part of tests passing [skip ci]

CMakeLists.txt

@@ -62,7 +62,7 @@ if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE RELEASE)
 endif()
 
-string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE)
+string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPER)
 
 if(CMAKE_SYSTEM_NAME MATCHES "Linux")
   add_definition(ZENOH_LINUX)
@@ -104,15 +104,15 @@ endif()
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 find_package(Threads REQUIRED)
 
-if(CMAKE_BUILD_TYPE MATCHES "DEBUG")
+if(CMAKE_BUILD_TYPE_UPPER MATCHES "DEBUG")
   if(UNIX)
     add_compile_options(-c -Wall -Wextra -Werror -Wunused -Wstrict-prototypes -pipe -g -O0)
   elseif(MSVC)
     add_compile_options(/W4 /WX /Od)
   elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
     add_compile_options(-Wall -Wextra -Wno-unused-parameter -Wmissing-prototypes -pipe -g -O0)
   endif()
-elseif(CMAKE_BUILD_TYPE MATCHES "RELEASE")
+elseif(CMAKE_BUILD_TYPE_UPPER MATCHES "RELEASE")
   if(UNIX)
     add_compile_options(-pipe -O3)
   elseif(MSVC)
@@ -217,8 +217,7 @@ if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_CURRENT_SOURCE_DIR})
     endif()
 
     if(BUILD_TESTING)
-      set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/tests")
-
+      # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/tests")
       add_executable(z_data_struct_test ${PROJECT_SOURCE_DIR}/tests/z_data_struct_test.c)
       add_executable(z_endpoint_test ${PROJECT_SOURCE_DIR}/tests/z_endpoint_test.c)
       add_executable(z_iobuf_test ${PROJECT_SOURCE_DIR}/tests/z_iobuf_test.c)

include/zenoh-pico/protocol/codec/core.h

@@ -15,6 +15,7 @@
 #ifndef INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_CORE_H
 #define INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_CORE_H
 
+#include <stddef.h>
 #include <stdint.h>
 
 #include "zenoh-pico/protocol/core.h"
@@ -52,16 +53,20 @@ int8_t _z_uint16_decode(uint16_t *u16, _z_zbuf_t *buf);
 int8_t _z_uint64_encode(_z_wbuf_t *buf, uint64_t v);
 int8_t _z_uint64_decode(uint64_t *u64, _z_zbuf_t *buf);
 
+uint8_t _z_zint_len(_z_zint_t v);
 int8_t _z_zint_encode(_z_wbuf_t *buf, _z_zint_t v);
+int8_t _z_zint64_encode(_z_wbuf_t *buf, uint64_t v);
 int8_t _z_zint16_decode(uint16_t *zint, _z_zbuf_t *buf);
 int8_t _z_zint32_decode(uint32_t *zint, _z_zbuf_t *buf);
+int8_t _z_zint64_decode(uint64_t *zint, _z_zbuf_t *buf);
 int8_t _z_zint_decode(_z_zint_t *zint, _z_zbuf_t *buf);
 
 int8_t _z_bytes_val_encode(_z_wbuf_t *buf, const _z_bytes_t *bs);
 int8_t _z_bytes_val_decode(_z_bytes_t *bs, _z_zbuf_t *buf);
 int8_t _z_bytes_val_decode_na(_z_bytes_t *bs, _z_zbuf_t *zbf);
 
 int8_t _z_bytes_encode(_z_wbuf_t *buf, const _z_bytes_t *bs);
+size_t _z_bytes_encode_len(const _z_bytes_t *bs);
 int8_t _z_bytes_decode(_z_bytes_t *bs, _z_zbuf_t *buf);
 int8_t _z_zbuf_read_exact(_z_zbuf_t *zbf, uint8_t *dest, size_t length);
 
@@ -76,5 +81,7 @@ int8_t _z_keyexpr_encode(_z_wbuf_t *buf, _Bool has_suffix, const _z_keyexpr_t *k
 int8_t _z_keyexpr_decode(_z_keyexpr_t *ke, _z_zbuf_t *buf, _Bool has_suffix);
 
 int8_t _z_timestamp_encode(_z_wbuf_t *buf, const _z_timestamp_t *ts);
+int8_t _z_timestamp_encode_ext(_z_wbuf_t *buf, const _z_timestamp_t *ts);
 int8_t _z_timestamp_decode(_z_timestamp_t *ts, _z_zbuf_t *buf);
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_CORE_H */

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

@@ -31,6 +31,29 @@
 #define _Z_DECL_INTEREST_MID 8
 #define _Z_FINAL_INTEREST_MID 9
 #define _Z_UNDECL_INTEREST_MID 10
+int8_t _z_decl_kexpr_encode(_z_wbuf_t *wbf, const _z_decl_kexpr_t *decl);
+int8_t _z_decl_kexpr_decode(_z_decl_kexpr_t *decl, _z_zbuf_t *zbf, uint8_t header);
+int8_t _z_undecl_kexpr_encode(_z_wbuf_t *wbf, const _z_undecl_kexpr_t *decl);
+int8_t _z_undecl_kexpr_decode(_z_undecl_kexpr_t *decl, _z_zbuf_t *zbf, uint8_t header);
+int8_t _z_decl_subscriber_encode(_z_wbuf_t *wbf, const _z_decl_subscriber_t *decl);
+int8_t _z_decl_subscriber_decode(_z_decl_subscriber_t *decl, _z_zbuf_t *zbf, uint8_t header);
+int8_t _z_undecl_subscriber_encode(_z_wbuf_t *wbf, const _z_undecl_subscriber_t *decl);
+int8_t _z_undecl_subscriber_decode(_z_undecl_subscriber_t *decl, _z_zbuf_t *zbf, uint8_t header);
+int8_t _z_decl_queryable_encode(_z_wbuf_t *wbf, const _z_decl_queryable_t *decl);
+int8_t _z_decl_queryable_decode(_z_decl_queryable_t *decl, _z_zbuf_t *zbf, uint8_t header);
+int8_t _z_undecl_queryable_encode(_z_wbuf_t *wbf, const _z_undecl_queryable_t *decl);
+int8_t _z_undecl_queryable_decode(_z_undecl_queryable_t *decl, _z_zbuf_t *zbf, uint8_t header);
+int8_t _z_decl_token_encode(_z_wbuf_t *wbf, const _z_decl_token_t *decl);
+int8_t _z_decl_token_decode(_z_decl_token_t *decl, _z_zbuf_t *zbf, uint8_t header);
+int8_t _z_undecl_token_encode(_z_wbuf_t *wbf, const _z_undecl_token_t *decl);
+int8_t _z_undecl_token_decode(_z_undecl_token_t *decl, _z_zbuf_t *zbf, uint8_t header);
+int8_t _z_decl_interest_encode(_z_wbuf_t *wbf, const _z_decl_interest_t *decl);
+int8_t _z_decl_interest_decode(_z_decl_interest_t *decl, _z_zbuf_t *zbf, uint8_t header);
+int8_t _z_final_interest_encode(_z_wbuf_t *wbf, const _z_final_interest_t *decl);
+int8_t _z_final_interest_decode(_z_final_interest_t *decl, _z_zbuf_t *zbf, uint8_t header);
+int8_t _z_undecl_interest_encode(_z_wbuf_t *wbf, const _z_undecl_interest_t *decl);
+int8_t _z_undecl_interest_decode(_z_undecl_interest_t *decl, _z_zbuf_t *zbf, uint8_t header);
+
 int8_t _z_declaration_encode(_z_wbuf_t *wbf, const _z_declaration_t *decl);
 int8_t _z_declaration_decode(_z_declaration_t *decl, _z_zbuf_t *zbf);
 

include/zenoh-pico/protocol/codec/message.h

@@ -36,6 +36,9 @@ int8_t _z_err_decode(_z_msg_err_t *err, _z_zbuf_t *zbf, uint8_t header);
 int8_t _z_ack_encode(_z_wbuf_t *wbf, const _z_msg_ack_t *ack);
 int8_t _z_ack_decode(_z_msg_ack_t *ack, _z_zbuf_t *zbf, uint8_t header);
 
+int8_t _z_push_body_encode(_z_wbuf_t *wbf, const _z_push_body_t *pshb);
+int8_t _z_push_body_decode(_z_push_body_t *body, _z_zbuf_t *zbf, uint8_t header);
+
 int8_t _z_put_encode(_z_wbuf_t *wbf, const _z_msg_put_t *put);
 int8_t _z_put_decode(_z_msg_put_t *put, _z_zbuf_t *zbf, uint8_t header);
 

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

@@ -24,22 +24,26 @@ typedef struct {
     uint16_t _id;
     _z_keyexpr_t _keyexpr;
 } _z_decl_kexpr_t;
+_z_decl_kexpr_t _z_decl_kexpr_null(void);
 typedef struct {
     uint16_t _id;
 } _z_undecl_kexpr_t;
+_z_undecl_kexpr_t _z_undecl_kexpr_null(void);
 
 typedef struct {
     _z_keyexpr_t _keyexpr;
     uint32_t _id;
     struct {
         _Bool _pull_mode;
         _Bool _reliable;
-    } _ext_subscriber_info;
+    } _ext_subinfo;
 } _z_decl_subscriber_t;
+_z_decl_subscriber_t _z_decl_subscriber_null(void);
 typedef struct {
     uint32_t _id;
     _z_keyexpr_t _ext_keyexpr;
 } _z_undecl_subscriber_t;
+_z_undecl_subscriber_t _z_undecl_subscriber_null(void);
 
 typedef struct {
     _z_keyexpr_t _keyexpr;
@@ -49,19 +53,23 @@ typedef struct {
         uint32_t _distance;
     } _ext_queryable_info;
 } _z_decl_queryable_t;
+_z_decl_queryable_t _z_decl_queryable_null(void);
 typedef struct {
     uint32_t _id;
     _z_keyexpr_t _ext_keyexpr;
 } _z_undecl_queryable_t;
+_z_undecl_queryable_t _z_undecl_queryable_null(void);
 
 typedef struct {
     _z_keyexpr_t _keyexpr;
     uint32_t _id;
 } _z_decl_token_t;
+_z_decl_token_t _z_decl_token_null(void);
 typedef struct {
     uint32_t _id;
     _z_keyexpr_t _ext_keyexpr;
 } _z_undecl_token_t;
+_z_undecl_token_t _z_undecl_token_null(void);
 
 #define _Z_INTEREST_FLAG_KEYEXPRS (1)
 #define _Z_INTEREST_FLAG_SUBSCRIBERS (1 << 1)
@@ -75,13 +83,16 @@ typedef struct {
     uint32_t _id;
     uint8_t interest_flags;
 } _z_decl_interest_t;
+_z_decl_interest_t _z_decl_interest_null(void);
 typedef struct {
     uint32_t _id;
 } _z_final_interest_t;
+_z_final_interest_t _z_final_interest_null(void);
 typedef struct {
     uint32_t _id;
     _z_keyexpr_t _ext_keyexpr;
 } _z_undecl_interest_t;
+_z_undecl_interest_t _z_undecl_interest_null(void);
 
 typedef struct {
     enum {

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

@@ -37,7 +37,7 @@
 #define _Z_FLAG_Z_I 0x40  // 1 << 6 | DataInfo          if I==1 then DataInfo is present
 #define _Z_FLAG_Z_K 0x80  // 1 << 7 | ResourceKey       if K==1 then keyexpr is string
 #define _Z_FLAG_Z_N 0x40  // 1 << 6 | MaxSamples        if N==1 then the MaxSamples is indicated
-#define _Z_FLAG_Z_P 0x80  // 1 << 7 | Period            if P==1 then a period is present
+#define _Z_FLAG_Z_P 0x20  // 1 << 7 | Period            if P==1 then a period is present
 #define _Z_FLAG_Z_Q 0x40  // 1 << 6 | QueryableKind     if Q==1 then the queryable kind is present
 #define _Z_FLAG_Z_R \
     0x20  // 1 << 5 | Reliable          if R==1 then it concerns the reliable channel, best-effort otherwise
@@ -169,9 +169,9 @@ void _z_msg_put_clear(_z_msg_put_t *);
 #define _Z_FLAG_Z_Q_P 0x20  // 1 << 6 | Period            if P==1 then a period is present
 typedef struct {
     _z_bytes_t _parameters;
-    _z_source_info_t _info;
-    _z_value_t _value;
-    z_consolidation_mode_t _consolidation;
+    _z_source_info_t _ext_info;
+    _z_value_t _ext_value;
+    z_consolidation_mode_t _ext_consolidation;
 } _z_msg_query_t;
 typedef struct {
     _Bool info;

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

@@ -94,17 +94,17 @@ typedef struct {
 typedef struct {
     _z_zint_t _rid;
     _z_keyexpr_t _key;
-    _z_timestamp_t ext_tstamp;
-    _z_n_qos_t ext_qos;
-    z_query_target_t ext_target;
-    uint32_t ext_budget;
-    uint32_t ext_timeout_ms;
+    _z_timestamp_t _ext_timestamp;
+    _z_n_qos_t _ext_qos;
+    z_query_target_t _ext_target;
+    uint32_t _ext_budget;
+    uint32_t _ext_timeout_ms;
     enum { _Z_REQUEST_QUERY, _Z_REQUEST_PUT, _Z_REQUEST_DEL, _Z_REQUEST_PULL } _tag;
     union {
         _z_msg_query_t _query;
-        _z_msg_put_t put;
-        _z_msg_del_t del;
-        _z_msg_pull_t pull;
+        _z_msg_put_t _put;
+        _z_msg_del_t _del;
+        _z_msg_pull_t _pull;
     } _body;
 } _z_n_msg_request_t;
 typedef struct {

include/zenoh-pico/protocol/ext.h

@@ -16,6 +16,7 @@
 #define ZENOH_PICO_PROTOCOL_EXTENSION_H
 
 #include <stdbool.h>
+#include <stdint.h>
 
 #include "zenoh-pico/protocol/core.h"
 
@@ -61,7 +62,7 @@ void _z_msg_ext_clear_unit(_z_msg_ext_unit_t *ext);
 
 /*------------------ ZID Extension ------------------*/
 typedef struct {
-    _z_zint_t _val;
+    uint64_t _val;
 } _z_msg_ext_zint_t;
 void _z_msg_ext_clear_zint(_z_msg_ext_zint_t *ext);
 

include/zenoh-pico/protocol/keyexpr.h

@@ -29,6 +29,9 @@ void _z_keyexpr_copy(_z_keyexpr_t *dst, const _z_keyexpr_t *src);
 _z_keyexpr_t _z_keyexpr_duplicate(_z_keyexpr_t src);
 _z_keyexpr_t _z_keyexpr_alias(_z_keyexpr_t src);
 _z_keyexpr_t _z_keyexpr_steal(_Z_MOVE(_z_keyexpr_t) src);
+static inline _z_keyexpr_t _z_keyexpr_null(void) {
+    return (_z_keyexpr_t){._id = 0, ._owns_suffix = false, ._suffix = NULL, ._uses_remote_mapping = false};
+}
 _z_timestamp_t _z_timestamp_duplicate(const _z_timestamp_t *tstamp);
 void _z_timestamp_clear(_z_timestamp_t *tstamp);
 void _z_keyexpr_clear(_z_keyexpr_t *rk);

include/zenoh-pico/protocol/msgcodec.h

@@ -37,9 +37,6 @@
 int8_t _z_payload_encode(_z_wbuf_t *buf, const _z_bytes_t *pld);
 int8_t _z_payload_decode(_z_bytes_t *pld, _z_zbuf_t *buf);
 int8_t _z_payload_decode_na(_z_bytes_t *pld, _z_zbuf_t *buf);
-
-int8_t _z_subinfo_encode(_z_wbuf_t *buf, const _z_subinfo_t *si);
-int8_t _z_subinfo_decode(_z_subinfo_t *si, _z_zbuf_t *buf, uint8_t header);
 int8_t _z_subinfo_decode_na(_z_subinfo_t *si, _z_zbuf_t *buf, uint8_t header);
 
 int8_t _z_data_info_encode(_z_wbuf_t *buf, const _z_data_info_t *di);

src/protocol/codec.c

@@ -202,6 +202,14 @@ int8_t _z_uint64_decode(uint64_t *u64, _z_zbuf_t *zbf) {
 }
 
 /*------------------ z_zint ------------------*/
+uint8_t _z_zint_len(_z_zint_t v) {
+    uint8_t len = 1;
+    while (v > 0x7f) {
+        v >>= 7;
+        len++;
+    }
+    return len;
+}
 int8_t _z_zint_encode(_z_wbuf_t *wbf, _z_zint_t v) {
     _z_zint_t lv = v;
 
@@ -214,6 +222,18 @@ int8_t _z_zint_encode(_z_wbuf_t *wbf, _z_zint_t v) {
     uint8_t c = lv & 0xff;
     return _z_wbuf_write(wbf, c);
 }
+int8_t _z_zint64_encode(_z_wbuf_t *wbf, uint64_t v) {
+    uint64_t lv = v;
+
+    while (lv > 0x7f) {
+        uint8_t c = (lv & 0x7f) | 0x80;
+        _Z_RETURN_IF_ERR(_z_wbuf_write(wbf, c))
+        lv = lv >> (uint64_t)7;
+    }
+
+    uint8_t c = lv & 0xff;
+    return _z_wbuf_write(wbf, c);
+}
 int8_t _z_zint16_decode(uint16_t *zint, _z_zbuf_t *zbf) {
     int8_t ret = _Z_RES_OK;
     _z_zint_t buf;
@@ -253,6 +273,23 @@ int8_t _z_zint_decode(_z_zint_t *zint, _z_zbuf_t *zbf) {
 
     return ret;
 }
+int8_t _z_zint64_decode(uint64_t *zint, _z_zbuf_t *zbf) {
+    int8_t ret = _Z_RES_OK;
+    *zint = 0;
+
+    uint8_t i = 0;
+    uint8_t u8 = 0;
+    do {
+        if (_z_uint8_decode(&u8, zbf) == _Z_RES_OK) {
+            *zint = *zint | (((uint64_t)u8 & 0x7f) << i);
+            i = i + (uint8_t)7;
+        } else {
+            ret |= _Z_ERR_MESSAGE_DESERIALIZATION_FAILED;
+        }
+    } while (u8 > (uint8_t)0x7f);
+
+    return ret;
+}
 
 /*------------------ uint8_array ------------------*/
 int8_t _z_bytes_val_encode(_z_wbuf_t *wbf, const _z_bytes_t *bs) {
@@ -275,6 +312,7 @@ int8_t _z_bytes_encode(_z_wbuf_t *wbf, const _z_bytes_t *bs) {
 
     return ret;
 }
+size_t _z_bytes_encode_len(const _z_bytes_t *bs) { return _z_zint_len(bs->len) + bs->len; }
 
 int8_t _z_bytes_val_decode_na(_z_bytes_t *bs, _z_zbuf_t *zbf) {
     int8_t ret = _Z_RES_OK;