make attachments optional

eclipse-zenoh · Jan 18, 2024 · a1e5db7 · a1e5db7
1 parent 20de28f
commit a1e5db7
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Showing 19 changed files with 263 additions and 54 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -117,19 +117,22 @@ set(Z_FEATURE_SUBSCRIPTION 1 CACHE STRING "Toggle subscription feature")
 set(Z_FEATURE_QUERY 1 CACHE STRING "Toggle query feature")
 set(Z_FEATURE_QUERYABLE 1 CACHE STRING "Toggle queryable feature")
 set(Z_FEATURE_RAWETH_TRANSPORT 0 CACHE STRING "Toggle raw ethernet transport feature")
+set(Z_FEATURE_ATTACHMENT 1 CACHE STRING "Toggle attachment feature")
 add_definition(Z_FEATURE_MULTI_THREAD=${Z_FEATURE_MULTI_THREAD})
 add_definition(Z_FEATURE_PUBLICATION=${Z_FEATURE_PUBLICATION})
 add_definition(Z_FEATURE_SUBSCRIPTION=${Z_FEATURE_SUBSCRIPTION})
 add_definition(Z_FEATURE_QUERY=${Z_FEATURE_QUERY})
 add_definition(Z_FEATURE_QUERYABLE=${Z_FEATURE_QUERYABLE})
 add_definition(Z_FEATURE_RAWETH_TRANSPORT=${Z_FEATURE_RAWETH_TRANSPORT})
+add_definition(Z_FEATURE_ATTACHMENT=${Z_FEATURE_ATTACHMENT})
 add_compile_definitions("Z_BUILD_DEBUG=$<CONFIG:Debug>")
 message(STATUS "Building with feature confing:\n\
 * MULTI-THREAD: ${Z_FEATURE_MULTI_THREAD}\n\
 * PUBLICATION: ${Z_FEATURE_PUBLICATION}\n\
 * SUBSCRIPTION: ${Z_FEATURE_SUBSCRIPTION}\n\
 * QUERY: ${Z_FEATURE_QUERY}\n\
 * QUERYABLE: ${Z_FEATURE_QUERYABLE}\n\
+* ATTACHMENT: ${Z_FEATURE_ATTACHMENT}\n\
 * RAWETH: ${Z_FEATURE_RAWETH_TRANSPORT}")
 
 # Print summary of CMAKE configurations

diff --git a/GNUmakefile b/GNUmakefile
@@ -56,6 +56,7 @@ Z_FEATURE_PUBLICATION?=1
 Z_FEATURE_SUBSCRIPTION?=1
 Z_FEATURE_QUERY?=1
 Z_FEATURE_QUERYABLE?=1
+Z_FEATURE_ATTACHMENT?=1
 Z_FEATURE_RAWETH_TRANSPORT?=0
 
 # zenoh-pico/ directory
@@ -74,7 +75,7 @@ CROSSIMG_PREFIX=zenoh-pico_
 CMAKE_OPT=-DZENOH_DEBUG=$(ZENOH_DEBUG) -DBUILD_EXAMPLES=$(BUILD_EXAMPLES) -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DBUILD_TESTING=$(BUILD_TESTING) -DBUILD_MULTICAST=$(BUILD_MULTICAST)\
  -DZ_FEATURE_MULTI_THREAD=$(Z_FEATURE_MULTI_THREAD) \
  -DZ_FEATURE_PUBLICATION=$(Z_FEATURE_PUBLICATION) -DZ_FEATURE_SUBSCRIPTION=$(Z_FEATURE_SUBSCRIPTION) -DZ_FEATURE_QUERY=$(Z_FEATURE_QUERY) -DZ_FEATURE_QUERYABLE=$(Z_FEATURE_QUERYABLE)\
- -DZ_FEATURE_RAWETH_TRANSPORT=$(Z_FEATURE_RAWETH_TRANSPORT) -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
+ -DZ_FEATURE_RAWETH_TRANSPORT=$(Z_FEATURE_RAWETH_TRANSPORT) -DZ_FEATURE_ATTACHMENT=$(Z_FEATURE_ATTACHMENT) -DBUILD_INTEGRATION=$(BUILD_INTEGRATION) -DBUILD_TOOLS=$(BUILD_TOOLS) -DBUILD_SHARED_LIBS=$(BUILD_SHARED_LIBS) -H.
 
 ifeq ($(FORCE_C99), ON)
 	CMAKE_OPT += -DCMAKE_C_STANDARD=99

diff --git a/examples/unix/c11/z_put.c b/examples/unix/c11/z_put.c
@@ -93,14 +93,18 @@ int main(int argc, char **argv) {
     printf("Putting Data ('%s': '%s')...\n", keyexpr, value);
     z_put_options_t options = z_put_options_default();
     options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL);
+#if Z_FEATURE_ATTACHMENT == 1
     z_owned_bytes_map_t map = z_bytes_map_new();
     z_bytes_map_insert_by_alias(&map, _z_bytes_wrap((uint8_t *)"hi", 2), _z_bytes_wrap((uint8_t *)"there", 5));
     options.attachment = z_bytes_map_as_attachment(&map);
+#endif
     if (z_put(z_loan(s), z_keyexpr(keyexpr), (const uint8_t *)value, strlen(value), &options) < 0) {
         printf("Oh no! Put has failed...\n");
     }
 
+#if Z_FEATURE_ATTACHMENT == 1
     z_bytes_map_drop(&map);
+#endif
     // z_undeclare_keyexpr(z_loan(s), z_move(ke));
 
     // Stop read and lease tasks for zenoh-pico

diff --git a/examples/unix/c11/z_sub.c b/examples/unix/c11/z_sub.c
@@ -21,21 +21,26 @@
 #include <zenoh-pico.h>
 
 #if Z_FEATURE_SUBSCRIPTION == 1
+
+#if Z_FEATURE_ATTACHMENT == 1
 int8_t attachment_handler(z_bytes_t key, z_bytes_t value, void *ctx) {
     (void)ctx;
     printf(">>> %.*s: %.*s\n", (int)key.len, key.start, (int)value.len, value.start);
     return 0;
 }
+#endif
 
 void data_handler(const z_sample_t *sample, void *ctx) {
     (void)(ctx);
     z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
     printf(">> [Subscriber] Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample->payload.len,
            sample->payload.start);
+#if Z_FEATURE_ATTACHMENT == 1
     if (z_attachment_check(&sample->attachment)) {
         printf("Attachement found\n");
         z_attachment_iterate(sample->attachment, attachment_handler, NULL);
     }
+#endif
     z_drop(z_move(keystr));
 }
 

diff --git a/include/zenoh-pico/api/types.h b/include/zenoh-pico/api/types.h
@@ -278,7 +278,9 @@ typedef struct {
  */
 typedef struct {
     z_encoding_t encoding;
-    z_attachment_t attachment;
+#if Z_FEATURE_ATTACHMENT == 1
+    // TODO:ATT z_attachment_t attachment;
+#endif
 } z_query_reply_options_t;
 
 /**
@@ -294,7 +296,9 @@ typedef struct {
     z_encoding_t encoding;
     z_congestion_control_t congestion_control;
     z_priority_t priority;
+#if Z_FEATURE_ATTACHMENT == 1
     z_attachment_t attachment;
+#endif
 } z_put_options_t;
 
 /**
@@ -319,7 +323,9 @@ typedef struct {
  */
 typedef struct {
     z_encoding_t encoding;
+#if Z_FEATURE_ATTACHMENT == 1
     z_attachment_t attachment;
+#endif
 } z_publisher_put_options_t;
 
 /**
@@ -343,7 +349,9 @@ typedef struct {
     z_value_t value;
     z_query_consolidation_t consolidation;
     z_query_target_t target;
-    z_attachment_t attachment;
+#if Z_FEATURE_ATTACHMENT == 1
+// TODO:ATT z_attachment_t attachment;
+#endif
 } z_get_options_t;
 
 /**
@@ -553,7 +561,7 @@ typedef struct {
 } z_owned_closure_zid_t;
 
 void z_closure_zid_call(const z_owned_closure_zid_t *closure, const z_id_t *id);
-
+#if Z_FEATURE_ATTACHMENT == 1
 struct _z_bytes_pair_t {
     _z_bytes_t key;
     _z_bytes_t value;
@@ -645,6 +653,8 @@ z_owned_bytes_map_t z_bytes_map_new(void);
  * Constructs the gravestone value for `z_owned_bytes_map_t`
  */
 z_owned_bytes_map_t z_bytes_map_null(void);
+#endif
+
 /**
  * Returns a view of `str` using `strlen`.
  *

diff --git a/include/zenoh-pico/net/primitives.h b/include/zenoh-pico/net/primitives.h
@@ -11,8 +11,8 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
 
-#ifndef ZENOH_PICO_PRIMITIVES_NETAPI_H
-#define ZENOH_PICO_PRIMITIVES_NETAPI_H
+#ifndef INCLUDE_ZENOH_PICO_NET_PRIMITIVES_H
+#define INCLUDE_ZENOH_PICO_NET_PRIMITIVES_H
 
 #include <stdint.h>
 
@@ -119,7 +119,12 @@ int8_t _z_undeclare_publisher(_z_publisher_t *pub);
  */
 int8_t _z_write(_z_session_t *zn, const _z_keyexpr_t keyexpr, const uint8_t *payload, const size_t len,
                 const _z_encoding_t encoding, const z_sample_kind_t kind, const z_congestion_control_t cong_ctrl,
-                z_priority_t priority, z_attachment_t attachment);
+                z_priority_t priority
+#if Z_FEATURE_ATTACHMENT == 1
+                ,
+                z_attachment_t attachment
+#endif
+);
 #endif
 
 #if Z_FEATURE_SUBSCRIPTION == 1
@@ -228,7 +233,12 @@ int8_t _z_send_reply(const z_query_t *query, const _z_keyexpr_t keyexpr, const _
  */
 int8_t _z_query(_z_session_t *zn, _z_keyexpr_t keyexpr, const char *parameters, const z_query_target_t target,
                 const z_consolidation_mode_t consolidation, const _z_value_t value, _z_reply_handler_t callback,
-                void *arg_call, _z_drop_handler_t dropper, void *arg_drop, z_attachment_t attachment);
+                void *arg_call, _z_drop_handler_t dropper, void *arg_drop
+#if Z_FEATURE_ATTACHMENT == 1
+                ,
+                z_attachment_t attachment
+#endif
+);
 #endif
 
-#endif /* ZENOH_PICO_PRIMITIVES_NETAPI_H */
+#endif /* INCLUDE_ZENOH_PICO_NET_PRIMITIVES_H */
diff --git a/include/zenoh-pico/protocol/core.h b/include/zenoh-pico/protocol/core.h
@@ -71,6 +71,7 @@ typedef struct {
     uint64_t time;
 } _z_timestamp_t;
 
+#if Z_FEATURE_ATTACHMENT == 1
 /**
  * The body of a loop over an attachment's key-value pairs.
  *
@@ -127,6 +128,7 @@ typedef struct {
 size_t _z_attachment_estimate_length(z_attachment_t att);
 z_attachment_t _z_encoded_as_attachment(const _z_owned_encoded_attachment_t *att);
 void _z_encoded_attachment_drop(_z_owned_encoded_attachment_t *att);
+#endif
 
 _z_timestamp_t _z_timestamp_duplicate(const _z_timestamp_t *tstamp);
 _z_timestamp_t _z_timestamp_null(void);
@@ -225,7 +227,9 @@ typedef struct {
     _z_timestamp_t timestamp;
     _z_encoding_t encoding;
     z_sample_kind_t kind;
+#if Z_FEATURE_ATTACHMENT == 1
     z_attachment_t attachment;
+#endif
 } _z_sample_t;
 
 /**

diff --git a/include/zenoh-pico/protocol/definitions/message.h b/include/zenoh-pico/protocol/definitions/message.h
@@ -69,7 +69,9 @@ typedef struct {
     _z_value_t _value;
     _z_source_info_t _ext_source_info;
     z_consolidation_mode_t _ext_consolidation;
+#if Z_FEATURE_ATTACHMENT == 1
     _z_owned_encoded_attachment_t _ext_attachment;
+#endif
 } _z_msg_reply_t;
 void _z_msg_reply_clear(_z_msg_reply_t *msg);
 #define _Z_FLAG_Z_R_T 0x20
@@ -152,7 +154,9 @@ typedef struct {
     _z_m_push_commons_t _commons;
     _z_bytes_t _payload;
     _z_encoding_t _encoding;
+#if Z_FEATURE_ATTACHMENT == 1
     _z_owned_encoded_attachment_t _attachment;
+#endif
 } _z_msg_put_t;
 void _z_msg_put_clear(_z_msg_put_t *);
 #define _Z_M_PUT_ID 0x01
@@ -176,7 +180,9 @@ typedef struct {
     _z_source_info_t _ext_info;
     _z_value_t _ext_value;
     z_consolidation_mode_t _ext_consolidation;
+#if Z_FEATURE_ATTACHMENT == 1
     _z_owned_encoded_attachment_t _ext_attachment;
+#endif
 } _z_msg_query_t;
 typedef struct {
     _Bool info;

diff --git a/include/zenoh-pico/protocol/definitions/network.h b/include/zenoh-pico/protocol/definitions/network.h
@@ -230,8 +230,12 @@ _Z_VEC_DEFINE(_z_network_message, _z_network_message_t)
 void _z_msg_fix_mapping(_z_zenoh_message_t *msg, uint16_t mapping);
 _z_network_message_t _z_msg_make_pull(_z_keyexpr_t key, _z_zint_t pull_id);
 _z_network_message_t _z_msg_make_query(_Z_MOVE(_z_keyexpr_t) key, _Z_MOVE(_z_bytes_t) parameters, _z_zint_t qid,
-                                       z_consolidation_mode_t consolidation, _Z_MOVE(_z_value_t) value,
-                                       z_attachment_t attachment);
+                                       z_consolidation_mode_t consolidation, _Z_MOVE(_z_value_t) value
+#if Z_FEATURE_ATTACHMENT == 1
+                                       ,
+                                       z_attachment_t attachment
+#endif
+);
 _z_network_message_t _z_n_msg_make_reply(_z_zint_t rid, _Z_MOVE(_z_keyexpr_t) key, _Z_MOVE(_z_value_t) value);
 _z_network_message_t _z_n_msg_make_ack(_z_zint_t rid, _Z_MOVE(_z_keyexpr_t) key);
 _z_network_message_t _z_n_msg_make_response_final(_z_zint_t rid);

diff --git a/include/zenoh-pico/session/subscription.h b/include/zenoh-pico/session/subscription.h
@@ -25,10 +25,19 @@ _z_subscription_sptr_list_t *_z_get_subscriptions_by_key(_z_session_t *zn, uint8
 
 _z_subscription_sptr_t *_z_register_subscription(_z_session_t *zn, uint8_t is_local, _z_subscription_t *sub);
 void _z_trigger_local_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, const uint8_t *payload,
-                                    _z_zint_t payload_len, z_attachment_t att);
+                                    _z_zint_t payload_len
+#if Z_FEATURE_ATTACHMENT == 1
+                                    ,
+                                    z_attachment_t att
+#endif
+);
 int8_t _z_trigger_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_bytes_t payload,
-                                const _z_encoding_t encoding, const _z_zint_t kind, const _z_timestamp_t timestamp,
-                                z_attachment_t att);
+                                const _z_encoding_t encoding, const _z_zint_t kind, const _z_timestamp_t timestamp
+#if Z_FEATURE_ATTACHMENT == 1
+                                ,
+                                z_attachment_t att
+#endif
+);
 void _z_unregister_subscription(_z_session_t *zn, uint8_t is_local, _z_subscription_sptr_t *sub);
 void _z_flush_subscriptions(_z_session_t *zn);