From 6059b41ebdcb8403ed5c090e2b18b6f035598096 Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Thu, 15 Feb 2024 15:16:28 +0100
Subject: [PATCH 01/10] add support for QoS settings in sample

---
 Cargo.toml.in              |  8 ++++----
 src/commons.rs             | 28 ++++++++++++++++++++++++++++
 tests/z_int_pub_sub_test.c | 12 +++++++++++-
 3 files changed, 43 insertions(+), 5 deletions(-)

diff --git a/Cargo.toml.in b/Cargo.toml.in
index d1eec11bd..8f354ea52 100644
--- a/Cargo.toml.in
+++ b/Cargo.toml.in
@@ -49,10 +49,10 @@ log = "0.4.17"
 rand = "0.8.5"
 spin = "0.9.5"
 # shared-memory enabled for zenoh even if zenoh-c "shared-memory" feature is disabled. This is to make "std::mem::transmute" work for `ZSLice`
-zenoh = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = ["shared-memory", "unstable"], default-features = false }
-zenoh-protocol = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = ["shared-memory"] }
-zenoh-util = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main" }
-zenoh-ext = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = ["unstable"] }
+zenoh = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample", features = ["shared-memory", "unstable"], default-features = false }
+zenoh-protocol = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample", features = ["shared-memory"] }
+zenoh-util = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample" }
+zenoh-ext = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample", features = ["unstable"] }
 
 [build-dependencies]
 cbindgen = "0.24.3"
diff --git a/src/commons.rs b/src/commons.rs
index 5d58663eb..cbb98ae97 100644
--- a/src/commons.rs
+++ b/src/commons.rs
@@ -14,7 +14,9 @@
 
 use crate::collections::*;
 use crate::keyexpr::*;
+use crate::z_congestion_control_t;
 use crate::z_id_t;
+use crate::z_priority_t;
 use libc::c_void;
 use libc::{c_char, c_ulong};
 use zenoh::buffers::ZBuf;
@@ -22,6 +24,7 @@ use zenoh::prelude::SampleKind;
 use zenoh::prelude::SplitBuffer;
 use zenoh::query::ReplyKeyExpr;
 use zenoh::sample::Locality;
+use zenoh::sample::QoS;
 use zenoh::sample::Sample;
 use zenoh_protocol::core::Timestamp;
 
@@ -188,6 +191,29 @@ pub extern "C" fn zc_payload_null() -> zc_owned_payload_t {
     }
 }
 
+/// QoS settings of zenoh message.
+/// 
+/// Members:
+///   z_priority_t priority: Priority of the message.
+///   z_congestion_control_t congestion_control: Congestion control of the message.
+///   bool express: If true, the message is not batched during transmission, in order to reduce latency
+#[repr(C)]
+pub struct z_qos_t {
+    pub priority: z_priority_t,
+    pub congestion_control: z_congestion_control_t,
+    pub express: bool,
+}
+
+impl From<QoS> for z_qos_t {
+    fn from(qos: QoS) -> Self {
+        z_qos_t {
+            priority: qos.priority.into(),
+            congestion_control: qos.congestion_control.into(),
+            express: qos.express.into()
+        }
+    }
+}
+
 /// A data sample.
 ///
 /// A sample is the value associated to a given resource at a given point in time.
@@ -207,6 +233,7 @@ pub struct z_sample_t<'a> {
     pub _zc_buf: &'a c_void,
     pub kind: z_sample_kind_t,
     pub timestamp: z_timestamp_t,
+    pub qos: z_qos_t,
     pub attachment: z_attachment_t,
 }
 
@@ -222,6 +249,7 @@ impl<'a> z_sample_t<'a> {
             _zc_buf: unsafe { std::mem::transmute(owner) },
             kind: sample.kind.into(),
             timestamp: sample.timestamp.as_ref().into(),
+            qos: sample.qos.into(),
             attachment: match &sample.attachment {
                 Some(attachment) => z_attachment_t {
                     data: attachment as *const _ as *mut c_void,
diff --git a/tests/z_int_pub_sub_test.c b/tests/z_int_pub_sub_test.c
index 8a2825618..9ea0a29d2 100644
--- a/tests/z_int_pub_sub_test.c
+++ b/tests/z_int_pub_sub_test.c
@@ -37,7 +37,10 @@ int run_publisher() {
         return -1;
     }
 
-    z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(keyexpr), NULL);
+    z_publisher_options_t publisher_options = z_publisher_options_default();
+    publisher_options.priority = Z_PRIORITY_DATA;
+    publisher_options.congestion_control = Z_CONGESTION_CONTROL_BLOCK;
+    z_owned_publisher_t pub = z_declare_publisher(z_loan(s), z_keyexpr(keyexpr), &publisher_options);
     if (!z_check(pub)) {
         perror("Unable to declare Publisher for key expression!");
         return -1;
@@ -68,6 +71,13 @@ void data_handler(const z_sample_t *sample, void *arg) {
         exit(-1);
     }
 
+    if (sample->qos.congestion_control != Z_CONGESTION_CONTROL_BLOCK
+        || sample->qos.priority != Z_PRIORITY_DATA
+    ) {
+        perror("Unexpected QoS values");
+        exit(-1);
+    }
+
     if (++val_num == values_count) {
         exit(0);
     };

From 969e59bfbf678816f235355baa92cd5d0d4e79f4 Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Thu, 15 Feb 2024 15:29:52 +0100
Subject: [PATCH 02/10] add cargo and .h files

---
 Cargo.lock              | 50 ++++++++++++++++++++---------------------
 Cargo.toml              |  8 +++----
 include/zenoh_commons.h | 14 ++++++++++++
 3 files changed, 43 insertions(+), 29 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 593220380..6727b30c6 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2972,7 +2972,7 @@ checksum = "dff9641d1cd4be8d1a070daf9e3773c5f67e78b4d9d42263020c057706765c04"
 [[package]]
 name = "zenoh"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "async-global-executor",
  "async-std",
@@ -3021,7 +3021,7 @@ dependencies = [
 [[package]]
 name = "zenoh-buffers"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "zenoh-collections",
 ]
@@ -3051,7 +3051,7 @@ dependencies = [
 [[package]]
 name = "zenoh-codec"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "log",
  "serde",
@@ -3064,12 +3064,12 @@ dependencies = [
 [[package]]
 name = "zenoh-collections"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 
 [[package]]
 name = "zenoh-config"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "flume",
  "json5",
@@ -3088,7 +3088,7 @@ dependencies = [
 [[package]]
 name = "zenoh-core"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "async-std",
  "lazy_static",
@@ -3098,7 +3098,7 @@ dependencies = [
 [[package]]
 name = "zenoh-crypto"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "aes",
  "hmac",
@@ -3111,7 +3111,7 @@ dependencies = [
 [[package]]
 name = "zenoh-ext"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "async-std",
  "bincode",
@@ -3131,7 +3131,7 @@ dependencies = [
 [[package]]
 name = "zenoh-keyexpr"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "hashbrown 0.14.0",
  "keyed-set",
@@ -3145,7 +3145,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3164,7 +3164,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-commons"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3181,7 +3181,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-quic"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -3207,7 +3207,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tcp"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3223,7 +3223,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tls"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -3248,7 +3248,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-udp"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3267,7 +3267,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-unixsock_stream"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3285,7 +3285,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-ws"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3305,7 +3305,7 @@ dependencies = [
 [[package]]
 name = "zenoh-macros"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3318,7 +3318,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-trait"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "const_format",
  "libloading",
@@ -3334,7 +3334,7 @@ dependencies = [
 [[package]]
 name = "zenoh-protocol"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "const_format",
  "hex",
@@ -3350,7 +3350,7 @@ dependencies = [
 [[package]]
 name = "zenoh-result"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "anyhow",
 ]
@@ -3358,7 +3358,7 @@ dependencies = [
 [[package]]
 name = "zenoh-shm"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "bincode",
  "log",
@@ -3371,7 +3371,7 @@ dependencies = [
 [[package]]
 name = "zenoh-sync"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "async-std",
  "event-listener 4.0.0",
@@ -3386,7 +3386,7 @@ dependencies = [
 [[package]]
 name = "zenoh-transport"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "async-executor",
  "async-global-executor",
@@ -3418,7 +3418,7 @@ dependencies = [
 [[package]]
 name = "zenoh-util"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
 dependencies = [
  "async-std",
  "async-trait",
diff --git a/Cargo.toml b/Cargo.toml
index 52deaa71c..a85b36e24 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -49,10 +49,10 @@ log = "0.4.17"
 rand = "0.8.5"
 spin = "0.9.5"
 # shared-memory enabled for zenoh even if zenoh-c "shared-memory" feature is disabled. This is to make "std::mem::transmute" work for `ZSLice`
-zenoh = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = ["shared-memory", "unstable"], default-features = false }
-zenoh-protocol = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = ["shared-memory"] }
-zenoh-util = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main" }
-zenoh-ext = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = ["unstable"] }
+zenoh = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample", features = ["shared-memory", "unstable"], default-features = false }
+zenoh-protocol = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample", features = ["shared-memory"] }
+zenoh-util = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample" }
+zenoh-ext = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample", features = ["unstable"] }
 
 [build-dependencies]
 cbindgen = "0.24.3"
diff --git a/include/zenoh_commons.h b/include/zenoh_commons.h
index 58e7a2856..4cef77548 100644
--- a/include/zenoh_commons.h
+++ b/include/zenoh_commons.h
@@ -398,6 +398,19 @@ typedef struct z_timestamp_t {
   uint64_t time;
   struct z_id_t id;
 } z_timestamp_t;
+/**
+ * QoS settings of zenoh message.
+ *
+ * Members:
+ *   z_priority_t priority: Priority of the message.
+ *   z_congestion_control_t congestion_control: Congestion control of the message.
+ *   bool express: If true, the message is not batched during transmission, in order to reduce latency
+ */
+typedef struct z_qos_t {
+  enum z_priority_t priority;
+  enum z_congestion_control_t congestion_control;
+  bool express;
+} z_qos_t;
 /**
  * A data sample.
  *
@@ -418,6 +431,7 @@ typedef struct z_sample_t {
   const void *_zc_buf;
   enum z_sample_kind_t kind;
   struct z_timestamp_t timestamp;
+  struct z_qos_t qos;
   struct z_attachment_t attachment;
 } z_sample_t;
 /**

From 6bc51e2bbe7da69ffd448103f49f4826617103c5 Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Thu, 15 Feb 2024 19:37:08 +0100
Subject: [PATCH 03/10] add dots at the end of docstrings

---
 include/zenoh_commons.h | 2 +-
 src/commons.rs          | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/zenoh_commons.h b/include/zenoh_commons.h
index 4cef77548..60878fdb2 100644
--- a/include/zenoh_commons.h
+++ b/include/zenoh_commons.h
@@ -404,7 +404,7 @@ typedef struct z_timestamp_t {
  * Members:
  *   z_priority_t priority: Priority of the message.
  *   z_congestion_control_t congestion_control: Congestion control of the message.
- *   bool express: If true, the message is not batched during transmission, in order to reduce latency
+ *   bool express: If true, the message is not batched during transmission, in order to reduce latency.
  */
 typedef struct z_qos_t {
   enum z_priority_t priority;
diff --git a/src/commons.rs b/src/commons.rs
index cbb98ae97..f3e3bc710 100644
--- a/src/commons.rs
+++ b/src/commons.rs
@@ -196,7 +196,7 @@ pub extern "C" fn zc_payload_null() -> zc_owned_payload_t {
 /// Members:
 ///   z_priority_t priority: Priority of the message.
 ///   z_congestion_control_t congestion_control: Congestion control of the message.
-///   bool express: If true, the message is not batched during transmission, in order to reduce latency
+///   bool express: If true, the message is not batched during transmission, in order to reduce latency.
 #[repr(C)]
 pub struct z_qos_t {
     pub priority: z_priority_t,

From 50019f3f5ffe6f4fcaf2b8257b3db5153fde6e30 Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Fri, 16 Feb 2024 10:16:43 +0100
Subject: [PATCH 04/10] fix clippy

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

diff --git a/src/commons.rs b/src/commons.rs
index f3e3bc710..e2e0a9036 100644
--- a/src/commons.rs
+++ b/src/commons.rs
@@ -209,7 +209,7 @@ impl From<QoS> for z_qos_t {
         z_qos_t {
             priority: qos.priority.into(),
             congestion_control: qos.congestion_control.into(),
-            express: qos.express.into()
+            express: qos.express,
         }
     }
 }

From 2cadb900b78ae75157dede10a16f24fa921cd0cd Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Tue, 20 Feb 2024 15:58:15 +0100
Subject: [PATCH 05/10] reduce qos size to 1 byte; use getters to extract
 individual qos settings

---
 include/zenoh_commons.h    | 24 +++++++++++++------
 src/commons.rs             | 49 ++++++++++++++++++++++++++------------
 tests/z_int_pub_sub_test.c |  4 ++--
 3 files changed, 53 insertions(+), 24 deletions(-)

diff --git a/include/zenoh_commons.h b/include/zenoh_commons.h
index 60878fdb2..a93304fd6 100644
--- a/include/zenoh_commons.h
+++ b/include/zenoh_commons.h
@@ -401,15 +401,9 @@ typedef struct z_timestamp_t {
 /**
  * QoS settings of zenoh message.
  *
- * Members:
- *   z_priority_t priority: Priority of the message.
- *   z_congestion_control_t congestion_control: Congestion control of the message.
- *   bool express: If true, the message is not batched during transmission, in order to reduce latency.
  */
 typedef struct z_qos_t {
-  enum z_priority_t priority;
-  enum z_congestion_control_t congestion_control;
-  bool express;
+  uint8_t _0;
 } z_qos_t;
 /**
  * A data sample.
@@ -1725,6 +1719,22 @@ int8_t z_put(struct z_session_t session,
  * Constructs the default value for :c:type:`z_put_options_t`.
  */
 ZENOHC_API struct z_put_options_t z_put_options_default(void);
+/**
+ * Returns default qos settings.
+ */
+ZENOHC_API struct z_qos_t z_qos_default(void);
+/**
+ * Returns message congestion control.
+ */
+ZENOHC_API enum z_congestion_control_t z_qos_get_congestion_control(struct z_qos_t qos);
+/**
+ * Returns message express flag. If set to true, the message is not batched to reduce the latency.
+ */
+ZENOHC_API bool z_qos_get_express(struct z_qos_t qos);
+/**
+ * Returns message priority.
+ */
+ZENOHC_API enum z_priority_t z_qos_get_priority(struct z_qos_t qos);
 /**
  * Returns the attachment to the query by aliasing.
  *
diff --git a/src/commons.rs b/src/commons.rs
index e2e0a9036..8ac21cb11 100644
--- a/src/commons.rs
+++ b/src/commons.rs
@@ -17,6 +17,7 @@ use crate::keyexpr::*;
 use crate::z_congestion_control_t;
 use crate::z_id_t;
 use crate::z_priority_t;
+use crate::{impl_guarded_transmute, GuardedTransmute};
 use libc::c_void;
 use libc::{c_char, c_ulong};
 use zenoh::buffers::ZBuf;
@@ -192,28 +193,46 @@ pub extern "C" fn zc_payload_null() -> zc_owned_payload_t {
 }
 
 /// QoS settings of zenoh message.
-/// 
-/// Members:
-///   z_priority_t priority: Priority of the message.
-///   z_congestion_control_t congestion_control: Congestion control of the message.
-///   bool express: If true, the message is not batched during transmission, in order to reduce latency.
+///
 #[repr(C)]
-pub struct z_qos_t {
-    pub priority: z_priority_t,
-    pub congestion_control: z_congestion_control_t,
-    pub express: bool,
-}
+pub struct z_qos_t(u8);
+
+impl_guarded_transmute!(QoS, z_qos_t);
+impl_guarded_transmute!(z_qos_t, QoS);
 
 impl From<QoS> for z_qos_t {
     fn from(qos: QoS) -> Self {
-        z_qos_t {
-            priority: qos.priority.into(),
-            congestion_control: qos.congestion_control.into(),
-            express: qos.express,
-        }
+        qos.transmute()
     }
 }
 
+impl From<z_qos_t> for QoS {
+    fn from(qos: z_qos_t) -> QoS {
+        qos.transmute()
+    }
+}
+
+/// Returns message priority.
+#[no_mangle]
+pub extern "C" fn z_qos_get_priority(qos: z_qos_t) -> z_priority_t {
+    qos.transmute().priority().into()
+}
+/// Returns message congestion control.
+#[no_mangle]
+pub extern "C" fn z_qos_get_congestion_control(qos: z_qos_t) -> z_congestion_control_t {
+    qos.transmute().congestion_control().into()
+}
+/// Returns message express flag. If set to true, the message is not batched to reduce the latency.
+#[no_mangle]
+pub extern "C" fn z_qos_get_express(qos: z_qos_t) -> bool {
+    qos.transmute().express()
+}
+/// Returns default qos settings.
+#[no_mangle]
+pub extern "C" fn z_qos_default() -> z_qos_t {
+    QoS::default().transmute()
+}
+
 /// A data sample.
 ///
 /// A sample is the value associated to a given resource at a given point in time.
diff --git a/tests/z_int_pub_sub_test.c b/tests/z_int_pub_sub_test.c
index 9ea0a29d2..cf005a80f 100644
--- a/tests/z_int_pub_sub_test.c
+++ b/tests/z_int_pub_sub_test.c
@@ -71,8 +71,8 @@ void data_handler(const z_sample_t *sample, void *arg) {
         exit(-1);
     }
 
-    if (sample->qos.congestion_control != Z_CONGESTION_CONTROL_BLOCK
-        || sample->qos.priority != Z_PRIORITY_DATA
+    if (z_qos_get_congestion_control(sample->qos) != Z_CONGESTION_CONTROL_BLOCK
+        || z_qos_get_priority(sample->qos) != Z_PRIORITY_DATA
     ) {
         perror("Unexpected QoS values");
         exit(-1);

From d787d031b2bcb32e14ccd36c5fb28b71ebe88e28 Mon Sep 17 00:00:00 2001
From: eclipse-zenoh-bot <eclipse-zenoh-bot@users.noreply.github.com>
Date: Fri, 23 Feb 2024 00:11:08 +0000
Subject: [PATCH 06/10] chore: Sync Cargo lockfile with Zenoh's

---
 Cargo.lock | 55 +++++++++++++++++++++++++++---------------------------
 1 file changed, 28 insertions(+), 27 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 593220380..dc868f36e 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2342,9 +2342,9 @@ dependencies = [
 
 [[package]]
 name = "textwrap"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "222a222a5bfe1bba4a77b45ec488a741b3cb8872e5e499451fd7d0129c9c7c3d"
+checksum = "23d434d3f8967a09480fb04132ebe0a3e088c173e6d0ee7897abbdf4eab0f8b9"
 
 [[package]]
 name = "thiserror"
@@ -2972,7 +2972,7 @@ checksum = "dff9641d1cd4be8d1a070daf9e3773c5f67e78b4d9d42263020c057706765c04"
 [[package]]
 name = "zenoh"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "async-global-executor",
  "async-std",
@@ -3007,6 +3007,7 @@ dependencies = [
  "zenoh-config",
  "zenoh-core",
  "zenoh-crypto",
+ "zenoh-keyexpr",
  "zenoh-link",
  "zenoh-macros",
  "zenoh-plugin-trait",
@@ -3021,7 +3022,7 @@ dependencies = [
 [[package]]
 name = "zenoh-buffers"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "zenoh-collections",
 ]
@@ -3051,7 +3052,7 @@ dependencies = [
 [[package]]
 name = "zenoh-codec"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "log",
  "serde",
@@ -3064,12 +3065,12 @@ dependencies = [
 [[package]]
 name = "zenoh-collections"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 
 [[package]]
 name = "zenoh-config"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "flume",
  "json5",
@@ -3088,7 +3089,7 @@ dependencies = [
 [[package]]
 name = "zenoh-core"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "async-std",
  "lazy_static",
@@ -3098,7 +3099,7 @@ dependencies = [
 [[package]]
 name = "zenoh-crypto"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "aes",
  "hmac",
@@ -3111,7 +3112,7 @@ dependencies = [
 [[package]]
 name = "zenoh-ext"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "async-std",
  "bincode",
@@ -3131,7 +3132,7 @@ dependencies = [
 [[package]]
 name = "zenoh-keyexpr"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "hashbrown 0.14.0",
  "keyed-set",
@@ -3145,7 +3146,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3164,7 +3165,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-commons"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3181,7 +3182,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-quic"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -3207,7 +3208,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tcp"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3223,7 +3224,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tls"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -3248,7 +3249,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-udp"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3267,7 +3268,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-unixsock_stream"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3285,7 +3286,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-ws"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3305,7 +3306,7 @@ dependencies = [
 [[package]]
 name = "zenoh-macros"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3318,7 +3319,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-trait"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "const_format",
  "libloading",
@@ -3334,7 +3335,7 @@ dependencies = [
 [[package]]
 name = "zenoh-protocol"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "const_format",
  "hex",
@@ -3350,7 +3351,7 @@ dependencies = [
 [[package]]
 name = "zenoh-result"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "anyhow",
 ]
@@ -3358,7 +3359,7 @@ dependencies = [
 [[package]]
 name = "zenoh-shm"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "bincode",
  "log",
@@ -3371,7 +3372,7 @@ dependencies = [
 [[package]]
 name = "zenoh-sync"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "async-std",
  "event-listener 4.0.0",
@@ -3386,7 +3387,7 @@ dependencies = [
 [[package]]
 name = "zenoh-transport"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "async-executor",
  "async-global-executor",
@@ -3418,7 +3419,7 @@ dependencies = [
 [[package]]
 name = "zenoh-util"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#2bd4518334d0a9e7e2703c7fd57dfa4547a96819"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
 dependencies = [
  "async-std",
  "async-trait",

From 7a056427c693d4fba71583d1cbe910d5ec1dafc4 Mon Sep 17 00:00:00 2001
From: eclipse-zenoh-bot <eclipse-zenoh-bot@users.noreply.github.com>
Date: Fri, 23 Feb 2024 13:02:29 +0000
Subject: [PATCH 07/10] chore: Sync Cargo lockfile with Zenoh's

---
 Cargo.lock | 54 +++++++++++++++++++++++++++++-------------------------
 1 file changed, 29 insertions(+), 25 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index dc868f36e..6db5ea130 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2972,7 +2972,7 @@ checksum = "dff9641d1cd4be8d1a070daf9e3773c5f67e78b4d9d42263020c057706765c04"
 [[package]]
 name = "zenoh"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-global-executor",
  "async-std",
@@ -3022,7 +3022,7 @@ dependencies = [
 [[package]]
 name = "zenoh-buffers"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "zenoh-collections",
 ]
@@ -3052,7 +3052,7 @@ dependencies = [
 [[package]]
 name = "zenoh-codec"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "log",
  "serde",
@@ -3065,12 +3065,12 @@ dependencies = [
 [[package]]
 name = "zenoh-collections"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 
 [[package]]
 name = "zenoh-config"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "flume",
  "json5",
@@ -3089,7 +3089,7 @@ dependencies = [
 [[package]]
 name = "zenoh-core"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "lazy_static",
@@ -3099,7 +3099,7 @@ dependencies = [
 [[package]]
 name = "zenoh-crypto"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "aes",
  "hmac",
@@ -3112,7 +3112,7 @@ dependencies = [
 [[package]]
 name = "zenoh-ext"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "bincode",
@@ -3132,7 +3132,7 @@ dependencies = [
 [[package]]
 name = "zenoh-keyexpr"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "hashbrown 0.14.0",
  "keyed-set",
@@ -3146,7 +3146,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3165,24 +3165,28 @@ dependencies = [
 [[package]]
 name = "zenoh-link-commons"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
  "flume",
+ "log",
  "lz4_flex",
  "serde",
  "typenum",
  "zenoh-buffers",
  "zenoh-codec",
+ "zenoh-core",
  "zenoh-protocol",
  "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
 ]
 
 [[package]]
 name = "zenoh-link-quic"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -3208,7 +3212,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tcp"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3224,7 +3228,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tls"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -3249,7 +3253,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-udp"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3268,7 +3272,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-unixsock_stream"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3286,7 +3290,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-ws"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3306,7 +3310,7 @@ dependencies = [
 [[package]]
 name = "zenoh-macros"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3319,7 +3323,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-trait"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "const_format",
  "libloading",
@@ -3335,7 +3339,7 @@ dependencies = [
 [[package]]
 name = "zenoh-protocol"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "const_format",
  "hex",
@@ -3351,7 +3355,7 @@ dependencies = [
 [[package]]
 name = "zenoh-result"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "anyhow",
 ]
@@ -3359,7 +3363,7 @@ dependencies = [
 [[package]]
 name = "zenoh-shm"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "bincode",
  "log",
@@ -3372,7 +3376,7 @@ dependencies = [
 [[package]]
 name = "zenoh-sync"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "event-listener 4.0.0",
@@ -3387,7 +3391,7 @@ dependencies = [
 [[package]]
 name = "zenoh-transport"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-executor",
  "async-global-executor",
@@ -3419,7 +3423,7 @@ dependencies = [
 [[package]]
 name = "zenoh-util"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7ebdb3cab481609989f1e9d3124e75d2851458e5"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",

From e53d5ccfe3c2917023a5ddc2d93cb8a627edae59 Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Fri, 23 Feb 2024 14:15:23 +0100
Subject: [PATCH 08/10] fix zenoh branch to main

---
 Cargo.lock    | 55 ++++++++++++++++++++++++++++-----------------------
 Cargo.toml    |  8 ++++----
 Cargo.toml.in |  8 ++++----
 3 files changed, 38 insertions(+), 33 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 6727b30c6..4d2dbdebc 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2972,7 +2972,7 @@ checksum = "dff9641d1cd4be8d1a070daf9e3773c5f67e78b4d9d42263020c057706765c04"
 [[package]]
 name = "zenoh"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-global-executor",
  "async-std",
@@ -3007,6 +3007,7 @@ dependencies = [
  "zenoh-config",
  "zenoh-core",
  "zenoh-crypto",
+ "zenoh-keyexpr",
  "zenoh-link",
  "zenoh-macros",
  "zenoh-plugin-trait",
@@ -3021,7 +3022,7 @@ dependencies = [
 [[package]]
 name = "zenoh-buffers"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "zenoh-collections",
 ]
@@ -3051,7 +3052,7 @@ dependencies = [
 [[package]]
 name = "zenoh-codec"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "log",
  "serde",
@@ -3064,12 +3065,12 @@ dependencies = [
 [[package]]
 name = "zenoh-collections"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 
 [[package]]
 name = "zenoh-config"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "flume",
  "json5",
@@ -3088,7 +3089,7 @@ dependencies = [
 [[package]]
 name = "zenoh-core"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "lazy_static",
@@ -3098,7 +3099,7 @@ dependencies = [
 [[package]]
 name = "zenoh-crypto"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "aes",
  "hmac",
@@ -3111,7 +3112,7 @@ dependencies = [
 [[package]]
 name = "zenoh-ext"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "bincode",
@@ -3131,7 +3132,7 @@ dependencies = [
 [[package]]
 name = "zenoh-keyexpr"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "hashbrown 0.14.0",
  "keyed-set",
@@ -3145,7 +3146,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3164,24 +3165,28 @@ dependencies = [
 [[package]]
 name = "zenoh-link-commons"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
  "flume",
+ "log",
  "lz4_flex",
  "serde",
  "typenum",
  "zenoh-buffers",
  "zenoh-codec",
+ "zenoh-core",
  "zenoh-protocol",
  "zenoh-result",
+ "zenoh-sync",
+ "zenoh-util",
 ]
 
 [[package]]
 name = "zenoh-link-quic"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -3207,7 +3212,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tcp"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3223,7 +3228,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tls"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -3248,7 +3253,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-udp"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3267,7 +3272,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-unixsock_stream"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3285,7 +3290,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-ws"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3305,7 +3310,7 @@ dependencies = [
 [[package]]
 name = "zenoh-macros"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3318,7 +3323,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-trait"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "const_format",
  "libloading",
@@ -3334,7 +3339,7 @@ dependencies = [
 [[package]]
 name = "zenoh-protocol"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "const_format",
  "hex",
@@ -3350,7 +3355,7 @@ dependencies = [
 [[package]]
 name = "zenoh-result"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "anyhow",
 ]
@@ -3358,7 +3363,7 @@ dependencies = [
 [[package]]
 name = "zenoh-shm"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "bincode",
  "log",
@@ -3371,7 +3376,7 @@ dependencies = [
 [[package]]
 name = "zenoh-sync"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "event-listener 4.0.0",
@@ -3386,7 +3391,7 @@ dependencies = [
 [[package]]
 name = "zenoh-transport"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-executor",
  "async-global-executor",
@@ -3418,7 +3423,7 @@ dependencies = [
 [[package]]
 name = "zenoh-util"
 version = "0.11.0-dev"
-source = "git+https://github.com/DenisBiryukov91/zenoh.git?branch=feature/priority-in-sample#2f21cfbf7a608915abedea8974953abfe92a47a9"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
 dependencies = [
  "async-std",
  "async-trait",
diff --git a/Cargo.toml b/Cargo.toml
index a85b36e24..52deaa71c 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -49,10 +49,10 @@ log = "0.4.17"
 rand = "0.8.5"
 spin = "0.9.5"
 # shared-memory enabled for zenoh even if zenoh-c "shared-memory" feature is disabled. This is to make "std::mem::transmute" work for `ZSLice`
-zenoh = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample", features = ["shared-memory", "unstable"], default-features = false }
-zenoh-protocol = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample", features = ["shared-memory"] }
-zenoh-util = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample" }
-zenoh-ext = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample", features = ["unstable"] }
+zenoh = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = ["shared-memory", "unstable"], default-features = false }
+zenoh-protocol = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = ["shared-memory"] }
+zenoh-util = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main" }
+zenoh-ext = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = ["unstable"] }
 
 [build-dependencies]
 cbindgen = "0.24.3"
diff --git a/Cargo.toml.in b/Cargo.toml.in
index 8f354ea52..d1eec11bd 100644
--- a/Cargo.toml.in
+++ b/Cargo.toml.in
@@ -49,10 +49,10 @@ log = "0.4.17"
 rand = "0.8.5"
 spin = "0.9.5"
 # shared-memory enabled for zenoh even if zenoh-c "shared-memory" feature is disabled. This is to make "std::mem::transmute" work for `ZSLice`
-zenoh = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample", features = ["shared-memory", "unstable"], default-features = false }
-zenoh-protocol = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample", features = ["shared-memory"] }
-zenoh-util = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample" }
-zenoh-ext = { version = "0.11.0-dev", git = "https://github.com/DenisBiryukov91/zenoh.git", branch = "feature/priority-in-sample", features = ["unstable"] }
+zenoh = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = ["shared-memory", "unstable"], default-features = false }
+zenoh-protocol = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = ["shared-memory"] }
+zenoh-util = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main" }
+zenoh-ext = { version = "0.11.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = ["unstable"] }
 
 [build-dependencies]
 cbindgen = "0.24.3"

From fc16c4bf29e84aa4f37facd08464bd3334e081b4 Mon Sep 17 00:00:00 2001
From: eclipse-zenoh-bot <eclipse-zenoh-bot@users.noreply.github.com>
Date: Tue, 27 Feb 2024 00:11:49 +0000
Subject: [PATCH 09/10] chore: Sync Cargo lockfile with Zenoh's

---
 Cargo.lock | 50 +++++++++++++++++++++++++-------------------------
 1 file changed, 25 insertions(+), 25 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 6db5ea130..6d2575fae 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2972,7 +2972,7 @@ checksum = "dff9641d1cd4be8d1a070daf9e3773c5f67e78b4d9d42263020c057706765c04"
 [[package]]
 name = "zenoh"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "async-global-executor",
  "async-std",
@@ -3022,7 +3022,7 @@ dependencies = [
 [[package]]
 name = "zenoh-buffers"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "zenoh-collections",
 ]
@@ -3052,7 +3052,7 @@ dependencies = [
 [[package]]
 name = "zenoh-codec"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "log",
  "serde",
@@ -3065,12 +3065,12 @@ dependencies = [
 [[package]]
 name = "zenoh-collections"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 
 [[package]]
 name = "zenoh-config"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "flume",
  "json5",
@@ -3089,7 +3089,7 @@ dependencies = [
 [[package]]
 name = "zenoh-core"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "async-std",
  "lazy_static",
@@ -3099,7 +3099,7 @@ dependencies = [
 [[package]]
 name = "zenoh-crypto"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "aes",
  "hmac",
@@ -3112,7 +3112,7 @@ dependencies = [
 [[package]]
 name = "zenoh-ext"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "async-std",
  "bincode",
@@ -3132,7 +3132,7 @@ dependencies = [
 [[package]]
 name = "zenoh-keyexpr"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "hashbrown 0.14.0",
  "keyed-set",
@@ -3146,7 +3146,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3165,7 +3165,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-commons"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3186,7 +3186,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-quic"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -3212,7 +3212,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tcp"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3228,7 +3228,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tls"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "async-rustls",
  "async-std",
@@ -3253,7 +3253,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-udp"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3272,7 +3272,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-unixsock_stream"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3290,7 +3290,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-ws"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "async-std",
  "async-trait",
@@ -3310,7 +3310,7 @@ dependencies = [
 [[package]]
 name = "zenoh-macros"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3323,7 +3323,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-trait"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "const_format",
  "libloading",
@@ -3339,7 +3339,7 @@ dependencies = [
 [[package]]
 name = "zenoh-protocol"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "const_format",
  "hex",
@@ -3355,7 +3355,7 @@ dependencies = [
 [[package]]
 name = "zenoh-result"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "anyhow",
 ]
@@ -3363,7 +3363,7 @@ dependencies = [
 [[package]]
 name = "zenoh-shm"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "bincode",
  "log",
@@ -3376,7 +3376,7 @@ dependencies = [
 [[package]]
 name = "zenoh-sync"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "async-std",
  "event-listener 4.0.0",
@@ -3391,7 +3391,7 @@ dependencies = [
 [[package]]
 name = "zenoh-transport"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "async-executor",
  "async-global-executor",
@@ -3423,7 +3423,7 @@ dependencies = [
 [[package]]
 name = "zenoh-util"
 version = "0.11.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#42f9384c93658b6d0001667ad9784aead285e553"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#7d9d684cf953f9f813eb320812eaf95f767ef200"
 dependencies = [
  "async-std",
  "async-trait",

From bf8d4f9e354fedcf0b13608c11afa0c5c717d1a8 Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Wed, 28 Feb 2024 10:54:18 +0100
Subject: [PATCH 10/10] add memory-related API

---
 docs/examples.rst            | 8 ++++----
 examples/z_ping.c            | 8 ++++----
 examples/z_pub_thr.c         | 2 +-
 examples/z_scout.c           | 4 ++--
 examples/z_sub_thr.c         | 4 ++--
 include/zenoh.h              | 1 +
 include/zenoh_memory.h       | 7 +++++++
 tests/z_api_alignment_test.c | 4 ++--
 8 files changed, 23 insertions(+), 15 deletions(-)
 create mode 100644 include/zenoh_memory.h

diff --git a/docs/examples.rst b/docs/examples.rst
index 045187253..bea19cbbe 100644
--- a/docs/examples.rst
+++ b/docs/examples.rst
@@ -44,10 +44,10 @@ Subscribe
   #include "zenoh.h"
 
   void data_handler(const z_sample_t *sample, const void *arg) {
-      char *keystr = z_keyexpr_to_string(sample->keyexpr);
+      z_owned_str_t keystr = z_keyexpr_to_string(sample->keyexpr);
       printf(">> Received (%s, %.*s)\n",
           keystr, (int)sample->payload.len, sample->payload.start);
-      free(keystr);
+      z_drop(z_move(keystr));
   }
 
   int main(int argc, char **argv) {
@@ -87,9 +87,9 @@ Query
           if (z_reply_is_ok(&reply))
           {
               z_sample_t sample = z_reply_ok(&reply);
-              char *keystr = z_keyexpr_to_string(sample.keyexpr);
+              z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr);
               printf(">> Received ('%s': '%.*s')\n", keystr, (int)sample.payload.len, sample.payload.start);
-              free(keystr);
+              z_drop(z_move(keystr));
           }
       }
 
diff --git a/examples/z_ping.c b/examples/z_ping.c
index 535f1d079..45393aaec 100644
--- a/examples/z_ping.c
+++ b/examples/z_ping.c
@@ -52,7 +52,7 @@ int main(int argc, char** argv) {
     z_owned_publisher_t pub = z_declare_publisher(z_loan(session), ping, NULL);
     z_owned_closure_sample_t respond = z_closure(callback, drop, (void*)(&pub));
     z_owned_subscriber_t sub = z_declare_subscriber(z_loan(session), pong, z_move(respond), NULL);
-    uint8_t* data = malloc(args.size);
+    uint8_t* data = z_malloc(args.size);
     for (int i = 0; i < args.size; i++) {
         data[i] = i % 10;
     }
@@ -76,7 +76,7 @@ int main(int argc, char** argv) {
         }
     }
     struct timespec t_start, t_stop, t_timeout;
-    unsigned long* results = malloc(sizeof(unsigned long) * args.number_of_pings);
+    unsigned long* results = z_malloc(sizeof(unsigned long) * args.number_of_pings);
     for (int i = 0; i < args.number_of_pings; i++) {
         clock_gettime(CLOCK_REALTIME, &t_timeout);
         t_timeout.tv_sec += PING_TIMEOUT_SEC;
@@ -93,8 +93,8 @@ int main(int argc, char** argv) {
         printf("%d bytes: seq=%d rtt=%luµs, lat=%luµs\n", args.size, i, results[i], results[i] / 2);
     }
     pthread_mutex_unlock(&mutex);
-    free(results);
-    free(data);
+    z_free(results);
+    z_free(data);
     z_drop(z_move(sub));
     z_drop(z_move(pub));
     z_close(z_move(session));
diff --git a/examples/z_pub_thr.c b/examples/z_pub_thr.c
index eb72432a0..8686c33eb 100644
--- a/examples/z_pub_thr.c
+++ b/examples/z_pub_thr.c
@@ -24,7 +24,7 @@ int main(int argc, char **argv) {
 
     char *keyexpr = "test/thr";
     size_t len = atoi(argv[1]);
-    uint8_t *value = (uint8_t *)malloc(len);
+    uint8_t *value = (uint8_t *)z_malloc(len);
     memset(value, 1, len);
 
     z_owned_config_t config = z_config_default();
diff --git a/examples/z_scout.c b/examples/z_scout.c
index ca5e8944b..3b882f547 100644
--- a/examples/z_scout.c
+++ b/examples/z_scout.c
@@ -83,14 +83,14 @@ void callback(z_owned_hello_t *hello, void *context) {
 void drop(void *context) {
     printf("Dropping scout\n");
     int count = *(int *)context;
-    free(context);
+    z_free(context);
     if (!count) {
         printf("Did not find any zenoh process.\n");
     }
 }
 
 int main(int argc, char **argv) {
-    int *context = malloc(sizeof(int));
+    int *context = z_malloc(sizeof(int));
     *context = 0;
     z_owned_scouting_config_t config = z_scouting_config_default();
     z_owned_closure_hello_t closure = z_closure(callback, drop, context);
diff --git a/examples/z_sub_thr.c b/examples/z_sub_thr.c
index d82b6ea81..d32480174 100644
--- a/examples/z_sub_thr.c
+++ b/examples/z_sub_thr.c
@@ -26,7 +26,7 @@ typedef struct {
 } z_stats_t;
 
 z_stats_t *z_stats_make() {
-    z_stats_t *stats = malloc(sizeof(z_stats_t));
+    z_stats_t *stats = z_malloc(sizeof(z_stats_t));
     stats->count = 0;
     stats->finished_rounds = 0;
     stats->first_start.tv_nsec = 0;
@@ -63,7 +63,7 @@ void drop_stats(void *context) {
     double elapsed_s = get_elapsed_s(&stats->first_start, &end);
     printf("Stats being dropped after unsubscribing: sent %ld messages over %f seconds (%f msg/s)\n", sent_messages,
            elapsed_s, (double)sent_messages / elapsed_s);
-    free(context);
+    z_free(context);
 }
 
 int main(int argc, char **argv) {
diff --git a/include/zenoh.h b/include/zenoh.h
index 94f90c2c4..444caf082 100644
--- a/include/zenoh.h
+++ b/include/zenoh.h
@@ -40,4 +40,5 @@ extern "C" {
 }
 #endif
 #include "zenoh_macros.h"
+#include "zenoh_memory.h"
 #endif
diff --git a/include/zenoh_memory.h b/include/zenoh_memory.h
new file mode 100644
index 000000000..0cf2a095a
--- /dev/null
+++ b/include/zenoh_memory.h
@@ -0,0 +1,7 @@
+#pragma once
+#include <stdlib.h>
+
+/*------------------ Memory ------------------*/
+static inline void *z_malloc(size_t size) { return malloc(size); }
+static inline void *z_realloc(void *ptr, size_t size) {return realloc(ptr, size); }
+static inline void z_free(void *ptr) {return free(ptr); }
\ No newline at end of file
diff --git a/tests/z_api_alignment_test.c b/tests/z_api_alignment_test.c
index 98ac3bc94..ee63017c2 100644
--- a/tests/z_api_alignment_test.c
+++ b/tests/z_api_alignment_test.c
@@ -138,7 +138,7 @@ int main(int argc, char **argv) {
     sleep(SLEEP);
 
     size_t keyexpr_len = strlen(URI);
-    char *keyexpr_str = (char *)malloc(keyexpr_len + 1);
+    char *keyexpr_str = (char *)z_malloc(keyexpr_len + 1);
     memcpy(keyexpr_str, URI, keyexpr_len);
     keyexpr_str[keyexpr_len] = '\0';
     int8_t _ret_int8 = z_keyexpr_is_canon(keyexpr_str, keyexpr_len);
@@ -374,7 +374,7 @@ int main(int argc, char **argv) {
 
     sleep(SLEEP * 5);
 
-    free(keyexpr_str);
+    z_free(keyexpr_str);
 
     return 0;
 }