From 84b11ad27019e6c503c936327f70906ae37aea1e Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Thu, 15 Feb 2024 17:52:32 +0100
Subject: [PATCH 01/10] add support for qos settings in sample

---
 include/zenoh-pico/api/types.h                    | 10 ++++++++++
 include/zenoh-pico/protocol/core.h                | 15 +++++++++++++++
 include/zenoh-pico/protocol/definitions/network.h |  7 +++++++
 include/zenoh-pico/session/subscription.h         |  5 +++--
 src/api/api.c                                     |  7 ++++---
 src/protocol/definitions/network.c                |  7 +++++++
 src/session/push.c                                |  2 +-
 src/session/rx.c                                  |  8 ++++----
 src/session/subscription.c                        | 13 ++++++++-----
 tests/fragment.py                                 |  2 +-
 tests/z_test_fragment_rx.c                        |  3 ++-
 tests/z_test_fragment_tx.c                        |  2 ++
 12 files changed, 64 insertions(+), 17 deletions(-)

diff --git a/include/zenoh-pico/api/types.h b/include/zenoh-pico/api/types.h
index d7bb29451..81874c5e4 100644
--- a/include/zenoh-pico/api/types.h
+++ b/include/zenoh-pico/api/types.h
@@ -413,6 +413,16 @@ typedef struct {
     uint8_t __dummy;  // Just to avoid empty structures that might cause undefined behavior
 } zp_send_join_options_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 _z_qos_t z_qos_t;
+
 /**
  * Represents a data sample.
  *
diff --git a/include/zenoh-pico/protocol/core.h b/include/zenoh-pico/protocol/core.h
index 2eaa3e495..8307654b6 100644
--- a/include/zenoh-pico/protocol/core.h
+++ b/include/zenoh-pico/protocol/core.h
@@ -211,6 +211,20 @@ _z_keyexpr_t _z_rname(const char *rname);
  */
 _z_keyexpr_t _z_rid_with_suffix(uint16_t rid, const char *suffix);
 
+/**
+ * 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_priority_t priority;
+    z_congestion_control_t congestion_control;
+    bool express;
+} _z_qos_t;
+
 /**
  * A zenoh-net data sample.
  *
@@ -227,6 +241,7 @@ typedef struct {
     _z_timestamp_t timestamp;
     _z_encoding_t encoding;
     z_sample_kind_t kind;
+    _z_qos_t qos;
 #if Z_FEATURE_ATTACHMENT == 1
     z_attachment_t attachment;
 #endif
diff --git a/include/zenoh-pico/protocol/definitions/network.h b/include/zenoh-pico/protocol/definitions/network.h
index 5c09247d3..0ff6f7fb9 100644
--- a/include/zenoh-pico/protocol/definitions/network.h
+++ b/include/zenoh-pico/protocol/definitions/network.h
@@ -64,6 +64,13 @@ typedef struct {
 
 #define _z_n_qos_make(express, nodrop, priority) \
     (_z_n_qos_t) { ._val = (((express) << 4) | ((nodrop) << 3) | (priority)) }
+inline _z_qos_t _z_n_qos_unmake(_z_n_qos_t n_qos) {
+    return (_z_qos_t){
+        .priority = n_qos._val & 0b111u,
+        .congestion_control = (n_qos._val & 0b1000u) ? Z_CONGESTION_CONTROL_BLOCK : Z_CONGESTION_CONTROL_DROP,
+        .express = n_qos._val & 0b10000u};
+}
+_z_qos_t _z_n_qos_unmake_public(_z_n_qos_t n_qos);
 #define _Z_N_QOS_DEFAULT _z_n_qos_make(0, 0, 5)
 
 // RESPONSE FINAL message flags:
diff --git a/include/zenoh-pico/session/subscription.h b/include/zenoh-pico/session/subscription.h
index f13ffe05f..77fb05af7 100644
--- a/include/zenoh-pico/session/subscription.h
+++ b/include/zenoh-pico/session/subscription.h
@@ -24,14 +24,15 @@ _z_subscription_rc_list_t *_z_get_subscriptions_by_key(_z_session_t *zn, uint8_t
 
 _z_subscription_rc_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_zint_t payload_len, _z_n_qos_t qos
 #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
+                                const _z_encoding_t encoding, const _z_zint_t kind, const _z_timestamp_t timestamp,
+                                const _z_n_qos_t qos
 #if Z_FEATURE_ATTACHMENT == 1
                                 ,
                                 z_attachment_t att
diff --git a/src/api/api.c b/src/api/api.c
index 4bdcc3421..73350bd23 100644
--- a/src/api/api.c
+++ b/src/api/api.c
@@ -648,9 +648,10 @@ int8_t z_put(z_session_t zs, z_keyexpr_t keyexpr, const uint8_t *payload, z_zint
     );
 
     // Trigger local subscriptions
-    _z_trigger_local_subscriptions(&zs._val.in->val, keyexpr, payload, payload_len
+    _z_trigger_local_subscriptions(&zs._val.in->val, keyexpr, payload, payload_len,
+                                   _z_n_qos_make(0, opt.congestion_control == Z_CONGESTION_CONTROL_BLOCK, opt.priority)
 #if Z_FEATURE_ATTACHMENT == 1
-                                   ,
+                                       ,
                                    opt.attachment
 #endif
     );
@@ -747,7 +748,7 @@ int8_t z_publisher_put(const z_publisher_t pub, const uint8_t *payload, size_t l
     );
 
     // Trigger local subscriptions
-    _z_trigger_local_subscriptions(&pub._val->_zn.in->val, pub._val->_key, payload, len
+    _z_trigger_local_subscriptions(&pub._val->_zn.in->val, pub._val->_key, payload, len, _Z_N_QOS_DEFAULT
 #if Z_FEATURE_ATTACHMENT == 1
                                    ,
                                    opt.attachment
diff --git a/src/protocol/definitions/network.c b/src/protocol/definitions/network.c
index af5192b14..f80b3fb37 100644
--- a/src/protocol/definitions/network.c
+++ b/src/protocol/definitions/network.c
@@ -276,3 +276,10 @@ void _z_msg_fix_mapping(_z_zenoh_message_t *msg, uint16_t mapping) {
             break;
     }
 }
+_z_qos_t _z_n_qos_unmake_public(_z_n_qos_t n_qos) {
+    _z_qos_t qos = _z_n_qos_unmake(n_qos);
+    if (qos.priority == Z_PRIORITY_REAL_TIME) {
+        qos.priority = Z_PRIORITY_DEFAULT;
+    }
+    return qos;
+}
diff --git a/src/session/push.c b/src/session/push.c
index 55187bae7..0fa85cb4c 100644
--- a/src/session/push.c
+++ b/src/session/push.c
@@ -32,7 +32,7 @@ int8_t _z_trigger_push(_z_session_t *zn, _z_n_msg_push_t *push) {
 #if Z_FEATURE_ATTACHMENT == 1
     z_attachment_t att = _z_encoded_as_attachment(&push->_body._body._put._attachment);
 #endif
-    ret = _z_trigger_subscriptions(zn, push->_key, payload, encoding, kind, push->_timestamp
+    ret = _z_trigger_subscriptions(zn, push->_key, payload, encoding, kind, push->_timestamp, push->_qos
 #if Z_FEATURE_ATTACHMENT == 1
                                    ,
                                    att
diff --git a/src/session/rx.c b/src/session/rx.c
index 9b27a9fbd..5ba2bc6ed 100644
--- a/src/session/rx.c
+++ b/src/session/rx.c
@@ -104,7 +104,7 @@ int8_t _z_handle_network_message(_z_session_t *zn, _z_zenoh_message_t *msg, uint
                     z_attachment_t att = _z_encoded_as_attachment(&put._attachment);
 #endif
                     ret = _z_trigger_subscriptions(zn, req._key, put._payload, put._encoding, Z_SAMPLE_KIND_PUT,
-                                                   put._commons._timestamp
+                                                   put._commons._timestamp, req._ext_qos
 #if Z_FEATURE_ATTACHMENT == 1
                                                    ,
                                                    att
@@ -122,7 +122,7 @@ int8_t _z_handle_network_message(_z_session_t *zn, _z_zenoh_message_t *msg, uint
                     _z_msg_del_t del = req._body._del;
 #if Z_FEATURE_SUBSCRIPTION == 1
                     ret = _z_trigger_subscriptions(zn, req._key, _z_bytes_empty(), z_encoding_default(),
-                                                   Z_SAMPLE_KIND_DELETE, del._commons._timestamp
+                                                   Z_SAMPLE_KIND_DELETE, del._commons._timestamp, req._ext_qos
 #if Z_FEATURE_ATTACHMENT == 1
                                                    ,
                                                    z_attachment_null()
@@ -166,7 +166,7 @@ int8_t _z_handle_network_message(_z_session_t *zn, _z_zenoh_message_t *msg, uint
                     z_attachment_t att = _z_encoded_as_attachment(&put._attachment);
 #endif
                     ret = _z_trigger_subscriptions(zn, response._key, put._payload, put._encoding, Z_SAMPLE_KIND_PUT,
-                                                   put._commons._timestamp
+                                                   put._commons._timestamp, response._ext_qos
 #if Z_FEATURE_ATTACHMENT == 1
                                                    ,
                                                    att
@@ -178,7 +178,7 @@ int8_t _z_handle_network_message(_z_session_t *zn, _z_zenoh_message_t *msg, uint
                     _z_msg_del_t del = response._body._del;
 #if Z_FEATURE_SUBSCRIPTION == 1
                     ret = _z_trigger_subscriptions(zn, response._key, _z_bytes_empty(), z_encoding_default(),
-                                                   Z_SAMPLE_KIND_DELETE, del._commons._timestamp
+                                                   Z_SAMPLE_KIND_DELETE, del._commons._timestamp, response._ext_qos
 #if Z_FEATURE_ATTACHMENT == 1
                                                    ,
                                                    z_attachment_null()
diff --git a/src/session/subscription.c b/src/session/subscription.c
index 0cd1050d9..103296562 100644
--- a/src/session/subscription.c
+++ b/src/session/subscription.c
@@ -153,7 +153,7 @@ _z_subscription_rc_t *_z_register_subscription(_z_session_t *zn, uint8_t is_loca
 }
 
 void _z_trigger_local_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, const uint8_t *payload,
-                                    _z_zint_t payload_len
+                                    _z_zint_t payload_len, _z_n_qos_t qos
 #if Z_FEATURE_ATTACHMENT == 1
                                     ,
                                     z_attachment_t att
@@ -161,9 +161,9 @@ void _z_trigger_local_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr
 ) {
     _z_encoding_t encoding = {.prefix = Z_ENCODING_PREFIX_DEFAULT, .suffix = _z_bytes_wrap(NULL, 0)};
     int8_t ret = _z_trigger_subscriptions(zn, keyexpr, _z_bytes_wrap(payload, payload_len), encoding, Z_SAMPLE_KIND_PUT,
-                                          _z_timestamp_null()
+                                          _z_timestamp_null(), qos
 #if Z_FEATURE_ATTACHMENT == 1
-                                              ,
+                                          ,
                                           att
 #endif
     );
@@ -171,7 +171,8 @@ void _z_trigger_local_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr
 }
 
 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
+                                const _z_encoding_t encoding, const _z_zint_t kind, const _z_timestamp_t timestamp,
+                                const _z_n_qos_t qos
 #if Z_FEATURE_ATTACHMENT == 1
                                 ,
                                 z_attachment_t att
@@ -200,6 +201,7 @@ int8_t _z_trigger_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, co
         s.encoding = encoding;
         s.kind = kind;
         s.timestamp = timestamp;
+        s.qos = _z_n_qos_unmake(qos);
 #if Z_FEATURE_ATTACHMENT == 1
         s.attachment = att;
 #endif
@@ -256,11 +258,12 @@ void _z_flush_subscriptions(_z_session_t *zn) {
 #else  // Z_FEATURE_SUBSCRIPTION == 0
 
 void _z_trigger_local_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, const uint8_t *payload,
-                                    _z_zint_t payload_len) {
+                                    _z_zint_t payload_len, _z_n_qos_t qos) {
     _ZP_UNUSED(zn);
     _ZP_UNUSED(keyexpr);
     _ZP_UNUSED(payload);
     _ZP_UNUSED(payload_len);
+    _ZP_UNUSED(qos);
 }
 
 #endif  // Z_FEATURE_SUBSCRIPTION == 1
diff --git a/tests/fragment.py b/tests/fragment.py
index d29295f0f..7b2a6f8d5 100644
--- a/tests/fragment.py
+++ b/tests/fragment.py
@@ -14,7 +14,7 @@ def check_output(tx_status, tx_output, rx_status, rx_output):
     # Expected rx output & status
     z_rx_expected_status = 0
     z_rx_expected_output = (
-        "[rx]: Received packet on test/zenoh-pico-fragment, len: 10000, validity: 1")
+        "[rx]: Received packet on test/zenoh-pico-fragment, len: 10000, validity: 1, qos {priority: 4, cong_ctrl: 0}")
 
     # Check the exit status of tx
     if tx_status == z_tx_expected_status:
diff --git a/tests/z_test_fragment_rx.c b/tests/z_test_fragment_rx.c
index 133497694..4b884edc7 100644
--- a/tests/z_test_fragment_rx.c
+++ b/tests/z_test_fragment_rx.c
@@ -29,7 +29,8 @@ void data_handler(const z_sample_t *sample, void *ctx) {
             break;
         }
     }
-    printf("[rx]: Received packet on %s, len: %d, validity: %d\n", z_loan(keystr), (int)sample->payload.len, is_valid);
+    printf("[rx]: Received packet on %s, len: %d, validity: %d, qos {priority: %d, cong_ctrl: %d}\n", z_loan(keystr),
+           (int)sample->payload.len, is_valid, sample->qos.priority, sample->qos.congestion_control);
     z_drop(z_move(keystr));
 }
 
diff --git a/tests/z_test_fragment_tx.c b/tests/z_test_fragment_tx.c
index b002a34d8..70b24968e 100644
--- a/tests/z_test_fragment_tx.c
+++ b/tests/z_test_fragment_tx.c
@@ -60,6 +60,8 @@ int main(int argc, char **argv) {
     // Put data
     z_put_options_t options = z_put_options_default();
     options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL);
+    options.priority = Z_PRIORITY_DATA_HIGH;
+    options.congestion_control = Z_CONGESTION_CONTROL_BLOCK;
     for (int i = 0; i < 5; i++) {
         printf("[tx]: Sending packet on %s, len: %d\n", keyexpr, (int)size);
         if (z_put(z_loan(s), z_keyexpr(keyexpr), (const uint8_t *)value, size, &options) < 0) {

From d3568818e06ca2759bbf0c343d4baa78d004ecf9 Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Thu, 15 Feb 2024 19:35:05 +0100
Subject: [PATCH 02/10] - silence cpp compiler regading compound literals and
 type conversions, - add missing dots in docs

---
 include/zenoh-pico/api/types.h                    | 2 +-
 include/zenoh-pico/protocol/core.h                | 2 +-
 include/zenoh-pico/protocol/definitions/network.h | 9 +++++----
 3 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/include/zenoh-pico/api/types.h b/include/zenoh-pico/api/types.h
index 81874c5e4..4fcfb9fad 100644
--- a/include/zenoh-pico/api/types.h
+++ b/include/zenoh-pico/api/types.h
@@ -419,7 +419,7 @@ typedef struct {
  * 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 _z_qos_t z_qos_t;
 
diff --git a/include/zenoh-pico/protocol/core.h b/include/zenoh-pico/protocol/core.h
index 8307654b6..ea8a32449 100644
--- a/include/zenoh-pico/protocol/core.h
+++ b/include/zenoh-pico/protocol/core.h
@@ -217,7 +217,7 @@ _z_keyexpr_t _z_rid_with_suffix(uint16_t rid, const char *suffix);
  * 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_priority_t priority;
diff --git a/include/zenoh-pico/protocol/definitions/network.h b/include/zenoh-pico/protocol/definitions/network.h
index 0ff6f7fb9..9ffacaab3 100644
--- a/include/zenoh-pico/protocol/definitions/network.h
+++ b/include/zenoh-pico/protocol/definitions/network.h
@@ -65,10 +65,11 @@ typedef struct {
 #define _z_n_qos_make(express, nodrop, priority) \
     (_z_n_qos_t) { ._val = (((express) << 4) | ((nodrop) << 3) | (priority)) }
 inline _z_qos_t _z_n_qos_unmake(_z_n_qos_t n_qos) {
-    return (_z_qos_t){
-        .priority = n_qos._val & 0b111u,
-        .congestion_control = (n_qos._val & 0b1000u) ? Z_CONGESTION_CONTROL_BLOCK : Z_CONGESTION_CONTROL_DROP,
-        .express = n_qos._val & 0b10000u};
+    _z_qos_t qos;
+    qos.priority = (z_priority_t)(n_qos._val & 0b111u);
+    qos.congestion_control = (n_qos._val & 0b1000u) ? Z_CONGESTION_CONTROL_BLOCK : Z_CONGESTION_CONTROL_DROP;
+    qos.express = (bool)(n_qos._val & 0b10000u);
+    return qos;
 }
 _z_qos_t _z_n_qos_unmake_public(_z_n_qos_t n_qos);
 #define _Z_N_QOS_DEFAULT _z_n_qos_make(0, 0, 5)

From cb554fd6d38758383a097a2f469d31561da454c7 Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Fri, 16 Feb 2024 11:18:47 +0100
Subject: [PATCH 03/10] fix _z_qos_t definition and doc

---
 include/zenoh-pico/protocol/core.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/include/zenoh-pico/protocol/core.h b/include/zenoh-pico/protocol/core.h
index ea8a32449..d2b57cf31 100644
--- a/include/zenoh-pico/protocol/core.h
+++ b/include/zenoh-pico/protocol/core.h
@@ -215,14 +215,14 @@ _z_keyexpr_t _z_rid_with_suffix(uint16_t rid, const char *suffix);
  * 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.
+ *   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_priority_t priority;
     z_congestion_control_t congestion_control;
-    bool express;
+    _Bool express;
 } _z_qos_t;
 
 /**

From f0545ebe0acd843ca57087cd6431b0e991de2809 Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Fri, 16 Feb 2024 11:20:17 +0100
Subject: [PATCH 04/10] fix z_qos_t definition and doc

---
 include/zenoh-pico/api/types.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/zenoh-pico/api/types.h b/include/zenoh-pico/api/types.h
index 4fcfb9fad..e079ce327 100644
--- a/include/zenoh-pico/api/types.h
+++ b/include/zenoh-pico/api/types.h
@@ -417,9 +417,9 @@ typedef struct {
  * 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.
+ *   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 _z_qos_t z_qos_t;
 

From 6e1061708914bc9506baae68458cafc388e5710c Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Fri, 16 Feb 2024 12:05:21 +0100
Subject: [PATCH 05/10] - replace binary literals (non-core C) with hexadecimal
 ones - replace _z_n_qos_unmake with _z_n_qos_unmake_public in subscription.c

---
 include/zenoh-pico/protocol/definitions/network.h | 6 +++---
 src/session/subscription.c                        | 3 ++-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/include/zenoh-pico/protocol/definitions/network.h b/include/zenoh-pico/protocol/definitions/network.h
index 9ffacaab3..fb796ce29 100644
--- a/include/zenoh-pico/protocol/definitions/network.h
+++ b/include/zenoh-pico/protocol/definitions/network.h
@@ -66,9 +66,9 @@ typedef struct {
     (_z_n_qos_t) { ._val = (((express) << 4) | ((nodrop) << 3) | (priority)) }
 inline _z_qos_t _z_n_qos_unmake(_z_n_qos_t n_qos) {
     _z_qos_t qos;
-    qos.priority = (z_priority_t)(n_qos._val & 0b111u);
-    qos.congestion_control = (n_qos._val & 0b1000u) ? Z_CONGESTION_CONTROL_BLOCK : Z_CONGESTION_CONTROL_DROP;
-    qos.express = (bool)(n_qos._val & 0b10000u);
+    qos.priority = (z_priority_t)(n_qos._val & 0x07 /* 0b111 */);
+    qos.congestion_control = (n_qos._val & 0x08 /* 0b1000 */) ? Z_CONGESTION_CONTROL_BLOCK : Z_CONGESTION_CONTROL_DROP;
+    qos.express = (bool)(n_qos._val & 0x10 /* 0b10000 */);
     return qos;
 }
 _z_qos_t _z_n_qos_unmake_public(_z_n_qos_t n_qos);
diff --git a/src/session/subscription.c b/src/session/subscription.c
index 103296562..0100444d2 100644
--- a/src/session/subscription.c
+++ b/src/session/subscription.c
@@ -20,6 +20,7 @@
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/protocol/keyexpr.h"
+#include "zenoh-pico/protocol/definitions/network.h"
 #include "zenoh-pico/session/resource.h"
 #include "zenoh-pico/session/session.h"
 #include "zenoh-pico/utils/logging.h"
@@ -201,7 +202,7 @@ int8_t _z_trigger_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, co
         s.encoding = encoding;
         s.kind = kind;
         s.timestamp = timestamp;
-        s.qos = _z_n_qos_unmake(qos);
+        s.qos = _z_n_qos_unmake_public(qos);
 #if Z_FEATURE_ATTACHMENT == 1
         s.attachment = att;
 #endif

From 29fca01435461a8e3bd362842ad9a46deac6d3f8 Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Fri, 16 Feb 2024 12:28:08 +0100
Subject: [PATCH 06/10] make _z_n_qos_unmake static inline to prevent linking
 errors

---
 include/zenoh-pico/protocol/definitions/network.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/zenoh-pico/protocol/definitions/network.h b/include/zenoh-pico/protocol/definitions/network.h
index fb796ce29..c9bfe2908 100644
--- a/include/zenoh-pico/protocol/definitions/network.h
+++ b/include/zenoh-pico/protocol/definitions/network.h
@@ -64,7 +64,7 @@ typedef struct {
 
 #define _z_n_qos_make(express, nodrop, priority) \
     (_z_n_qos_t) { ._val = (((express) << 4) | ((nodrop) << 3) | (priority)) }
-inline _z_qos_t _z_n_qos_unmake(_z_n_qos_t n_qos) {
+static inline _z_qos_t _z_n_qos_unmake(_z_n_qos_t n_qos) {
     _z_qos_t qos;
     qos.priority = (z_priority_t)(n_qos._val & 0x07 /* 0b111 */);
     qos.congestion_control = (n_qos._val & 0x08 /* 0b1000 */) ? Z_CONGESTION_CONTROL_BLOCK : Z_CONGESTION_CONTROL_DROP;

From bb65bc87c6a6065b9d7d7ae1802860abf79f5274 Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Fri, 16 Feb 2024 14:22:19 +0100
Subject: [PATCH 07/10] fix format

---
 src/session/subscription.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/session/subscription.c b/src/session/subscription.c
index 0100444d2..9b0adef0d 100644
--- a/src/session/subscription.c
+++ b/src/session/subscription.c
@@ -19,8 +19,8 @@
 
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/protocol/core.h"
-#include "zenoh-pico/protocol/keyexpr.h"
 #include "zenoh-pico/protocol/definitions/network.h"
+#include "zenoh-pico/protocol/keyexpr.h"
 #include "zenoh-pico/session/resource.h"
 #include "zenoh-pico/session/session.h"
 #include "zenoh-pico/utils/logging.h"

From 39cfc829f0bf3e2a4dffc38eade96868ef146687 Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Tue, 20 Feb 2024 15:21:17 +0100
Subject: [PATCH 08/10] reduce qos size to 1 byte; use getters to extract
 individual qos settings

---
 include/zenoh-pico/api/types.h                | 26 +++++++++++++++----
 include/zenoh-pico/protocol/core.h            |  9 +------
 .../zenoh-pico/protocol/definitions/network.h | 17 +++++-------
 src/protocol/definitions/network.c            |  7 -----
 src/session/subscription.c                    |  2 +-
 tests/z_test_fragment_rx.c                    |  3 ++-
 6 files changed, 32 insertions(+), 32 deletions(-)

diff --git a/include/zenoh-pico/api/types.h b/include/zenoh-pico/api/types.h
index e079ce327..c9d97f5ad 100644
--- a/include/zenoh-pico/api/types.h
+++ b/include/zenoh-pico/api/types.h
@@ -415,13 +415,29 @@ typedef struct {
 
 /**
  * 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 _z_qos_t z_qos_t;
+/**
+ * Returns message priority.
+ */
+static inline z_priority_t z_qos_get_priority(z_qos_t qos) {
+    z_priority_t ret = _z_n_qos_get_priority(qos);
+    return ret == _Z_PRIORITY_CONTROL ? Z_PRIORITY_DEFAULT : ret;
+}
+/**
+ * Returns message congestion control.
+ */
+static inline z_congestion_control_t z_qos_get_congestion_control(z_qos_t qos) {
+    return _z_n_qos_get_congestion_control(qos);
+}
+/**
+ * Returns message express flag. If set to true, the message is not batched to reduce the latency.
+ */
+static inline _Bool z_qos_get_express(z_qos_t qos) { return _z_n_qos_get_express(qos); }
+/**
+ * Returns default qos settings.
+ */
+static inline z_qos_t z_qos_default() { return _Z_N_QOS_DEFAULT; }
 
 /**
  * Represents a data sample.
diff --git a/include/zenoh-pico/protocol/core.h b/include/zenoh-pico/protocol/core.h
index d2b57cf31..d7d2dc3f2 100644
--- a/include/zenoh-pico/protocol/core.h
+++ b/include/zenoh-pico/protocol/core.h
@@ -213,16 +213,9 @@ _z_keyexpr_t _z_rid_with_suffix(uint16_t rid, const char *suffix);
 
 /**
  * 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_priority_t priority;
-    z_congestion_control_t congestion_control;
-    _Bool express;
+    uint8_t _val;
 } _z_qos_t;
 
 /**
diff --git a/include/zenoh-pico/protocol/definitions/network.h b/include/zenoh-pico/protocol/definitions/network.h
index c9bfe2908..2305bb58a 100644
--- a/include/zenoh-pico/protocol/definitions/network.h
+++ b/include/zenoh-pico/protocol/definitions/network.h
@@ -58,20 +58,17 @@
 #define _Z_FLAG_N_RESPONSE_N 0x20  // 1 << 5
 #define _Z_FLAG_N_RESPONSE_M 0x40  // 1 << 6
 
-typedef struct {
-    uint8_t _val;
-} _z_n_qos_t;
+typedef _z_qos_t _z_n_qos_t;
 
 #define _z_n_qos_make(express, nodrop, priority) \
     (_z_n_qos_t) { ._val = (((express) << 4) | ((nodrop) << 3) | (priority)) }
-static inline _z_qos_t _z_n_qos_unmake(_z_n_qos_t n_qos) {
-    _z_qos_t qos;
-    qos.priority = (z_priority_t)(n_qos._val & 0x07 /* 0b111 */);
-    qos.congestion_control = (n_qos._val & 0x08 /* 0b1000 */) ? Z_CONGESTION_CONTROL_BLOCK : Z_CONGESTION_CONTROL_DROP;
-    qos.express = (bool)(n_qos._val & 0x10 /* 0b10000 */);
-    return qos;
+static inline z_priority_t _z_n_qos_get_priority(_z_n_qos_t n_qos) {
+    return (z_priority_t)(n_qos._val & 0x07 /* 0b111 */);
+}
+static inline z_congestion_control_t _z_n_qos_get_congestion_control(_z_n_qos_t n_qos) {
+    return (n_qos._val & 0x08 /* 0b1000 */) ? Z_CONGESTION_CONTROL_BLOCK : Z_CONGESTION_CONTROL_DROP;
 }
-_z_qos_t _z_n_qos_unmake_public(_z_n_qos_t n_qos);
+static inline _Bool _z_n_qos_get_express(_z_n_qos_t n_qos) { return (_Bool)(n_qos._val & 0x10 /* 0b10000 */); }
 #define _Z_N_QOS_DEFAULT _z_n_qos_make(0, 0, 5)
 
 // RESPONSE FINAL message flags:
diff --git a/src/protocol/definitions/network.c b/src/protocol/definitions/network.c
index f80b3fb37..af5192b14 100644
--- a/src/protocol/definitions/network.c
+++ b/src/protocol/definitions/network.c
@@ -276,10 +276,3 @@ void _z_msg_fix_mapping(_z_zenoh_message_t *msg, uint16_t mapping) {
             break;
     }
 }
-_z_qos_t _z_n_qos_unmake_public(_z_n_qos_t n_qos) {
-    _z_qos_t qos = _z_n_qos_unmake(n_qos);
-    if (qos.priority == Z_PRIORITY_REAL_TIME) {
-        qos.priority = Z_PRIORITY_DEFAULT;
-    }
-    return qos;
-}
diff --git a/src/session/subscription.c b/src/session/subscription.c
index 9b0adef0d..1b9345b0d 100644
--- a/src/session/subscription.c
+++ b/src/session/subscription.c
@@ -202,7 +202,7 @@ int8_t _z_trigger_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, co
         s.encoding = encoding;
         s.kind = kind;
         s.timestamp = timestamp;
-        s.qos = _z_n_qos_unmake_public(qos);
+        s.qos = qos;
 #if Z_FEATURE_ATTACHMENT == 1
         s.attachment = att;
 #endif
diff --git a/tests/z_test_fragment_rx.c b/tests/z_test_fragment_rx.c
index 4b884edc7..5f2e248ae 100644
--- a/tests/z_test_fragment_rx.c
+++ b/tests/z_test_fragment_rx.c
@@ -30,7 +30,8 @@ void data_handler(const z_sample_t *sample, void *ctx) {
         }
     }
     printf("[rx]: Received packet on %s, len: %d, validity: %d, qos {priority: %d, cong_ctrl: %d}\n", z_loan(keystr),
-           (int)sample->payload.len, is_valid, sample->qos.priority, sample->qos.congestion_control);
+           (int)sample->payload.len, is_valid, z_qos_get_priority(sample->qos),
+           z_qos_get_congestion_control(sample->qos));
     z_drop(z_move(keystr));
 }
 

From 245aade28891ecf628e07c60b7e6f7172c9607ea Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Tue, 20 Feb 2024 17:31:31 +0100
Subject: [PATCH 09/10] fix _z_n_qos_make to no longer use compund literals to
 avoid warnings from zenoh-cpp

---
 include/zenoh-pico/protocol/definitions/network.h | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/include/zenoh-pico/protocol/definitions/network.h b/include/zenoh-pico/protocol/definitions/network.h
index 2305bb58a..512ad2c8d 100644
--- a/include/zenoh-pico/protocol/definitions/network.h
+++ b/include/zenoh-pico/protocol/definitions/network.h
@@ -60,8 +60,12 @@
 
 typedef _z_qos_t _z_n_qos_t;
 
-#define _z_n_qos_make(express, nodrop, priority) \
-    (_z_n_qos_t) { ._val = (((express) << 4) | ((nodrop) << 3) | (priority)) }
+static inline _z_qos_t _z_n_qos_create(_Bool express, z_congestion_control_t congestion_control,
+                                       z_priority_t priority) {
+    _Bool nodrop = congestion_control == Z_CONGESTION_CONTROL_DROP ? 0 : 1;
+    _z_n_qos_t ret = {._val = (uint8_t)((express << 4) | (nodrop << 3) | priority)};
+    return ret;
+}
 static inline z_priority_t _z_n_qos_get_priority(_z_n_qos_t n_qos) {
     return (z_priority_t)(n_qos._val & 0x07 /* 0b111 */);
 }
@@ -69,6 +73,9 @@ static inline z_congestion_control_t _z_n_qos_get_congestion_control(_z_n_qos_t
     return (n_qos._val & 0x08 /* 0b1000 */) ? Z_CONGESTION_CONTROL_BLOCK : Z_CONGESTION_CONTROL_DROP;
 }
 static inline _Bool _z_n_qos_get_express(_z_n_qos_t n_qos) { return (_Bool)(n_qos._val & 0x10 /* 0b10000 */); }
+#define _z_n_qos_make(express, nodrop, priority)                                                     \
+    _z_n_qos_create((_Bool)express, nodrop ? Z_CONGESTION_CONTROL_BLOCK : Z_CONGESTION_CONTROL_DROP, \
+                    (z_priority_t)priority)
 #define _Z_N_QOS_DEFAULT _z_n_qos_make(0, 0, 5)
 
 // RESPONSE FINAL message flags:

From 790bd62be3ce24adb8db636e6bae4bee0500130b Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Tue, 20 Feb 2024 18:19:20 +0100
Subject: [PATCH 10/10] fix z_qos_default() signature

---
 include/zenoh-pico/api/types.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/zenoh-pico/api/types.h b/include/zenoh-pico/api/types.h
index c9d97f5ad..06117dd06 100644
--- a/include/zenoh-pico/api/types.h
+++ b/include/zenoh-pico/api/types.h
@@ -437,7 +437,7 @@ static inline _Bool z_qos_get_express(z_qos_t qos) { return _z_n_qos_get_express
 /**
  * Returns default qos settings.
  */
-static inline z_qos_t z_qos_default() { return _Z_N_QOS_DEFAULT; }
+static inline z_qos_t z_qos_default(void) { return _Z_N_QOS_DEFAULT; }
 
 /**
  * Represents a data sample.