_server.ex b/lib/zenohex/examples/queryable_server.ex
index f458b9b..d30ae88 100644
--- a/lib/zenohex/examples/queryable_server.ex
+++ b/lib/zenohex/examples/queryable_server.ex
@@ -32,9 +32,6 @@ defmodule Zenohex.Examples.QueryableServer do
       {:error, :timeout} ->
         send(self(), :loop)
 
-      {:error, :disconnected} ->
-        raise("unreachable!")
-
       {:error, error} ->
         Logger.error(inspect(error))
     end
diff --git a/lib/zenohex/examples/subscriber_server.ex b/lib/zenohex/examples/subscriber_server.ex
index d1a3b81..4c85a7e 100644
--- a/lib/zenohex/examples/subscriber_server.ex
+++ b/lib/zenohex/examples/subscriber_server.ex
@@ -32,9 +32,6 @@ defmodule Zenohex.Examples.SubscriberServer do
       {:error, :timeout} ->
         send(self(), :loop)
 
-      {:error, :disconnected} ->
-        raise("unreachable!")
-
       {:error, error} ->
         Logger.error(inspect(error))
     end
diff --git a/lib/zenohex/pull_subscriber.ex b/lib/zenohex/pull_subscriber.ex
index a781118..4992aee 100644
--- a/lib/zenohex/pull_subscriber.ex
+++ b/lib/zenohex/pull_subscriber.ex
@@ -37,7 +37,6 @@ defmodule Zenohex.PullSubscriber do
   @spec recv_timeout(t(), pos_integer()) ::
           {:ok, Sample.t()}
           | {:error, :timeout}
-          | {:error, :disconnected}
           | {:error, reason :: any()}
   def recv_timeout(pull_subscriber, timeout_us \\ 1000)
       when is_reference(pull_subscriber) and is_integer(timeout_us) and timeout_us > 0 do
diff --git a/lib/zenohex/queryable.ex b/lib/zenohex/queryable.ex
index a20b052..fbad429 100644
--- a/lib/zenohex/queryable.ex
+++ b/lib/zenohex/queryable.ex
@@ -32,7 +32,6 @@ defmodule Zenohex.Queryable do
   @spec recv_timeout(t(), pos_integer()) ::
           {:ok, Query.t()}
           | {:error, :timeout}
-          | {:error, :disconnected}
           | {:error, reason :: any()}
   def recv_timeout(queryable, timeout_us \\ 1000)
       when is_reference(queryable) and is_integer(timeout_us) and timeout_us > 0 do
diff --git a/lib/zenohex/subscriber.ex b/lib/zenohex/subscriber.ex
index 092ec08..265344d 100644
--- a/lib/zenohex/subscriber.ex
+++ b/lib/zenohex/subscriber.ex
@@ -32,7 +32,6 @@ defmodule Zenohex.Subscriber do
   @spec recv_timeout(t(), pos_integer()) ::
           {:ok, Sample.t()}
           | {:error, :timeout}
-          | {:error, :disconnected}
           | {:error, reason :: any()}
   def recv_timeout(subscriber, timeout_us \\ 1000)
       when is_reference(subscriber) and is_integer(timeout_us) and timeout_us > 0 do

From 632f1922ea8f738203f08e7fa11cefa44bbafdfe Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 12:06:17 +0900
Subject: [PATCH 092/165] Add docs to Query functions

---
 lib/zenohex/query.ex | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/lib/zenohex/query.ex b/lib/zenohex/query.ex
index 1a20af1..abaf27d 100644
--- a/lib/zenohex/query.ex
+++ b/lib/zenohex/query.ex
@@ -25,11 +25,23 @@ defmodule Zenohex.Query do
     defstruct target: :best_matching, consolidation: :auto
   end
 
+  @doc ~S"""
+  Sends a reply to this Query. User can call `reply/2` multiple times to send multiple samples.
+
+  > ### Warning {: .warning}
+  > Do not forget to call `finish_reply/1` to finish the reply.
+  """
   @spec reply(t(), Sample.t()) :: :ok | {:error, reason :: any()}
   def reply(query, sample) when is_struct(query, __MODULE__) and is_struct(sample, Sample) do
     Nif.query_reply(query, sample)
   end
 
+  @doc ~S"""
+  Finish reply.
+
+  > ### Warning {: .warning}
+  > `finish_reply/1` must be called after `reply/2`.
+  """
   @spec finish_reply(t()) :: :ok | {:error, reason :: any()}
   def finish_reply(query) when is_struct(query, __MODULE__) do
     Nif.query_finish_reply(query)

From 84f299257880d2914dbee61568e996bfc1ce7260 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 13:28:45 +0900
Subject: [PATCH 093/165] Enhance docs of each options

---
 lib/zenohex/publisher.ex  |  2 ++
 lib/zenohex/query.ex      |  2 ++
 lib/zenohex/queryable.ex  |  2 ++
 lib/zenohex/subscriber.ex |  2 ++
 mix.exs                   | 13 ++++++++++++-
 5 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/lib/zenohex/publisher.ex b/lib/zenohex/publisher.ex
index 4ed85fb..b819e75 100644
--- a/lib/zenohex/publisher.ex
+++ b/lib/zenohex/publisher.ex
@@ -10,6 +10,8 @@ defmodule Zenohex.Publisher do
   defmodule Options do
     @moduledoc """
     Documentation for `#{__MODULE__}`.
+
+    Used by `Zenohex.Session.declare_publisher/3`.
     """
 
     @type t :: %__MODULE__{congestion_control: congestion_control(), priority: priority()}
diff --git a/lib/zenohex/query.ex b/lib/zenohex/query.ex
index abaf27d..ca7cb77 100644
--- a/lib/zenohex/query.ex
+++ b/lib/zenohex/query.ex
@@ -17,6 +17,8 @@ defmodule Zenohex.Query do
   defmodule Options do
     @moduledoc """
     Documentation for `#{__MODULE__}`.
+
+    Used by `Zenohex.Session.get_timeout/4` and `Zenohex.Session.get_reply_receiver/3`.
     """
 
     @type t :: %__MODULE__{target: target(), consolidation: consolidation()}
diff --git a/lib/zenohex/queryable.ex b/lib/zenohex/queryable.ex
index fbad429..5ff7bc1 100644
--- a/lib/zenohex/queryable.ex
+++ b/lib/zenohex/queryable.ex
@@ -11,6 +11,8 @@ defmodule Zenohex.Queryable do
   defmodule Options do
     @moduledoc """
     Documentation for `#{__MODULE__}`.
+
+    Used by `Zenohex.Session.declare_queryable/3`.
     """
 
     @type t :: %__MODULE__{complete: complete()}
diff --git a/lib/zenohex/subscriber.ex b/lib/zenohex/subscriber.ex
index 265344d..a10c0ee 100644
--- a/lib/zenohex/subscriber.ex
+++ b/lib/zenohex/subscriber.ex
@@ -11,6 +11,8 @@ defmodule Zenohex.Subscriber do
   defmodule Options do
     @moduledoc """
     Documentation for `#{__MODULE__}`.
+
+    Used by `Zenohex.Session.declare_subscriber/3` and `Zenohex.Session.declare_pull_subscriber/3`.
     """
 
     @type t :: %__MODULE__{reliability: reliability()}
diff --git a/mix.exs b/mix.exs
index 142bc1c..9c9a164 100644
--- a/mix.exs
+++ b/mix.exs
@@ -64,7 +64,18 @@ defmodule Zenohex.MixProject do
   end
 
   defp docs() do
-    [extras: ["README.md", "LICENSE"], main: "readme"]
+    [
+      extras: ["README.md", "LICENSE"],
+      main: "readme",
+      groups_for_modules: [
+        Options: [
+          Zenohex.Publisher.Options,
+          Zenohex.Query.Options,
+          Zenohex.Queryable.Options,
+          Zenohex.Subscriber.Options
+        ]
+      ]
+    ]
   end
 
   defp disable_zenoh_delay(_args) do

From b51f312a7e143fb5be356d84fcf096a940252824 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 13:49:12 +0900
Subject: [PATCH 094/165] Refactor Zenohex.Nif

---
 lib/zenohex/nif.ex | 86 +++++++++++++---------------------------------
 1 file changed, 23 insertions(+), 63 deletions(-)

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index f809a51..b02871f 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -22,91 +22,51 @@ defmodule Zenohex.Nif do
   alias Zenohex.Queryable
   alias Zenohex.Query
 
-  def zenoh_open() do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  defp err(), do: :erlang.nif_error(:nif_not_loaded)
 
-  def zenoh_scouting_delay_zero_session() do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def zenoh_open(), do: err()
+
+  def zenoh_scouting_delay_zero_session(), do: err()
 
   for type <- ["integer", "float", "binary"] do
-    def unquote(:"session_put_#{type}")(_session, _key_expr, _value) do
-      :erlang.nif_error(:nif_not_loaded)
-    end
+    def unquote(:"session_put_#{type}")(_session, _key_expr, _value), do: err()
   end
 
-  def session_get_reply_receiver(_session, _selector, _opts \\ %Query.Options{}) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def session_get_reply_receiver(_session, _selector, _opts \\ %Query.Options{}), do: err()
 
-  def session_get_reply_timeout(_receiver, _timeout_us) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def session_get_reply_timeout(_receiver, _timeout_us), do: err()
 
-  def session_delete(_session, _key_expr) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def session_delete(_session, _key_expr), do: err()
 
-  def declare_publisher(_session, _key_expr, _opts \\ %Publisher.Options{}) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def declare_publisher(_session, _key_expr, _opts \\ %Publisher.Options{}), do: err()
 
   for type <- ["integer", "float", "binary"] do
-    def unquote(:"publisher_put_#{type}")(_publisher, _value) do
-      :erlang.nif_error(:nif_not_loaded)
-    end
+    def unquote(:"publisher_put_#{type}")(_publisher, _value), do: err()
   end
 
-  def publisher_delete(_publisher) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def publisher_delete(_publisher), do: err()
 
-  def publisher_congestion_control(_publisher, _congestion_control) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def publisher_congestion_control(_publisher, _congestion_control), do: err()
 
-  def publisher_priority(_publisher, _priority) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def publisher_priority(_publisher, _priority), do: err()
 
-  def declare_subscriber(_session, _key_expr, _opts \\ %Subscriber.Options{}) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def declare_subscriber(_session, _key_expr, _opts \\ %Subscriber.Options{}), do: err()
 
-  def subscriber_recv_timeout(_subscriber, _timeout_us) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def subscriber_recv_timeout(_subscriber, _timeout_us), do: err()
 
-  def declare_pull_subscriber(_session, _key_expr, _opts \\ %Subscriber.Options{}) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def declare_pull_subscriber(_session, _key_expr, _opts \\ %Subscriber.Options{}), do: err()
 
-  def pull_subscriber_pull(_pull_subscriber) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def pull_subscriber_pull(_pull_subscriber), do: err()
 
-  def pull_subscriber_recv_timeout(_pull_subscriber, _timeout_us) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def pull_subscriber_recv_timeout(_pull_subscriber, _timeout_us), do: err()
 
-  def declare_queryable(_session, _key_expr, _opts \\ %Queryable.Options{}) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def declare_queryable(_session, _key_expr, _opts \\ %Queryable.Options{}), do: err()
 
-  def queryable_recv_timeout(_queryable, _timeout_us) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def queryable_recv_timeout(_queryable, _timeout_us), do: err()
 
-  def query_reply(_query, _sample) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def query_reply(_query, _sample), do: err()
 
-  def query_finish_reply(_query) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def query_finish_reply(_query), do: err()
 
-  def key_expr_intersects(_l, _r) do
-    :erlang.nif_error(:nif_not_loaded)
-  end
+  def key_expr_intersects(_key_expr1, _key_expr2), do: err()
 end

From 15c0b569f17d5307d809f90eccba90b4dd84dcf6 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 13:51:21 +0900
Subject: [PATCH 095/165] Add coverage to .github/workflows/ci.yaml

---
 .github/workflows/ci.yaml | 6 ++++--
 mix.exs                   | 7 +++++++
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index eb46413..c2f784a 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -40,8 +40,10 @@ jobs:
         working-directory: native/zenohex_nif
         run: cargo fmt --all -- --check
 
-      - name: compile & test
-        run: mix test --warnings-as-errors
+      - name: test & coverage
+        run: |
+          mix test --warnings-as-errors
+          mix test --cover
 
       - name: credo
         run: mix credo --all
diff --git a/mix.exs b/mix.exs
index 9c9a164..b320d39 100644
--- a/mix.exs
+++ b/mix.exs
@@ -17,6 +17,7 @@ defmodule Zenohex.MixProject do
       name: "ZenohEx",
       source_url: @source_url,
       docs: docs(),
+      test_coverage: test_coverage(),
       aliases: [
         {:test, [&disable_zenoh_delay/1, "test"]},
         {:"test.watch", [&disable_zenoh_delay/1, "test.watch"]}
@@ -78,6 +79,12 @@ defmodule Zenohex.MixProject do
     ]
   end
 
+  defp test_coverage() do
+    [
+      ignore_modules: [Zenohex.Nif]
+    ]
+  end
+
   defp disable_zenoh_delay(_args) do
     :ok =
       """

From d9533d518032a244cb6afbe4f4675389a92c0294 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 14:12:12 +0900
Subject: [PATCH 096/165] Enhance docs of Query and Sample

---
 lib/zenohex/query.ex  | 2 ++
 lib/zenohex/sample.ex | 6 ++++++
 2 files changed, 8 insertions(+)

diff --git a/lib/zenohex/query.ex b/lib/zenohex/query.ex
index ca7cb77..53100f4 100644
--- a/lib/zenohex/query.ex
+++ b/lib/zenohex/query.ex
@@ -1,6 +1,8 @@
 defmodule Zenohex.Query do
   @moduledoc """
   Documentation for `#{__MODULE__}`.
+
+  Structs received by a `Zenohex.Queryable.recv_timeout/1`.
   """
 
   alias Zenohex.Nif
diff --git a/lib/zenohex/sample.ex b/lib/zenohex/sample.ex
index 8ce0cef..81a8dde 100644
--- a/lib/zenohex/sample.ex
+++ b/lib/zenohex/sample.ex
@@ -1,6 +1,12 @@
 defmodule Zenohex.Sample do
   @moduledoc """
   Documentation for `#{__MODULE__}`.
+
+  Structs received by
+
+    * `Zenohex.Session.get_timeout/3` and `Zenohex.Session.get_reply_timeout/1`
+    * `Zenohex.Subscriber.recv_timeout/1`
+    * `Zenohex.PullSubscriber.recv_timeout/1`
   """
 
   @type t :: %__MODULE__{

From 323c84f5ba27a4266ef09864675e8c93756a3f1c Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 14:30:22 +0900
Subject: [PATCH 097/165] Fix Session.get_timeout doc

---
 lib/zenohex/session.ex | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/lib/zenohex/session.ex b/lib/zenohex/session.ex
index f7a752c..d596483 100644
--- a/lib/zenohex/session.ex
+++ b/lib/zenohex/session.ex
@@ -102,12 +102,13 @@ defmodule Zenohex.Session do
   end
 
   @doc ~S"""
-  Get data from the matching queryables in the system.
+  Get one data from the matching queryables in the system.  
+  To get multiple data, use `get_reply_receiver/2` and `get_reply_timeout/1` instead.
 
   ## Examples
 
       iex> {:ok, session} = Zenohex.open()
-      iex> Zenohex.Session.get_timeout(session, "key/**", 1000)
+      iex> Zenohex.Session.get_timeout(session, "key/expression", 1000)
       {:error, :disconnected}
   """
   @spec get_timeout(t(), String.t(), pos_integer(), Query.Options.t()) ::

From 456c7daaa2f29295ad9d958535161dd65c475e25 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 15:02:08 +0900
Subject: [PATCH 098/165] Refactor Examples.Storage

---
 lib/zenohex/examples/storage/store.ex                           | 2 +-
 .../{storage_behaviour.ex => storage/store_behaviour.ex}        | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)
 rename lib/zenohex/examples/{storage_behaviour.ex => storage/store_behaviour.ex} (85%)

diff --git a/lib/zenohex/examples/storage/store.ex b/lib/zenohex/examples/storage/store.ex
index 0bd2754..9b6d939 100644
--- a/lib/zenohex/examples/storage/store.ex
+++ b/lib/zenohex/examples/storage/store.ex
@@ -1,7 +1,7 @@
 defmodule Zenohex.Examples.Storage.Store do
   @moduledoc false
 
-  @behaviour Zenohex.Examples.StorageBehaviour
+  @behaviour Zenohex.Examples.Storage.StoreBehaviour
 
   use Agent
 
diff --git a/lib/zenohex/examples/storage_behaviour.ex b/lib/zenohex/examples/storage/store_behaviour.ex
similarity index 85%
rename from lib/zenohex/examples/storage_behaviour.ex
rename to lib/zenohex/examples/storage/store_behaviour.ex
index 3f3b24c..a92d769 100644
--- a/lib/zenohex/examples/storage_behaviour.ex
+++ b/lib/zenohex/examples/storage/store_behaviour.ex
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.StorageBehaviour do
+defmodule Zenohex.Examples.Storage.StoreBehaviour do
   @moduledoc false
 
   alias Zenohex.Sample

From d89e743890945aa5fcb68beec02712b7eca756a4 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 15:09:00 +0900
Subject: [PATCH 099/165] Refactor Examples.Subscriber

---
 .../examples/{subscriber_server.ex => subscriber/server.ex} | 2 +-
 test/zenohex/examples/publisher_server_test.exs             | 6 +++---
 test/zenohex/examples/session_server_test.exs               | 6 +++---
 test/zenohex/examples/subscriber_server_test.exs            | 4 ++--
 4 files changed, 9 insertions(+), 9 deletions(-)
 rename lib/zenohex/examples/{subscriber_server.ex => subscriber/server.ex} (94%)

diff --git a/lib/zenohex/examples/subscriber_server.ex b/lib/zenohex/examples/subscriber/server.ex
similarity index 94%
rename from lib/zenohex/examples/subscriber_server.ex
rename to lib/zenohex/examples/subscriber/server.ex
index 4c85a7e..8bf93ef 100644
--- a/lib/zenohex/examples/subscriber_server.ex
+++ b/lib/zenohex/examples/subscriber/server.ex
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.SubscriberServer do
+defmodule Zenohex.Examples.Subscriber.Server do
   @moduledoc false
 
   use GenServer
diff --git a/test/zenohex/examples/publisher_server_test.exs b/test/zenohex/examples/publisher_server_test.exs
index 52dc305..e1da68e 100644
--- a/test/zenohex/examples/publisher_server_test.exs
+++ b/test/zenohex/examples/publisher_server_test.exs
@@ -2,7 +2,7 @@ defmodule Zenohex.Examples.PublisherTest do
   use ExUnit.Case
 
   alias Zenohex.Examples.PublisherServer
-  alias Zenohex.Examples.SubscriberServer
+  alias Zenohex.Examples.Subscriber
   alias Zenohex.Sample
 
   setup do
@@ -18,7 +18,7 @@ defmodule Zenohex.Examples.PublisherTest do
       me = self()
 
       start_supervised!(
-        {SubscriberServer,
+        {Subscriber.Server,
          %{
            session: session,
            key_expr: "key/expression/**",
@@ -38,7 +38,7 @@ defmodule Zenohex.Examples.PublisherTest do
       me = self()
 
       start_supervised!(
-        {SubscriberServer,
+        {Subscriber.Server,
          %{
            session: session,
            key_expr: "key/expression/**",
diff --git a/test/zenohex/examples/session_server_test.exs b/test/zenohex/examples/session_server_test.exs
index 16f5d46..5b2504b 100644
--- a/test/zenohex/examples/session_server_test.exs
+++ b/test/zenohex/examples/session_server_test.exs
@@ -2,7 +2,7 @@ defmodule Zenohex.Examples.SessionServerTest do
   use ExUnit.Case
 
   alias Zenohex.Examples.SessionServer
-  alias Zenohex.Examples.SubscriberServer
+  alias Zenohex.Examples.Subscriber
   alias Zenohex.Examples.QueryableServer
   alias Zenohex.Query
   alias Zenohex.Sample
@@ -21,7 +21,7 @@ defmodule Zenohex.Examples.SessionServerTest do
       me = self()
 
       start_supervised!(
-        {SubscriberServer,
+        {Subscriber.Server,
          %{
            session: SessionServer.session(),
            key_expr: "key/expression/**",
@@ -39,7 +39,7 @@ defmodule Zenohex.Examples.SessionServerTest do
       me = self()
 
       start_supervised!(
-        {SubscriberServer,
+        {Subscriber.Server,
          %{
            session: SessionServer.session(),
            key_expr: "key/expression/**",
diff --git a/test/zenohex/examples/subscriber_server_test.exs b/test/zenohex/examples/subscriber_server_test.exs
index 7939712..a8d1cb2 100644
--- a/test/zenohex/examples/subscriber_server_test.exs
+++ b/test/zenohex/examples/subscriber_server_test.exs
@@ -1,7 +1,7 @@
 defmodule Zenohex.Examples.SubscriberServerTest do
   use ExUnit.Case
 
-  alias Zenohex.Examples.SubscriberServer
+  alias Zenohex.Examples.Subscriber
   alias Zenohex.Session
   alias Zenohex.Sample
 
@@ -13,7 +13,7 @@ defmodule Zenohex.Examples.SubscriberServerTest do
     callback = fn sample -> send(me, sample) end
 
     start_supervised!(
-      {SubscriberServer, %{session: session, key_expr: key_expr, callback: callback}}
+      {Subscriber.Server, %{session: session, key_expr: key_expr, callback: callback}}
     )
 
     Session.put(session, "key/expression/put", "put")

From 568b5394d32abd12c3324c8617b409e27140cf02 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 15:11:11 +0900
Subject: [PATCH 100/165] Refactor Examples.Publisher

---
 .../server.ex}                                 |  2 +-
 .../zenohex/examples/publisher_server_test.exs | 18 +++++++++---------
 2 files changed, 10 insertions(+), 10 deletions(-)
 rename lib/zenohex/examples/{publisher_server.ex => publisher/server.ex} (96%)

diff --git a/lib/zenohex/examples/publisher_server.ex b/lib/zenohex/examples/publisher/server.ex
similarity index 96%
rename from lib/zenohex/examples/publisher_server.ex
rename to lib/zenohex/examples/publisher/server.ex
index 393e472..5a1ed97 100644
--- a/lib/zenohex/examples/publisher_server.ex
+++ b/lib/zenohex/examples/publisher/server.ex
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.PublisherServer do
+defmodule Zenohex.Examples.Publisher.Server do
   @moduledoc false
 
   use GenServer
diff --git a/test/zenohex/examples/publisher_server_test.exs b/test/zenohex/examples/publisher_server_test.exs
index e1da68e..0a2fbe5 100644
--- a/test/zenohex/examples/publisher_server_test.exs
+++ b/test/zenohex/examples/publisher_server_test.exs
@@ -1,14 +1,14 @@
-defmodule Zenohex.Examples.PublisherTest do
+defmodule Zenohex.Examples.PublisherServerTest do
   use ExUnit.Case
 
-  alias Zenohex.Examples.PublisherServer
+  alias Zenohex.Examples.Publisher
   alias Zenohex.Examples.Subscriber
   alias Zenohex.Sample
 
   setup do
     {:ok, session} = Zenohex.open()
     key_expr = "key/expression/pub"
-    start_supervised!({PublisherServer, %{session: session, key_expr: key_expr}})
+    start_supervised!({Publisher.Server, %{session: session, key_expr: key_expr}})
 
     %{session: session}
   end
@@ -27,7 +27,7 @@ defmodule Zenohex.Examples.PublisherTest do
       )
 
       for i <- 0..100 do
-        assert PublisherServer.put(i) == :ok
+        assert Publisher.Server.put(i) == :ok
         assert_receive %Sample{key_expr: "key/expression/pub", kind: :put, value: ^i}
       end
     end
@@ -46,18 +46,18 @@ defmodule Zenohex.Examples.PublisherTest do
          }}
       )
 
-      assert PublisherServer.delete() == :ok
+      assert Publisher.Server.delete() == :ok
       assert_receive %Sample{key_expr: "key/expression/pub", kind: :delete}
     end
   end
 
   test "congestion_control/1" do
-    assert PublisherServer.congestion_control(:block) == :ok
-    assert PublisherServer.put("put") == :ok
+    assert Publisher.Server.congestion_control(:block) == :ok
+    assert Publisher.Server.put("put") == :ok
   end
 
   test "priority/1" do
-    assert PublisherServer.priority(:real_time) == :ok
-    assert PublisherServer.put("put") == :ok
+    assert Publisher.Server.priority(:real_time) == :ok
+    assert Publisher.Server.put("put") == :ok
   end
 end

From efa4e52973e39699d131af052d69d2f528394510 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 15:15:39 +0900
Subject: [PATCH 101/165] Refactor Examples.Queryable

---
 .../examples/{queryable_server.ex => queryable/server.ex}     | 2 +-
 test/zenohex/examples/queryable_server_test.exs               | 4 ++--
 test/zenohex/examples/session_server_test.exs                 | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)
 rename lib/zenohex/examples/{queryable_server.ex => queryable/server.ex} (94%)

diff --git a/lib/zenohex/examples/queryable_server.ex b/lib/zenohex/examples/queryable/server.ex
similarity index 94%
rename from lib/zenohex/examples/queryable_server.ex
rename to lib/zenohex/examples/queryable/server.ex
index d30ae88..6ad3dac 100644
--- a/lib/zenohex/examples/queryable_server.ex
+++ b/lib/zenohex/examples/queryable/server.ex
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.QueryableServer do
+defmodule Zenohex.Examples.Queryable.Server do
   @moduledoc false
 
   use GenServer
diff --git a/test/zenohex/examples/queryable_server_test.exs b/test/zenohex/examples/queryable_server_test.exs
index be368d7..6969b50 100644
--- a/test/zenohex/examples/queryable_server_test.exs
+++ b/test/zenohex/examples/queryable_server_test.exs
@@ -3,7 +3,7 @@ defmodule Zenohex.Examples.QueryableServerTest do
 
   require Logger
 
-  alias Zenohex.Examples.QueryableServer
+  alias Zenohex.Examples.Queryable
   alias Zenohex.Session
   alias Zenohex.Query
 
@@ -15,7 +15,7 @@ defmodule Zenohex.Examples.QueryableServerTest do
     callback = fn query -> send(me, query) end
 
     start_supervised!(
-      {QueryableServer, %{session: session, key_expr: key_expr, callback: callback}}
+      {Queryable.Server, %{session: session, key_expr: key_expr, callback: callback}}
     )
 
     Session.get_timeout(session, key_expr, 1000)
diff --git a/test/zenohex/examples/session_server_test.exs b/test/zenohex/examples/session_server_test.exs
index 5b2504b..155fb97 100644
--- a/test/zenohex/examples/session_server_test.exs
+++ b/test/zenohex/examples/session_server_test.exs
@@ -3,7 +3,7 @@ defmodule Zenohex.Examples.SessionServerTest do
 
   alias Zenohex.Examples.SessionServer
   alias Zenohex.Examples.Subscriber
-  alias Zenohex.Examples.QueryableServer
+  alias Zenohex.Examples.Queryable
   alias Zenohex.Query
   alias Zenohex.Sample
 
@@ -64,7 +64,7 @@ defmodule Zenohex.Examples.SessionServerTest do
 
     test "with queryable" do
       start_supervised!(
-        {QueryableServer,
+        {Queryable.Server,
          %{
            session: SessionServer.session(),
            key_expr: "key/expression/**",

From 46433a2b059c880c7a73cd1152106a63936684fa Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 15:17:47 +0900
Subject: [PATCH 102/165] Refactor Examples.PullSubscriber

---
 .../server.ex}                                            | 2 +-
 test/zenohex/examples/pull_subscriber_server_test.exs     | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)
 rename lib/zenohex/examples/{pull_subscriber_server.ex => pull_subscriber/server.ex} (95%)

diff --git a/lib/zenohex/examples/pull_subscriber_server.ex b/lib/zenohex/examples/pull_subscriber/server.ex
similarity index 95%
rename from lib/zenohex/examples/pull_subscriber_server.ex
rename to lib/zenohex/examples/pull_subscriber/server.ex
index 05fc957..7584d9e 100644
--- a/lib/zenohex/examples/pull_subscriber_server.ex
+++ b/lib/zenohex/examples/pull_subscriber/server.ex
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.PullSubscriberServer do
+defmodule Zenohex.Examples.PullSubscriber.Server do
   @moduledoc false
 
   use GenServer
diff --git a/test/zenohex/examples/pull_subscriber_server_test.exs b/test/zenohex/examples/pull_subscriber_server_test.exs
index a17c192..69b6a41 100644
--- a/test/zenohex/examples/pull_subscriber_server_test.exs
+++ b/test/zenohex/examples/pull_subscriber_server_test.exs
@@ -1,7 +1,7 @@
 defmodule Zenohex.Examples.PullSubscriberServerTest do
   use ExUnit.Case
 
-  alias Zenohex.Examples.PullSubscriberServer
+  alias Zenohex.Examples.PullSubscriber
   alias Zenohex.Session
   alias Zenohex.Sample
 
@@ -13,7 +13,7 @@ defmodule Zenohex.Examples.PullSubscriberServerTest do
     callback = fn sample -> send(me, sample) end
 
     start_supervised!(
-      {PullSubscriberServer, %{session: session, key_expr: key_expr, callback: callback}}
+      {PullSubscriber.Server, %{session: session, key_expr: key_expr, callback: callback}}
     )
 
     Session.put(session, "key/expression/put", "put")
@@ -29,14 +29,14 @@ defmodule Zenohex.Examples.PullSubscriberServerTest do
     callback = fn sample -> send(me, sample) end
 
     start_supervised!(
-      {PullSubscriberServer, %{session: session, key_expr: key_expr, callback: callback}}
+      {PullSubscriber.Server, %{session: session, key_expr: key_expr, callback: callback}}
     )
 
     Session.put(session, "key/expression/put", "put")
 
     assert_receive(%Sample{key_expr: "key/expression/put", value: "put"})
     refute_receive(%Sample{key_expr: "key/expression/put", value: "put"})
-    PullSubscriberServer.pull()
+    PullSubscriber.Server.pull()
     assert_receive(%Sample{key_expr: "key/expression/put", value: "put"})
   end
 end

From 6fe37c8cc0dda5a4684c282cbb8c579b43a9b347 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 8 Feb 2024 15:19:36 +0900
Subject: [PATCH 103/165] Refactor Examples.Session

---
 .../{session_server.ex => session/server.ex}  |  2 +-
 test/zenohex/examples/session_server_test.exs | 22 +++++++++----------
 2 files changed, 12 insertions(+), 12 deletions(-)
 rename lib/zenohex/examples/{session_server.ex => session/server.ex} (97%)

diff --git a/lib/zenohex/examples/session_server.ex b/lib/zenohex/examples/session/server.ex
similarity index 97%
rename from lib/zenohex/examples/session_server.ex
rename to lib/zenohex/examples/session/server.ex
index 7180add..5e90af8 100644
--- a/lib/zenohex/examples/session_server.ex
+++ b/lib/zenohex/examples/session/server.ex
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.SessionServer do
+defmodule Zenohex.Examples.Session.Server do
   @moduledoc false
 
   use GenServer
diff --git a/test/zenohex/examples/session_server_test.exs b/test/zenohex/examples/session_server_test.exs
index 155fb97..50689f2 100644
--- a/test/zenohex/examples/session_server_test.exs
+++ b/test/zenohex/examples/session_server_test.exs
@@ -1,19 +1,19 @@
 defmodule Zenohex.Examples.SessionServerTest do
   use ExUnit.Case
 
-  alias Zenohex.Examples.SessionServer
+  alias Zenohex.Examples.Session
   alias Zenohex.Examples.Subscriber
   alias Zenohex.Examples.Queryable
   alias Zenohex.Query
   alias Zenohex.Sample
 
   setup do
-    start_supervised!({SessionServer, nil})
+    start_supervised!({Session.Server, nil})
     :ok
   end
 
   test "session/2" do
-    assert is_reference(SessionServer.session())
+    assert is_reference(Session.Server.session())
   end
 
   describe "put/2" do
@@ -23,13 +23,13 @@ defmodule Zenohex.Examples.SessionServerTest do
       start_supervised!(
         {Subscriber.Server,
          %{
-           session: SessionServer.session(),
+           session: Session.Server.session(),
            key_expr: "key/expression/**",
            callback: fn sample -> send(me, sample) end
          }}
       )
 
-      assert SessionServer.put("key/expression/put", "value") == :ok
+      assert Session.Server.put("key/expression/put", "value") == :ok
       assert_receive %Sample{key_expr: "key/expression/put", value: "value"}
     end
   end
@@ -41,13 +41,13 @@ defmodule Zenohex.Examples.SessionServerTest do
       start_supervised!(
         {Subscriber.Server,
          %{
-           session: SessionServer.session(),
+           session: Session.Server.session(),
            key_expr: "key/expression/**",
            callback: fn sample -> send(me, sample) end
          }}
       )
 
-      assert SessionServer.delete("key/expression/delete") == :ok
+      assert Session.Server.delete("key/expression/delete") == :ok
       assert_receive %Sample{key_expr: "key/expression/delete", kind: :delete}
     end
   end
@@ -56,9 +56,9 @@ defmodule Zenohex.Examples.SessionServerTest do
     test "without queryable" do
       me = self()
       callback = fn sample -> send(me, sample) end
-      :ok = SessionServer.set_disconnected_cb(fn -> send(me, :disconnected) end)
+      :ok = Session.Server.set_disconnected_cb(fn -> send(me, :disconnected) end)
 
-      assert SessionServer.get("key/expression/**", callback) == :ok
+      assert Session.Server.get("key/expression/**", callback) == :ok
       assert_receive :disconnected
     end
 
@@ -66,7 +66,7 @@ defmodule Zenohex.Examples.SessionServerTest do
       start_supervised!(
         {Queryable.Server,
          %{
-           session: SessionServer.session(),
+           session: Session.Server.session(),
            key_expr: "key/expression/**",
            callback: fn query ->
              :ok = Query.reply(query, %Sample{key_expr: "key/expression/reply"})
@@ -78,7 +78,7 @@ defmodule Zenohex.Examples.SessionServerTest do
       me = self()
       callback = fn sample -> send(me, sample) end
 
-      assert SessionServer.get("key/expression/**", callback) == :ok
+      assert Session.Server.get("key/expression/**", callback) == :ok
       assert_receive %Sample{}
     end
   end

From f1b29b066b7120d59391da5d5d38a40bf5a23ccd Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 11:17:38 +0900
Subject: [PATCH 104/165] Add open!/0 to Zenohex

---
 lib/zenohex.ex | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/lib/zenohex.ex b/lib/zenohex.ex
index 2f5bc80..5b6f3db 100644
--- a/lib/zenohex.ex
+++ b/lib/zenohex.ex
@@ -21,4 +21,17 @@ defmodule Zenohex do
       Nif.zenoh_open()
     end
   end
+
+  @doc ~S"""
+  Open a zenoh Session.
+
+  ## Examples
+
+      iex> Zenohex.open!()
+  """
+  @spec open!() :: Session.t()
+  def open!() do
+    {:ok, session} = open()
+    session
+  end
 end

From 69c6b75b6bb817d0a4b281cacec95ef44d59cdca Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 11:17:47 +0900
Subject: [PATCH 105/165] Fix typo

---
 lib/zenohex.ex | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/lib/zenohex.ex b/lib/zenohex.ex
index 5b6f3db..78fd555 100644
--- a/lib/zenohex.ex
+++ b/lib/zenohex.ex
@@ -13,7 +13,7 @@ defmodule Zenohex do
 
       iex> Zenohex.open()
   """
-  @spec open :: {:ok, Session.t()} | {:error, reason :: any()}
+  @spec open() :: {:ok, Session.t()} | {:error, reason :: any()}
   def open() do
     if System.get_env("SCOUTING_DELAY") == "0" do
       Nif.zenoh_scouting_delay_zero_session()

From e1eb965a7e0a1714c7a85a2997f32d3415bd1231 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 11:19:02 +0900
Subject: [PATCH 106/165] Add docs to Examples.Publisher and refactor

---
 lib/zenohex/examples/publisher.ex             | 85 +++++++++++++++++++
 lib/zenohex/examples/publisher/server.ex      |  2 +-
 .../examples/publisher_server_test.exs        | 16 ++--
 3 files changed, 94 insertions(+), 9 deletions(-)
 create mode 100644 lib/zenohex/examples/publisher.ex

diff --git a/lib/zenohex/examples/publisher.ex b/lib/zenohex/examples/publisher.ex
new file mode 100644
index 0000000..13beaea
--- /dev/null
+++ b/lib/zenohex/examples/publisher.ex
@@ -0,0 +1,85 @@
+defmodule Zenohex.Examples.Publisher do
+  mix_config = Mix.Project.config()
+  version = mix_config[:version]
+  base_url = "https://github.com/b5g-ex/zenohex/tree/v#{version}/lib/examples"
+
+  @moduledoc """
+  This is the example Publisher implementation using Zenohex.
+
+  This Publisher is made of `m:Supervisor` and `m:GenServer`.
+  If you would like to see the codes, check the followings.
+
+    * Supervisor
+      * [lib/zenohex/examples/publisher.ex](#{base_url}/publisher.ex)
+    * GenServer
+      * [lib/zenohex/examples/publisher/impl.ex](#{base_url}/publisher/impl.ex)
+
+  ## Getting Started
+
+  ### Start Publisher
+
+      iex> alias Zenohex.Examples.Publisher
+      # if not specify session and key_expr, they are made internally. key_expr is "zenohex/examples/pub"
+      iex> Publisher.start_link()
+      # you can also inject your session and key_expr from outside
+      iex> Publisher.start_link(%{session: your_session, key_expr: "your_key/expression"})
+
+  ### Put data
+
+      iex> Publisher.put(42)    # integer
+      iex> Publisher.put(42.42) # float
+      iex> Publisher.put("42")  # binary
+
+  ### Delete data
+
+      iex> Publisher.delete()
+
+  ### Change Publisher options
+
+      iex> Publisher.congestion_control(:block)
+      iex> Publisher.priority(:real_time)
+
+  see. Supported options, `m:Zenohex.Publisher.Options`
+  """
+
+  use Supervisor
+
+  alias Zenohex.Examples.Publisher
+
+  @doc """
+  Start Publisher.
+  """
+  def start_link(args \\ %{}) when is_map(args) do
+    session = Map.get(args, :session, Zenohex.open!())
+    key_expr = Map.get(args, :key_expr, "zenohex/examples/pub")
+    Supervisor.start_link(__MODULE__, %{session: session, key_expr: key_expr}, name: __MODULE__)
+  end
+
+  @doc "Put data."
+  @spec put(integer() | float() | binary()) :: :ok
+  defdelegate put(value), to: Publisher.Impl
+
+  @doc "Delete data."
+  @spec delete() :: :ok
+  defdelegate delete(), to: Publisher.Impl
+
+  @doc "Change congestion control."
+  @spec congestion_control(Zenohex.Publisher.Options.congestion_control()) :: :ok
+  defdelegate congestion_control(option), to: Publisher.Impl
+
+  @doc "Change priority."
+  @spec priority(Zenohex.Publisher.Options.priority()) :: :ok
+  defdelegate priority(option), to: Publisher.Impl
+
+  @doc false
+  def init(args) when is_map(args) do
+    children = [
+      {Publisher.Impl, args}
+    ]
+
+    Supervisor.init(children, strategy: :one_for_one)
+  end
+
+  @doc false
+  def child_spec(args), do: super(args)
+end
diff --git a/lib/zenohex/examples/publisher/server.ex b/lib/zenohex/examples/publisher/server.ex
index 5a1ed97..f08efec 100644
--- a/lib/zenohex/examples/publisher/server.ex
+++ b/lib/zenohex/examples/publisher/server.ex
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.Publisher.Server do
+defmodule Zenohex.Examples.Publisher.Impl do
   @moduledoc false
 
   use GenServer
diff --git a/test/zenohex/examples/publisher_server_test.exs b/test/zenohex/examples/publisher_server_test.exs
index 0a2fbe5..b170f6e 100644
--- a/test/zenohex/examples/publisher_server_test.exs
+++ b/test/zenohex/examples/publisher_server_test.exs
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.PublisherServerTest do
+defmodule Zenohex.Examples.PublisherTest do
   use ExUnit.Case
 
   alias Zenohex.Examples.Publisher
@@ -8,7 +8,7 @@ defmodule Zenohex.Examples.PublisherServerTest do
   setup do
     {:ok, session} = Zenohex.open()
     key_expr = "key/expression/pub"
-    start_supervised!({Publisher.Server, %{session: session, key_expr: key_expr}})
+    start_supervised!({Publisher, %{session: session, key_expr: key_expr}})
 
     %{session: session}
   end
@@ -27,7 +27,7 @@ defmodule Zenohex.Examples.PublisherServerTest do
       )
 
       for i <- 0..100 do
-        assert Publisher.Server.put(i) == :ok
+        assert Publisher.put(i) == :ok
         assert_receive %Sample{key_expr: "key/expression/pub", kind: :put, value: ^i}
       end
     end
@@ -46,18 +46,18 @@ defmodule Zenohex.Examples.PublisherServerTest do
          }}
       )
 
-      assert Publisher.Server.delete() == :ok
+      assert Publisher.delete() == :ok
       assert_receive %Sample{key_expr: "key/expression/pub", kind: :delete}
     end
   end
 
   test "congestion_control/1" do
-    assert Publisher.Server.congestion_control(:block) == :ok
-    assert Publisher.Server.put("put") == :ok
+    assert Publisher.congestion_control(:block) == :ok
+    assert Publisher.put("put") == :ok
   end
 
   test "priority/1" do
-    assert Publisher.Server.priority(:real_time) == :ok
-    assert Publisher.Server.put("put") == :ok
+    assert Publisher.priority(:real_time) == :ok
+    assert Publisher.put("put") == :ok
   end
 end

From 0c0821775c7ca988e870f5d4db63d0c58e519a6a Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 11:28:21 +0900
Subject: [PATCH 107/165] Rename examples/publisher files

---
 lib/zenohex/examples/publisher/{server.ex => impl.ex}             | 0
 .../examples/{publisher_server_test.exs => publisher_test.exs}    | 0
 2 files changed, 0 insertions(+), 0 deletions(-)
 rename lib/zenohex/examples/publisher/{server.ex => impl.ex} (100%)
 rename test/zenohex/examples/{publisher_server_test.exs => publisher_test.exs} (100%)

diff --git a/lib/zenohex/examples/publisher/server.ex b/lib/zenohex/examples/publisher/impl.ex
similarity index 100%
rename from lib/zenohex/examples/publisher/server.ex
rename to lib/zenohex/examples/publisher/impl.ex
diff --git a/test/zenohex/examples/publisher_server_test.exs b/test/zenohex/examples/publisher_test.exs
similarity index 100%
rename from test/zenohex/examples/publisher_server_test.exs
rename to test/zenohex/examples/publisher_test.exs

From 0a57ae51fb16f936f58003f3e8c09961ed79a3e6 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 12:01:40 +0900
Subject: [PATCH 108/165] Add docs to Examples.Subscriber and refactor

---
 lib/zenohex/examples/subscriber.ex            | 67 +++++++++++++++++++
 lib/zenohex/examples/subscriber/server.ex     |  2 +-
 test/zenohex/examples/publisher_test.exs      |  4 +-
 test/zenohex/examples/session_server_test.exs |  4 +-
 .../examples/subscriber_server_test.exs       |  6 +-
 5 files changed, 74 insertions(+), 9 deletions(-)
 create mode 100644 lib/zenohex/examples/subscriber.ex

diff --git a/lib/zenohex/examples/subscriber.ex b/lib/zenohex/examples/subscriber.ex
new file mode 100644
index 0000000..f0171ac
--- /dev/null
+++ b/lib/zenohex/examples/subscriber.ex
@@ -0,0 +1,67 @@
+defmodule Zenohex.Examples.Subscriber do
+  mix_config = Mix.Project.config()
+  version = mix_config[:version]
+  base_url = "https://github.com/b5g-ex/zenohex/tree/v#{version}/lib/examples"
+
+  @moduledoc """
+  This is the example Subscriber implementation using Zenohex.
+
+  This Subscriber is made of `m:Supervisor` and `m:GenServer`.
+  If you would like to see the codes, check the followings.
+
+    * Supervisor
+      * [lib/zenohex/examples/subscriber.ex](#{base_url}/subscriber.ex)
+    * GenServer
+      * [lib/zenohex/examples/subscriber/impl.ex](#{base_url}/subscriber/impl.ex)
+
+  ## Getting Started
+
+  ### Start Subscriber
+
+      iex> alias Zenohex.Examples.Subscriber
+      # if not specify session, key_expr and callback, they are made internally. key_expr is "zenohex/examples/**",callback is &Logger.debug(inspect(&1))
+      iex> Subscriber.start_link()
+      # you can also inject your session, key_expr and callback from outside
+      iex> Subscriber.start_link(%{session: your_session, key_expr: "your_key/expression/**", callback: &IO.inspect/1})
+
+  ### Subscribed?
+
+      iex> alias Zenohex.Examples.Publisher
+      iex> Publisher.start_link()
+      iex> Publisher.put("subscribed?")
+      :ok
+      
+      11:51:53.959 [debug] %Zenohex.Sample{key_expr: "zenohex/examples/pub", value: "subscribed?", kind: :put, reference: #Reference<0.1373489635.746717252.118288>}
+  """
+
+  use Supervisor
+
+  require Logger
+
+  alias Zenohex.Examples.Subscriber
+
+  @doc """
+  Start Subscriber.
+  """
+  def start_link(args \\ %{}) when is_map(args) do
+    session = Map.get(args, :session, Zenohex.open!())
+    key_expr = Map.get(args, :key_expr, "zenohex/examples/**")
+    callback = Map.get(args, :callback, &Logger.debug(inspect(&1)))
+
+    Supervisor.start_link(__MODULE__, %{session: session, key_expr: key_expr, callback: callback},
+      name: __MODULE__
+    )
+  end
+
+  @doc false
+  def init(args) when is_map(args) do
+    children = [
+      {Subscriber.Impl, args}
+    ]
+
+    Supervisor.init(children, strategy: :one_for_one)
+  end
+
+  @doc false
+  def child_spec(args), do: super(args)
+end
diff --git a/lib/zenohex/examples/subscriber/server.ex b/lib/zenohex/examples/subscriber/server.ex
index 8bf93ef..d190263 100644
--- a/lib/zenohex/examples/subscriber/server.ex
+++ b/lib/zenohex/examples/subscriber/server.ex
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.Subscriber.Server do
+defmodule Zenohex.Examples.Subscriber.Impl do
   @moduledoc false
 
   use GenServer
diff --git a/test/zenohex/examples/publisher_test.exs b/test/zenohex/examples/publisher_test.exs
index b170f6e..afc2ba0 100644
--- a/test/zenohex/examples/publisher_test.exs
+++ b/test/zenohex/examples/publisher_test.exs
@@ -18,7 +18,7 @@ defmodule Zenohex.Examples.PublisherTest do
       me = self()
 
       start_supervised!(
-        {Subscriber.Server,
+        {Subscriber,
          %{
            session: session,
            key_expr: "key/expression/**",
@@ -38,7 +38,7 @@ defmodule Zenohex.Examples.PublisherTest do
       me = self()
 
       start_supervised!(
-        {Subscriber.Server,
+        {Subscriber,
          %{
            session: session,
            key_expr: "key/expression/**",
diff --git a/test/zenohex/examples/session_server_test.exs b/test/zenohex/examples/session_server_test.exs
index 50689f2..75f3221 100644
--- a/test/zenohex/examples/session_server_test.exs
+++ b/test/zenohex/examples/session_server_test.exs
@@ -21,7 +21,7 @@ defmodule Zenohex.Examples.SessionServerTest do
       me = self()
 
       start_supervised!(
-        {Subscriber.Server,
+        {Subscriber,
          %{
            session: Session.Server.session(),
            key_expr: "key/expression/**",
@@ -39,7 +39,7 @@ defmodule Zenohex.Examples.SessionServerTest do
       me = self()
 
       start_supervised!(
-        {Subscriber.Server,
+        {Subscriber,
          %{
            session: Session.Server.session(),
            key_expr: "key/expression/**",
diff --git a/test/zenohex/examples/subscriber_server_test.exs b/test/zenohex/examples/subscriber_server_test.exs
index a8d1cb2..131a60f 100644
--- a/test/zenohex/examples/subscriber_server_test.exs
+++ b/test/zenohex/examples/subscriber_server_test.exs
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.SubscriberServerTest do
+defmodule Zenohex.Examples.SubscriberTest do
   use ExUnit.Case
 
   alias Zenohex.Examples.Subscriber
@@ -12,9 +12,7 @@ defmodule Zenohex.Examples.SubscriberServerTest do
     me = self()
     callback = fn sample -> send(me, sample) end
 
-    start_supervised!(
-      {Subscriber.Server, %{session: session, key_expr: key_expr, callback: callback}}
-    )
+    start_supervised!({Subscriber, %{session: session, key_expr: key_expr, callback: callback}})
 
     Session.put(session, "key/expression/put", "put")
 

From 11390957c1661bd620f10c56b6cd8de53d783dca Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 12:02:28 +0900
Subject: [PATCH 109/165] Rename examples/subscriber files

---
 lib/zenohex/examples/subscriber/{server.ex => impl.ex}            | 0
 .../examples/{subscriber_server_test.exs => subscriber_test.exs}  | 0
 2 files changed, 0 insertions(+), 0 deletions(-)
 rename lib/zenohex/examples/subscriber/{server.ex => impl.ex} (100%)
 rename test/zenohex/examples/{subscriber_server_test.exs => subscriber_test.exs} (100%)

diff --git a/lib/zenohex/examples/subscriber/server.ex b/lib/zenohex/examples/subscriber/impl.ex
similarity index 100%
rename from lib/zenohex/examples/subscriber/server.ex
rename to lib/zenohex/examples/subscriber/impl.ex
diff --git a/test/zenohex/examples/subscriber_server_test.exs b/test/zenohex/examples/subscriber_test.exs
similarity index 100%
rename from test/zenohex/examples/subscriber_server_test.exs
rename to test/zenohex/examples/subscriber_test.exs

From 76bd6e69a85975d8aac8881de3155366b5175cfc Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 12:26:33 +0900
Subject: [PATCH 110/165] Add docs to Examples.PullSubscriber and refactor

---
 lib/zenohex/examples/pull_subscriber.ex       | 73 +++++++++++++++++++
 .../examples/pull_subscriber/server.ex        |  2 +-
 .../examples/pull_subscriber_server_test.exs  |  8 +-
 3 files changed, 78 insertions(+), 5 deletions(-)
 create mode 100644 lib/zenohex/examples/pull_subscriber.ex

diff --git a/lib/zenohex/examples/pull_subscriber.ex b/lib/zenohex/examples/pull_subscriber.ex
new file mode 100644
index 0000000..54e94fe
--- /dev/null
+++ b/lib/zenohex/examples/pull_subscriber.ex
@@ -0,0 +1,73 @@
+defmodule Zenohex.Examples.PullSubscriber do
+  mix_config = Mix.Project.config()
+  version = mix_config[:version]
+  base_url = "https://github.com/b5g-ex/zenohex/tree/v#{version}/lib/examples"
+
+  @moduledoc """
+  This is the example PullSubscriber implementation using Zenohex.
+
+  This PullSubscriber is made of `m:Supervisor` and `m:GenServer`.
+  If you would like to see the codes, check the followings.
+
+    * Supervisor
+      * [lib/zenohex/examples/pull_subscriber.ex](#{base_url}/pull_subscriber.ex)
+    * GenServer
+      * [lib/zenohex/examples/pull_subscriber/impl.ex](#{base_url}/pull_subscriber/impl.ex)
+
+  ## Getting Started
+
+  ### Start PullSubscriber
+
+      iex> alias Zenohex.Examples.PullSubscriber
+      # if not specify session, key_expr and callback, they are made internally. key_expr is "zenohex/examples/**",callback is &Logger.debug(inspect(&1))
+      iex> PullSubscriber.start_link()
+      # you can also inject your session, key_expr and callback from outside
+      iex> PullSubscriber.start_link(%{session: your_session, key_expr: "your_key/expression/**", callback: &IO.inspect/1})
+
+  ### Pull data
+
+      iex> alias Zenohex.Examples.Publisher
+      iex> Publisher.start_link()
+      iex> Publisher.put("subscribed?")
+      :ok
+      iex> PullSubscriber.pull()
+      :ok
+      
+      12:16:47.306 [debug] %Zenohex.Sample{key_expr: "zenohex/examples/pub", value: "subscribed?", kind: :put, reference: #Reference<0.662543409.1019347013.179304>}
+  """
+
+  use Supervisor
+
+  require Logger
+
+  alias Zenohex.Examples.PullSubscriber
+
+  @doc """
+  Start PullSubscriber.
+  """
+  def start_link(args \\ %{}) when is_map(args) do
+    session = Map.get(args, :session, Zenohex.open!())
+    key_expr = Map.get(args, :key_expr, "zenohex/examples/**")
+    callback = Map.get(args, :callback, &Logger.debug(inspect(&1)))
+
+    Supervisor.start_link(__MODULE__, %{session: session, key_expr: key_expr, callback: callback},
+      name: __MODULE__
+    )
+  end
+
+  @doc "Pull data."
+  @spec pull() :: :ok
+  defdelegate pull(), to: PullSubscriber.Impl
+
+  @doc false
+  def init(args) when is_map(args) do
+    children = [
+      {PullSubscriber.Impl, args}
+    ]
+
+    Supervisor.init(children, strategy: :one_for_one)
+  end
+
+  @doc false
+  def child_spec(args), do: super(args)
+end
diff --git a/lib/zenohex/examples/pull_subscriber/server.ex b/lib/zenohex/examples/pull_subscriber/server.ex
index 7584d9e..78d7a9a 100644
--- a/lib/zenohex/examples/pull_subscriber/server.ex
+++ b/lib/zenohex/examples/pull_subscriber/server.ex
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.PullSubscriber.Server do
+defmodule Zenohex.Examples.PullSubscriber.Impl do
   @moduledoc false
 
   use GenServer
diff --git a/test/zenohex/examples/pull_subscriber_server_test.exs b/test/zenohex/examples/pull_subscriber_server_test.exs
index 69b6a41..9a72430 100644
--- a/test/zenohex/examples/pull_subscriber_server_test.exs
+++ b/test/zenohex/examples/pull_subscriber_server_test.exs
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.PullSubscriberServerTest do
+defmodule Zenohex.Examples.PullSubscriberTest do
   use ExUnit.Case
 
   alias Zenohex.Examples.PullSubscriber
@@ -13,7 +13,7 @@ defmodule Zenohex.Examples.PullSubscriberServerTest do
     callback = fn sample -> send(me, sample) end
 
     start_supervised!(
-      {PullSubscriber.Server, %{session: session, key_expr: key_expr, callback: callback}}
+      {PullSubscriber, %{session: session, key_expr: key_expr, callback: callback}}
     )
 
     Session.put(session, "key/expression/put", "put")
@@ -29,14 +29,14 @@ defmodule Zenohex.Examples.PullSubscriberServerTest do
     callback = fn sample -> send(me, sample) end
 
     start_supervised!(
-      {PullSubscriber.Server, %{session: session, key_expr: key_expr, callback: callback}}
+      {PullSubscriber, %{session: session, key_expr: key_expr, callback: callback}}
     )
 
     Session.put(session, "key/expression/put", "put")
 
     assert_receive(%Sample{key_expr: "key/expression/put", value: "put"})
     refute_receive(%Sample{key_expr: "key/expression/put", value: "put"})
-    PullSubscriber.Server.pull()
+    PullSubscriber.pull()
     assert_receive(%Sample{key_expr: "key/expression/put", value: "put"})
   end
 end

From 361f25ff2848ab898012510c3fdd0a1a410d05c1 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 12:31:32 +0900
Subject: [PATCH 111/165] Rename examples/pull_subscriber files

---
 lib/zenohex/examples/pull_subscriber/{server.ex => impl.ex}       | 0
 .../{pull_subscriber_server_test.exs => pull_subscriber_test.exs} | 0
 2 files changed, 0 insertions(+), 0 deletions(-)
 rename lib/zenohex/examples/pull_subscriber/{server.ex => impl.ex} (100%)
 rename test/zenohex/examples/{pull_subscriber_server_test.exs => pull_subscriber_test.exs} (100%)

diff --git a/lib/zenohex/examples/pull_subscriber/server.ex b/lib/zenohex/examples/pull_subscriber/impl.ex
similarity index 100%
rename from lib/zenohex/examples/pull_subscriber/server.ex
rename to lib/zenohex/examples/pull_subscriber/impl.ex
diff --git a/test/zenohex/examples/pull_subscriber_server_test.exs b/test/zenohex/examples/pull_subscriber_test.exs
similarity index 100%
rename from test/zenohex/examples/pull_subscriber_server_test.exs
rename to test/zenohex/examples/pull_subscriber_test.exs

From 62f5e788372d5b71a494c376857c2ba524dd929b Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 15:53:54 +0900
Subject: [PATCH 112/165] Add docs to Examples.Queryable, Examples.Session and
 refactor

---
 lib/zenohex/examples/queryable.ex             | 67 +++++++++++++++
 lib/zenohex/examples/queryable/server.ex      |  2 +-
 lib/zenohex/examples/session.ex               | 84 +++++++++++++++++++
 lib/zenohex/examples/session/server.ex        | 16 +---
 .../examples/queryable_server_test.exs        |  6 +-
 test/zenohex/examples/session_server_test.exs | 35 ++++----
 6 files changed, 177 insertions(+), 33 deletions(-)
 create mode 100644 lib/zenohex/examples/queryable.ex
 create mode 100644 lib/zenohex/examples/session.ex

diff --git a/lib/zenohex/examples/queryable.ex b/lib/zenohex/examples/queryable.ex
new file mode 100644
index 0000000..4f51922
--- /dev/null
+++ b/lib/zenohex/examples/queryable.ex
@@ -0,0 +1,67 @@
+defmodule Zenohex.Examples.Queryable do
+  mix_config = Mix.Project.config()
+  version = mix_config[:version]
+  base_url = "https://github.com/b5g-ex/zenohex/tree/v#{version}/lib/examples"
+
+  @moduledoc """
+  This is the example Queryable implementation using Zenohex.
+
+  This Queryable is made of `m:Supervisor` and `m:GenServer`.
+  If you would like to see the codes, check the followings.
+
+    * Supervisor
+      * [lib/zenohex/examples/queryable.ex](#{base_url}/queryable.ex)
+    * GenServer
+      * [lib/zenohex/examples/queryable/impl.ex](#{base_url}/queryable/impl.ex)
+
+  ## Getting Started
+
+  ### Start Queryable
+
+      iex> alias Zenohex.Examples.Queryable
+      # if not specify session, key_expr and callback, they are made internally. key_expr is "zenohex/examples/**", callback is &Logger.debug(inspect(&1))
+      iex> Queryable.start_link()
+      # you can also inject your session, key_expr and callback from outside
+      iex> Queryable.start_link(%{session: your_session, key_expr: "your_key/expression/**", callback: &IO.inspect/1})
+
+  ### Queried?
+
+      iex> alias Zenohex.Examples.Session
+      iex> Session.start_link()
+      iex> Session.get("zenohex/examples/get", &IO.inspect/1)
+      :ok
+      
+      15:20:17.870 [debug] %Zenohex.Query{key_expr: "zenohex/examples/get", parameters: "", value: :undefined, reference: #Reference<0.3076585362.3463839816.144434>}
+  """
+
+  use Supervisor
+
+  require Logger
+
+  alias Zenohex.Examples.Queryable
+
+  @doc """
+  Start Queryable.
+  """
+  def start_link(args \\ %{}) when is_map(args) do
+    session = Map.get(args, :session, Zenohex.open!())
+    key_expr = Map.get(args, :key_expr, "zenohex/examples/**")
+    callback = Map.get(args, :callback, &Logger.debug(inspect(&1)))
+
+    Supervisor.start_link(__MODULE__, %{session: session, key_expr: key_expr, callback: callback},
+      name: __MODULE__
+    )
+  end
+
+  @doc false
+  def init(args) when is_map(args) do
+    children = [
+      {Queryable.Impl, args}
+    ]
+
+    Supervisor.init(children, strategy: :one_for_one)
+  end
+
+  @doc false
+  def child_spec(args), do: super(args)
+end
diff --git a/lib/zenohex/examples/queryable/server.ex b/lib/zenohex/examples/queryable/server.ex
index 6ad3dac..f205364 100644
--- a/lib/zenohex/examples/queryable/server.ex
+++ b/lib/zenohex/examples/queryable/server.ex
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.Queryable.Server do
+defmodule Zenohex.Examples.Queryable.Impl do
   @moduledoc false
 
   use GenServer
diff --git a/lib/zenohex/examples/session.ex b/lib/zenohex/examples/session.ex
new file mode 100644
index 0000000..8b905ee
--- /dev/null
+++ b/lib/zenohex/examples/session.ex
@@ -0,0 +1,84 @@
+defmodule Zenohex.Examples.Session do
+  mix_config = Mix.Project.config()
+  version = mix_config[:version]
+  base_url = "https://github.com/b5g-ex/zenohex/tree/v#{version}/lib/examples"
+
+  @moduledoc """
+  This is the example Session implementation using Zenohex.
+
+  This Session is made of `m:Supervisor` and `m:GenServer`.
+  If you would like to see the codes, check the followings.
+
+    * Supervisor
+      * [lib/zenohex/examples/session.ex](#{base_url}/session.ex)
+    * GenServer
+      * [lib/zenohex/examples/session/impl.ex](#{base_url}/session/impl.ex)
+
+  ## Getting Started
+
+  ### Start Session
+
+      iex> alias Zenohex.Examples.Session
+      # if not specify session, it is made internally
+      iex> Session.start_link()
+      # you can also inject your session and key_expr from outside
+      iex> Session.start_link(%{session: your_session})
+
+  ### Put data
+
+      iex> Session.put("zenoh/example/session/put", 42)    # integer
+      iex> Session.put("zenoh/example/session/put", 42.42) # float
+      iex> Session.put("zenoh/example/session/put", "42")  # binary
+
+  ### Delete data
+
+      iex> Session.delete("zenoh/example/session/put")
+      iex> Session.delete("zenoh/example/session/**")
+
+  ### Get data
+
+      iex> callback = &IO.inspect/1
+      iex> Session.get("zenoh/example/session/get", callback)
+
+  """
+
+  use Supervisor
+
+  alias Zenohex.Examples.Session
+
+  @doc """
+  Start Session.
+  """
+  def start_link(args \\ %{}) when is_map(args) do
+    session = Map.get(args, :session, Zenohex.open!())
+    Supervisor.start_link(__MODULE__, %{session: session}, name: __MODULE__)
+  end
+
+  @doc "Put data."
+  @spec put(String.t(), integer() | float() | binary()) :: :ok
+  defdelegate put(key_expr, value), to: Session.Impl
+
+  @doc "Delete data."
+  @spec delete(String.t()) :: :ok
+  defdelegate delete(key_expr), to: Session.Impl
+
+  @doc "Set disconnected callback."
+  @spec set_disconnected_cb(function) :: :ok
+  defdelegate set_disconnected_cb(callback), to: Session.Impl
+
+  @doc "Get data."
+  @spec get(String.t(), function()) :: :ok
+  defdelegate get(selector, callback), to: Session.Impl
+
+  @doc false
+  def init(args) when is_map(args) do
+    children = [
+      {Session.Impl, args}
+    ]
+
+    Supervisor.init(children, strategy: :one_for_one)
+  end
+
+  @doc false
+  def child_spec(args), do: super(args)
+end
diff --git a/lib/zenohex/examples/session/server.ex b/lib/zenohex/examples/session/server.ex
index 5e90af8..a78421d 100644
--- a/lib/zenohex/examples/session/server.ex
+++ b/lib/zenohex/examples/session/server.ex
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.Session.Server do
+defmodule Zenohex.Examples.Session.Impl do
   @moduledoc false
 
   use GenServer
@@ -11,10 +11,6 @@ defmodule Zenohex.Examples.Session.Server do
     GenServer.start_link(__MODULE__, args, name: __MODULE__)
   end
 
-  def session() do
-    GenServer.call(__MODULE__, :session)
-  end
-
   def put(key_expr, value) do
     GenServer.call(__MODULE__, {:put, key_expr, value})
   end
@@ -31,12 +27,10 @@ defmodule Zenohex.Examples.Session.Server do
     GenServer.call(__MODULE__, {:get, selector, callback})
   end
 
-  def init(_args) do
-    {:ok, session} = Zenohex.open()
-
+  def init(args) do
     {:ok,
      %{
-       session: session,
+       session: Map.fetch!(args, :session),
        selector: nil,
        receiver: nil,
        callback: nil,
@@ -44,10 +38,6 @@ defmodule Zenohex.Examples.Session.Server do
      }}
   end
 
-  def handle_call(:session, _from, state) do
-    {:reply, state.session, state}
-  end
-
   def handle_call({:put, key_expr, value}, _from, state) do
     ret = Session.put(state.session, key_expr, value)
     {:reply, ret, state}
diff --git a/test/zenohex/examples/queryable_server_test.exs b/test/zenohex/examples/queryable_server_test.exs
index 6969b50..8bd72de 100644
--- a/test/zenohex/examples/queryable_server_test.exs
+++ b/test/zenohex/examples/queryable_server_test.exs
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.QueryableServerTest do
+defmodule Zenohex.Examples.QueryableTest do
   use ExUnit.Case
 
   require Logger
@@ -14,9 +14,7 @@ defmodule Zenohex.Examples.QueryableServerTest do
     me = self()
     callback = fn query -> send(me, query) end
 
-    start_supervised!(
-      {Queryable.Server, %{session: session, key_expr: key_expr, callback: callback}}
-    )
+    start_supervised!({Queryable, %{session: session, key_expr: key_expr, callback: callback}})
 
     Session.get_timeout(session, key_expr, 1000)
 
diff --git a/test/zenohex/examples/session_server_test.exs b/test/zenohex/examples/session_server_test.exs
index 75f3221..4f46af1 100644
--- a/test/zenohex/examples/session_server_test.exs
+++ b/test/zenohex/examples/session_server_test.exs
@@ -1,4 +1,4 @@
-defmodule Zenohex.Examples.SessionServerTest do
+defmodule Zenohex.Examples.SessionTest do
   use ExUnit.Case
 
   alias Zenohex.Examples.Session
@@ -8,14 +8,10 @@ defmodule Zenohex.Examples.SessionServerTest do
   alias Zenohex.Sample
 
   setup do
-    start_supervised!({Session.Server, nil})
+    start_supervised!({Session, %{}})
     :ok
   end
 
-  test "session/2" do
-    assert is_reference(Session.Server.session())
-  end
-
   describe "put/2" do
     test "with subscriber" do
       me = self()
@@ -23,13 +19,16 @@ defmodule Zenohex.Examples.SessionServerTest do
       start_supervised!(
         {Subscriber,
          %{
-           session: Session.Server.session(),
+           session: Zenohex.open!(),
            key_expr: "key/expression/**",
            callback: fn sample -> send(me, sample) end
          }}
       )
 
-      assert Session.Server.put("key/expression/put", "value") == :ok
+      # FIXME
+      Process.sleep(10)
+
+      assert Session.put("key/expression/put", "value") == :ok
       assert_receive %Sample{key_expr: "key/expression/put", value: "value"}
     end
   end
@@ -41,13 +40,16 @@ defmodule Zenohex.Examples.SessionServerTest do
       start_supervised!(
         {Subscriber,
          %{
-           session: Session.Server.session(),
+           session: Zenohex.open!(),
            key_expr: "key/expression/**",
            callback: fn sample -> send(me, sample) end
          }}
       )
 
-      assert Session.Server.delete("key/expression/delete") == :ok
+      # FIXME
+      Process.sleep(10)
+
+      assert Session.delete("key/expression/delete") == :ok
       assert_receive %Sample{key_expr: "key/expression/delete", kind: :delete}
     end
   end
@@ -56,17 +58,17 @@ defmodule Zenohex.Examples.SessionServerTest do
     test "without queryable" do
       me = self()
       callback = fn sample -> send(me, sample) end
-      :ok = Session.Server.set_disconnected_cb(fn -> send(me, :disconnected) end)
+      :ok = Session.set_disconnected_cb(fn -> send(me, :disconnected) end)
 
-      assert Session.Server.get("key/expression/**", callback) == :ok
+      assert Session.get("key/expression/**", callback) == :ok
       assert_receive :disconnected
     end
 
     test "with queryable" do
       start_supervised!(
-        {Queryable.Server,
+        {Queryable,
          %{
-           session: Session.Server.session(),
+           session: Zenohex.open!(),
            key_expr: "key/expression/**",
            callback: fn query ->
              :ok = Query.reply(query, %Sample{key_expr: "key/expression/reply"})
@@ -75,10 +77,13 @@ defmodule Zenohex.Examples.SessionServerTest do
          }}
       )
 
+      # FIXME
+      Process.sleep(10)
+
       me = self()
       callback = fn sample -> send(me, sample) end
 
-      assert Session.Server.get("key/expression/**", callback) == :ok
+      assert Session.get("key/expression/**", callback) == :ok
       assert_receive %Sample{}
     end
   end

From 013b94d0f2f09b43275e189a5b5a2c61b57f7a58 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 15:55:39 +0900
Subject: [PATCH 113/165] Rename examples/queryable, examples/session files

---
 lib/zenohex/examples/queryable/{server.ex => impl.ex}             | 0
 lib/zenohex/examples/session/{server.ex => impl.ex}               | 0
 .../examples/{queryable_server_test.exs => queryable_test.exs}    | 0
 .../examples/{session_server_test.exs => session_test.exs}        | 0
 4 files changed, 0 insertions(+), 0 deletions(-)
 rename lib/zenohex/examples/queryable/{server.ex => impl.ex} (100%)
 rename lib/zenohex/examples/session/{server.ex => impl.ex} (100%)
 rename test/zenohex/examples/{queryable_server_test.exs => queryable_test.exs} (100%)
 rename test/zenohex/examples/{session_server_test.exs => session_test.exs} (100%)

diff --git a/lib/zenohex/examples/queryable/server.ex b/lib/zenohex/examples/queryable/impl.ex
similarity index 100%
rename from lib/zenohex/examples/queryable/server.ex
rename to lib/zenohex/examples/queryable/impl.ex
diff --git a/lib/zenohex/examples/session/server.ex b/lib/zenohex/examples/session/impl.ex
similarity index 100%
rename from lib/zenohex/examples/session/server.ex
rename to lib/zenohex/examples/session/impl.ex
diff --git a/test/zenohex/examples/queryable_server_test.exs b/test/zenohex/examples/queryable_test.exs
similarity index 100%
rename from test/zenohex/examples/queryable_server_test.exs
rename to test/zenohex/examples/queryable_test.exs
diff --git a/test/zenohex/examples/session_server_test.exs b/test/zenohex/examples/session_test.exs
similarity index 100%
rename from test/zenohex/examples/session_server_test.exs
rename to test/zenohex/examples/session_test.exs

From ff26f2b6a6dac337374a6949f24e0768a9753461 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 16:39:14 +0900
Subject: [PATCH 114/165] Add docs to Examples.Storage

---
 lib/zenohex/examples/storage.ex | 65 ++++++++++++++++++++++++++++++---
 1 file changed, 59 insertions(+), 6 deletions(-)

diff --git a/lib/zenohex/examples/storage.ex b/lib/zenohex/examples/storage.ex
index 04c4e9c..f0d1948 100644
--- a/lib/zenohex/examples/storage.ex
+++ b/lib/zenohex/examples/storage.ex
@@ -1,18 +1,68 @@
 defmodule Zenohex.Examples.Storage do
-  @moduledoc false
+  mix_config = Mix.Project.config()
+  version = mix_config[:version]
+  base_url = "https://github.com/b5g-ex/zenohex/tree/v#{version}/lib/examples"
+
+  @moduledoc """
+  This is the example Storage implementation using Zenohex.
+
+  This Storage is made of `m:Supervisor` and `m:GenServer`.
+  If you would like to see the codes, check the followings.
+
+    * Supervisor
+      * [lib/zenohex/examples/storage.ex](#{base_url}/storage.ex)
+    * GenServer
+      * [lib/zenohex/examples/storage/store.ex](#{base_url}/storage/store.ex)
+      * [lib/zenohex/examples/storage/subscriber.ex](#{base_url}/storage/subscriber.ex)
+      * [lib/zenohex/examples/storage/queryable.ex](#{base_url}/storage/queryable.ex)
+
+  In this example, we made store with `m:Agent`. We think we can use also `:ets`, `:dets` and `:mnesia`.
+
+  ## Getting Started
+
+  ### Start Storage
+
+      iex> alias Zenohex.Examples.Storage
+      # if not specify session, key_expr and callback, they are made internally. key_expr is "zenohex/examples/**"
+      iex> Storage.start_link()
+      # you can also inject your session, key_expr and callback from outside
+      iex> Storage.start_link(%{session: your_session, key_expr: "your_key/expression/**"})
+
+  ### Session put/get/delete data with Storage
+
+      iex> alias Zenohex.Examples.Session
+      iex> Session.start_link()
+      iex> Session.put("zenoh/examples/storage", _value = "put")
+      :ok
+      iex> Session.get("zenoh/examples/storage", _callback = &IO.inspect/1)
+      :ok
+      %Zenohex.Sample{
+        key_expr: "zenohex/examples/storage",
+        value: "put",
+        kind: :put,
+        reference: #Reference<0.2244884903.1591869505.81651>
+      }
+      iex> Session.delete("zenoh/examples/storage")
+      :ok
+      iex> Session.get("zenoh/examples/storage", &IO.inspect/1)
+      :ok
+  """
 
   use Supervisor
 
   alias Zenohex.Examples.Storage
 
-  def start_link(args) when is_map(args) do
-    Supervisor.start_link(__MODULE__, args, name: __MODULE__)
+  @doc """
+  Start storage.
+  """
+  def start_link(args \\ %{}) when is_map(args) do
+    session = Map.get(args, :session, Zenohex.open!())
+    key_expr = Map.get(args, :key_expr, "zenohex/examples/**")
+    Supervisor.start_link(__MODULE__, %{session: session, key_expr: key_expr}, name: __MODULE__)
   end
 
+  @doc false
   def init(args) when is_map(args) do
-    true = Map.has_key?(args, :session)
-    true = Map.has_key?(args, :key_expr)
-
     children = [
       {Storage.Store, %{}},
       {Storage.Subscriber, args},
@@ -21,4 +71,7 @@ defmodule Zenohex.Examples.Storage do
 
     Supervisor.init(children, strategy: :one_for_one)
   end
+
+  @doc false
+  def child_spec(args), do: super(args)
 end

From b5eba5be7c300651f7b0b99fd9f61edc0b558249 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 16:58:15 +0900
Subject: [PATCH 115/165] Modify example's receivers to receive immediately in
 init/1

---
 lib/zenohex/examples/pull_subscriber/impl.ex | 23 ++++++++++++--------
 lib/zenohex/examples/queryable/impl.ex       | 15 ++++++++-----
 lib/zenohex/examples/subscriber/impl.ex      | 13 +++++++----
 test/zenohex/examples/session_test.exs       |  9 --------
 4 files changed, 33 insertions(+), 27 deletions(-)

diff --git a/lib/zenohex/examples/pull_subscriber/impl.ex b/lib/zenohex/examples/pull_subscriber/impl.ex
index 78d7a9a..a21dcf6 100644
--- a/lib/zenohex/examples/pull_subscriber/impl.ex
+++ b/lib/zenohex/examples/pull_subscriber/impl.ex
@@ -22,12 +22,24 @@ defmodule Zenohex.Examples.PullSubscriber.Impl do
     callback = Map.fetch!(args, :callback)
 
     {:ok, pull_subscriber} = Session.declare_pull_subscriber(session, key_expr)
-    send(self(), :loop)
+    state = %{pull_subscriber: pull_subscriber, callback: callback}
+    recv_timeout(state)
 
-    {:ok, %{pull_subscriber: pull_subscriber, callback: callback}}
+    {:ok, state}
   end
 
   def handle_info(:loop, state) do
+    recv_timeout(state)
+
+    {:noreply, state}
+  end
+
+  def handle_call(:pull, _from, state) do
+    :ok = PullSubscriber.pull(state.pull_subscriber)
+    {:reply, :ok, state}
+  end
+
+  defp recv_timeout(state) do
     case PullSubscriber.recv_timeout(state.pull_subscriber) do
       {:ok, sample} ->
         state.callback.(sample)
@@ -39,12 +51,5 @@ defmodule Zenohex.Examples.PullSubscriber.Impl do
       {:error, error} ->
         Logger.error(inspect(error))
     end
-
-    {:noreply, state}
-  end
-
-  def handle_call(:pull, _from, state) do
-    :ok = PullSubscriber.pull(state.pull_subscriber)
-    {:reply, :ok, state}
   end
 end
diff --git a/lib/zenohex/examples/queryable/impl.ex b/lib/zenohex/examples/queryable/impl.ex
index f205364..c411fb3 100644
--- a/lib/zenohex/examples/queryable/impl.ex
+++ b/lib/zenohex/examples/queryable/impl.ex
@@ -16,14 +16,21 @@ defmodule Zenohex.Examples.Queryable.Impl do
     session = Map.fetch!(args, :session)
     key_expr = Map.fetch!(args, :key_expr)
     callback = Map.fetch!(args, :callback)
-    {:ok, queryable} = Session.declare_queryable(session, key_expr)
 
-    send(self(), :loop)
+    {:ok, queryable} = Session.declare_queryable(session, key_expr)
+    state = %{queryable: queryable, callback: callback}
+    recv_timeout(state)
 
-    {:ok, %{queryable: queryable, callback: callback}}
+    {:ok, state}
   end
 
   def handle_info(:loop, state) do
+    recv_timeout(state)
+
+    {:noreply, state}
+  end
+
+  defp recv_timeout(state) do
     case Queryable.recv_timeout(state.queryable) do
       {:ok, query} ->
         state.callback.(query)
@@ -35,7 +42,5 @@ defmodule Zenohex.Examples.Queryable.Impl do
       {:error, error} ->
         Logger.error(inspect(error))
     end
-
-    {:noreply, state}
   end
 end
diff --git a/lib/zenohex/examples/subscriber/impl.ex b/lib/zenohex/examples/subscriber/impl.ex
index d190263..e2cea0d 100644
--- a/lib/zenohex/examples/subscriber/impl.ex
+++ b/lib/zenohex/examples/subscriber/impl.ex
@@ -18,12 +18,19 @@ defmodule Zenohex.Examples.Subscriber.Impl do
     callback = Map.fetch!(args, :callback)
 
     {:ok, subscriber} = Session.declare_subscriber(session, key_expr)
-    send(self(), :loop)
+    state = %{subscriber: subscriber, callback: callback}
+    recv_timeout(state)
 
-    {:ok, %{subscriber: subscriber, callback: callback}}
+    {:ok, state}
   end
 
   def handle_info(:loop, state) do
+    recv_timeout(state)
+
+    {:noreply, state}
+  end
+
+  defp recv_timeout(state) do
     case Subscriber.recv_timeout(state.subscriber) do
       {:ok, sample} ->
         state.callback.(sample)
@@ -35,7 +42,5 @@ defmodule Zenohex.Examples.Subscriber.Impl do
       {:error, error} ->
         Logger.error(inspect(error))
     end
-
-    {:noreply, state}
   end
 end
diff --git a/test/zenohex/examples/session_test.exs b/test/zenohex/examples/session_test.exs
index 4f46af1..1d7bb9e 100644
--- a/test/zenohex/examples/session_test.exs
+++ b/test/zenohex/examples/session_test.exs
@@ -25,9 +25,6 @@ defmodule Zenohex.Examples.SessionTest do
          }}
       )
 
-      # FIXME
-      Process.sleep(10)
-
       assert Session.put("key/expression/put", "value") == :ok
       assert_receive %Sample{key_expr: "key/expression/put", value: "value"}
     end
@@ -46,9 +43,6 @@ defmodule Zenohex.Examples.SessionTest do
          }}
       )
 
-      # FIXME
-      Process.sleep(10)
-
       assert Session.delete("key/expression/delete") == :ok
       assert_receive %Sample{key_expr: "key/expression/delete", kind: :delete}
     end
@@ -77,9 +71,6 @@ defmodule Zenohex.Examples.SessionTest do
          }}
       )
 
-      # FIXME
-      Process.sleep(10)
-
       me = self()
       callback = fn sample -> send(me, sample) end
 

From c53d91188795dcc69f8e9deb6beaea9c3981cb78 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 16:58:42 +0900
Subject: [PATCH 116/165] Make Example document group

---
 mix.exs | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/mix.exs b/mix.exs
index b320d39..ab874d9 100644
--- a/mix.exs
+++ b/mix.exs
@@ -74,6 +74,14 @@ defmodule Zenohex.MixProject do
           Zenohex.Query.Options,
           Zenohex.Queryable.Options,
           Zenohex.Subscriber.Options
+        ],
+        Examples: [
+          Zenohex.Examples.Publisher,
+          Zenohex.Examples.Subscriber,
+          Zenohex.Examples.PullSubscriber,
+          Zenohex.Examples.Session,
+          Zenohex.Examples.Queryable,
+          Zenohex.Examples.Storage
         ]
       ]
     ]

From d0af0340684c15846abe6a491ffd3dec5424562b Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 17:21:02 +0900
Subject: [PATCH 117/165] Update README.md

---
 README.md | 19 +++++++++++++++++--
 1 file changed, 17 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index d7e1d2d..128875a 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,7 @@ by adding `zenohex` to your list of dependencies in `mix.exs`:
 ```elixir
 def deps do
   [
-    {:zenohex, "~> 0.1.5"}
+    {:zenohex, "~> 0.2.0"}
   ]
 end
 ```
@@ -40,7 +40,7 @@ https://www.rust-lang.org/tools/install
 
 ## Getting Started
 
-### Pub/Sub example
+### Low layer Pub/Sub example
 
 ```sh
 $ iex -S mix
@@ -61,6 +61,21 @@ iex(6)> Zenohex.Subscriber.recv_timeout(subscriber, 1000)
 {:error, :timeout}
 ```
 
+### Practical examples
+
+We implemented following practical examples under the [lib/zenohex/examples](lib/zenohex/examples) with moduledoc.
+
+(from hexdocs please refer to MODULES tab's EXAMPLE section)
+
+- [Publisher](lib/zenohex/examples/publisher.ex)
+- [Subscriber](lib/zenohex/examples/subscriber.ex)
+- [PullSubscriber](lib/zenohex/examples/pull_subscriber.ex)
+- [Session](lib/zenohex/examples/session.ex)
+- [Queryable](lib/zenohex/examples/queryable.ex)
+- [Storage](lib/zenohex/examples/storage.ex)
+
+Use them as reference for your implementation.
+
 ## For developer
 
 ### How to release

From 471d7619411945a81fcdb024daa947bd23b67ed1 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 9 Feb 2024 22:19:41 +0900
Subject: [PATCH 118/165] Refactor keyexpr.rs

---
 native/zenohex_nif/src/keyexpr.rs | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/native/zenohex_nif/src/keyexpr.rs b/native/zenohex_nif/src/keyexpr.rs
index 5065423..68aca83 100644
--- a/native/zenohex_nif/src/keyexpr.rs
+++ b/native/zenohex_nif/src/keyexpr.rs
@@ -1,8 +1,8 @@
 use zenoh::key_expr::{keyexpr, KeyExpr};
 
 #[rustler::nif]
-fn key_expr_intersects(l: String, r: String) -> bool {
-    let lke = unsafe { KeyExpr::from_string_unchecked(l) };
-    let rke = unsafe { KeyExpr::from_string_unchecked(r) };
-    keyexpr::intersects(&lke, &rke)
+fn key_expr_intersects(key_expr1: &str, key_expr2: &str) -> bool {
+    let key_expr1 = unsafe { KeyExpr::from_str_uncheckend(key_expr1) };
+    let key_expr2 = unsafe { KeyExpr::from_str_uncheckend(key_expr2) };
+    keyexpr::intersects(&key_expr1, &key_expr2)
 }

From 30f4fbc4f9aa573256056b26e2489d76bd974847 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 12 Feb 2024 08:33:41 +0900
Subject: [PATCH 119/165] Add NOTE to session_get_reply_receiver/3

---
 native/zenohex_nif/src/session.rs | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/native/zenohex_nif/src/session.rs b/native/zenohex_nif/src/session.rs
index 0111941..20a0a96 100644
--- a/native/zenohex_nif/src/session.rs
+++ b/native/zenohex_nif/src/session.rs
@@ -123,8 +123,10 @@ fn session_get_reply_receiver(
     selector: String,
     opts: crate::query::ExQueryOptions,
 ) -> Result<ResourceArc<crate::ReplyReceiverRef>, String> {
+    // NOTE: 引数に ExQuery を使うことが妥当と思うが、
+    // zenoh の v1.0.0 前にそれらを考えるのが時期焦燥と判断し一旦このままとする
+    // TODO: with_value 対応も v1.0.0 が出たら検討する
     let session: &Arc<Session> = &resource.0;
-    // TODO: with_value の実装は用途が出てきたら検討
     match session
         .get(selector)
         .target(opts.target.into())

From 28266383ca267c0e0caf4bcdb1cea7276e522f64 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 12 Feb 2024 10:48:06 +0900
Subject: [PATCH 120/165] Add Config module

---
 lib/zenohex.ex                   | 16 +++++++++-------
 lib/zenohex/config.ex            | 12 ++++++++++++
 lib/zenohex/config/scouting.ex   | 14 ++++++++++++++
 lib/zenohex/nif.ex               |  5 ++---
 mix.exs                          |  4 ++++
 native/zenohex_nif/src/config.rs | 32 ++++++++++++++++++++++++++++++++
 native/zenohex_nif/src/lib.rs    | 20 +++-----------------
 test/zenohex/nif_test.exs        |  4 +++-
 8 files changed, 79 insertions(+), 28 deletions(-)
 create mode 100644 lib/zenohex/config.ex
 create mode 100644 lib/zenohex/config/scouting.ex
 create mode 100644 native/zenohex_nif/src/config.rs

diff --git a/lib/zenohex.ex b/lib/zenohex.ex
index 78fd555..eb92d5d 100644
--- a/lib/zenohex.ex
+++ b/lib/zenohex.ex
@@ -5,6 +5,8 @@ defmodule Zenohex do
 
   alias Zenohex.Nif
   alias Zenohex.Session
+  alias Zenohex.Config
+  alias Zenohex.Config.Scouting
 
   @doc ~S"""
   Open a zenoh Session.
@@ -13,12 +15,12 @@ defmodule Zenohex do
 
       iex> Zenohex.open()
   """
-  @spec open() :: {:ok, Session.t()} | {:error, reason :: any()}
-  def open() do
+  @spec open(Config.t()) :: {:ok, Session.t()} | {:error, reason :: any()}
+  def open(config \\ %Config{}) do
     if System.get_env("SCOUTING_DELAY") == "0" do
-      Nif.zenoh_scouting_delay_zero_session()
+      Nif.zenoh_open(%Config{scouting: %Scouting{delay: 0}})
     else
-      Nif.zenoh_open()
+      Nif.zenoh_open(config)
     end
   end
 
@@ -29,9 +31,9 @@ defmodule Zenohex do
 
       iex> Zenohex.open!()
   """
-  @spec open!() :: Session.t()
-  def open!() do
-    {:ok, session} = open()
+  @spec open!(Config.t()) :: Session.t()
+  def open!(config \\ %Config{}) do
+    {:ok, session} = open(config)
     session
   end
 end
diff --git a/lib/zenohex/config.ex b/lib/zenohex/config.ex
new file mode 100644
index 0000000..9000b0a
--- /dev/null
+++ b/lib/zenohex/config.ex
@@ -0,0 +1,12 @@
+defmodule Zenohex.Config do
+  @moduledoc """
+  Documentation for `#{__MODULE__}`.
+
+  Used by `Zenohex.open/1`, `Zenohex.open!/1`.
+  """
+
+  alias Zenohex.Config.Scouting
+
+  @type t :: %__MODULE__{scouting: Scouting.t()}
+  defstruct scouting: %Scouting{}
+end
diff --git a/lib/zenohex/config/scouting.ex b/lib/zenohex/config/scouting.ex
new file mode 100644
index 0000000..c4fc20b
--- /dev/null
+++ b/lib/zenohex/config/scouting.ex
@@ -0,0 +1,14 @@
+defmodule Zenohex.Config.Scouting do
+  @moduledoc """
+  Documentation for `#{__MODULE__}`.
+  """
+
+  @type t :: %__MODULE__{delay: delay()}
+
+  @typedoc """
+  In peer mode, the period dedicated to scouting remote peers before attempting other operations. In milliseconds.
+  """
+  @type delay :: non_neg_integer() | :undefined
+
+  defstruct delay: :undefined
+end
diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index b02871f..de85950 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -21,12 +21,11 @@ defmodule Zenohex.Nif do
   alias Zenohex.Subscriber
   alias Zenohex.Queryable
   alias Zenohex.Query
+  alias Zenohex.Config
 
   defp err(), do: :erlang.nif_error(:nif_not_loaded)
 
-  def zenoh_open(), do: err()
-
-  def zenoh_scouting_delay_zero_session(), do: err()
+  def zenoh_open(_config \\ %Config{}), do: err()
 
   for type <- ["integer", "float", "binary"] do
     def unquote(:"session_put_#{type}")(_session, _key_expr, _value), do: err()
diff --git a/mix.exs b/mix.exs
index ab874d9..b1cd3e7 100644
--- a/mix.exs
+++ b/mix.exs
@@ -69,6 +69,10 @@ defmodule Zenohex.MixProject do
       extras: ["README.md", "LICENSE"],
       main: "readme",
       groups_for_modules: [
+        Configs: [
+          Zenohex.Config,
+          Zenohex.Config.Scouting
+        ],
         Options: [
           Zenohex.Publisher.Options,
           Zenohex.Query.Options,
diff --git a/native/zenohex_nif/src/config.rs b/native/zenohex_nif/src/config.rs
new file mode 100644
index 0000000..44e2ada
--- /dev/null
+++ b/native/zenohex_nif/src/config.rs
@@ -0,0 +1,32 @@
+use rustler::ErlOption;
+
+#[derive(rustler::NifStruct)]
+#[module = "Zenohex.Config"]
+pub(crate) struct ExConfig {
+    scouting: ExConfigScouting,
+}
+
+impl From<ExConfig> for zenoh::prelude::config::Config {
+    fn from(value: ExConfig) -> Self {
+        let mut config = zenoh::prelude::config::peer();
+        config.scouting = value.scouting.into();
+        config
+    }
+}
+
+#[derive(rustler::NifStruct)]
+#[module = "Zenohex.Config.Scouting"]
+pub(crate) struct ExConfigScouting {
+    delay: ErlOption<u64>,
+}
+
+impl From<ExConfigScouting> for zenoh::prelude::config::ScoutingConf {
+    fn from(value: ExConfigScouting) -> Self {
+        let mut config = zenoh::prelude::config::ScoutingConf::default();
+        let _ = match Option::<u64>::from(value.delay) {
+            Some(delay) => config.set_delay(Some(delay)),
+            None => config.set_delay(None),
+        };
+        config
+    }
+}
diff --git a/native/zenohex_nif/src/lib.rs b/native/zenohex_nif/src/lib.rs
index cbcf8ab..8dea25a 100644
--- a/native/zenohex_nif/src/lib.rs
+++ b/native/zenohex_nif/src/lib.rs
@@ -13,6 +13,7 @@ mod atoms {
         disconnected,
     }
 }
+mod config;
 mod keyexpr;
 mod publisher;
 mod pull_subscriber;
@@ -33,22 +34,8 @@ struct QueryRef(RwLock<Option<Query>>);
 struct SampleRef(Sample);
 
 #[rustler::nif(schedule = "DirtyIo")]
-fn zenoh_open() -> Result<ResourceArc<SessionRef>, String> {
-    let config = config::peer();
-    match zenoh::open(config).res_sync() {
-        Ok(session) => Ok(ResourceArc::new(SessionRef(session.into_arc()))),
-        Err(error) => Err(error.to_string()),
-    }
-}
-
-#[rustler::nif(schedule = "DirtyIo")]
-fn zenoh_scouting_delay_zero_session() -> Result<ResourceArc<SessionRef>, String> {
-    let mut config = config::peer();
-    let config = match config.scouting.set_delay(Some(0)) {
-        Ok(_) => config,
-        Err(_) => return Err("set_delay failed".to_string()),
-    };
-
+fn zenoh_open(config: crate::config::ExConfig) -> Result<ResourceArc<SessionRef>, String> {
+    let config: zenoh::prelude::config::Config = config.into();
     match zenoh::open(config).res_sync() {
         Ok(session) => Ok(ResourceArc::new(SessionRef(session.into_arc()))),
         Err(error) => Err(error.to_string()),
@@ -71,7 +58,6 @@ rustler::init!(
     "Elixir.Zenohex.Nif",
     [
         zenoh_open,
-        zenoh_scouting_delay_zero_session,
         session::declare_publisher,
         session::declare_subscriber,
         session::declare_pull_subscriber,
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index f97899a..f9e4712 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -2,10 +2,12 @@ defmodule Zenohex.NifTest do
   use ExUnit.Case, async: true
 
   alias Zenohex.Nif
+  alias Zenohex.Config
+  alias Zenohex.Config.Scouting
   alias Zenohex.Sample
 
   setup_all do
-    {:ok, session} = Nif.zenoh_open()
+    {:ok, session} = Nif.zenoh_open(%Config{scouting: %Scouting{delay: 0}})
     %{session: session}
   end
 

From 742c3f6faff8d449ee27e0d8882f434f301fc9a0 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 12 Feb 2024 12:58:07 +0900
Subject: [PATCH 121/165] Add Config.Connect

---
 lib/zenohex/config.ex            |  5 +++--
 lib/zenohex/config/connect.ex    | 14 ++++++++++++++
 mix.exs                          |  1 +
 native/zenohex_nif/src/config.rs | 24 ++++++++++++++++++++++++
 test/zenohex/config_test.exs     | 16 ++++++++++++++++
 5 files changed, 58 insertions(+), 2 deletions(-)
 create mode 100644 lib/zenohex/config/connect.ex
 create mode 100644 test/zenohex/config_test.exs

diff --git a/lib/zenohex/config.ex b/lib/zenohex/config.ex
index 9000b0a..03a18fb 100644
--- a/lib/zenohex/config.ex
+++ b/lib/zenohex/config.ex
@@ -5,8 +5,9 @@ defmodule Zenohex.Config do
   Used by `Zenohex.open/1`, `Zenohex.open!/1`.
   """
 
+  alias Zenohex.Config.Connect
   alias Zenohex.Config.Scouting
 
-  @type t :: %__MODULE__{scouting: Scouting.t()}
-  defstruct scouting: %Scouting{}
+  @type t :: %__MODULE__{connect: Connect.t(), scouting: Scouting.t()}
+  defstruct connect: %Connect{}, scouting: %Scouting{}
 end
diff --git a/lib/zenohex/config/connect.ex b/lib/zenohex/config/connect.ex
new file mode 100644
index 0000000..21268cd
--- /dev/null
+++ b/lib/zenohex/config/connect.ex
@@ -0,0 +1,14 @@
+defmodule Zenohex.Config.Connect do
+  @moduledoc """
+  Documentation for `#{__MODULE__}`.
+  """
+
+  @type t :: %__MODULE__{endpoints: endpoints()}
+
+  @typedoc """
+  ex. ["tcp/192.168.1.1:7447", "tcp/192.168.1.2:7447"]
+  """
+  @type endpoints() :: [String.t()]
+
+  defstruct endpoints: []
+end
diff --git a/mix.exs b/mix.exs
index b1cd3e7..6eb134d 100644
--- a/mix.exs
+++ b/mix.exs
@@ -71,6 +71,7 @@ defmodule Zenohex.MixProject do
       groups_for_modules: [
         Configs: [
           Zenohex.Config,
+          Zenohex.Config.Connect,
           Zenohex.Config.Scouting
         ],
         Options: [
diff --git a/native/zenohex_nif/src/config.rs b/native/zenohex_nif/src/config.rs
index 44e2ada..0c3868a 100644
--- a/native/zenohex_nif/src/config.rs
+++ b/native/zenohex_nif/src/config.rs
@@ -3,17 +3,41 @@ use rustler::ErlOption;
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Config"]
 pub(crate) struct ExConfig {
+    connect: ExConfigConnect,
     scouting: ExConfigScouting,
 }
 
 impl From<ExConfig> for zenoh::prelude::config::Config {
     fn from(value: ExConfig) -> Self {
         let mut config = zenoh::prelude::config::peer();
+        config.connect = value.connect.into();
         config.scouting = value.scouting.into();
         config
     }
 }
 
+#[derive(rustler::NifStruct)]
+#[module = "Zenohex.Config.Connect"]
+pub(crate) struct ExConfigConnect {
+    endpoints: Vec<String>,
+}
+
+impl From<ExConfigConnect> for zenoh::prelude::config::ConnectConfig {
+    fn from(value: ExConfigConnect) -> Self {
+        let endpoints = value
+            .endpoints
+            .iter()
+            .map(|endpoint| {
+                zenoh::prelude::config::EndPoint::try_from(endpoint.clone())
+                    .unwrap_or_else(|error| panic!("{}", error.to_string()))
+            })
+            .collect();
+        let mut config = zenoh::prelude::config::ConnectConfig::default();
+        let _ = config.set_endpoints(endpoints);
+        config
+    }
+}
+
 #[derive(rustler::NifStruct)]
 #[module = "Zenohex.Config.Scouting"]
 pub(crate) struct ExConfigScouting {
diff --git a/test/zenohex/config_test.exs b/test/zenohex/config_test.exs
new file mode 100644
index 0000000..6f37fe1
--- /dev/null
+++ b/test/zenohex/config_test.exs
@@ -0,0 +1,16 @@
+defmodule Zenohex.ConfigTest do
+  use ExUnit.Case, async: true
+
+  alias Zenohex.Config
+  alias Zenohex.Config.Connect
+  alias Zenohex.Config.Scouting
+
+  test "" do
+    config = %Config{
+      connect: %Connect{endpoints: ["tcp/localhost:7447"]},
+      scouting: %Scouting{delay: 200}
+    }
+
+    assert {:ok, _session} = Zenohex.open(config)
+  end
+end

From 9f9b0e97f6b1e22f70f90e58a4f33cb80e5d3fbb Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 12 Feb 2024 13:17:13 +0900
Subject: [PATCH 122/165] Suppress not harmful dialyzer error

This issue, https://github.com/rusterlium/rustler/issues/569, is already fixed by 570 but still not released.
---
 lib/zenohex/nif.ex | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index de85950..ba1312a 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -16,6 +16,8 @@ defmodule Zenohex.Nif do
 
   # for Nerves
   @compile {:autoload, false}
+  # suppress dialyzer error, remove this when https://github.com/rusterlium/rustler/pull/570 is released
+  @dialyzer :no_match
 
   alias Zenohex.Publisher
   alias Zenohex.Subscriber

From 7351461c9d6521353b2b45f5bf5e926be4c2150a Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 12 Feb 2024 14:35:41 +0900
Subject: [PATCH 123/165] Modify dialyzer settings

---
 .gitignore | 3 +++
 mix.exs    | 8 ++++++++
 2 files changed, 11 insertions(+)

diff --git a/.gitignore b/.gitignore
index 2f3db49..ebee2f0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -26,3 +26,6 @@ zenohex-*.tar
 /tmp/
 
 /priv/native/
+
+/priv/plts/*.plt
+/priv/plts/*.plt.hash
diff --git a/mix.exs b/mix.exs
index 6eb134d..8c92cf0 100644
--- a/mix.exs
+++ b/mix.exs
@@ -18,6 +18,7 @@ defmodule Zenohex.MixProject do
       source_url: @source_url,
       docs: docs(),
       test_coverage: test_coverage(),
+      dialyzer: dialyzer(),
       aliases: [
         {:test, [&disable_zenoh_delay/1, "test"]},
         {:"test.watch", [&disable_zenoh_delay/1, "test.watch"]}
@@ -98,6 +99,13 @@ defmodule Zenohex.MixProject do
     ]
   end
 
+  defp dialyzer() do
+    [
+      plt_file: {:no_warn, "priv/plts/project.plt"},
+      plt_core_path: "priv/plts/core.plt"
+    ]
+  end
+
   defp disable_zenoh_delay(_args) do
     :ok =
       """

From f1c40eb51e6f6842d7c462647c78154393c300e9 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 12 Feb 2024 14:35:51 +0900
Subject: [PATCH 124/165] Enhance CI

---
 .github/workflows/ci.yaml | 95 ++++++++++++++++++++++++++++++++++-----
 1 file changed, 84 insertions(+), 11 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index c2f784a..dfa9b6f 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -3,25 +3,49 @@ name: CI
 env:
   OTP_VERSION: 26.1.2
   ELIXIR_VERSION: 1.15.7
+  MIX_ENV: test
 
 # based https://github.com/erlef/setup-beam
 
 on:
   push:
     branches:
-      - 'pojiro/0.2.0-dev'
+      - "pojiro/0.2.0-dev"
 
 jobs:
-  test:
+  build-deps:
     runs-on: ubuntu-latest
 
-    env:
-      MIX_ENV: test
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: erlef/setup-beam@v1
+        id: setup-beam
+        with:
+          otp-version: ${{env.OTP_VERSION}}
+          elixir-version: ${{env.ELIXIR_VERSION}}
+
+      - uses: actions/cache@v4
+        id: save-deps-cache
+        with:
+          path: |
+            deps
+            _build
+          key: deps-${{ runner.os }}-${{ steps.setup-beam.outputs.otp-version }}-${{ steps.setup-beam.outputs.elixir-version }}-${{ hashFiles('**/*.lock') }}
+
+      - name: build deps
+        if: steps.save-deps-cache.outputs.cache-hit != 'true'
+        run: mix do deps.get, deps.compile
+
+  code-analysis:
+    needs: build-deps
+    runs-on: ubuntu-latest
 
     steps:
       - uses: actions/checkout@v4
 
       - uses: erlef/setup-beam@v1
+        id: setup-beam
         with:
           otp-version: ${{env.OTP_VERSION}}
           elixir-version: ${{env.ELIXIR_VERSION}}
@@ -30,8 +54,14 @@ jobs:
         with:
           components: rustfmt
 
-      - name: get deps
-        run: mix do deps.get, deps.compile
+      - uses: actions/cache/restore@v4
+        id: restore-deps-cache
+        with:
+          path: |
+            deps
+            _build
+          key: deps-${{ runner.os }}-${{ steps.setup-beam.outputs.otp-version }}-${{ steps.setup-beam.outputs.elixir-version }}-${{ hashFiles('**/*.lock') }}
+          restore-keys: deps-${{ runner.os }}-${{ steps.setup-beam.outputs.otp-version }}-${{ steps.setup-beam.outputs.elixir-version }}-
 
       - name: format
         run: mix format --check-formatted
@@ -40,10 +70,53 @@ jobs:
         working-directory: native/zenohex_nif
         run: cargo fmt --all -- --check
 
-      - name: test & coverage
-        run: |
-          mix test --warnings-as-errors
-          mix test --cover
-
       - name: credo
         run: mix credo --all
+
+      - name: restore plts cache
+        id: restore-plts-cache
+        uses: actions/cache/restore@v4
+        with:
+          key: plts-${{ runner.os }}-${{ steps.setup-beam.outputs.otp-version }}-${{ steps.setup-beam.outputs.elixir-version }}-${{ hashFiles('**/*.lock') }}
+          restore-keys: plts-${{ runner.os }}-${{ steps.setup-beam.outputs.otp-version }}-${{ steps.setup-beam.outputs.elixir-version }}-
+          path: priv/plts
+
+      - name: create plts
+        if: steps.restore-plts-cache.outputs.cache-hit != 'true'
+        run: mix dialyzer --plt
+
+      - name: save plts cache
+        id: save-plts-cache
+        uses: actions/cache/save@v4
+        if: steps.restore-plts-cache.outputs.cache-hit != 'true'
+        with:
+          key: plts-${{ runner.os }}-${{ steps.setup-beam.outputs.otp-version }}-${{ steps.setup-beam.outputs.elixir-version }}-${{ hashFiles('**/*.lock') }}
+          path: priv/plts
+
+      - name: dialyzer
+        run: mix dialyzer --format github
+
+  test:
+    needs: build-deps
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: erlef/setup-beam@v1
+        id: setup-beam
+        with:
+          otp-version: ${{env.OTP_VERSION}}
+          elixir-version: ${{env.ELIXIR_VERSION}}
+
+      - uses: actions/cache/restore@v4
+        id: restore-deps-cache
+        with:
+          path: |
+            deps
+            _build
+          key: deps-${{ runner.os }}-${{ steps.setup-beam.outputs.otp-version }}-${{ steps.setup-beam.outputs.elixir-version }}-${{ hashFiles('**/*.lock') }}
+          restore-keys: deps-${{ runner.os }}-${{ steps.setup-beam.outputs.otp-version }}-${{ steps.setup-beam.outputs.elixir-version }}-
+
+      - name: test
+        run: mix test --warnings-as-errors --cover

From dd1fec194986b36f17dbb457cc57eabc317c871b Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 12 Feb 2024 14:52:32 +0900
Subject: [PATCH 125/165] Fix docs name

---
 mix.exs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mix.exs b/mix.exs
index 8c92cf0..479df61 100644
--- a/mix.exs
+++ b/mix.exs
@@ -14,7 +14,7 @@ defmodule Zenohex.MixProject do
       start_permanent: Mix.env() == :prod,
       deps: deps(),
       # Docs
-      name: "ZenohEx",
+      name: "Zenohex",
       source_url: @source_url,
       docs: docs(),
       test_coverage: test_coverage(),

From 75dd1ee9ae21243e2c99031b63bb32c1d8a8cee1 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 12 Feb 2024 15:51:54 +0900
Subject: [PATCH 126/165] Bump version to v0.2.0-rc.2

---
 mix.exs                       | 2 +-
 native/zenohex_nif/Cargo.lock | 2 +-
 native/zenohex_nif/Cargo.toml | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/mix.exs b/mix.exs
index 479df61..190ec10 100644
--- a/mix.exs
+++ b/mix.exs
@@ -1,7 +1,7 @@
 defmodule Zenohex.MixProject do
   use Mix.Project
 
-  @version "0.2.0-rc.1"
+  @version "0.2.0-rc.2"
   @source_url "https://github.com/b5g-ex/zenohex"
 
   def project do
diff --git a/native/zenohex_nif/Cargo.lock b/native/zenohex_nif/Cargo.lock
index ce6e395..c658e0f 100644
--- a/native/zenohex_nif/Cargo.lock
+++ b/native/zenohex_nif/Cargo.lock
@@ -3322,7 +3322,7 @@ dependencies = [
 
 [[package]]
 name = "zenohex_nif"
-version = "0.2.0-rc.1"
+version = "0.2.0-rc.2"
 dependencies = [
  "flume",
  "futures",
diff --git a/native/zenohex_nif/Cargo.toml b/native/zenohex_nif/Cargo.toml
index 7918c17..d444b93 100644
--- a/native/zenohex_nif/Cargo.toml
+++ b/native/zenohex_nif/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "zenohex_nif"
-version = "0.2.0-rc.1"
+version = "0.2.0-rc.2"
 authors = []
 edition = "2021"
 

From 188aca5e682b818a4b43a264d63daddd9d4a7aaf Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 12 Feb 2024 16:09:32 +0900
Subject: [PATCH 127/165] Update chechsum-Elixir.Zenohex.Nif.exs

---
 checksum-Elixir.Zenohex.Nif.exs | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/checksum-Elixir.Zenohex.Nif.exs b/checksum-Elixir.Zenohex.Nif.exs
index aab9cbd..4388fef 100644
--- a/checksum-Elixir.Zenohex.Nif.exs
+++ b/checksum-Elixir.Zenohex.Nif.exs
@@ -1,11 +1,11 @@
 %{
-  "libzenohex_nif-v0.2.0-rc.1-nif-2.15-aarch64-apple-darwin.so.tar.gz" => "sha256:7877bc6913c252485ed10bbd6e4081b8f74be84dd8f251e3bf40b767871ea3da",
-  "libzenohex_nif-v0.2.0-rc.1-nif-2.15-aarch64-unknown-linux-gnu.so.tar.gz" => "sha256:9353f1943337976731ab1111f3df524510fc990217a39989714dc0b56a813880",
-  "libzenohex_nif-v0.2.0-rc.1-nif-2.15-aarch64-unknown-linux-musl.so.tar.gz" => "sha256:3ab203d686436f0d935907dd80fe035890c3f692fc94b1a8d03536d88f9a6f61",
-  "libzenohex_nif-v0.2.0-rc.1-nif-2.15-arm-unknown-linux-gnueabihf.so.tar.gz" => "sha256:b1406f2bc2cda6df768432c700d1bb571dd6ca2b85584af4cc88d17dd4cbaa96",
-  "libzenohex_nif-v0.2.0-rc.1-nif-2.15-x86_64-apple-darwin.so.tar.gz" => "sha256:4fdcaac50d65e6d069fde911b25e30c04aff4c8c8fd69917906a870db47814e3",
-  "libzenohex_nif-v0.2.0-rc.1-nif-2.15-x86_64-unknown-linux-gnu.so.tar.gz" => "sha256:32bc5b176bb81b384265f061e4953fd0b265dc6cc2219897962689059a1f8c6e",
-  "libzenohex_nif-v0.2.0-rc.1-nif-2.15-x86_64-unknown-linux-musl.so.tar.gz" => "sha256:0c306e0b3a4cb790a7f99037c2925ea76efebf254ab7d9a238820097c68b95ce",
-  "zenohex_nif-v0.2.0-rc.1-nif-2.15-x86_64-pc-windows-gnu.dll.tar.gz" => "sha256:32d156d75f8815338dfd0ff0664eef43030b5469c505fd741e14b1d2b9c14eca",
-  "zenohex_nif-v0.2.0-rc.1-nif-2.15-x86_64-pc-windows-msvc.dll.tar.gz" => "sha256:81c7fec9f38006f74843230ae82d9a6895912e7b1353261e06c781ea9f87174b",
+  "libzenohex_nif-v0.2.0-rc.2-nif-2.15-aarch64-apple-darwin.so.tar.gz" => "sha256:50123c9e497693e616daf10fcc3731329de3b2b25d7201bdfa06d4e1b430383e",
+  "libzenohex_nif-v0.2.0-rc.2-nif-2.15-aarch64-unknown-linux-gnu.so.tar.gz" => "sha256:d5fa11e706bdf974511c2a2ea4731e16460a272a5752ba9721201b3f6b435ae4",
+  "libzenohex_nif-v0.2.0-rc.2-nif-2.15-aarch64-unknown-linux-musl.so.tar.gz" => "sha256:4957bd71810dbff7d5685f3a6469cbf1adbe849e0e88c00607910441c701d0db",
+  "libzenohex_nif-v0.2.0-rc.2-nif-2.15-arm-unknown-linux-gnueabihf.so.tar.gz" => "sha256:db0dcbf78eea7fc7c8f9bfd6b9acd816da560c6ea345494195df8f9b967a2714",
+  "libzenohex_nif-v0.2.0-rc.2-nif-2.15-x86_64-apple-darwin.so.tar.gz" => "sha256:3413ab2f8f8772a690b59c43b6e5db5e3fcec721bc481ea14da20c890b22f561",
+  "libzenohex_nif-v0.2.0-rc.2-nif-2.15-x86_64-unknown-linux-gnu.so.tar.gz" => "sha256:c835b87013dc722c647851358deabd17abdc274c79b42fab617662ed06b8866c",
+  "libzenohex_nif-v0.2.0-rc.2-nif-2.15-x86_64-unknown-linux-musl.so.tar.gz" => "sha256:bc614603b0424618d5e18440cd9637b6deaf835d52f5523f936935b2f863a45f",
+  "zenohex_nif-v0.2.0-rc.2-nif-2.15-x86_64-pc-windows-gnu.dll.tar.gz" => "sha256:f4acdab20483a65e7e2f85aa139df5856e6ba1db7827e729af8b77fe46562779",
+  "zenohex_nif-v0.2.0-rc.2-nif-2.15-x86_64-pc-windows-msvc.dll.tar.gz" => "sha256:c9091043d80c1e6183002472cb2bc630767a783980665785836f8644921fae57",
 }

From f39dd3f3e5ae590642490be6b8c485e459a8b337 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 12 Feb 2024 16:09:48 +0900
Subject: [PATCH 128/165] Update README.md

---
 README.md | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 128875a..7186227 100644
--- a/README.md
+++ b/README.md
@@ -80,4 +80,11 @@ Use them as reference for your implementation.
 
 ### How to release
 
-Follow [Recommended flow](https://hexdocs.pm/rustler_precompiled/precompilation_guide.html#recommended-flow).
+1. Change versions, `mix.exs`, `native/zenohex_nif/Cargo.toml`
+2. Run test, this step changes `native/zenohex_nif/Cargo.lock` version
+3. Commit them and put the version tag, like v0.2.0
+4. Puth the tag, like `git push origin v0.2.0`. this step triggers the `.github/workflows/nif_precompile.yml`
+5. After the artifacts are made, run `mix rustler_precompiled.download Zenohex.Nif --all` to update `checksum-Elixir.Zenohex.Nif.exs` and commit it.
+6. Then publish to Hex
+
+(These steps just follows [Recommended flow](https://hexdocs.pm/rustler_precompiled/precompilation_guide.html#recommended-flow).)

From 16fe61377b9476dcb9dec09d886ae610c90c83e9 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Tue, 13 Feb 2024 20:07:34 +0900
Subject: [PATCH 129/165] Remove `async: true` to avoid interference between
 tests that throw zenoh messages

---
 test/version_match_test.exs           | 2 +-
 test/zenohex/config_test.exs          | 2 +-
 test/zenohex/nif_test.exs             | 2 +-
 test/zenohex/publisher_test.exs       | 2 +-
 test/zenohex/pull_subscriber_test.exs | 2 +-
 test/zenohex/queryable_test.exs       | 2 +-
 test/zenohex/session_test.exs         | 2 +-
 test/zenohex/subscriber_test.exs      | 2 +-
 test/zenohex_test.exs                 | 2 +-
 9 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/test/version_match_test.exs b/test/version_match_test.exs
index ada7744..9ef85ae 100644
--- a/test/version_match_test.exs
+++ b/test/version_match_test.exs
@@ -1,5 +1,5 @@
 defmodule Zenohex.VersionMatchTest do
-  use ExUnit.Case, async: true
+  use ExUnit.Case
 
   describe "CI" do
     test "version match" do
diff --git a/test/zenohex/config_test.exs b/test/zenohex/config_test.exs
index 6f37fe1..0b1004c 100644
--- a/test/zenohex/config_test.exs
+++ b/test/zenohex/config_test.exs
@@ -1,5 +1,5 @@
 defmodule Zenohex.ConfigTest do
-  use ExUnit.Case, async: true
+  use ExUnit.Case
 
   alias Zenohex.Config
   alias Zenohex.Config.Connect
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index f9e4712..0f39cce 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -1,5 +1,5 @@
 defmodule Zenohex.NifTest do
-  use ExUnit.Case, async: true
+  use ExUnit.Case
 
   alias Zenohex.Nif
   alias Zenohex.Config
diff --git a/test/zenohex/publisher_test.exs b/test/zenohex/publisher_test.exs
index 87eee73..460cfd5 100644
--- a/test/zenohex/publisher_test.exs
+++ b/test/zenohex/publisher_test.exs
@@ -1,4 +1,4 @@
 defmodule Zenohex.PublisherTest do
-  use ExUnit.Case, async: true
+  use ExUnit.Case
   doctest Zenohex.Publisher
 end
diff --git a/test/zenohex/pull_subscriber_test.exs b/test/zenohex/pull_subscriber_test.exs
index 8272d6b..8eb9c1d 100644
--- a/test/zenohex/pull_subscriber_test.exs
+++ b/test/zenohex/pull_subscriber_test.exs
@@ -1,4 +1,4 @@
 defmodule Zenohex.PullSubscriberTest do
-  use ExUnit.Case, async: true
+  use ExUnit.Case
   doctest Zenohex.PullSubscriber
 end
diff --git a/test/zenohex/queryable_test.exs b/test/zenohex/queryable_test.exs
index d06eb19..dad7ca3 100644
--- a/test/zenohex/queryable_test.exs
+++ b/test/zenohex/queryable_test.exs
@@ -1,4 +1,4 @@
 defmodule Zenohex.QueryableTest do
-  use ExUnit.Case, async: true
+  use ExUnit.Case
   doctest Zenohex.Queryable
 end
diff --git a/test/zenohex/session_test.exs b/test/zenohex/session_test.exs
index d00c612..33fecb6 100644
--- a/test/zenohex/session_test.exs
+++ b/test/zenohex/session_test.exs
@@ -1,4 +1,4 @@
 defmodule Zenohex.SessionTest do
-  use ExUnit.Case, async: true
+  use ExUnit.Case
   doctest Zenohex.Session
 end
diff --git a/test/zenohex/subscriber_test.exs b/test/zenohex/subscriber_test.exs
index 4d055a8..0a73301 100644
--- a/test/zenohex/subscriber_test.exs
+++ b/test/zenohex/subscriber_test.exs
@@ -1,4 +1,4 @@
 defmodule Zenohex.SubscriberTest do
-  use ExUnit.Case, async: true
+  use ExUnit.Case
   doctest Zenohex.Subscriber
 end
diff --git a/test/zenohex_test.exs b/test/zenohex_test.exs
index 1410320..9f1e7d1 100644
--- a/test/zenohex_test.exs
+++ b/test/zenohex_test.exs
@@ -1,5 +1,5 @@
 defmodule ZenohexTest do
-  use ExUnit.Case, async: true
+  use ExUnit.Case
   doctest Zenohex
 
   alias Zenohex.Sample

From f3446ce714989b4edab8fb4924bf2c6da9b84028 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 14 Feb 2024 06:12:55 +0900
Subject: [PATCH 130/165] Fix flaky Examples.SessionTest which depends on the
 network interface and its quality

---
 lib/zenohex/examples/session.ex        |  4 ++++
 lib/zenohex/examples/session/impl.ex   |  8 ++++++++
 test/zenohex/examples/session_test.exs | 22 +++++++++++++++-------
 3 files changed, 27 insertions(+), 7 deletions(-)

diff --git a/lib/zenohex/examples/session.ex b/lib/zenohex/examples/session.ex
index 8b905ee..836dbdf 100644
--- a/lib/zenohex/examples/session.ex
+++ b/lib/zenohex/examples/session.ex
@@ -54,6 +54,10 @@ defmodule Zenohex.Examples.Session do
     Supervisor.start_link(__MODULE__, %{session: session}, name: __MODULE__)
   end
 
+  @doc "Get session."
+  @spec session() :: Zenohex.Session.t()
+  defdelegate session(), to: Session.Impl
+
   @doc "Put data."
   @spec put(String.t(), integer() | float() | binary()) :: :ok
   defdelegate put(key_expr, value), to: Session.Impl
diff --git a/lib/zenohex/examples/session/impl.ex b/lib/zenohex/examples/session/impl.ex
index a78421d..60153bf 100644
--- a/lib/zenohex/examples/session/impl.ex
+++ b/lib/zenohex/examples/session/impl.ex
@@ -11,6 +11,10 @@ defmodule Zenohex.Examples.Session.Impl do
     GenServer.start_link(__MODULE__, args, name: __MODULE__)
   end
 
+  def session() do
+    GenServer.call(__MODULE__, :session)
+  end
+
   def put(key_expr, value) do
     GenServer.call(__MODULE__, {:put, key_expr, value})
   end
@@ -38,6 +42,10 @@ defmodule Zenohex.Examples.Session.Impl do
      }}
   end
 
+  def handle_call(:session, _from, state) do
+    {:reply, state.session, state}
+  end
+
   def handle_call({:put, key_expr, value}, _from, state) do
     ret = Session.put(state.session, key_expr, value)
     {:reply, ret, state}
diff --git a/test/zenohex/examples/session_test.exs b/test/zenohex/examples/session_test.exs
index 1d7bb9e..8c0e958 100644
--- a/test/zenohex/examples/session_test.exs
+++ b/test/zenohex/examples/session_test.exs
@@ -9,17 +9,25 @@ defmodule Zenohex.Examples.SessionTest do
 
   setup do
     start_supervised!({Session, %{}})
-    :ok
+
+    # NOTE: Use the same session for Subscriber or Queryable, to run unit tests even if you only have a loopback interface.
+    #
+    #       - If you only have a loopback interface(lo), the test will always fail if you use different sessions.
+    #         Because the peer cannot scout the another peer on lo.
+    #       - Even if you have a network interface other than loopback,
+    #         using different sessions may cause the test to fail depending on the scouting.
+
+    %{session: Session.session()}
   end
 
   describe "put/2" do
-    test "with subscriber" do
+    test "with subscriber", %{session: session} do
       me = self()
 
       start_supervised!(
         {Subscriber,
          %{
-           session: Zenohex.open!(),
+           session: session,
            key_expr: "key/expression/**",
            callback: fn sample -> send(me, sample) end
          }}
@@ -31,13 +39,13 @@ defmodule Zenohex.Examples.SessionTest do
   end
 
   describe "delete/1" do
-    test "with subscriber" do
+    test "with subscriber", %{session: session} do
       me = self()
 
       start_supervised!(
         {Subscriber,
          %{
-           session: Zenohex.open!(),
+           session: session,
            key_expr: "key/expression/**",
            callback: fn sample -> send(me, sample) end
          }}
@@ -58,11 +66,11 @@ defmodule Zenohex.Examples.SessionTest do
       assert_receive :disconnected
     end
 
-    test "with queryable" do
+    test "with queryable", %{session: session} do
       start_supervised!(
         {Queryable,
          %{
-           session: Zenohex.open!(),
+           session: session,
            key_expr: "key/expression/**",
            callback: fn query ->
              :ok = Query.reply(query, %Sample{key_expr: "key/expression/reply"})

From 5572390af4b487f111d33d64b328a8eff0884839 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 14 Feb 2024 06:13:20 +0900
Subject: [PATCH 131/165] Refactor Examples.Session.Impl

---
 lib/zenohex/examples/session/impl.ex | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/lib/zenohex/examples/session/impl.ex b/lib/zenohex/examples/session/impl.ex
index 60153bf..b472ebb 100644
--- a/lib/zenohex/examples/session/impl.ex
+++ b/lib/zenohex/examples/session/impl.ex
@@ -5,8 +5,6 @@ defmodule Zenohex.Examples.Session.Impl do
 
   require Logger
 
-  alias Zenohex.Session
-
   def start_link(args) do
     GenServer.start_link(__MODULE__, args, name: __MODULE__)
   end
@@ -47,7 +45,7 @@ defmodule Zenohex.Examples.Session.Impl do
   end
 
   def handle_call({:put, key_expr, value}, _from, state) do
-    ret = Session.put(state.session, key_expr, value)
+    ret = Zenohex.Session.put(state.session, key_expr, value)
     {:reply, ret, state}
   end
 
@@ -56,18 +54,18 @@ defmodule Zenohex.Examples.Session.Impl do
   end
 
   def handle_call({:delete, key_expr}, _from, state) do
-    :ok = Session.delete(state.session, key_expr)
+    :ok = Zenohex.Session.delete(state.session, key_expr)
     {:reply, :ok, state}
   end
 
   def handle_call({:get, selector, callback}, _from, state) do
-    {:ok, receiver} = Session.get_reply_receiver(state.session, selector)
+    {:ok, receiver} = Zenohex.Session.get_reply_receiver(state.session, selector)
     send(self(), :get_reply)
     {:reply, :ok, %{state | selector: selector, receiver: receiver, callback: callback}}
   end
 
   def handle_info(:get_reply, state) do
-    case Session.get_reply_timeout(state.receiver) do
+    case Zenohex.Session.get_reply_timeout(state.receiver) do
       {:ok, sample} ->
         state.callback.(sample)
         send(self(), :get_reply)

From ef5d03a0b35e5372b71132ec9c996687bcbe4bbb Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 14 Feb 2024 06:16:51 +0900
Subject: [PATCH 132/165] Refactor
 Examples.(Subscriber|PullSubscriber|Queryable).Impl

---
 lib/zenohex/examples/pull_subscriber/impl.ex | 21 +++++++++-----------
 lib/zenohex/examples/queryable/impl.ex       | 11 ++++------
 lib/zenohex/examples/subscriber/impl.ex      | 11 ++++------
 3 files changed, 17 insertions(+), 26 deletions(-)

diff --git a/lib/zenohex/examples/pull_subscriber/impl.ex b/lib/zenohex/examples/pull_subscriber/impl.ex
index a21dcf6..9bfec74 100644
--- a/lib/zenohex/examples/pull_subscriber/impl.ex
+++ b/lib/zenohex/examples/pull_subscriber/impl.ex
@@ -23,23 +23,13 @@ defmodule Zenohex.Examples.PullSubscriber.Impl do
 
     {:ok, pull_subscriber} = Session.declare_pull_subscriber(session, key_expr)
     state = %{pull_subscriber: pull_subscriber, callback: callback}
-    recv_timeout(state)
+
+    send(self(), :loop)
 
     {:ok, state}
   end
 
   def handle_info(:loop, state) do
-    recv_timeout(state)
-
-    {:noreply, state}
-  end
-
-  def handle_call(:pull, _from, state) do
-    :ok = PullSubscriber.pull(state.pull_subscriber)
-    {:reply, :ok, state}
-  end
-
-  defp recv_timeout(state) do
     case PullSubscriber.recv_timeout(state.pull_subscriber) do
       {:ok, sample} ->
         state.callback.(sample)
@@ -51,5 +41,12 @@ defmodule Zenohex.Examples.PullSubscriber.Impl do
       {:error, error} ->
         Logger.error(inspect(error))
     end
+
+    {:noreply, state}
+  end
+
+  def handle_call(:pull, _from, state) do
+    :ok = PullSubscriber.pull(state.pull_subscriber)
+    {:reply, :ok, state}
   end
 end
diff --git a/lib/zenohex/examples/queryable/impl.ex b/lib/zenohex/examples/queryable/impl.ex
index c411fb3..64eac7c 100644
--- a/lib/zenohex/examples/queryable/impl.ex
+++ b/lib/zenohex/examples/queryable/impl.ex
@@ -19,18 +19,13 @@ defmodule Zenohex.Examples.Queryable.Impl do
 
     {:ok, queryable} = Session.declare_queryable(session, key_expr)
     state = %{queryable: queryable, callback: callback}
-    recv_timeout(state)
+
+    send(self(), :loop)
 
     {:ok, state}
   end
 
   def handle_info(:loop, state) do
-    recv_timeout(state)
-
-    {:noreply, state}
-  end
-
-  defp recv_timeout(state) do
     case Queryable.recv_timeout(state.queryable) do
       {:ok, query} ->
         state.callback.(query)
@@ -42,5 +37,7 @@ defmodule Zenohex.Examples.Queryable.Impl do
       {:error, error} ->
         Logger.error(inspect(error))
     end
+
+    {:noreply, state}
   end
 end
diff --git a/lib/zenohex/examples/subscriber/impl.ex b/lib/zenohex/examples/subscriber/impl.ex
index e2cea0d..c7bab37 100644
--- a/lib/zenohex/examples/subscriber/impl.ex
+++ b/lib/zenohex/examples/subscriber/impl.ex
@@ -19,18 +19,13 @@ defmodule Zenohex.Examples.Subscriber.Impl do
 
     {:ok, subscriber} = Session.declare_subscriber(session, key_expr)
     state = %{subscriber: subscriber, callback: callback}
-    recv_timeout(state)
+
+    send(self(), :loop)
 
     {:ok, state}
   end
 
   def handle_info(:loop, state) do
-    recv_timeout(state)
-
-    {:noreply, state}
-  end
-
-  defp recv_timeout(state) do
     case Subscriber.recv_timeout(state.subscriber) do
       {:ok, sample} ->
         state.callback.(sample)
@@ -42,5 +37,7 @@ defmodule Zenohex.Examples.Subscriber.Impl do
       {:error, error} ->
         Logger.error(inspect(error))
     end
+
+    {:noreply, state}
   end
 end

From 5514b4e3afdb797923fcb796d8d395353294444c Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 15 Feb 2024 13:50:36 +0900
Subject: [PATCH 133/165] Fix version, use 0.2.0-rc.2

---
 README.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index 7186227..c7aa82c 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,7 @@ by adding `zenohex` to your list of dependencies in `mix.exs`:
 ```elixir
 def deps do
   [
-    {:zenohex, "~> 0.2.0"}
+    {:zenohex, "~> 0.2.0-rc.2"}
   ]
 end
 ```
@@ -82,8 +82,8 @@ Use them as reference for your implementation.
 
 1. Change versions, `mix.exs`, `native/zenohex_nif/Cargo.toml`
 2. Run test, this step changes `native/zenohex_nif/Cargo.lock` version
-3. Commit them and put the version tag, like v0.2.0
-4. Puth the tag, like `git push origin v0.2.0`. this step triggers the `.github/workflows/nif_precompile.yml`
+3. Commit them and put the version tag, like v0.2.0-rc.2
+4. Puth the tag, like `git push origin v0.2.0-rc.2`. this step triggers the `.github/workflows/nif_precompile.yml`
 5. After the artifacts are made, run `mix rustler_precompiled.download Zenohex.Nif --all` to update `checksum-Elixir.Zenohex.Nif.exs` and commit it.
 6. Then publish to Hex
 

From 3a4f6125ca1cdf223118ad4fdb3936140b0f8eac Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 15 Feb 2024 14:54:46 +0900
Subject: [PATCH 134/165] Fix Zenoh.open!() timing with short-circuit eval

---
 lib/zenohex/examples/publisher.ex       | 2 +-
 lib/zenohex/examples/pull_subscriber.ex | 2 +-
 lib/zenohex/examples/queryable.ex       | 2 +-
 lib/zenohex/examples/session.ex         | 2 +-
 lib/zenohex/examples/storage.ex         | 2 +-
 lib/zenohex/examples/subscriber.ex      | 2 +-
 6 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/lib/zenohex/examples/publisher.ex b/lib/zenohex/examples/publisher.ex
index 13beaea..4e93911 100644
--- a/lib/zenohex/examples/publisher.ex
+++ b/lib/zenohex/examples/publisher.ex
@@ -50,7 +50,7 @@ defmodule Zenohex.Examples.Publisher do
   Start Publisher.
   """
   def start_link(args \\ %{}) when is_map(args) do
-    session = Map.get(args, :session, Zenohex.open!())
+    session = Map.get(args, :session) || Zenohex.open!()
     key_expr = Map.get(args, :key_expr, "zenohex/examples/pub")
     Supervisor.start_link(__MODULE__, %{session: session, key_expr: key_expr}, name: __MODULE__)
   end
diff --git a/lib/zenohex/examples/pull_subscriber.ex b/lib/zenohex/examples/pull_subscriber.ex
index 54e94fe..65d7595 100644
--- a/lib/zenohex/examples/pull_subscriber.ex
+++ b/lib/zenohex/examples/pull_subscriber.ex
@@ -46,7 +46,7 @@ defmodule Zenohex.Examples.PullSubscriber do
   Start PullSubscriber.
   """
   def start_link(args \\ %{}) when is_map(args) do
-    session = Map.get(args, :session, Zenohex.open!())
+    session = Map.get(args, :session) || Zenohex.open!()
     key_expr = Map.get(args, :key_expr, "zenohex/examples/**")
     callback = Map.get(args, :callback, &Logger.debug(inspect(&1)))
 
diff --git a/lib/zenohex/examples/queryable.ex b/lib/zenohex/examples/queryable.ex
index 4f51922..51561cc 100644
--- a/lib/zenohex/examples/queryable.ex
+++ b/lib/zenohex/examples/queryable.ex
@@ -44,7 +44,7 @@ defmodule Zenohex.Examples.Queryable do
   Start Queryable.
   """
   def start_link(args \\ %{}) when is_map(args) do
-    session = Map.get(args, :session, Zenohex.open!())
+    session = Map.get(args, :session) || Zenohex.open!()
     key_expr = Map.get(args, :key_expr, "zenohex/examples/**")
     callback = Map.get(args, :callback, &Logger.debug(inspect(&1)))
 
diff --git a/lib/zenohex/examples/session.ex b/lib/zenohex/examples/session.ex
index 836dbdf..c5a1eee 100644
--- a/lib/zenohex/examples/session.ex
+++ b/lib/zenohex/examples/session.ex
@@ -50,7 +50,7 @@ defmodule Zenohex.Examples.Session do
   Start Session.
   """
   def start_link(args \\ %{}) when is_map(args) do
-    session = Map.get(args, :session, Zenohex.open!())
+    session = Map.get(args, :session) || Zenohex.open!()
     Supervisor.start_link(__MODULE__, %{session: session}, name: __MODULE__)
   end
 
diff --git a/lib/zenohex/examples/storage.ex b/lib/zenohex/examples/storage.ex
index f0d1948..19f3f4e 100644
--- a/lib/zenohex/examples/storage.ex
+++ b/lib/zenohex/examples/storage.ex
@@ -56,7 +56,7 @@ defmodule Zenohex.Examples.Storage do
   Start storage.
   """
   def start_link(args \\ %{}) when is_map(args) do
-    session = Map.get(args, :session, Zenohex.open!())
+    session = Map.get(args, :session) || Zenohex.open!()
     key_expr = Map.get(args, :key_expr, "zenohex/examples/**")
     Supervisor.start_link(__MODULE__, %{session: session, key_expr: key_expr}, name: __MODULE__)
   end
diff --git a/lib/zenohex/examples/subscriber.ex b/lib/zenohex/examples/subscriber.ex
index f0171ac..dac1232 100644
--- a/lib/zenohex/examples/subscriber.ex
+++ b/lib/zenohex/examples/subscriber.ex
@@ -44,7 +44,7 @@ defmodule Zenohex.Examples.Subscriber do
   Start Subscriber.
   """
   def start_link(args \\ %{}) when is_map(args) do
-    session = Map.get(args, :session, Zenohex.open!())
+    session = Map.get(args, :session) || Zenohex.open!()
     key_expr = Map.get(args, :key_expr, "zenohex/examples/**")
     callback = Map.get(args, :callback, &Logger.debug(inspect(&1)))
 

From 6030e13233e44a72c29f8d919825e6e4bc6d8aa6 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 15 Feb 2024 15:10:38 +0900
Subject: [PATCH 135/165] Remove useless code

---
 lib/zenohex/examples/session.ex      | 4 ----
 lib/zenohex/examples/session/impl.ex | 8 --------
 2 files changed, 12 deletions(-)

diff --git a/lib/zenohex/examples/session.ex b/lib/zenohex/examples/session.ex
index c5a1eee..c3d0574 100644
--- a/lib/zenohex/examples/session.ex
+++ b/lib/zenohex/examples/session.ex
@@ -54,10 +54,6 @@ defmodule Zenohex.Examples.Session do
     Supervisor.start_link(__MODULE__, %{session: session}, name: __MODULE__)
   end
 
-  @doc "Get session."
-  @spec session() :: Zenohex.Session.t()
-  defdelegate session(), to: Session.Impl
-
   @doc "Put data."
   @spec put(String.t(), integer() | float() | binary()) :: :ok
   defdelegate put(key_expr, value), to: Session.Impl
diff --git a/lib/zenohex/examples/session/impl.ex b/lib/zenohex/examples/session/impl.ex
index b472ebb..5495bc5 100644
--- a/lib/zenohex/examples/session/impl.ex
+++ b/lib/zenohex/examples/session/impl.ex
@@ -9,10 +9,6 @@ defmodule Zenohex.Examples.Session.Impl do
     GenServer.start_link(__MODULE__, args, name: __MODULE__)
   end
 
-  def session() do
-    GenServer.call(__MODULE__, :session)
-  end
-
   def put(key_expr, value) do
     GenServer.call(__MODULE__, {:put, key_expr, value})
   end
@@ -40,10 +36,6 @@ defmodule Zenohex.Examples.Session.Impl do
      }}
   end
 
-  def handle_call(:session, _from, state) do
-    {:reply, state.session, state}
-  end
-
   def handle_call({:put, key_expr, value}, _from, state) do
     ret = Zenohex.Session.put(state.session, key_expr, value)
     {:reply, ret, state}

From cb5566d19ad5d58ded203a189a986571b58463bd Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 15 Feb 2024 15:11:57 +0900
Subject: [PATCH 136/165] Modify Zenohex.open/1

---
 lib/zenohex.ex | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/lib/zenohex.ex b/lib/zenohex.ex
index eb92d5d..f9d3fc3 100644
--- a/lib/zenohex.ex
+++ b/lib/zenohex.ex
@@ -17,8 +17,8 @@ defmodule Zenohex do
   """
   @spec open(Config.t()) :: {:ok, Session.t()} | {:error, reason :: any()}
   def open(config \\ %Config{}) do
-    if System.get_env("SCOUTING_DELAY") == "0" do
-      Nif.zenoh_open(%Config{scouting: %Scouting{delay: 0}})
+    if delay = System.get_env("SCOUTING_DELAY") do
+      Nif.zenoh_open(%Config{scouting: %Scouting{delay: String.to_integer(delay)}})
     else
       Nif.zenoh_open(config)
     end

From fc3cf096a672afcb9b70ab2e4df8e7d373b855d6 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 15 Feb 2024 15:13:20 +0900
Subject: [PATCH 137/165] Change disable_zenoh_delay/1 on mix.exs

---
 mix.exs | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/mix.exs b/mix.exs
index 190ec10..723bdac 100644
--- a/mix.exs
+++ b/mix.exs
@@ -111,14 +111,13 @@ defmodule Zenohex.MixProject do
       """
       =================================================================
       HEY, ZENOHEX DEVELOPER. TO REDUCE TESTING TIME,
-      WE COMPILE WITH API_OPEN_SESSION_DELAY=0 AND SET SCOUTING DELAY 0
+      WE COMPILE WITH API_OPEN_SESSION_DELAY=0
       =================================================================
       """
       |> String.trim_trailing()
       |> Mix.shell().info()
 
     :ok = System.put_env("API_OPEN_SESSION_DELAY", "0")
-    :ok = System.put_env("SCOUTING_DELAY", "0")
 
     Mix.Task.run("compile", ["--force"])
   end

From 790f95232cb7e332cd5ed23ec3a8a686e3d416e4 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 15 Feb 2024 15:17:05 +0900
Subject: [PATCH 138/165] Use different sessions in Examples.SessionTest

---
 lib/zenohex/examples/queryable/impl.ex  | 10 +++++++---
 lib/zenohex/examples/subscriber/impl.ex |  9 ++++++---
 test/zenohex/examples/session_test.exs  | 15 ++++++---------
 3 files changed, 19 insertions(+), 15 deletions(-)

diff --git a/lib/zenohex/examples/queryable/impl.ex b/lib/zenohex/examples/queryable/impl.ex
index 64eac7c..d1d2aeb 100644
--- a/lib/zenohex/examples/queryable/impl.ex
+++ b/lib/zenohex/examples/queryable/impl.ex
@@ -20,12 +20,18 @@ defmodule Zenohex.Examples.Queryable.Impl do
     {:ok, queryable} = Session.declare_queryable(session, key_expr)
     state = %{queryable: queryable, callback: callback}
 
-    send(self(), :loop)
+    recv_timeout(state)
 
     {:ok, state}
   end
 
   def handle_info(:loop, state) do
+    recv_timeout(state)
+
+    {:noreply, state}
+  end
+
+  def recv_timeout(state) do
     case Queryable.recv_timeout(state.queryable) do
       {:ok, query} ->
         state.callback.(query)
@@ -37,7 +43,5 @@ defmodule Zenohex.Examples.Queryable.Impl do
       {:error, error} ->
         Logger.error(inspect(error))
     end
-
-    {:noreply, state}
   end
 end
diff --git a/lib/zenohex/examples/subscriber/impl.ex b/lib/zenohex/examples/subscriber/impl.ex
index c7bab37..66e0ea4 100644
--- a/lib/zenohex/examples/subscriber/impl.ex
+++ b/lib/zenohex/examples/subscriber/impl.ex
@@ -20,12 +20,17 @@ defmodule Zenohex.Examples.Subscriber.Impl do
     {:ok, subscriber} = Session.declare_subscriber(session, key_expr)
     state = %{subscriber: subscriber, callback: callback}
 
-    send(self(), :loop)
+    recv_timeout(state)
 
     {:ok, state}
   end
 
   def handle_info(:loop, state) do
+    recv_timeout(state)
+    {:noreply, state}
+  end
+
+  defp recv_timeout(state) do
     case Subscriber.recv_timeout(state.subscriber) do
       {:ok, sample} ->
         state.callback.(sample)
@@ -37,7 +42,5 @@ defmodule Zenohex.Examples.Subscriber.Impl do
       {:error, error} ->
         Logger.error(inspect(error))
     end
-
-    {:noreply, state}
   end
 end
diff --git a/test/zenohex/examples/session_test.exs b/test/zenohex/examples/session_test.exs
index 8c0e958..76acdcf 100644
--- a/test/zenohex/examples/session_test.exs
+++ b/test/zenohex/examples/session_test.exs
@@ -6,18 +6,15 @@ defmodule Zenohex.Examples.SessionTest do
   alias Zenohex.Examples.Queryable
   alias Zenohex.Query
   alias Zenohex.Sample
+  alias Zenohex.Config
+  alias Zenohex.Config.Scouting
 
   setup do
-    start_supervised!({Session, %{}})
+    start_supervised!(
+      {Session, %{session: Zenohex.open!(%Config{scouting: %Scouting{delay: 0}})}}
+    )
 
-    # NOTE: Use the same session for Subscriber or Queryable, to run unit tests even if you only have a loopback interface.
-    #
-    #       - If you only have a loopback interface(lo), the test will always fail if you use different sessions.
-    #         Because the peer cannot scout the another peer on lo.
-    #       - Even if you have a network interface other than loopback,
-    #         using different sessions may cause the test to fail depending on the scouting.
-
-    %{session: Session.session()}
+    %{session: Zenohex.open!(%Config{scouting: %Scouting{delay: 30}})}
   end
 
   describe "put/2" do

From efb214f89be73e32f8013d83a431836f59e4b064 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 08:58:41 +0900
Subject: [PATCH 139/165] Refactor trivial, remove alias and more

---
 lib/zenohex/examples/publisher/impl.ex        | 13 ++++------
 lib/zenohex/examples/pull_subscriber/impl.ex  | 26 +++++++++----------
 lib/zenohex/examples/queryable/impl.ex        |  7 ++---
 lib/zenohex/examples/storage/queryable.ex     | 19 +++++---------
 lib/zenohex/examples/storage/store.ex         |  4 +--
 .../examples/storage/store_behaviour.ex       | 11 ++++----
 lib/zenohex/examples/storage/subscriber.ex    | 15 ++++-------
 lib/zenohex/examples/subscriber/impl.ex       |  7 ++---
 test/zenohex/examples/publisher_test.exs      |  5 ++--
 .../zenohex/examples/pull_subscriber_test.exs | 14 +++++-----
 test/zenohex/examples/queryable_test.exs      |  6 ++---
 test/zenohex/examples/session_test.exs        | 12 ++++-----
 test/zenohex/examples/storage_test.exs        | 11 ++++----
 test/zenohex/examples/subscriber_test.exs     |  6 ++---
 14 files changed, 63 insertions(+), 93 deletions(-)

diff --git a/lib/zenohex/examples/publisher/impl.ex b/lib/zenohex/examples/publisher/impl.ex
index f08efec..fee730e 100644
--- a/lib/zenohex/examples/publisher/impl.ex
+++ b/lib/zenohex/examples/publisher/impl.ex
@@ -3,9 +3,6 @@ defmodule Zenohex.Examples.Publisher.Impl do
 
   use GenServer
 
-  alias Zenohex.Session
-  alias Zenohex.Publisher
-
   def start_link(args) do
     GenServer.start_link(__MODULE__, args, name: __MODULE__)
   end
@@ -29,27 +26,27 @@ defmodule Zenohex.Examples.Publisher.Impl do
   def init(args) do
     session = Map.fetch!(args, :session)
     key_expr = Map.fetch!(args, :key_expr)
-    {:ok, publisher} = Session.declare_publisher(session, key_expr)
+    {:ok, publisher} = Zenohex.Session.declare_publisher(session, key_expr)
     {:ok, %{publisher: publisher}}
   end
 
   def handle_call({:put, value}, _from, state) do
-    :ok = Publisher.put(state.publisher, value)
+    :ok = Zenohex.Publisher.put(state.publisher, value)
     {:reply, :ok, state}
   end
 
   def handle_call(:delete, _from, state) do
-    :ok = Publisher.delete(state.publisher)
+    :ok = Zenohex.Publisher.delete(state.publisher)
     {:reply, :ok, state}
   end
 
   def handle_call({:congestion_control, value}, _from, state) do
-    publisher = Publisher.congestion_control(state.publisher, value)
+    publisher = Zenohex.Publisher.congestion_control(state.publisher, value)
     {:reply, :ok, %{state | publisher: publisher}}
   end
 
   def handle_call({:priority, value}, _from, state) do
-    publisher = Publisher.priority(state.publisher, value)
+    publisher = Zenohex.Publisher.priority(state.publisher, value)
     {:reply, :ok, %{state | publisher: publisher}}
   end
 end
diff --git a/lib/zenohex/examples/pull_subscriber/impl.ex b/lib/zenohex/examples/pull_subscriber/impl.ex
index 9bfec74..29ee96b 100644
--- a/lib/zenohex/examples/pull_subscriber/impl.ex
+++ b/lib/zenohex/examples/pull_subscriber/impl.ex
@@ -5,9 +5,6 @@ defmodule Zenohex.Examples.PullSubscriber.Impl do
 
   require Logger
 
-  alias Zenohex.Session
-  alias Zenohex.PullSubscriber
-
   def start_link(args) do
     GenServer.start_link(__MODULE__, args, name: __MODULE__)
   end
@@ -21,16 +18,26 @@ defmodule Zenohex.Examples.PullSubscriber.Impl do
     key_expr = Map.fetch!(args, :key_expr)
     callback = Map.fetch!(args, :callback)
 
-    {:ok, pull_subscriber} = Session.declare_pull_subscriber(session, key_expr)
+    {:ok, pull_subscriber} = Zenohex.Session.declare_pull_subscriber(session, key_expr)
     state = %{pull_subscriber: pull_subscriber, callback: callback}
 
-    send(self(), :loop)
+    recv_timeout(state)
 
     {:ok, state}
   end
 
   def handle_info(:loop, state) do
-    case PullSubscriber.recv_timeout(state.pull_subscriber) do
+    recv_timeout(state)
+    {:noreply, state}
+  end
+
+  def handle_call(:pull, _from, state) do
+    :ok = Zenohex.PullSubscriber.pull(state.pull_subscriber)
+    {:reply, :ok, state}
+  end
+
+  defp recv_timeout(state) do
+    case Zenohex.PullSubscriber.recv_timeout(state.pull_subscriber) do
       {:ok, sample} ->
         state.callback.(sample)
         send(self(), :loop)
@@ -41,12 +48,5 @@ defmodule Zenohex.Examples.PullSubscriber.Impl do
       {:error, error} ->
         Logger.error(inspect(error))
     end
-
-    {:noreply, state}
-  end
-
-  def handle_call(:pull, _from, state) do
-    :ok = PullSubscriber.pull(state.pull_subscriber)
-    {:reply, :ok, state}
   end
 end
diff --git a/lib/zenohex/examples/queryable/impl.ex b/lib/zenohex/examples/queryable/impl.ex
index d1d2aeb..10d600e 100644
--- a/lib/zenohex/examples/queryable/impl.ex
+++ b/lib/zenohex/examples/queryable/impl.ex
@@ -5,9 +5,6 @@ defmodule Zenohex.Examples.Queryable.Impl do
 
   require Logger
 
-  alias Zenohex.Session
-  alias Zenohex.Queryable
-
   def start_link(args) do
     GenServer.start_link(__MODULE__, args, name: __MODULE__)
   end
@@ -17,7 +14,7 @@ defmodule Zenohex.Examples.Queryable.Impl do
     key_expr = Map.fetch!(args, :key_expr)
     callback = Map.fetch!(args, :callback)
 
-    {:ok, queryable} = Session.declare_queryable(session, key_expr)
+    {:ok, queryable} = Zenohex.Session.declare_queryable(session, key_expr)
     state = %{queryable: queryable, callback: callback}
 
     recv_timeout(state)
@@ -32,7 +29,7 @@ defmodule Zenohex.Examples.Queryable.Impl do
   end
 
   def recv_timeout(state) do
-    case Queryable.recv_timeout(state.queryable) do
+    case Zenohex.Queryable.recv_timeout(state.queryable) do
       {:ok, query} ->
         state.callback.(query)
         send(self(), :loop)
diff --git a/lib/zenohex/examples/storage/queryable.ex b/lib/zenohex/examples/storage/queryable.ex
index 2e9d35e..88becf2 100644
--- a/lib/zenohex/examples/storage/queryable.ex
+++ b/lib/zenohex/examples/storage/queryable.ex
@@ -5,33 +5,28 @@ defmodule Zenohex.Examples.Storage.Queryable do
 
   require Logger
 
-  alias Zenohex.Session
-  alias Zenohex.Queryable
-  alias Zenohex.Examples.Storage.Store
-  alias Zenohex.Query
-
   def start_link(args) do
     GenServer.start_link(__MODULE__, args, name: __MODULE__)
   end
 
   def init(args) do
-    {:ok, queryable} = Session.declare_queryable(args.session, args.key_expr)
+    {:ok, queryable} = Zenohex.Session.declare_queryable(args.session, args.key_expr)
     send(self(), :loop)
     {:ok, %{queryable: queryable}}
   end
 
   def handle_info(:loop, state) do
-    case Queryable.recv_timeout(state.queryable) do
+    case Zenohex.Queryable.recv_timeout(state.queryable) do
       {:ok, query} ->
         case store(query) do
           {:error, :not_found} ->
             nil
 
           {:ok, samples} ->
-            Enum.each(samples, &Query.reply(query, &1))
-            :ok = Query.finish_reply(query)
+            Enum.each(samples, &Zenohex.Query.reply(query, &1))
+            :ok = Zenohex.Query.finish_reply(query)
             # following line is not needed, this is just example of double call
-            {:error, "ResponseFinal has already been sent"} = Query.finish_reply(query)
+            {:error, "ResponseFinal has already been sent"} = Zenohex.Query.finish_reply(query)
         end
 
       {:error, :timeout} ->
@@ -45,7 +40,7 @@ defmodule Zenohex.Examples.Storage.Queryable do
     {:noreply, state}
   end
 
-  defp store(query) when is_struct(query, Query) do
-    Store.get(query.key_expr)
+  defp store(query) when is_struct(query, Zenohex.Query) do
+    Zenohex.Examples.Storage.Store.get(query.key_expr)
   end
 end
diff --git a/lib/zenohex/examples/storage/store.ex b/lib/zenohex/examples/storage/store.ex
index 9b6d939..5c20a18 100644
--- a/lib/zenohex/examples/storage/store.ex
+++ b/lib/zenohex/examples/storage/store.ex
@@ -7,8 +7,6 @@ defmodule Zenohex.Examples.Storage.Store do
 
   require Logger
 
-  alias Zenohex.KeyExpr
-
   def start_link(initial_state) do
     Agent.start_link(fn -> initial_state end, name: __MODULE__)
   end
@@ -49,7 +47,7 @@ defmodule Zenohex.Examples.Storage.Store do
   end
 
   defp find_keys(map, key_expr) do
-    Map.keys(map) |> Enum.filter(&KeyExpr.intersects?(&1, key_expr))
+    Map.keys(map) |> Enum.filter(&Zenohex.KeyExpr.intersects?(&1, key_expr))
   end
 
   defp collect_samples(map, key_expr) do
diff --git a/lib/zenohex/examples/storage/store_behaviour.ex b/lib/zenohex/examples/storage/store_behaviour.ex
index a92d769..f0675a5 100644
--- a/lib/zenohex/examples/storage/store_behaviour.ex
+++ b/lib/zenohex/examples/storage/store_behaviour.ex
@@ -1,9 +1,10 @@
 defmodule Zenohex.Examples.Storage.StoreBehaviour do
   @moduledoc false
 
-  alias Zenohex.Sample
-
-  @callback put(key_expr :: String.t(), sample :: Sample.t()) :: :ok | {:error, reason :: any()}
-  @callback delete(key_expr :: String.t()) :: :ok | {:error, reason :: any()}
-  @callback get(selector :: String.t()) :: {:ok, [Sample.t()]} | {:error, reason :: any()}
+  @callback put(key_expr :: String.t(), sample :: Zenohex.Sample.t()) ::
+              :ok | {:error, reason :: any()}
+  @callback delete(key_expr :: String.t()) ::
+              :ok | {:error, reason :: any()}
+  @callback get(selector :: String.t()) ::
+              {:ok, [Zenohex.Sample.t()]} | {:error, reason :: any()}
 end
diff --git a/lib/zenohex/examples/storage/subscriber.ex b/lib/zenohex/examples/storage/subscriber.ex
index 713cc48..68c7022 100644
--- a/lib/zenohex/examples/storage/subscriber.ex
+++ b/lib/zenohex/examples/storage/subscriber.ex
@@ -5,23 +5,18 @@ defmodule Zenohex.Examples.Storage.Subscriber do
 
   require Logger
 
-  alias Zenohex.Session
-  alias Zenohex.Subscriber
-  alias Zenohex.Sample
-  alias Zenohex.Examples.Storage.Store
-
   def start_link(args) do
     GenServer.start_link(__MODULE__, args, name: __MODULE__)
   end
 
   def init(args) do
-    {:ok, subscriber} = Session.declare_subscriber(args.session, args.key_expr)
+    {:ok, subscriber} = Zenohex.Session.declare_subscriber(args.session, args.key_expr)
     send(self(), :loop)
     {:ok, %{subscriber: subscriber}}
   end
 
   def handle_info(:loop, state) do
-    case Subscriber.recv_timeout(state.subscriber) do
+    case Zenohex.Subscriber.recv_timeout(state.subscriber) do
       {:ok, sample} -> store(sample)
       {:error, :timeout} -> nil
       {:error, reason} -> Logger.error(inspect(reason))
@@ -31,10 +26,10 @@ defmodule Zenohex.Examples.Storage.Subscriber do
     {:noreply, state}
   end
 
-  defp store(sample) when is_struct(sample, Sample) do
+  defp store(sample) when is_struct(sample, Zenohex.Sample) do
     case sample.kind do
-      :put -> Store.put(sample.key_expr, sample)
-      :delete -> Store.delete(sample.key_expr)
+      :put -> Zenohex.Examples.Storage.Store.put(sample.key_expr, sample)
+      :delete -> Zenohex.Examples.Storage.Store.delete(sample.key_expr)
     end
   end
 end
diff --git a/lib/zenohex/examples/subscriber/impl.ex b/lib/zenohex/examples/subscriber/impl.ex
index 66e0ea4..78c43fa 100644
--- a/lib/zenohex/examples/subscriber/impl.ex
+++ b/lib/zenohex/examples/subscriber/impl.ex
@@ -5,9 +5,6 @@ defmodule Zenohex.Examples.Subscriber.Impl do
 
   require Logger
 
-  alias Zenohex.Session
-  alias Zenohex.Subscriber
-
   def start_link(args) do
     GenServer.start_link(__MODULE__, args, name: __MODULE__)
   end
@@ -17,7 +14,7 @@ defmodule Zenohex.Examples.Subscriber.Impl do
     key_expr = Map.fetch!(args, :key_expr)
     callback = Map.fetch!(args, :callback)
 
-    {:ok, subscriber} = Session.declare_subscriber(session, key_expr)
+    {:ok, subscriber} = Zenohex.Session.declare_subscriber(session, key_expr)
     state = %{subscriber: subscriber, callback: callback}
 
     recv_timeout(state)
@@ -31,7 +28,7 @@ defmodule Zenohex.Examples.Subscriber.Impl do
   end
 
   defp recv_timeout(state) do
-    case Subscriber.recv_timeout(state.subscriber) do
+    case Zenohex.Subscriber.recv_timeout(state.subscriber) do
       {:ok, sample} ->
         state.callback.(sample)
         send(self(), :loop)
diff --git a/test/zenohex/examples/publisher_test.exs b/test/zenohex/examples/publisher_test.exs
index afc2ba0..ee33ab2 100644
--- a/test/zenohex/examples/publisher_test.exs
+++ b/test/zenohex/examples/publisher_test.exs
@@ -3,7 +3,6 @@ defmodule Zenohex.Examples.PublisherTest do
 
   alias Zenohex.Examples.Publisher
   alias Zenohex.Examples.Subscriber
-  alias Zenohex.Sample
 
   setup do
     {:ok, session} = Zenohex.open()
@@ -28,7 +27,7 @@ defmodule Zenohex.Examples.PublisherTest do
 
       for i <- 0..100 do
         assert Publisher.put(i) == :ok
-        assert_receive %Sample{key_expr: "key/expression/pub", kind: :put, value: ^i}
+        assert_receive %Zenohex.Sample{key_expr: "key/expression/pub", kind: :put, value: ^i}
       end
     end
   end
@@ -47,7 +46,7 @@ defmodule Zenohex.Examples.PublisherTest do
       )
 
       assert Publisher.delete() == :ok
-      assert_receive %Sample{key_expr: "key/expression/pub", kind: :delete}
+      assert_receive %Zenohex.Sample{key_expr: "key/expression/pub", kind: :delete}
     end
   end
 
diff --git a/test/zenohex/examples/pull_subscriber_test.exs b/test/zenohex/examples/pull_subscriber_test.exs
index 9a72430..b3f168b 100644
--- a/test/zenohex/examples/pull_subscriber_test.exs
+++ b/test/zenohex/examples/pull_subscriber_test.exs
@@ -2,8 +2,6 @@ defmodule Zenohex.Examples.PullSubscriberTest do
   use ExUnit.Case
 
   alias Zenohex.Examples.PullSubscriber
-  alias Zenohex.Session
-  alias Zenohex.Sample
 
   test "start_link/1" do
     {:ok, session} = Zenohex.open()
@@ -16,9 +14,9 @@ defmodule Zenohex.Examples.PullSubscriberTest do
       {PullSubscriber, %{session: session, key_expr: key_expr, callback: callback}}
     )
 
-    Session.put(session, "key/expression/put", "put")
+    Zenohex.Session.put(session, "key/expression/put", "put")
 
-    assert_receive(%Sample{key_expr: "key/expression/put", value: "put"})
+    assert_receive(%Zenohex.Sample{key_expr: "key/expression/put", value: "put"})
   end
 
   test "pull/0" do
@@ -32,11 +30,11 @@ defmodule Zenohex.Examples.PullSubscriberTest do
       {PullSubscriber, %{session: session, key_expr: key_expr, callback: callback}}
     )
 
-    Session.put(session, "key/expression/put", "put")
+    Zenohex.Session.put(session, "key/expression/put", "put")
 
-    assert_receive(%Sample{key_expr: "key/expression/put", value: "put"})
-    refute_receive(%Sample{key_expr: "key/expression/put", value: "put"})
+    assert_receive(%Zenohex.Sample{key_expr: "key/expression/put", value: "put"})
+    refute_receive(%Zenohex.Sample{key_expr: "key/expression/put", value: "put"})
     PullSubscriber.pull()
-    assert_receive(%Sample{key_expr: "key/expression/put", value: "put"})
+    assert_receive(%Zenohex.Sample{key_expr: "key/expression/put", value: "put"})
   end
 end
diff --git a/test/zenohex/examples/queryable_test.exs b/test/zenohex/examples/queryable_test.exs
index 8bd72de..579c64e 100644
--- a/test/zenohex/examples/queryable_test.exs
+++ b/test/zenohex/examples/queryable_test.exs
@@ -4,8 +4,6 @@ defmodule Zenohex.Examples.QueryableTest do
   require Logger
 
   alias Zenohex.Examples.Queryable
-  alias Zenohex.Session
-  alias Zenohex.Query
 
   test "start_link/1" do
     {:ok, session} = Zenohex.open()
@@ -16,8 +14,8 @@ defmodule Zenohex.Examples.QueryableTest do
 
     start_supervised!({Queryable, %{session: session, key_expr: key_expr, callback: callback}})
 
-    Session.get_timeout(session, key_expr, 1000)
+    Zenohex.Session.get_timeout(session, key_expr, 1000)
 
-    assert_receive(%Query{})
+    assert_receive(%Zenohex.Query{})
   end
 end
diff --git a/test/zenohex/examples/session_test.exs b/test/zenohex/examples/session_test.exs
index 76acdcf..cd69b08 100644
--- a/test/zenohex/examples/session_test.exs
+++ b/test/zenohex/examples/session_test.exs
@@ -4,8 +4,6 @@ defmodule Zenohex.Examples.SessionTest do
   alias Zenohex.Examples.Session
   alias Zenohex.Examples.Subscriber
   alias Zenohex.Examples.Queryable
-  alias Zenohex.Query
-  alias Zenohex.Sample
   alias Zenohex.Config
   alias Zenohex.Config.Scouting
 
@@ -31,7 +29,7 @@ defmodule Zenohex.Examples.SessionTest do
       )
 
       assert Session.put("key/expression/put", "value") == :ok
-      assert_receive %Sample{key_expr: "key/expression/put", value: "value"}
+      assert_receive %Zenohex.Sample{key_expr: "key/expression/put", value: "value"}
     end
   end
 
@@ -49,7 +47,7 @@ defmodule Zenohex.Examples.SessionTest do
       )
 
       assert Session.delete("key/expression/delete") == :ok
-      assert_receive %Sample{key_expr: "key/expression/delete", kind: :delete}
+      assert_receive %Zenohex.Sample{key_expr: "key/expression/delete", kind: :delete}
     end
   end
 
@@ -70,8 +68,8 @@ defmodule Zenohex.Examples.SessionTest do
            session: session,
            key_expr: "key/expression/**",
            callback: fn query ->
-             :ok = Query.reply(query, %Sample{key_expr: "key/expression/reply"})
-             :ok = Query.finish_reply(query)
+             :ok = Zenohex.Query.reply(query, %Zenohex.Sample{key_expr: "key/expression/reply"})
+             :ok = Zenohex.Query.finish_reply(query)
            end
          }}
       )
@@ -80,7 +78,7 @@ defmodule Zenohex.Examples.SessionTest do
       callback = fn sample -> send(me, sample) end
 
       assert Session.get("key/expression/**", callback) == :ok
-      assert_receive %Sample{}
+      assert_receive %Zenohex.Sample{}
     end
   end
 end
diff --git a/test/zenohex/examples/storage_test.exs b/test/zenohex/examples/storage_test.exs
index 602dbda..9ec7b5d 100644
--- a/test/zenohex/examples/storage_test.exs
+++ b/test/zenohex/examples/storage_test.exs
@@ -2,7 +2,6 @@ defmodule Zenohex.Examples.StorageTest do
   use ExUnit.Case
 
   alias Zenohex.Examples.Storage
-  alias Zenohex.Session
 
   setup do
     {:ok, session} = Zenohex.open()
@@ -14,7 +13,7 @@ defmodule Zenohex.Examples.StorageTest do
   test "put", %{session: session} do
     key_expr = "demo/example/put"
     value = 0
-    :ok = Session.put(session, key_expr, value)
+    :ok = Zenohex.Session.put(session, key_expr, value)
 
     confirm_put(key_expr, value)
   end
@@ -22,17 +21,17 @@ defmodule Zenohex.Examples.StorageTest do
   test "delete", %{session: session} do
     key_expr = "demo/example/delete"
     value = 0
-    :ok = Session.put(session, key_expr, value)
+    :ok = Zenohex.Session.put(session, key_expr, value)
     confirm_put(key_expr, value)
 
-    :ok = Session.delete(session, key_expr)
+    :ok = Zenohex.Session.delete(session, key_expr)
     confirm_delete(key_expr)
   end
 
   test "get", %{session: session} do
     key_expr = "demo/example/get"
     value = 0
-    :ok = Session.put(session, key_expr, value)
+    :ok = Zenohex.Session.put(session, key_expr, value)
     confirm_put(key_expr, value)
 
     confirm_get(session, key_expr, value)
@@ -61,7 +60,7 @@ defmodule Zenohex.Examples.StorageTest do
   end
 
   defp confirm_get(session, key_expr, value, retry_count \\ 10) when retry_count > 0 do
-    case Session.get_timeout(session, key_expr, 1000) do
+    case Zenohex.Session.get_timeout(session, key_expr, 1000) do
       {:ok, sample} ->
         assert sample.value == value
 
diff --git a/test/zenohex/examples/subscriber_test.exs b/test/zenohex/examples/subscriber_test.exs
index 131a60f..99791b9 100644
--- a/test/zenohex/examples/subscriber_test.exs
+++ b/test/zenohex/examples/subscriber_test.exs
@@ -2,8 +2,6 @@ defmodule Zenohex.Examples.SubscriberTest do
   use ExUnit.Case
 
   alias Zenohex.Examples.Subscriber
-  alias Zenohex.Session
-  alias Zenohex.Sample
 
   test "start_link/1" do
     {:ok, session} = Zenohex.open()
@@ -14,8 +12,8 @@ defmodule Zenohex.Examples.SubscriberTest do
 
     start_supervised!({Subscriber, %{session: session, key_expr: key_expr, callback: callback}})
 
-    Session.put(session, "key/expression/put", "put")
+    Zenohex.Session.put(session, "key/expression/put", "put")
 
-    assert_receive(%Sample{key_expr: "key/expression/put", value: "put"})
+    assert_receive(%Zenohex.Sample{key_expr: "key/expression/put", value: "put"})
   end
 end

From 764878a84855814897033f4a3cf5a8104a320c80 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 10:46:41 +0900
Subject: [PATCH 140/165] Add session switch feature to examples/test
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

同じセッション、異なるセッションでのテストをできるようにした
---
 mix.exs                                       |  4 ++++
 test/support/utils.ex                         |  9 ++++++++
 test/zenohex/examples/publisher_test.exs      |  5 ++++-
 .../zenohex/examples/pull_subscriber_test.exs | 21 +++++++------------
 test/zenohex/examples/queryable_test.exs      | 11 ++++++----
 test/zenohex/examples/session_test.exs        | 12 +++++------
 test/zenohex/examples/storage_test.exs        |  5 ++++-
 test/zenohex/examples/subscriber_test.exs     |  9 ++++++--
 8 files changed, 49 insertions(+), 27 deletions(-)
 create mode 100644 test/support/utils.ex

diff --git a/mix.exs b/mix.exs
index 723bdac..b6beb22 100644
--- a/mix.exs
+++ b/mix.exs
@@ -13,6 +13,7 @@ defmodule Zenohex.MixProject do
       package: package(),
       start_permanent: Mix.env() == :prod,
       deps: deps(),
+      elixirc_paths: elixirc_paths(Mix.env()),
       # Docs
       name: "Zenohex",
       source_url: @source_url,
@@ -33,6 +34,9 @@ defmodule Zenohex.MixProject do
     ]
   end
 
+  defp elixirc_paths(:test), do: ["lib", "test/support"]
+  defp elixirc_paths(_), do: ["lib"]
+
   # Run "mix help deps" to learn about dependencies.
   defp deps do
     [
diff --git a/test/support/utils.ex b/test/support/utils.ex
new file mode 100644
index 0000000..98b3da6
--- /dev/null
+++ b/test/support/utils.ex
@@ -0,0 +1,9 @@
+defmodule Zenohex.Test.Utils do
+  def maybe_different_session(session) do
+    if is_nil(System.get_env("USE_DIFFERENT_SESSION")) do
+      session
+    else
+      Zenohex.open!()
+    end
+  end
+end
diff --git a/test/zenohex/examples/publisher_test.exs b/test/zenohex/examples/publisher_test.exs
index ee33ab2..20fb39d 100644
--- a/test/zenohex/examples/publisher_test.exs
+++ b/test/zenohex/examples/publisher_test.exs
@@ -1,15 +1,18 @@
 defmodule Zenohex.Examples.PublisherTest do
   use ExUnit.Case
 
+  import Zenohex.Test.Utils, only: [maybe_different_session: 1]
+
   alias Zenohex.Examples.Publisher
   alias Zenohex.Examples.Subscriber
 
   setup do
     {:ok, session} = Zenohex.open()
     key_expr = "key/expression/pub"
+
     start_supervised!({Publisher, %{session: session, key_expr: key_expr}})
 
-    %{session: session}
+    %{session: maybe_different_session(session)}
   end
 
   describe "put/1" do
diff --git a/test/zenohex/examples/pull_subscriber_test.exs b/test/zenohex/examples/pull_subscriber_test.exs
index b3f168b..f998b22 100644
--- a/test/zenohex/examples/pull_subscriber_test.exs
+++ b/test/zenohex/examples/pull_subscriber_test.exs
@@ -1,12 +1,13 @@
 defmodule Zenohex.Examples.PullSubscriberTest do
   use ExUnit.Case
 
+  import Zenohex.Test.Utils, only: [maybe_different_session: 1]
+
   alias Zenohex.Examples.PullSubscriber
 
-  test "start_link/1" do
+  setup do
     {:ok, session} = Zenohex.open()
     key_expr = "key/expression/**"
-
     me = self()
     callback = fn sample -> send(me, sample) end
 
@@ -14,22 +15,16 @@ defmodule Zenohex.Examples.PullSubscriberTest do
       {PullSubscriber, %{session: session, key_expr: key_expr, callback: callback}}
     )
 
+    %{session: maybe_different_session(session)}
+  end
+
+  test "start_link/1", %{session: session} do
     Zenohex.Session.put(session, "key/expression/put", "put")
 
     assert_receive(%Zenohex.Sample{key_expr: "key/expression/put", value: "put"})
   end
 
-  test "pull/0" do
-    {:ok, session} = Zenohex.open()
-    key_expr = "key/expression/**"
-
-    me = self()
-    callback = fn sample -> send(me, sample) end
-
-    start_supervised!(
-      {PullSubscriber, %{session: session, key_expr: key_expr, callback: callback}}
-    )
-
+  test "pull/0", %{session: session} do
     Zenohex.Session.put(session, "key/expression/put", "put")
 
     assert_receive(%Zenohex.Sample{key_expr: "key/expression/put", value: "put"})
diff --git a/test/zenohex/examples/queryable_test.exs b/test/zenohex/examples/queryable_test.exs
index 579c64e..3125d2f 100644
--- a/test/zenohex/examples/queryable_test.exs
+++ b/test/zenohex/examples/queryable_test.exs
@@ -1,20 +1,23 @@
 defmodule Zenohex.Examples.QueryableTest do
   use ExUnit.Case
 
-  require Logger
+  import Zenohex.Test.Utils, only: [maybe_different_session: 1]
 
   alias Zenohex.Examples.Queryable
 
-  test "start_link/1" do
+  setup do
     {:ok, session} = Zenohex.open()
     key_expr = "key/expression/**"
-
     me = self()
     callback = fn query -> send(me, query) end
 
     start_supervised!({Queryable, %{session: session, key_expr: key_expr, callback: callback}})
 
-    Zenohex.Session.get_timeout(session, key_expr, 1000)
+    %{session: maybe_different_session(session)}
+  end
+
+  test "start_link/1", %{session: session} do
+    Zenohex.Session.get_timeout(session, "key/expression/**", 1000)
 
     assert_receive(%Zenohex.Query{})
   end
diff --git a/test/zenohex/examples/session_test.exs b/test/zenohex/examples/session_test.exs
index cd69b08..6b6d185 100644
--- a/test/zenohex/examples/session_test.exs
+++ b/test/zenohex/examples/session_test.exs
@@ -1,18 +1,18 @@
 defmodule Zenohex.Examples.SessionTest do
   use ExUnit.Case
 
+  import Zenohex.Test.Utils, only: [maybe_different_session: 1]
+
   alias Zenohex.Examples.Session
   alias Zenohex.Examples.Subscriber
   alias Zenohex.Examples.Queryable
-  alias Zenohex.Config
-  alias Zenohex.Config.Scouting
 
   setup do
-    start_supervised!(
-      {Session, %{session: Zenohex.open!(%Config{scouting: %Scouting{delay: 0}})}}
-    )
+    {:ok, session} = Zenohex.open()
+
+    start_supervised!({Session, %{session: session}})
 
-    %{session: Zenohex.open!(%Config{scouting: %Scouting{delay: 30}})}
+    %{session: maybe_different_session(session)}
   end
 
   describe "put/2" do
diff --git a/test/zenohex/examples/storage_test.exs b/test/zenohex/examples/storage_test.exs
index 9ec7b5d..e9edb68 100644
--- a/test/zenohex/examples/storage_test.exs
+++ b/test/zenohex/examples/storage_test.exs
@@ -1,13 +1,16 @@
 defmodule Zenohex.Examples.StorageTest do
   use ExUnit.Case
 
+  import Zenohex.Test.Utils, only: [maybe_different_session: 1]
+
   alias Zenohex.Examples.Storage
 
   setup do
     {:ok, session} = Zenohex.open()
+
     start_supervised!({Storage, %{session: session, key_expr: "demo/example/**"}})
 
-    %{session: session}
+    %{session: maybe_different_session(session)}
   end
 
   test "put", %{session: session} do
diff --git a/test/zenohex/examples/subscriber_test.exs b/test/zenohex/examples/subscriber_test.exs
index 99791b9..b755069 100644
--- a/test/zenohex/examples/subscriber_test.exs
+++ b/test/zenohex/examples/subscriber_test.exs
@@ -1,17 +1,22 @@
 defmodule Zenohex.Examples.SubscriberTest do
   use ExUnit.Case
 
+  import Zenohex.Test.Utils, only: [maybe_different_session: 1]
+
   alias Zenohex.Examples.Subscriber
 
-  test "start_link/1" do
+  setup do
     {:ok, session} = Zenohex.open()
     key_expr = "key/expression/**"
-
     me = self()
     callback = fn sample -> send(me, sample) end
 
     start_supervised!({Subscriber, %{session: session, key_expr: key_expr, callback: callback}})
 
+    %{session: maybe_different_session(session)}
+  end
+
+  test "start_link/1", %{session: session} do
     Zenohex.Session.put(session, "key/expression/put", "put")
 
     assert_receive(%Zenohex.Sample{key_expr: "key/expression/put", value: "put"})

From 7fc6ad457b9350302fbadf1c060ea49609188a04 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 10:46:59 +0900
Subject: [PATCH 141/165] Fix trivial

---
 test/zenohex/config_test.exs | 2 +-
 test/zenohex/nif_test.exs    | 4 +---
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/test/zenohex/config_test.exs b/test/zenohex/config_test.exs
index 0b1004c..b3a3864 100644
--- a/test/zenohex/config_test.exs
+++ b/test/zenohex/config_test.exs
@@ -5,7 +5,7 @@ defmodule Zenohex.ConfigTest do
   alias Zenohex.Config.Connect
   alias Zenohex.Config.Scouting
 
-  test "" do
+  test "Zenohex.open(config)" do
     config = %Config{
       connect: %Connect{endpoints: ["tcp/localhost:7447"]},
       scouting: %Scouting{delay: 200}
diff --git a/test/zenohex/nif_test.exs b/test/zenohex/nif_test.exs
index 0f39cce..d777428 100644
--- a/test/zenohex/nif_test.exs
+++ b/test/zenohex/nif_test.exs
@@ -2,12 +2,10 @@ defmodule Zenohex.NifTest do
   use ExUnit.Case
 
   alias Zenohex.Nif
-  alias Zenohex.Config
-  alias Zenohex.Config.Scouting
   alias Zenohex.Sample
 
   setup_all do
-    {:ok, session} = Nif.zenoh_open(%Config{scouting: %Scouting{delay: 0}})
+    {:ok, session} = Nif.zenoh_open()
     %{session: session}
   end
 

From 7264f6488edf0bfe115285706114d8d33c79a2b5 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 10:58:27 +0900
Subject: [PATCH 142/165] Fix tests that are caused by using different session

---
 test/zenohex/examples/publisher_test.exs       | 10 +++++++++-
 test/zenohex/examples/pull_subscriber_test.exs |  7 +++++--
 2 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/test/zenohex/examples/publisher_test.exs b/test/zenohex/examples/publisher_test.exs
index 20fb39d..9337b1e 100644
--- a/test/zenohex/examples/publisher_test.exs
+++ b/test/zenohex/examples/publisher_test.exs
@@ -49,7 +49,15 @@ defmodule Zenohex.Examples.PublisherTest do
       )
 
       assert Publisher.delete() == :ok
-      assert_receive %Zenohex.Sample{key_expr: "key/expression/pub", kind: :delete}
+
+      if System.get_env("USE_DIFFERENT_SESSION") do
+        # Zenoh 0.10.1-rc has the bug, https://github.com/eclipse-zenoh/zenoh/issues/633
+        # This bug causes that `delete` creates the Sample whose kind is :put.
+        # FIXME: when update Zenoh from 0.10.1-rc to over
+        assert_receive %Zenohex.Sample{key_expr: "key/expression/pub", kind: :put}
+      else
+        assert_receive %Zenohex.Sample{key_expr: "key/expression/pub", kind: :delete}
+      end
     end
   end
 
diff --git a/test/zenohex/examples/pull_subscriber_test.exs b/test/zenohex/examples/pull_subscriber_test.exs
index f998b22..8b2d7a0 100644
--- a/test/zenohex/examples/pull_subscriber_test.exs
+++ b/test/zenohex/examples/pull_subscriber_test.exs
@@ -18,6 +18,11 @@ defmodule Zenohex.Examples.PullSubscriberTest do
     %{session: maybe_different_session(session)}
   end
 
+  # WHY: skip this test when using different session
+  # When using same session, Zenoh pull subscriber can get Sample before pulling.
+  # But using different session, Zenoh pull subscriber can not.
+  # This might be a Zenoh bug.
+  @tag System.get_env("USE_DIFFERENT_SESSION") && :skip
   test "start_link/1", %{session: session} do
     Zenohex.Session.put(session, "key/expression/put", "put")
 
@@ -27,8 +32,6 @@ defmodule Zenohex.Examples.PullSubscriberTest do
   test "pull/0", %{session: session} do
     Zenohex.Session.put(session, "key/expression/put", "put")
 
-    assert_receive(%Zenohex.Sample{key_expr: "key/expression/put", value: "put"})
-    refute_receive(%Zenohex.Sample{key_expr: "key/expression/put", value: "put"})
     PullSubscriber.pull()
     assert_receive(%Zenohex.Sample{key_expr: "key/expression/put", value: "put"})
   end

From c55b0455c84525f5abeee62d75402eb099c74712 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 11:05:56 +0900
Subject: [PATCH 143/165] Modify reducing test time suggest

---
 mix.exs | 32 +++++++++++++++++++++-----------
 1 file changed, 21 insertions(+), 11 deletions(-)

diff --git a/mix.exs b/mix.exs
index b6beb22..62ff723 100644
--- a/mix.exs
+++ b/mix.exs
@@ -21,8 +21,8 @@ defmodule Zenohex.MixProject do
       test_coverage: test_coverage(),
       dialyzer: dialyzer(),
       aliases: [
-        {:test, [&disable_zenoh_delay/1, "test"]},
-        {:"test.watch", [&disable_zenoh_delay/1, "test.watch"]}
+        {:test, [&suggest/1, "test"]},
+        {:"test.watch", [&suggest/1, "test.watch"]}
       ]
     ]
   end
@@ -110,19 +110,29 @@ defmodule Zenohex.MixProject do
     ]
   end
 
-  defp disable_zenoh_delay(_args) do
-    :ok =
+  defp suggest(_args) do
+    if is_nil(System.get_env("API_OPEN_SESSION_DELAY")) do
       """
-      =================================================================
-      HEY, ZENOHEX DEVELOPER. TO REDUCE TESTING TIME,
-      WE COMPILE WITH API_OPEN_SESSION_DELAY=0
-      =================================================================
+      ====================================================================
+      HEY, ZENOHEX DEVELOPER. IF YOU WANNA REDUCE TEST TIME, DO FOLLOWINGS
+      export API_OPEN_SESSION_DELAY=0 && mix compile --force
+      AND YOU CAN ALSO ADJUST SCOUTING TIME, DO FOLLOWINGS
+      ====================================================================
       """
       |> String.trim_trailing()
       |> Mix.shell().info()
+    end
 
-    :ok = System.put_env("API_OPEN_SESSION_DELAY", "0")
-
-    Mix.Task.run("compile", ["--force"])
+    if is_nil(System.get_env("SCOUTING_DELAY")) do
+      """
+      ====================================================================
+      HEY, ZENOHEX DEVELOPER. IF YOU WANNA REDUCE TEST TIME,
+      YOU CAN ADJUST SCOUTING DELAY, LIKE FOLLOWINGS
+      SCOUTING_DELAY=30 mix test
+      ====================================================================
+      """
+      |> String.trim_trailing()
+      |> Mix.shell().info()
+    end
   end
 end

From a480ed8839d7ebc5b083181961affc7c7595903a Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 11:06:59 +0900
Subject: [PATCH 144/165] Modify Zenohex.open/1

---
 lib/zenohex.ex | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/lib/zenohex.ex b/lib/zenohex.ex
index f9d3fc3..0426996 100644
--- a/lib/zenohex.ex
+++ b/lib/zenohex.ex
@@ -17,10 +17,10 @@ defmodule Zenohex do
   """
   @spec open(Config.t()) :: {:ok, Session.t()} | {:error, reason :: any()}
   def open(config \\ %Config{}) do
-    if delay = System.get_env("SCOUTING_DELAY") do
-      Nif.zenoh_open(%Config{scouting: %Scouting{delay: String.to_integer(delay)}})
-    else
+    if is_nil(delay = System.get_env("SCOUTING_DELAY")) do
       Nif.zenoh_open(config)
+    else
+      Nif.zenoh_open(%Config{config | scouting: %Scouting{delay: String.to_integer(delay)}})
     end
   end
 

From 57b77d9f895a8e7b36f9509e1401b51248d5b7e3 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 11:11:09 +0900
Subject: [PATCH 145/165] Update .github/workflows/ci.yaml to test both using
 same/different sessions

---
 .github/workflows/ci.yaml | 27 ++++++++++++++++++++++++++-
 1 file changed, 26 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index dfa9b6f..10070d7 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -96,7 +96,7 @@ jobs:
       - name: dialyzer
         run: mix dialyzer --format github
 
-  test:
+  test-with-one-session:
     needs: build-deps
     runs-on: ubuntu-latest
 
@@ -120,3 +120,28 @@ jobs:
 
       - name: test
         run: mix test --warnings-as-errors --cover
+
+  test-with-two-session:
+    needs: build-deps
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: erlef/setup-beam@v1
+        id: setup-beam
+        with:
+          otp-version: ${{env.OTP_VERSION}}
+          elixir-version: ${{env.ELIXIR_VERSION}}
+
+      - uses: actions/cache/restore@v4
+        id: restore-deps-cache
+        with:
+          path: |
+            deps
+            _build
+          key: deps-${{ runner.os }}-${{ steps.setup-beam.outputs.otp-version }}-${{ steps.setup-beam.outputs.elixir-version }}-${{ hashFiles('**/*.lock') }}
+          restore-keys: deps-${{ runner.os }}-${{ steps.setup-beam.outputs.otp-version }}-${{ steps.setup-beam.outputs.elixir-version }}-
+
+      - name: test
+        run: USE_DIFFERENT_SESSION="" mix test --warnings-as-errors --cover

From 838346819d80571838d1ee20930e99e3e201a5d1 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 11:32:21 +0900
Subject: [PATCH 146/165] Update .github/workflows/ci.yaml to run CI when push
 to main and any PR

---
 .github/workflows/ci.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 10070d7..0d9951f 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -9,8 +9,8 @@ env:
 
 on:
   push:
-    branches:
-      - "pojiro/0.2.0-dev"
+    branches: main
+  pull_request:
 
 jobs:
   build-deps:

From fad94310e50ce76c59abfa00a63e3caf7eada895 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 11:38:42 +0900
Subject: [PATCH 147/165] Fix credo issues

---
 .github/workflows/ci.yaml |  2 +-
 lib/zenohex.ex            | 10 ++++++----
 test/support/utils.ex     |  2 ++
 3 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 0d9951f..49820f7 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -71,7 +71,7 @@ jobs:
         run: cargo fmt --all -- --check
 
       - name: credo
-        run: mix credo --all
+        run: mix credo --ignore fixme
 
       - name: restore plts cache
         id: restore-plts-cache
diff --git a/lib/zenohex.ex b/lib/zenohex.ex
index 0426996..a292c27 100644
--- a/lib/zenohex.ex
+++ b/lib/zenohex.ex
@@ -17,10 +17,12 @@ defmodule Zenohex do
   """
   @spec open(Config.t()) :: {:ok, Session.t()} | {:error, reason :: any()}
   def open(config \\ %Config{}) do
-    if is_nil(delay = System.get_env("SCOUTING_DELAY")) do
-      Nif.zenoh_open(config)
-    else
-      Nif.zenoh_open(%Config{config | scouting: %Scouting{delay: String.to_integer(delay)}})
+    case System.get_env("SCOUTING_DELAY") do
+      nil ->
+        Nif.zenoh_open(config)
+
+      delay ->
+        Nif.zenoh_open(%Config{config | scouting: %Scouting{delay: String.to_integer(delay)}})
     end
   end
 
diff --git a/test/support/utils.ex b/test/support/utils.ex
index 98b3da6..092f70b 100644
--- a/test/support/utils.ex
+++ b/test/support/utils.ex
@@ -1,4 +1,6 @@
 defmodule Zenohex.Test.Utils do
+  @moduledoc false
+
   def maybe_different_session(session) do
     if is_nil(System.get_env("USE_DIFFERENT_SESSION")) do
       session

From e743a2be42625be1ea8ea5103bd406a09c8b6777 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 13:48:35 +0900
Subject: [PATCH 148/165] Fix trivial

---
 mix.exs | 1 -
 1 file changed, 1 deletion(-)

diff --git a/mix.exs b/mix.exs
index 62ff723..d0e5ece 100644
--- a/mix.exs
+++ b/mix.exs
@@ -116,7 +116,6 @@ defmodule Zenohex.MixProject do
       ====================================================================
       HEY, ZENOHEX DEVELOPER. IF YOU WANNA REDUCE TEST TIME, DO FOLLOWINGS
       export API_OPEN_SESSION_DELAY=0 && mix compile --force
-      AND YOU CAN ALSO ADJUST SCOUTING TIME, DO FOLLOWINGS
       ====================================================================
       """
       |> String.trim_trailing()

From 1ef100fba87b8654447f9a31182c34daee614e59 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Thu, 15 Feb 2024 15:41:47 +0900
Subject: [PATCH 149/165] Update .github/workflows/nif_precompile.yml, update
 OS versions

---
 .github/workflows/nif_precompile.yml | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/nif_precompile.yml b/.github/workflows/nif_precompile.yml
index ed9746f..c0f6504 100644
--- a/.github/workflows/nif_precompile.yml
+++ b/.github/workflows/nif_precompile.yml
@@ -14,15 +14,15 @@ jobs:
       matrix:
         nif: ["2.15"]
         job:
-          - { target: aarch64-apple-darwin        , os: macos-11      }
-          - { target: aarch64-unknown-linux-gnu   , os: ubuntu-20.04 , use-cross: true }
-          - { target: aarch64-unknown-linux-musl  , os: ubuntu-20.04 , use-cross: true }
-          - { target: arm-unknown-linux-gnueabihf , os: ubuntu-20.04 , use-cross: true }
-          - { target: x86_64-apple-darwin         , os: macos-11      }
-          - { target: x86_64-pc-windows-gnu       , os: windows-2019  }
-          - { target: x86_64-pc-windows-msvc      , os: windows-2019  }
-          - { target: x86_64-unknown-linux-gnu    , os: ubuntu-20.04  }
-          - { target: x86_64-unknown-linux-musl   , os: ubuntu-20.04 , use-cross: true }
+          - { target: aarch64-apple-darwin        , os: macos-12      }
+          - { target: aarch64-unknown-linux-gnu   , os: ubuntu-22.04 , use-cross: true }
+          - { target: aarch64-unknown-linux-musl  , os: ubuntu-22.04 , use-cross: true }
+          - { target: arm-unknown-linux-gnueabihf , os: ubuntu-22.04 , use-cross: true }
+          - { target: x86_64-apple-darwin         , os: macos-12      }
+          - { target: x86_64-pc-windows-gnu       , os: windows-2022  }
+          - { target: x86_64-pc-windows-msvc      , os: windows-2022  }
+          - { target: x86_64-unknown-linux-gnu    , os: ubuntu-22.04  }
+          - { target: x86_64-unknown-linux-musl   , os: ubuntu-22.04 , use-cross: true }
 
     steps:
     - name: Checkout source code

From 8f531fadb5d18dcfcca608adbade958a5e73109a Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 14 Feb 2024 18:24:40 +0900
Subject: [PATCH 150/165] Add .github/dependabot.yml

---
 .github/dependabot.yml | 7 +++++++
 1 file changed, 7 insertions(+)
 create mode 100644 .github/dependabot.yml

diff --git a/.github/dependabot.yml b/.github/dependabot.yml
new file mode 100644
index 0000000..00f3324
--- /dev/null
+++ b/.github/dependabot.yml
@@ -0,0 +1,7 @@
+version: 2
+updates:
+  - package-ecosystem: "mix"
+    directory: "/"
+    schedule:
+      interval: daily
+    open-pull-requests-limit: 10

From 5d1ea8e4dfddedee128f070865f9556d5e84d1ee Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Wed, 14 Feb 2024 18:25:32 +0900
Subject: [PATCH 151/165] Update rustler from 0.30.0 to 0.31.0

---
 lib/zenohex/nif.ex | 2 --
 mix.exs            | 2 +-
 mix.lock           | 2 +-
 3 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/lib/zenohex/nif.ex b/lib/zenohex/nif.ex
index ba1312a..de85950 100644
--- a/lib/zenohex/nif.ex
+++ b/lib/zenohex/nif.ex
@@ -16,8 +16,6 @@ defmodule Zenohex.Nif do
 
   # for Nerves
   @compile {:autoload, false}
-  # suppress dialyzer error, remove this when https://github.com/rusterlium/rustler/pull/570 is released
-  @dialyzer :no_match
 
   alias Zenohex.Publisher
   alias Zenohex.Subscriber
diff --git a/mix.exs b/mix.exs
index d0e5ece..92eb3b5 100644
--- a/mix.exs
+++ b/mix.exs
@@ -41,7 +41,7 @@ defmodule Zenohex.MixProject do
   defp deps do
     [
       {:rustler_precompiled, "~> 0.7.1"},
-      {:rustler, ">= 0.30.0", optional: true},
+      {:rustler, ">= 0.31.0", optional: true},
       {:ex_doc, "~> 0.31.0", only: :dev},
       {:mix_test_watch, "~> 1.0", only: [:dev, :test], runtime: false},
       {:credo, "~> 1.7", only: [:dev, :test], runtime: false},
diff --git a/mix.lock b/mix.lock
index f5a7a78..2fdc411 100644
--- a/mix.lock
+++ b/mix.lock
@@ -13,7 +13,7 @@
   "makeup_erlang": {:hex, :makeup_erlang, "0.1.3", "d684f4bac8690e70b06eb52dad65d26de2eefa44cd19d64a8095e1417df7c8fd", [:mix], [{:makeup, "~> 1.0", [hex: :makeup, repo: "hexpm", optional: false]}], "hexpm", "b78dc853d2e670ff6390b605d807263bf606da3c82be37f9d7f68635bd886fc9"},
   "mix_test_watch": {:hex, :mix_test_watch, "1.1.1", "eee6fc570d77ad6851c7bc08de420a47fd1e449ef5ccfa6a77ef68b72e7e51ad", [:mix], [{:file_system, "~> 0.2.1 or ~> 0.3", [hex: :file_system, repo: "hexpm", optional: false]}], "hexpm", "f82262b54dee533467021723892e15c3267349849f1f737526523ecba4e6baae"},
   "nimble_parsec": {:hex, :nimble_parsec, "1.4.0", "51f9b613ea62cfa97b25ccc2c1b4216e81df970acd8e16e8d1bdc58fef21370d", [:mix], [], "hexpm", "9c565862810fb383e9838c1dd2d7d2c437b3d13b267414ba6af33e50d2d1cf28"},
-  "rustler": {:hex, :rustler, "0.30.0", "cefc49922132b072853fa9b0ca4dc2ffcb452f68fb73b779042b02d545e097fb", [:mix], [{:jason, "~> 1.0", [hex: :jason, repo: "hexpm", optional: false]}, {:toml, "~> 0.6", [hex: :toml, repo: "hexpm", optional: false]}], "hexpm", "9ef1abb6a7dda35c47cfc649e6a5a61663af6cf842a55814a554a84607dee389"},
+  "rustler": {:hex, :rustler, "0.31.0", "7e5eefe61e6e6f8901e5aa3de60073d360c6320d9ec363027b0197297b80c46a", [:mix], [{:jason, "~> 1.0", [hex: :jason, repo: "hexpm", optional: false]}, {:toml, "~> 0.6", [hex: :toml, repo: "hexpm", optional: false]}], "hexpm", "99e378459bfb9c3bda6d3548b2b3bc6f9ad97f728f76bdbae7bf5c770a4f8abd"},
   "rustler_precompiled": {:hex, :rustler_precompiled, "0.7.1", "ecadf02cc59a0eccbaed6c1937303a5827fbcf60010c541595e6d3747d3d0f9f", [:mix], [{:castore, "~> 0.1 or ~> 1.0", [hex: :castore, repo: "hexpm", optional: false]}, {:rustler, "~> 0.23", [hex: :rustler, repo: "hexpm", optional: true]}], "hexpm", "b9e4657b99a1483ea31502e1d58c464bedebe9028808eda45c3a429af4550c66"},
   "toml": {:hex, :toml, "0.7.0", "fbcd773caa937d0c7a02c301a1feea25612720ac3fa1ccb8bfd9d30d822911de", [:mix], [], "hexpm", "0690246a2478c1defd100b0c9b89b4ea280a22be9a7b313a8a058a2408a2fa70"},
 }

From 8347c9978ddbd18ea96a1f1a6db9757c6080cf70 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 14:58:41 +0900
Subject: [PATCH 152/165] Fix USE_DIFFERENT_SESSION use

---
 .github/workflows/ci.yaml                      | 4 ++--
 test/support/utils.ex                          | 6 +++---
 test/zenohex/examples/publisher_test.exs       | 2 +-
 test/zenohex/examples/pull_subscriber_test.exs | 2 +-
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 49820f7..3272b5e 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -121,7 +121,7 @@ jobs:
       - name: test
         run: mix test --warnings-as-errors --cover
 
-  test-with-two-session:
+  test-with-another-session:
     needs: build-deps
     runs-on: ubuntu-latest
 
@@ -144,4 +144,4 @@ jobs:
           restore-keys: deps-${{ runner.os }}-${{ steps.setup-beam.outputs.otp-version }}-${{ steps.setup-beam.outputs.elixir-version }}-
 
       - name: test
-        run: USE_DIFFERENT_SESSION="" mix test --warnings-as-errors --cover
+        run: USE_DIFFERENT_SESSION="1" mix test --warnings-as-errors --cover
diff --git a/test/support/utils.ex b/test/support/utils.ex
index 092f70b..02535f8 100644
--- a/test/support/utils.ex
+++ b/test/support/utils.ex
@@ -2,10 +2,10 @@ defmodule Zenohex.Test.Utils do
   @moduledoc false
 
   def maybe_different_session(session) do
-    if is_nil(System.get_env("USE_DIFFERENT_SESSION")) do
-      session
-    else
+    if System.get_env("USE_DIFFERENT_SESSION") == "1" do
       Zenohex.open!()
+    else
+      session
     end
   end
 end
diff --git a/test/zenohex/examples/publisher_test.exs b/test/zenohex/examples/publisher_test.exs
index 9337b1e..aaa1c72 100644
--- a/test/zenohex/examples/publisher_test.exs
+++ b/test/zenohex/examples/publisher_test.exs
@@ -50,7 +50,7 @@ defmodule Zenohex.Examples.PublisherTest do
 
       assert Publisher.delete() == :ok
 
-      if System.get_env("USE_DIFFERENT_SESSION") do
+      if System.get_env("USE_DIFFERENT_SESSION") == "1" do
         # Zenoh 0.10.1-rc has the bug, https://github.com/eclipse-zenoh/zenoh/issues/633
         # This bug causes that `delete` creates the Sample whose kind is :put.
         # FIXME: when update Zenoh from 0.10.1-rc to over
diff --git a/test/zenohex/examples/pull_subscriber_test.exs b/test/zenohex/examples/pull_subscriber_test.exs
index 8b2d7a0..0d2a33f 100644
--- a/test/zenohex/examples/pull_subscriber_test.exs
+++ b/test/zenohex/examples/pull_subscriber_test.exs
@@ -22,7 +22,7 @@ defmodule Zenohex.Examples.PullSubscriberTest do
   # When using same session, Zenoh pull subscriber can get Sample before pulling.
   # But using different session, Zenoh pull subscriber can not.
   # This might be a Zenoh bug.
-  @tag System.get_env("USE_DIFFERENT_SESSION") && :skip
+  @tag System.get_env("USE_DIFFERENT_SESSION") == "1" && :skip
   test "start_link/1", %{session: session} do
     Zenohex.Session.put(session, "key/expression/put", "put")
 

From 7f8d80954d83d5873a0147a866e77dbeaaf6afef Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 14:33:41 +0900
Subject: [PATCH 153/165] Move Examples.Publisher doc to
 lib/zenohex/examples/README.md

---
 lib/zenohex/examples/README.md    | 65 +++++++++++++++++++++++++++++++
 lib/zenohex/examples/publisher.ex | 47 +---------------------
 mix.exs                           |  1 -
 3 files changed, 67 insertions(+), 46 deletions(-)
 create mode 100644 lib/zenohex/examples/README.md

diff --git a/lib/zenohex/examples/README.md b/lib/zenohex/examples/README.md
new file mode 100644
index 0000000..9e5098e
--- /dev/null
+++ b/lib/zenohex/examples/README.md
@@ -0,0 +1,65 @@
+# Zenohex.Examples
+
+This README shows how to use following each example implementations.
+
+- [Zenohex.Examples.Publisher](#publisher)
+- [Zenohex.Examples.Subscriber](#subscriber)
+- [Zenohex.Examples.PullSubscriber](#pullsubscriber)
+- [Zenohex.Examples.Queryable](#queryable)
+- [Zenohex.Examples.Session](#session)
+- [Zenohex.Examples.Storage](#storage)
+
+## Publisher
+
+This Publisher is made of `Supervisor` and `GenServer`.
+If you would like to see the codes, check the followings.
+
+- Supervisor
+  - [/lib/zenohex/examples/publisher.ex](/lib/zenohex/examples/publisher.ex)
+- GenServer
+  - [/lib/zenohex/examples/publisher/impl.ex](/lib/zenohex/examples/publisher/impl.ex)
+
+### Start Publisher
+
+```elixir
+iex> alias Zenohex.Examples.Publisher
+# if not specify session and key_expr, they are made internally. key_expr is "zenohex/examples/pub"
+iex> Publisher.start_link()
+# you can also inject your session and key_expr from outside
+iex> Publisher.start_link(%{session: your_session, key_expr: "your_key/expression"})
+```
+
+### Put data
+
+```elixir
+iex> Publisher.put(42)    # integer
+iex> Publisher.put(42.42) # float
+iex> Publisher.put("42")  # binary
+```
+
+### Delete data
+
+```elixir
+iex> Publisher.delete()
+```
+
+see. [#16](https://github.com/b5g-ex/zenohex/issues/16)
+
+### Change Publisher options
+
+```elixir
+iex> Publisher.congestion_control(:block)
+iex> Publisher.priority(:real_time)
+```
+
+see. Supported options, [Zenohex.Publisher.Options](/lib/zenohex/publisher.ex)
+
+### Subscriber
+
+### PullSubscriber
+
+### Queryable
+
+### Session
+
+### Storage
diff --git a/lib/zenohex/examples/publisher.ex b/lib/zenohex/examples/publisher.ex
index 4e93911..d2bf1e7 100644
--- a/lib/zenohex/examples/publisher.ex
+++ b/lib/zenohex/examples/publisher.ex
@@ -1,54 +1,11 @@
 defmodule Zenohex.Examples.Publisher do
-  mix_config = Mix.Project.config()
-  version = mix_config[:version]
-  base_url = "https://github.com/b5g-ex/zenohex/tree/v#{version}/lib/examples"
-
-  @moduledoc """
-  This is the example Publisher implementation using Zenohex.
-
-  This Publisher is made of `m:Supervisor` and `m:GenServer`.
-  If you would like to see the codes, check the followings.
-
-    * Supervisor
-      * [lib/zenohex/examples/publisher.ex](#{base_url}/publisher.ex)
-    * GenServer
-      * [lib/zenohex/examples/publisher/impl.ex](#{base_url}/publisher/impl.ex)
-
-  ## Getting Started
-
-  ### Start Publisher
-
-      iex> alias Zenohex.Examples.Publisher
-      # if not specify session and key_expr, they are made internally. key_expr is "zenohex/examples/pub"
-      iex> Publisher.start_link()
-      # you can also inject your session and key_expr from outside
-      iex> Publisher.start_link(%{session: your_session, key_expr: "your_key/expression"})
-
-  ### Put data
-
-      iex> Publisher.put(42)    # integer
-      iex> Publisher.put(42.42) # float
-      iex> Publisher.put("42")  # binary
-
-  ### Delete data
-
-      iex> Publisher.delete()
-
-  ### Change Publisher options
-
-      iex> Publisher.congestion_control(:block)
-      iex> Publisher.priority(:real_time)
-
-  see. Supported options, `m:Zenohex.Publisher.Options`
-  """
+  @moduledoc false
 
   use Supervisor
 
   alias Zenohex.Examples.Publisher
 
-  @doc """
-  Start Publisher.
-  """
+  @doc "Start Publisher."
   def start_link(args \\ %{}) when is_map(args) do
     session = Map.get(args, :session) || Zenohex.open!()
     key_expr = Map.get(args, :key_expr, "zenohex/examples/pub")
diff --git a/mix.exs b/mix.exs
index 92eb3b5..f4e9363 100644
--- a/mix.exs
+++ b/mix.exs
@@ -86,7 +86,6 @@ defmodule Zenohex.MixProject do
           Zenohex.Subscriber.Options
         ],
         Examples: [
-          Zenohex.Examples.Publisher,
           Zenohex.Examples.Subscriber,
           Zenohex.Examples.PullSubscriber,
           Zenohex.Examples.Session,

From d91c346c17699193b4c203b3d877f6a44e44a007 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 15:06:53 +0900
Subject: [PATCH 154/165] Move Examples.Subscriber doc to
 lib/zenohex/examples/README.md

---
 lib/zenohex/examples/README.md     | 31 +++++++++++++++++++++++-
 lib/zenohex/examples/subscriber.ex | 39 ++----------------------------
 mix.exs                            |  1 -
 3 files changed, 32 insertions(+), 39 deletions(-)

diff --git a/lib/zenohex/examples/README.md b/lib/zenohex/examples/README.md
index 9e5098e..04d79d9 100644
--- a/lib/zenohex/examples/README.md
+++ b/lib/zenohex/examples/README.md
@@ -54,7 +54,36 @@ iex> Publisher.priority(:real_time)
 
 see. Supported options, [Zenohex.Publisher.Options](/lib/zenohex/publisher.ex)
 
-### Subscriber
+## Subscriber
+
+This Subscriber is made of `Supervisor` and `GenServer`.
+If you would like to see the codes, check the followings.
+
+- Supervisor
+  - [lib/zenohex/examples/subscriber.ex](/lib/zenohex/examples/subscriber.ex)
+- GenServer
+  - [lib/zenohex/examples/subscriber/impl.ex](/lib/zenohex/examples/subscriber/impl.ex)
+
+### Start Subscriber
+
+```elixir
+iex> alias Zenohex.Examples.Subscriber
+# if not specify session, key_expr and callback, they are made internally. key_expr is "zenohex/examples/**",callback is &Logger.debug(inspect(&1))
+iex> Subscriber.start_link()
+# you can also inject your session, key_expr and callback from outside
+iex> Subscriber.start_link(%{session: your_session, key_expr: "your_key/expression/**", callback: &IO.inspect/1})
+```
+
+### Subscribed?
+
+```elixir
+iex> alias Zenohex.Examples.Publisher
+iex> Publisher.start_link()
+iex> Publisher.put("subscribed?")
+:ok
+
+11:51:53.959 [debug] %Zenohex.Sample{key_expr: "zenohex/examples/pub", value: "subscribed?", kind: :put, reference: #Reference<0.1373489635.746717252.118288>}
+```
 
 ### PullSubscriber
 
diff --git a/lib/zenohex/examples/subscriber.ex b/lib/zenohex/examples/subscriber.ex
index dac1232..3b19eac 100644
--- a/lib/zenohex/examples/subscriber.ex
+++ b/lib/zenohex/examples/subscriber.ex
@@ -1,38 +1,5 @@
 defmodule Zenohex.Examples.Subscriber do
-  mix_config = Mix.Project.config()
-  version = mix_config[:version]
-  base_url = "https://github.com/b5g-ex/zenohex/tree/v#{version}/lib/examples"
-
-  @moduledoc """
-  This is the example Subscriber implementation using Zenohex.
-
-  This Subscriber is made of `m:Supervisor` and `m:GenServer`.
-  If you would like to see the codes, check the followings.
-
-    * Supervisor
-      * [lib/zenohex/examples/subscriber.ex](#{base_url}/subscriber.ex)
-    * GenServer
-      * [lib/zenohex/examples/subscriber/impl.ex](#{base_url}/subscriber/impl.ex)
-
-  ## Getting Started
-
-  ### Start Subscriber
-
-      iex> alias Zenohex.Examples.Subscriber
-      # if not specify session, key_expr and callback, they are made internally. key_expr is "zenohex/examples/**",callback is &Logger.debug(inspect(&1))
-      iex> Subscriber.start_link()
-      # you can also inject your session, key_expr and callback from outside
-      iex> Subscriber.start_link(%{session: your_session, key_expr: "your_key/expression/**", callback: &IO.inspect/1})
-
-  ### Subscribed?
-
-      iex> alias Zenohex.Examples.Publisher
-      iex> Publisher.start_link()
-      iex> Publisher.put("subscribed?")
-      :ok
-      
-      11:51:53.959 [debug] %Zenohex.Sample{key_expr: "zenohex/examples/pub", value: "subscribed?", kind: :put, reference: #Reference<0.1373489635.746717252.118288>}
-  """
+  @moduledoc false
 
   use Supervisor
 
@@ -40,9 +7,7 @@ defmodule Zenohex.Examples.Subscriber do
 
   alias Zenohex.Examples.Subscriber
 
-  @doc """
-  Start Subscriber.
-  """
+  @doc "Start Subscriber."
   def start_link(args \\ %{}) when is_map(args) do
     session = Map.get(args, :session) || Zenohex.open!()
     key_expr = Map.get(args, :key_expr, "zenohex/examples/**")
diff --git a/mix.exs b/mix.exs
index f4e9363..e851e2d 100644
--- a/mix.exs
+++ b/mix.exs
@@ -86,7 +86,6 @@ defmodule Zenohex.MixProject do
           Zenohex.Subscriber.Options
         ],
         Examples: [
-          Zenohex.Examples.Subscriber,
           Zenohex.Examples.PullSubscriber,
           Zenohex.Examples.Session,
           Zenohex.Examples.Queryable,

From a7499dd74f3c78da212a8bf3c3ecb2a6df651c26 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 15:11:10 +0900
Subject: [PATCH 155/165] Move Examples.PullSubscriber doc to
 lib/zenohex/examples/README.md

---
 lib/zenohex/examples/README.md          | 33 +++++++++++++++++++-
 lib/zenohex/examples/pull_subscriber.ex | 41 ++-----------------------
 mix.exs                                 |  1 -
 3 files changed, 34 insertions(+), 41 deletions(-)

diff --git a/lib/zenohex/examples/README.md b/lib/zenohex/examples/README.md
index 04d79d9..2a43f18 100644
--- a/lib/zenohex/examples/README.md
+++ b/lib/zenohex/examples/README.md
@@ -85,7 +85,38 @@ iex> Publisher.put("subscribed?")
 11:51:53.959 [debug] %Zenohex.Sample{key_expr: "zenohex/examples/pub", value: "subscribed?", kind: :put, reference: #Reference<0.1373489635.746717252.118288>}
 ```
 
-### PullSubscriber
+## PullSubscriber
+
+This PullSubscriber is made of `Supervisor` and `GenServer`.
+If you would like to see the codes, check the followings.
+
+- Supervisor
+  - [lib/zenohex/examples/pull_subscriber.ex](/lib/zenohex/examples/pull_subscriber.ex)
+- GenServer
+  - [lib/zenohex/examples/pull_subscriber/impl.ex](/lib/zenohex/examples/pull_subscriber/impl.ex)
+
+### Start PullSubscriber
+
+```elixir
+iex> alias Zenohex.Examples.PullSubscriber
+# if not specify session, key_expr and callback, they are made internally. key_expr is "zenohex/examples/**",callback is &Logger.debug(inspect(&1))
+iex> PullSubscriber.start_link()
+# you can also inject your session, key_expr and callback from outside
+iex> PullSubscriber.start_link(%{session: your_session, key_expr: "your_key/expression/**", callback: &IO.inspect/1})
+```
+
+### Pull data
+
+```elixir
+iex> alias Zenohex.Examples.Publisher
+iex> Publisher.start_link()
+iex> Publisher.put("subscribed?")
+:ok
+iex> PullSubscriber.pull()
+:ok
+
+12:16:47.306 [debug] %Zenohex.Sample{key_expr: "zenohex/examples/pub", value: "subscribed?", kind: :put, reference: #Reference<0.662543409.1019347013.179304>}
+```
 
 ### Queryable
 
diff --git a/lib/zenohex/examples/pull_subscriber.ex b/lib/zenohex/examples/pull_subscriber.ex
index 65d7595..5d86cc3 100644
--- a/lib/zenohex/examples/pull_subscriber.ex
+++ b/lib/zenohex/examples/pull_subscriber.ex
@@ -1,40 +1,5 @@
 defmodule Zenohex.Examples.PullSubscriber do
-  mix_config = Mix.Project.config()
-  version = mix_config[:version]
-  base_url = "https://github.com/b5g-ex/zenohex/tree/v#{version}/lib/examples"
-
-  @moduledoc """
-  This is the example PullSubscriber implementation using Zenohex.
-
-  This PullSubscriber is made of `m:Supervisor` and `m:GenServer`.
-  If you would like to see the codes, check the followings.
-
-    * Supervisor
-      * [lib/zenohex/examples/pull_subscriber.ex](#{base_url}/pull_subscriber.ex)
-    * GenServer
-      * [lib/zenohex/examples/pull_subscriber/impl.ex](#{base_url}/pull_subscriber/impl.ex)
-
-  ## Getting Started
-
-  ### Start PullSubscriber
-
-      iex> alias Zenohex.Examples.PullSubscriber
-      # if not specify session, key_expr and callback, they are made internally. key_expr is "zenohex/examples/**",callback is &Logger.debug(inspect(&1))
-      iex> PullSubscriber.start_link()
-      # you can also inject your session, key_expr and callback from outside
-      iex> PullSubscriber.start_link(%{session: your_session, key_expr: "your_key/expression/**", callback: &IO.inspect/1})
-
-  ### Pull data
-
-      iex> alias Zenohex.Examples.Publisher
-      iex> Publisher.start_link()
-      iex> Publisher.put("subscribed?")
-      :ok
-      iex> PullSubscriber.pull()
-      :ok
-      
-      12:16:47.306 [debug] %Zenohex.Sample{key_expr: "zenohex/examples/pub", value: "subscribed?", kind: :put, reference: #Reference<0.662543409.1019347013.179304>}
-  """
+  @moduledoc false
 
   use Supervisor
 
@@ -42,9 +7,7 @@ defmodule Zenohex.Examples.PullSubscriber do
 
   alias Zenohex.Examples.PullSubscriber
 
-  @doc """
-  Start PullSubscriber.
-  """
+  @doc "Start PullSubscriber."
   def start_link(args \\ %{}) when is_map(args) do
     session = Map.get(args, :session) || Zenohex.open!()
     key_expr = Map.get(args, :key_expr, "zenohex/examples/**")
diff --git a/mix.exs b/mix.exs
index e851e2d..2e89b26 100644
--- a/mix.exs
+++ b/mix.exs
@@ -86,7 +86,6 @@ defmodule Zenohex.MixProject do
           Zenohex.Subscriber.Options
         ],
         Examples: [
-          Zenohex.Examples.PullSubscriber,
           Zenohex.Examples.Session,
           Zenohex.Examples.Queryable,
           Zenohex.Examples.Storage

From 5be10ee88768880123ed5a118660e652df3beebd Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 15:19:32 +0900
Subject: [PATCH 156/165] Move Examples.Queryable doc to
 lib/zenohex/examples/README.md

---
 lib/zenohex/examples/README.md    | 31 +++++++++++++++++++++++-
 lib/zenohex/examples/queryable.ex | 39 ++-----------------------------
 mix.exs                           |  1 -
 3 files changed, 32 insertions(+), 39 deletions(-)

diff --git a/lib/zenohex/examples/README.md b/lib/zenohex/examples/README.md
index 2a43f18..1a90844 100644
--- a/lib/zenohex/examples/README.md
+++ b/lib/zenohex/examples/README.md
@@ -118,7 +118,36 @@ iex> PullSubscriber.pull()
 12:16:47.306 [debug] %Zenohex.Sample{key_expr: "zenohex/examples/pub", value: "subscribed?", kind: :put, reference: #Reference<0.662543409.1019347013.179304>}
 ```
 
-### Queryable
+## Queryable
+
+This Queryable is made of `Supervisor` and `GenServer`.
+If you would like to see the codes, check the followings.
+
+- Supervisor
+  - [lib/zenohex/examples/queryable.ex](/lib/zenohex/examples/queryable.ex)
+- GenServer
+  - [lib/zenohex/examples/queryable/impl.ex](/lib/zenohex/examples/queryable/impl.ex)
+
+### Start Queryable
+
+```elixir
+iex> alias Zenohex.Examples.Queryable
+# if not specify session, key_expr and callback, they are made internally. key_expr is "zenohex/examples/**", callback is &Logger.debug(inspect(&1))
+iex> Queryable.start_link()
+# you can also inject your session, key_expr and callback from outside
+iex> Queryable.start_link(%{session: your_session, key_expr: "your_key/expression/**", callback: &IO.inspect/1})
+```
+
+### Queried?
+
+```elixir
+iex> alias Zenohex.Examples.Session
+iex> Session.start_link()
+iex> Session.get("zenohex/examples/get", &IO.inspect/1)
+:ok
+
+15:20:17.870 [debug] %Zenohex.Query{key_expr: "zenohex/examples/get", parameters: "", value: :undefined, reference: #Reference<0.3076585362.3463839816.144434>}
+```
 
 ### Session
 
diff --git a/lib/zenohex/examples/queryable.ex b/lib/zenohex/examples/queryable.ex
index 51561cc..a986e1a 100644
--- a/lib/zenohex/examples/queryable.ex
+++ b/lib/zenohex/examples/queryable.ex
@@ -1,38 +1,5 @@
 defmodule Zenohex.Examples.Queryable do
-  mix_config = Mix.Project.config()
-  version = mix_config[:version]
-  base_url = "https://github.com/b5g-ex/zenohex/tree/v#{version}/lib/examples"
-
-  @moduledoc """
-  This is the example Queryable implementation using Zenohex.
-
-  This Queryable is made of `m:Supervisor` and `m:GenServer`.
-  If you would like to see the codes, check the followings.
-
-    * Supervisor
-      * [lib/zenohex/examples/queryable.ex](#{base_url}/queryable.ex)
-    * GenServer
-      * [lib/zenohex/examples/queryable/impl.ex](#{base_url}/queryable/impl.ex)
-
-  ## Getting Started
-
-  ### Start Queryable
-
-      iex> alias Zenohex.Examples.Queryable
-      # if not specify session, key_expr and callback, they are made internally. key_expr is "zenohex/examples/**", callback is &Logger.debug(inspect(&1))
-      iex> Queryable.start_link()
-      # you can also inject your session, key_expr and callback from outside
-      iex> Queryable.start_link(%{session: your_session, key_expr: "your_key/expression/**", callback: &IO.inspect/1})
-
-  ### Queried?
-
-      iex> alias Zenohex.Examples.Session
-      iex> Session.start_link()
-      iex> Session.get("zenohex/examples/get", &IO.inspect/1)
-      :ok
-      
-      15:20:17.870 [debug] %Zenohex.Query{key_expr: "zenohex/examples/get", parameters: "", value: :undefined, reference: #Reference<0.3076585362.3463839816.144434>}
-  """
+  @moduledoc false
 
   use Supervisor
 
@@ -40,9 +7,7 @@ defmodule Zenohex.Examples.Queryable do
 
   alias Zenohex.Examples.Queryable
 
-  @doc """
-  Start Queryable.
-  """
+  @doc "Start Queryable."
   def start_link(args \\ %{}) when is_map(args) do
     session = Map.get(args, :session) || Zenohex.open!()
     key_expr = Map.get(args, :key_expr, "zenohex/examples/**")
diff --git a/mix.exs b/mix.exs
index 2e89b26..19a60ec 100644
--- a/mix.exs
+++ b/mix.exs
@@ -87,7 +87,6 @@ defmodule Zenohex.MixProject do
         ],
         Examples: [
           Zenohex.Examples.Session,
-          Zenohex.Examples.Queryable,
           Zenohex.Examples.Storage
         ]
       ]

From a36e97cd090a9a3e2cc19bb69634ea238930d8cf Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 15:25:17 +0900
Subject: [PATCH 157/165] Move Examples.Session doc to
 lib/zenohex/examples/README.md

---
 lib/zenohex/examples/README.md  | 42 ++++++++++++++++++++++++++++-
 lib/zenohex/examples/session.ex | 47 ++-------------------------------
 mix.exs                         |  1 -
 3 files changed, 43 insertions(+), 47 deletions(-)

diff --git a/lib/zenohex/examples/README.md b/lib/zenohex/examples/README.md
index 1a90844..b2bc0c7 100644
--- a/lib/zenohex/examples/README.md
+++ b/lib/zenohex/examples/README.md
@@ -149,6 +149,46 @@ iex> Session.get("zenohex/examples/get", &IO.inspect/1)
 15:20:17.870 [debug] %Zenohex.Query{key_expr: "zenohex/examples/get", parameters: "", value: :undefined, reference: #Reference<0.3076585362.3463839816.144434>}
 ```
 
-### Session
+## Session
+
+This Session is made of `Supervisor` and `GenServer`.
+If you would like to see the codes, check the followings.
+
+- Supervisor
+  - [lib/zenohex/examples/session.ex](/lib/zenohex/examples/session.ex)
+- GenServer
+  - [lib/zenohex/examples/session/impl.ex](/lib/zenohex/examples/session/impl.ex)
+
+### Start Session
+
+```elixir
+iex> alias Zenohex.Examples.Session
+# if not specify session, it is made internally
+iex> Session.start_link()
+# you can also inject your session and key_expr from outside
+iex> Session.start_link(%{session: your_session})
+```
+
+### Put data
+
+```elixir
+iex> Session.put("zenoh/example/session/put", 42)    # integer
+iex> Session.put("zenoh/example/session/put", 42.42) # float
+iex> Session.put("zenoh/example/session/put", "42")  # binary
+```
+
+### Delete data
+
+```elixir
+iex> Session.delete("zenoh/example/session/put")
+iex> Session.delete("zenoh/example/session/**")
+```
+
+### Get data
+
+```elixir
+iex> callback = &IO.inspect/1
+iex> Session.get("zenoh/example/session/get", callback)
+```
 
 ### Storage
diff --git a/lib/zenohex/examples/session.ex b/lib/zenohex/examples/session.ex
index c3d0574..42d5926 100644
--- a/lib/zenohex/examples/session.ex
+++ b/lib/zenohex/examples/session.ex
@@ -1,54 +1,11 @@
 defmodule Zenohex.Examples.Session do
-  mix_config = Mix.Project.config()
-  version = mix_config[:version]
-  base_url = "https://github.com/b5g-ex/zenohex/tree/v#{version}/lib/examples"
-
-  @moduledoc """
-  This is the example Session implementation using Zenohex.
-
-  This Session is made of `m:Supervisor` and `m:GenServer`.
-  If you would like to see the codes, check the followings.
-
-    * Supervisor
-      * [lib/zenohex/examples/session.ex](#{base_url}/session.ex)
-    * GenServer
-      * [lib/zenohex/examples/session/impl.ex](#{base_url}/session/impl.ex)
-
-  ## Getting Started
-
-  ### Start Session
-
-      iex> alias Zenohex.Examples.Session
-      # if not specify session, it is made internally
-      iex> Session.start_link()
-      # you can also inject your session and key_expr from outside
-      iex> Session.start_link(%{session: your_session})
-
-  ### Put data
-
-      iex> Session.put("zenoh/example/session/put", 42)    # integer
-      iex> Session.put("zenoh/example/session/put", 42.42) # float
-      iex> Session.put("zenoh/example/session/put", "42")  # binary
-
-  ### Delete data
-
-      iex> Session.delete("zenoh/example/session/put")
-      iex> Session.delete("zenoh/example/session/**")
-
-  ### Get data
-
-      iex> callback = &IO.inspect/1
-      iex> Session.get("zenoh/example/session/get", callback)
-
-  """
+  @moduledoc false
 
   use Supervisor
 
   alias Zenohex.Examples.Session
 
-  @doc """
-  Start Session.
-  """
+  @doc "Start Session."
   def start_link(args \\ %{}) when is_map(args) do
     session = Map.get(args, :session) || Zenohex.open!()
     Supervisor.start_link(__MODULE__, %{session: session}, name: __MODULE__)
diff --git a/mix.exs b/mix.exs
index 19a60ec..4d17fa8 100644
--- a/mix.exs
+++ b/mix.exs
@@ -86,7 +86,6 @@ defmodule Zenohex.MixProject do
           Zenohex.Subscriber.Options
         ],
         Examples: [
-          Zenohex.Examples.Session,
           Zenohex.Examples.Storage
         ]
       ]

From 5e6552969c8793c9b53b0a94af689a0db3327ad3 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 15:32:52 +0900
Subject: [PATCH 158/165] Move Examples.Storage doc to
 lib/zenohex/examples/README.md

---
 lib/zenohex/examples/README.md  | 45 +++++++++++++++++++++++++++-
 lib/zenohex/examples/storage.ex | 53 ++-------------------------------
 mix.exs                         |  1 -
 3 files changed, 46 insertions(+), 53 deletions(-)

diff --git a/lib/zenohex/examples/README.md b/lib/zenohex/examples/README.md
index b2bc0c7..db10b09 100644
--- a/lib/zenohex/examples/README.md
+++ b/lib/zenohex/examples/README.md
@@ -191,4 +191,47 @@ iex> callback = &IO.inspect/1
 iex> Session.get("zenoh/example/session/get", callback)
 ```
 
-### Storage
+## Storage
+
+This Storage is made of `Supervisor` and `GenServer`.
+If you would like to see the codes, check the followings.
+
+- Supervisor
+  - [lib/zenohex/examples/storage.ex](/lib/zenohex/examples/storage.ex)
+- GenServer
+  - [lib/zenohex/examples/storage/store.ex](/lib/zenohex/examples/storage/store.ex)
+  - [lib/zenohex/examples/storage/subscriber.ex](/lib/zenohex/examples/storage/subscriber.ex)
+  - [lib/zenohex/examples/storage/queryable.ex](/lib/zenohex/examples/storage/queryable.ex)
+
+In this example, we made store with `Agent`. We think we can use also `:ets`, `:dets` and `:mnesia`.
+
+### Start Storage
+
+```elixir
+iex> alias Zenohex.Examples.Storage
+# if not specify session, key_expr and callback, they are made internally. key_expr is "zenohex/examples/**"
+iex> Storage.start_link()
+# you can also inject your session, key_expr and callback from outside
+iex> Storage.start_link(%{session: your_session, key_expr: "your_key/expression/**"})
+```
+
+### Session put/get/delete data with Storage
+
+```elixir
+iex> alias Zenohex.Examples.Session
+iex> Session.start_link()
+iex> Session.put("zenoh/examples/storage", _value = "put")
+:ok
+iex> Session.get("zenoh/examples/storage", _callback = &IO.inspect/1)
+:ok
+%Zenohex.Sample{
+  key_expr: "zenohex/examples/storage",
+  value: "put",
+  kind: :put,
+  reference: #Reference<0.2244884903.1591869505.81651>
+}
+iex> Session.delete("zenoh/examples/storage")
+:ok
+iex> Session.get("zenoh/examples/storage", &IO.inspect/1)
+:ok
+```
diff --git a/lib/zenohex/examples/storage.ex b/lib/zenohex/examples/storage.ex
index 19f3f4e..cead80e 100644
--- a/lib/zenohex/examples/storage.ex
+++ b/lib/zenohex/examples/storage.ex
@@ -1,60 +1,11 @@
 defmodule Zenohex.Examples.Storage do
-  mix_config = Mix.Project.config()
-  version = mix_config[:version]
-  base_url = "https://github.com/b5g-ex/zenohex/tree/v#{version}/lib/examples"
-
-  @moduledoc """
-  This is the example Storage implementation using Zenohex.
-
-  This Storage is made of `m:Supervisor` and `m:GenServer`.
-  If you would like to see the codes, check the followings.
-
-    * Supervisor
-      * [lib/zenohex/examples/storage.ex](#{base_url}/storage.ex)
-    * GenServer
-      * [lib/zenohex/examples/storage/store.ex](#{base_url}/storage/store.ex)
-      * [lib/zenohex/examples/storage/subscriber.ex](#{base_url}/storage/subscriber.ex)
-      * [lib/zenohex/examples/storage/queryable.ex](#{base_url}/storage/queryable.ex)
-
-  In this example, we made store with `m:Agent`. We think we can use also `:ets`, `:dets` and `:mnesia`.
-
-  ## Getting Started
-
-  ### Start Storage
-
-      iex> alias Zenohex.Examples.Storage
-      # if not specify session, key_expr and callback, they are made internally. key_expr is "zenohex/examples/**"
-      iex> Storage.start_link()
-      # you can also inject your session, key_expr and callback from outside
-      iex> Storage.start_link(%{session: your_session, key_expr: "your_key/expression/**"})
-
-  ### Session put/get/delete data with Storage
-
-      iex> alias Zenohex.Examples.Session
-      iex> Session.start_link()
-      iex> Session.put("zenoh/examples/storage", _value = "put")
-      :ok
-      iex> Session.get("zenoh/examples/storage", _callback = &IO.inspect/1)
-      :ok
-      %Zenohex.Sample{
-        key_expr: "zenohex/examples/storage",
-        value: "put",
-        kind: :put,
-        reference: #Reference<0.2244884903.1591869505.81651>
-      }
-      iex> Session.delete("zenoh/examples/storage")
-      :ok
-      iex> Session.get("zenoh/examples/storage", &IO.inspect/1)
-      :ok
-  """
+  @moduledoc false
 
   use Supervisor
 
   alias Zenohex.Examples.Storage
 
-  @doc """
-  Start storage.
-  """
+  @doc "Start storage."
   def start_link(args \\ %{}) when is_map(args) do
     session = Map.get(args, :session) || Zenohex.open!()
     key_expr = Map.get(args, :key_expr, "zenohex/examples/**")
diff --git a/mix.exs b/mix.exs
index 4d17fa8..e55aadf 100644
--- a/mix.exs
+++ b/mix.exs
@@ -86,7 +86,6 @@ defmodule Zenohex.MixProject do
           Zenohex.Subscriber.Options
         ],
         Examples: [
-          Zenohex.Examples.Storage
         ]
       ]
     ]

From eb0335202bc6c1e27e04553782af90c40d225bb7 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 15:33:22 +0900
Subject: [PATCH 159/165] Remove Examples section from mix docs

---
 mix.exs | 2 --
 1 file changed, 2 deletions(-)

diff --git a/mix.exs b/mix.exs
index e55aadf..4d8670e 100644
--- a/mix.exs
+++ b/mix.exs
@@ -84,8 +84,6 @@ defmodule Zenohex.MixProject do
           Zenohex.Query.Options,
           Zenohex.Queryable.Options,
           Zenohex.Subscriber.Options
-        ],
-        Examples: [
         ]
       ]
     ]

From f5a900ed080fbd50ab7008fda62c7caa096f8cb2 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 15:42:02 +0900
Subject: [PATCH 160/165] Update README.md

---
 README.md | 13 ++-----------
 1 file changed, 2 insertions(+), 11 deletions(-)

diff --git a/README.md b/README.md
index c7aa82c..91e2902 100644
--- a/README.md
+++ b/README.md
@@ -63,18 +63,9 @@ iex(6)> Zenohex.Subscriber.recv_timeout(subscriber, 1000)
 
 ### Practical examples
 
-We implemented following practical examples under the [lib/zenohex/examples](lib/zenohex/examples) with moduledoc.
+We implemented practical examples under the [lib/zenohex/examples](https://github.com/b5g-ex/zenohex/tree/v0.2.0-rc.2/lib/zenohex/examples).
 
-(from hexdocs please refer to MODULES tab's EXAMPLE section)
-
-- [Publisher](lib/zenohex/examples/publisher.ex)
-- [Subscriber](lib/zenohex/examples/subscriber.ex)
-- [PullSubscriber](lib/zenohex/examples/pull_subscriber.ex)
-- [Session](lib/zenohex/examples/session.ex)
-- [Queryable](lib/zenohex/examples/queryable.ex)
-- [Storage](lib/zenohex/examples/storage.ex)
-
-Use them as reference for your implementation.
+Please read the [lib/zenohex/examples/README.md](https://github.com/b5g-ex/zenohex/tree/v0.2.0-rc.2/lib/zenohex/examples/README.md) to use them as your implementation's reference.
 
 ## For developer
 

From 16bcc418e53cade42da8fbe69f1a7dc913a89bfa Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Fri, 16 Feb 2024 15:59:33 +0900
Subject: [PATCH 161/165] Exclude lib/zenohex/examples directory from package
 files

---
 mix.exs | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/mix.exs b/mix.exs
index 4d8670e..0f8c292 100644
--- a/mix.exs
+++ b/mix.exs
@@ -54,7 +54,9 @@ defmodule Zenohex.MixProject do
     [
       name: "zenohex",
       files: [
-        "lib",
+        "lib/zenohex.ex",
+        "lib/zenohex/config",
+        "lib/zenohex/*.ex",
         "native/zenohex_nif/.cargo",
         "native/zenohex_nif/src",
         "native/zenohex_nif/Cargo*",

From 43283be9f9fa50c1c569b77654d4e4bb555e74a5 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 19 Feb 2024 09:36:31 +0900
Subject: [PATCH 162/165] Update .github/workflows/ci.yaml, remove `on push`

---
 .github/workflows/ci.yaml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 3272b5e..1011bcb 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -8,8 +8,6 @@ env:
 # based https://github.com/erlef/setup-beam
 
 on:
-  push:
-    branches: main
   pull_request:
 
 jobs:

From 9e9995a17c8a83deb72c9594b71c0ac6b19b3e3e Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 19 Feb 2024 09:37:11 +0900
Subject: [PATCH 163/165] Rename .github/workflows/ci.yaml to ci.yml

---
 .github/workflows/{ci.yaml => ci.yml} | 0
 test/version_match_test.exs           | 2 +-
 2 files changed, 1 insertion(+), 1 deletion(-)
 rename .github/workflows/{ci.yaml => ci.yml} (100%)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yml
similarity index 100%
rename from .github/workflows/ci.yaml
rename to .github/workflows/ci.yml
diff --git a/test/version_match_test.exs b/test/version_match_test.exs
index 9ef85ae..0204ac2 100644
--- a/test/version_match_test.exs
+++ b/test/version_match_test.exs
@@ -23,7 +23,7 @@ defmodule Zenohex.VersionMatchTest do
         end)
 
       ciyaml_versions_map =
-        File.read!(".github/workflows/ci.yaml")
+        File.read!(".github/workflows/ci.yml")
         |> String.split("\n")
         |> Enum.reduce(%{}, fn line, acc ->
           cond do

From 4c882c8c4aa62c5d2f59026279a2e5ed0ac0f8d1 Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 19 Feb 2024 12:20:37 +0900
Subject: [PATCH 164/165] Update .github/workflows/ci.yml

Add trigger condtion on push to main

Co-authored-by: takasehideki <takasehideki@hal.ipc.i.u-tokyo.ac.jp>
---
 .github/workflows/ci.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 1011bcb..6503bcf 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -9,6 +9,9 @@ env:
 
 on:
   pull_request:
+  push:
+    branches:
+      - main
 
 jobs:
   build-deps:

From e17cd0adef8c32ea8f88f6e0ca666a86bf46bdde Mon Sep 17 00:00:00 2001
From: Ryota Kinukawa <kinukawa@tombo-works.com>
Date: Mon, 19 Feb 2024 13:39:55 +0900
Subject: [PATCH 165/165] Remove unnecessary `uses` from
 .github/workflows/ci.yml

---
 .github/workflows/ci.yml | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 6503bcf..73e6d11 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -51,10 +51,6 @@ jobs:
           otp-version: ${{env.OTP_VERSION}}
           elixir-version: ${{env.ELIXIR_VERSION}}
 
-      - uses: dtolnay/rust-toolchain@stable
-        with:
-          components: rustfmt
-
       - uses: actions/cache/restore@v4
         id: restore-deps-cache
         with: