Add support for qos settings in sample

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.
  *

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

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

@@ -64,6 +64,14 @@ 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) {
+    _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)
 
 // RESPONSE FINAL message flags:

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

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

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;
+}

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

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()

src/session/subscription.c

@@ -153,25 +153,26 @@ _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
 #endif
 ) {
     _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
     );
     (void)ret;
 }
 
 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

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:

tests/z_test_fragment_rx.c

@@ -29,7 +29,8 @@
             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));
 }
 

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) {