Merge branch 'master' into query-body

examples/arduino/z_get.ino

@@ -108,10 +108,8 @@ void loop() {
     Serial.print("Sending Query ");
     Serial.print(KEYEXPR);
     Serial.println(" ...");
-    z_get_options_t opts = z_get_options_default();
-    opts.target = Z_QUERY_TARGET_ALL;
     z_owned_closure_reply_t callback = z_closure_reply(reply_handler, reply_dropper, NULL);
-    if (z_get(z_session_loan(&s), z_keyexpr(KEYEXPR), "", z_closure_reply_move(&callback), &opts) < 0) {
+    if (z_get(z_session_loan(&s), z_keyexpr(KEYEXPR), "", z_closure_reply_move(&callback), NULL) < 0) {
         Serial.println("Unable to send query.");
     }
 }

examples/espidf/z_get.c

@@ -151,10 +151,8 @@ void app_main() {
     while (1) {
         sleep(5);
         printf("Sending Query '%s'...\n", KEYEXPR);
-        z_get_options_t opts = z_get_options_default();
-        opts.target = Z_QUERY_TARGET_ALL;
         z_owned_closure_reply_t callback = z_closure(reply_handler, reply_dropper);
-        if (z_get(z_loan(s), z_keyexpr(KEYEXPR), "", z_move(callback), &opts) < 0) {
+        if (z_get(z_loan(s), z_keyexpr(KEYEXPR), "", z_move(callback), NULL) < 0) {
             printf("Unable to send query.\n");
             exit(-1);
         }

examples/mbed/z_get.cpp

@@ -74,10 +74,8 @@ int main(int argc, char **argv) {
     while (1) {
         z_sleep_s(5);
         printf("Sending Query '%s'...\n", KEYEXPR);
-        z_get_options_t opts = z_get_options_default();
-        opts.target = Z_QUERY_TARGET_ALL;
         z_owned_closure_reply_t callback = z_closure_reply(reply_handler, reply_dropper, NULL);
-        if (z_get(z_session_loan(&s), z_keyexpr(KEYEXPR), "", z_closure_reply_move(&callback), &opts) < 0) {
+        if (z_get(z_session_loan(&s), z_keyexpr(KEYEXPR), "", z_closure_reply_move(&callback), NULL) < 0) {
             printf("Unable to send query.\n");
             exit(-1);
         }

examples/unix/c11/z_get.c

@@ -98,13 +98,11 @@ int main(int argc, char **argv) {
         }
 
         printf("Sending Query '%s'...\n", keyexpr);
-        z_get_options_t opts = z_get_options_default();
-        opts.target = Z_QUERY_TARGET_ALL;
         if (value != NULL) {
             opts.with_value.payload = _z_bytes_wrap((const uint8_t *)value, strlen(value));
         }
         z_owned_closure_reply_t callback = z_closure(reply_handler, reply_dropper);
-        if (z_get(z_loan(s), ke, "", z_move(callback), &opts) < 0) {
+        if (z_get(z_loan(s), ke, "", z_move(callback), NULL) < 0) {
             printf("Unable to send query.\n");
             return -1;
         }

examples/unix/c99/z_get.c

@@ -94,10 +94,8 @@ int main(int argc, char **argv) {
         }
 
         printf("Sending Query '%s'...\n", keyexpr);
-        z_get_options_t opts = z_get_options_default();
-        opts.target = Z_QUERY_TARGET_ALL;
         z_owned_closure_reply_t callback = z_closure_reply(reply_handler, reply_dropper, NULL);
-        if (z_get(z_session_loan(&s), ke, "", z_closure_reply_move(&callback), &opts) < 0) {
+        if (z_get(z_session_loan(&s), ke, "", z_closure_reply_move(&callback), NULL) < 0) {
             printf("Unable to send query.\n");
             return -1;
         }

include/zenoh-pico/api/constants.h

@@ -30,6 +30,7 @@ typedef enum {
     Z_WHATAMI_PEER = 0x02,    // 1 << 1
     Z_WHATAMI_CLIENT = 0x04   // 1 << 2
 } z_whatami_t;
+#define Z_WHATAMI_DEFAULT Z_WHATAMI_ROUTER
 
 /**
  * Status values for keyexpr canonization operation.
@@ -68,6 +69,7 @@ typedef enum {
  *     Z_SAMPLE_KIND_DELETE: The Sample was issued by a ``delete`` operation.
  */
 typedef enum { Z_SAMPLE_KIND_PUT = 0, Z_SAMPLE_KIND_DELETE = 1 } z_sample_kind_t;
+#define Z_SAMPLE_KIND_DEFAULT Z_SAMPLE_KIND_PUT
 
 /**
  * Zenoh encoding values.
@@ -118,6 +120,7 @@ typedef enum {
     Z_ENCODING_PREFIX_IMAGE_PNG = 19,
     Z_ENCODING_PREFIX_IMAGE_GIF = 20
 } z_encoding_prefix_t;
+#define Z_ENCODING_PREFIX_DEFAULT Z_ENCODING_PREFIX_EMPTY
 
 /**
  * Consolidation mode values.
@@ -138,6 +141,7 @@ typedef enum {
     Z_CONSOLIDATION_MODE_MONOTONIC = 1,
     Z_CONSOLIDATION_MODE_LATEST = 2,
 } z_consolidation_mode_t;
+#define Z_CONSOLIDATION_MODE_DEFAULT Z_CONSOLIDATION_MODE_AUTO
 
 /**
  * Reliability values.
@@ -147,6 +151,7 @@ typedef enum {
  *     Z_RELIABILITY_RELIABLE: Defines reliability as ``RELIABLE``
  */
 typedef enum { Z_RELIABILITY_BEST_EFFORT = 0, Z_RELIABILITY_RELIABLE = 1 } z_reliability_t;
+#define Z_RELIABILITY_DEFAULT Z_RELIABILITY_RELIABLE
 
 /**
  * Reply tag values.
@@ -168,6 +173,7 @@ typedef enum { Z_REPLY_TAG_DATA = 0, Z_REPLY_TAG_FINAL = 1 } z_reply_tag_t;
  *         of congestion control.
  */
 typedef enum { Z_CONGESTION_CONTROL_BLOCK = 0, Z_CONGESTION_CONTROL_DROP = 1 } z_congestion_control_t;
+#define Z_CONGESTION_CONTROL_DEFAULT Z_CONGESTION_CONTROL_BLOCK
 
 /**
  * Priority of Zenoh messages values.
@@ -192,6 +198,7 @@ typedef enum {
     Z_PRIORITY_DATA_LOW = 6,
     Z_PRIORITY_BACKGROUND = 7
 } z_priority_t;
+#define Z_PRIORITY_DEFAULT Z_PRIORITY_DATA
 
 /**
  * Subscription mode values.
@@ -201,6 +208,7 @@ typedef enum {
  *     Z_SUBMODE_PULL: Defines the subscription with a pull paradigm.
  */
 typedef enum { Z_SUBMODE_PUSH = 0, Z_SUBMODE_PULL = 1 } z_submode_t;
+#define Z_SUBMODE_DEFAULT Z_SUBMODE_PUSH
 
 /**
  * Query target values.
@@ -215,5 +223,6 @@ typedef enum {
     Z_QUERY_TARGET_ALL = 1,
     Z_QUERY_TARGET_ALL_COMPLETE = 2
 } z_query_target_t;
+#define Z_QUERY_TARGET_DEFAULT Z_QUERY_TARGET_BEST_MATCHING
 
 #endif /* ZENOH_PICO_API_CONSTANTS_H */

include/zenoh-pico/api/types.h

@@ -242,10 +242,10 @@ typedef struct {
  * upon its declaration via :c:func:`z_declare_queryable`.
  *
  * Members:
- *   bool complete: The completeness of the queryable.
+ *   _Bool complete: The completeness of the queryable.
  */
 typedef struct {
-    bool complete;
+    _Bool complete;
 } z_queryable_options_t;
 
 /**

include/zenoh-pico/net/primitives.h

@@ -138,7 +138,7 @@ int8_t _z_undeclare_subscriber(_z_subscriber_t *sub);
  * Returns:
  *    The created :c:type:`_z_queryable_t` or null if the declaration failed.
  */
-_z_queryable_t *_z_declare_queryable(_z_session_t *zn, _z_keyexpr_t keyexpr, bool complete,
+_z_queryable_t *_z_declare_queryable(_z_session_t *zn, _z_keyexpr_t keyexpr, _Bool complete,
                                      _z_questionable_handler_t callback, _z_drop_handler_t dropper, void *arg);
 
 /**

include/zenoh-pico/session/queryable.h

@@ -15,9 +15,11 @@
 #ifndef ZENOH_PICO_SESSION_QUERYABLE_H
 #define ZENOH_PICO_SESSION_QUERYABLE_H
 
+#include <stdbool.h>
+
 #include "zenoh-pico/net/session.h"
 
-#define _Z_QUERYABLE_COMPLETE_DEFAULT 1
+#define _Z_QUERYABLE_COMPLETE_DEFAULT false
 #define _Z_QUERYABLE_DISTANCE_DEFAULT 0
 
 /*------------------ Queryable ------------------*/

include/zenoh-pico/session/session.h

@@ -115,7 +115,7 @@ typedef void (*_z_questionable_handler_t)(const z_query_t *query, void *arg);
 typedef struct {
     _z_zint_t _id;
     _z_keyexpr_t _key;
-    bool _complete;
+    _Bool _complete;
     _z_questionable_handler_t _callback;
     _z_drop_handler_t _dropper;
     void *_arg;

src/api/api.c

@@ -200,13 +200,13 @@ z_encoding_t z_encoding(z_encoding_prefix_t prefix, const char *suffix) {
         .suffix = _z_bytes_wrap((const uint8_t *)suffix, (suffix == NULL) ? (size_t)0 : strlen(suffix))};
 }
 
-z_encoding_t z_encoding_default(void) { return z_encoding(Z_ENCODING_PREFIX_EMPTY, NULL); }
+z_encoding_t z_encoding_default(void) { return z_encoding(Z_ENCODING_PREFIX_DEFAULT, NULL); }
 
 z_value_t z_value(const char *payload, size_t payload_len, z_encoding_t encoding) {
     return (z_value_t){.payload = {.start = (const uint8_t *)payload, .len = payload_len}, .encoding = encoding};
 }
 
-z_query_target_t z_query_target_default(void) { return Z_QUERY_TARGET_BEST_MATCHING; }
+z_query_target_t z_query_target_default(void) { return Z_QUERY_TARGET_DEFAULT; }
 
 z_query_consolidation_t z_query_consolidation_auto(void) {
     return (z_query_consolidation_t){.mode = Z_CONSOLIDATION_MODE_AUTO};
@@ -455,12 +455,13 @@ z_id_t z_info_zid(const z_session_t zs) {
 }
 
 z_put_options_t z_put_options_default(void) {
-    return (z_put_options_t){
-        .encoding = z_encoding_default(), .congestion_control = Z_CONGESTION_CONTROL_DROP, .priority = Z_PRIORITY_DATA};
+    return (z_put_options_t){.encoding = z_encoding_default(),
+                             .congestion_control = Z_CONGESTION_CONTROL_DEFAULT,
+                             .priority = Z_PRIORITY_DEFAULT};
 }
 
 z_delete_options_t z_delete_options_default(void) {
-    return (z_delete_options_t){.congestion_control = Z_CONGESTION_CONTROL_DROP, .priority = Z_PRIORITY_DATA};
+    return (z_delete_options_t){.congestion_control = Z_CONGESTION_CONTROL_DEFAULT, .priority = Z_PRIORITY_DEFAULT};
 }
 
 int8_t z_put(z_session_t zs, z_keyexpr_t keyexpr, const uint8_t *payload, z_zint_t payload_len,
@@ -566,7 +567,7 @@ int8_t z_undeclare_keyexpr(z_session_t zs, z_owned_keyexpr_t *keyexpr) {
 }
 
 z_publisher_options_t z_publisher_options_default(void) {
-    return (z_publisher_options_t){.congestion_control = Z_CONGESTION_CONTROL_DROP, .priority = Z_PRIORITY_DATA_HIGH};
+    return (z_publisher_options_t){.congestion_control = Z_CONGESTION_CONTROL_DEFAULT, .priority = Z_PRIORITY_DEFAULT};
 }
 
 z_owned_publisher_t z_declare_publisher(z_session_t zs, z_keyexpr_t keyexpr, z_publisher_options_t *options) {
@@ -635,11 +636,11 @@ int8_t z_publisher_delete(const z_publisher_t pub, const z_publisher_delete_opti
 }
 
 z_subscriber_options_t z_subscriber_options_default(void) {
-    return (z_subscriber_options_t){.reliability = Z_RELIABILITY_RELIABLE};
+    return (z_subscriber_options_t){.reliability = Z_RELIABILITY_DEFAULT};
 }
 
 z_pull_subscriber_options_t z_pull_subscriber_options_default(void) {
-    return (z_pull_subscriber_options_t){.reliability = Z_RELIABILITY_RELIABLE};
+    return (z_pull_subscriber_options_t){.reliability = Z_RELIABILITY_DEFAULT};
 }
 
 z_owned_subscriber_t z_declare_subscriber(z_session_t zs, z_keyexpr_t keyexpr, z_owned_closure_sample_t *callback,

src/net/primitives.c

@@ -186,7 +186,6 @@ int8_t _z_undeclare_subscriber(_z_subscriber_t *sub) {
             ret = _Z_ERR_TRANSPORT_TX_FAILED;
         }
         _z_msg_clear(&z_msg);
-
     } else {
         ret = _Z_ERR_SUBSCRIPTION_UNKNOWN;
     }
@@ -195,7 +194,7 @@ int8_t _z_undeclare_subscriber(_z_subscriber_t *sub) {
 }
 
 /*------------------ Queryable Declaration ------------------*/
-_z_queryable_t *_z_declare_queryable(_z_session_t *zn, _z_keyexpr_t keyexpr, bool complete,
+_z_queryable_t *_z_declare_queryable(_z_session_t *zn, _z_keyexpr_t keyexpr, _Bool complete,
                                      _z_questionable_handler_t callback, _z_drop_handler_t dropper, void *arg) {
     _z_queryable_t *ret = NULL;
 

src/utils/string.c

@@ -40,7 +40,7 @@ char const *_z_bstrstr(_z_str_t haystack, _z_str_t needle) {
     char const *result = NULL;
     for (; (result == false) && (haystack.start <= haystack.end);
          haystack.start = _z_cptr_char_offset(haystack.start, 1)) {
-        bool found = true;
+        _Bool found = true;
         char const *n = needle.start;
         char const *h = haystack.start;
         while (_z_ptr_char_diff(needle.end, n) > 0) {