Update query, reply and error messages format

include/zenoh-pico/net/primitives.h

@@ -211,7 +211,8 @@ int8_t _z_undeclare_queryable(_z_queryable_t *qle);
  *     key: The resource key of this reply. The caller keeps the ownership.
  *     payload: The value of this reply, the caller keeps ownership.
  */
-int8_t _z_send_reply(const _z_query_t *query, const _z_keyexpr_t keyexpr, const _z_value_t payload);
+int8_t _z_send_reply(const _z_query_t *query, const _z_keyexpr_t keyexpr, const _z_value_t payload,
+                     const z_sample_kind_t kind);
 #endif
 
 #if Z_FEATURE_QUERY == 1

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

@@ -48,58 +48,25 @@
 #define _Z_FRAG_BUFF_BASE_SIZE 128  // Arbitrary base size of the buffer to encode a fragment message header
 
 // Flags:
-// - T: Timestamp      If T==1 then the timestamp if present
+// - X: Reserved
 // - E: Encoding       If E==1 then the encoding is present
 // - Z: Extension      If Z==1 then at least one extension is present
 //
 //   7 6 5 4 3 2 1 0
 //  +-+-+-+-+-+-+-+-+
-//  |Z|E|T|  REPLY  |
+//  |Z|E|X|   ERR   |
 //  +-+-+-+---------+
-//  ~ ts: <u8;z16>  ~  if T==1
-//  +---------------+
-//  ~   encoding    ~  if E==1
-//  +---------------+
-//  ~  [repl_exts]  ~  if Z==1
-//  +---------------+
-//  ~ pl: <u8;z32>  ~  -- Payload
-//  +---------------+
-typedef struct {
-    _z_timestamp_t _timestamp;
-    _z_value_t _value;
-    _z_source_info_t _ext_source_info;
-    z_consolidation_mode_t _ext_consolidation;
-#if Z_FEATURE_ATTACHMENT == 1
-    _z_owned_encoded_attachment_t _ext_attachment;
-#endif
-} _z_msg_reply_t;
-void _z_msg_reply_clear(_z_msg_reply_t *msg);
-#define _Z_FLAG_Z_R_T 0x20
-#define _Z_FLAG_Z_R_E 0x40
-
-// Flags:
-// - T: Timestamp      If T==1 then the timestamp if present
-// - I: Infrastructure If I==1 then the error is related to the infrastructure else to the user
-// - Z: Extension      If Z==1 then at least one extension is present
-//
-//   7 6 5 4 3 2 1 0
-//  +-+-+-+-+-+-+-+-+
-//  |Z|I|T|   ERR   |
-//  +-+-+-+---------+
-//  %   code:z16    %
-//  +---------------+
-//  ~ ts: <u8;z16>  ~  if T==1
+//  %   encoding    %
 //  +---------------+
 //  ~  [err_exts]   ~  if Z==1
 //  +---------------+
-#define _Z_FLAG_Z_E_T 0x20
-#define _Z_FLAG_Z_E_I 0x40
+///  ~ pl: <u8;z32>  ~ Payload
+///  +---------------+
+#define _Z_FLAG_Z_E_E 0x40
 typedef struct {
-    uint16_t _code;
-    _Bool _is_infrastructure;
-    _z_timestamp_t _timestamp;
+    _z_encoding_t encoding;
     _z_source_info_t _ext_source_info;
-    _z_value_t _ext_value;
+    _z_bytes_t _payload;
 } _z_msg_err_t;
 void _z_msg_err_clear(_z_msg_err_t *err);
 
@@ -166,31 +133,60 @@
 /*------------------ Query Message ------------------*/
 //   7 6 5 4 3 2 1 0
 //  +-+-+-+-+-+-+-+-+
-//  |Z|C|P|  QUERY  |
+//  |Z|P|C|  QUERY  |
 //  +-+-+-+---------+
-//  ~ params        ~  if P==1 -- <utf8;z32>
-//  +---------------+
 //  ~ consolidation ~  if C==1 -- u8
 //  +---------------+
+//  ~ params        ~  if P==1 -- <utf8;z16>
+//  +---------------+
 //  ~ [qry_exts]    ~  if Z==1
 //  +---------------+
-#define _Z_FLAG_Z_Q_P 0x20  // 1 << 6 | Period            if P==1 then a period is present
+#define _Z_FLAG_Z_Q_C 0x20  // 1 << 5 | Consolidation if C==1 then consolidation is present
+#define _Z_FLAG_Z_Q_P 0x40  // 1 << 6 | Params        if P==1 then parameters are present
 typedef struct {
     _z_bytes_t _parameters;
     _z_source_info_t _ext_info;
     _z_value_t _ext_value;
-    z_consolidation_mode_t _ext_consolidation;
+    z_consolidation_mode_t _consolidation;
 #if Z_FEATURE_ATTACHMENT == 1
     _z_owned_encoded_attachment_t _ext_attachment;
 #endif
 } _z_msg_query_t;
 typedef struct {
     _Bool info;
     _Bool body;
-    _Bool consolidation;
     _Bool attachment;
 } _z_msg_query_reqexts_t;
 _z_msg_query_reqexts_t _z_msg_query_required_extensions(const _z_msg_query_t *msg);
 void _z_msg_query_clear(_z_msg_query_t *msg);
 
+typedef struct {
+    _Bool _is_put;
+    union {
+        _z_msg_del_t _del;
+        _z_msg_put_t _put;
+    } _body;
+} _z_reply_body_t;
+// Flags:
+// - C: Consolidation  If C==1 then consolidation is present
+// - X: Reserved
+// - Z: Extension      If Z==1 then at least one extension is present
+//
+//   7 6 5 4 3 2 1 0
+//  +-+-+-+-+-+-+-+-+
+//  |Z|X|C|  REPLY  |
+//  +-+-+-+---------+
+//  ~ consolidation ~  if C==1
+//  +---------------+
+//  ~  [repl_exts]  ~  if Z==1
+//  +---------------+
+//  ~  ReplyBody    ~  -- Payload
+//  +---------------+
+typedef struct {
+    z_consolidation_mode_t _consolidation;
+    _z_reply_body_t _body;
+} _z_msg_reply_t;
+void _z_msg_reply_clear(_z_msg_reply_t *msg);
+#define _Z_FLAG_Z_R_C 0x20
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_DEFINITIONS_MESSAGE_H */

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

@@ -118,13 +118,7 @@ typedef struct {
 _z_n_msg_request_exts_t _z_n_msg_request_needed_exts(const _z_n_msg_request_t *msg);
 void _z_n_msg_request_clear(_z_n_msg_request_t *msg);
 
-typedef struct {
-    _Bool _is_put;
-    union {
-        _z_msg_del_t _del;
-        _z_msg_put_t _put;
-    } _body;
-} _z_push_body_t;
+typedef _z_reply_body_t _z_push_body_t;
 _z_push_body_t _z_push_body_null(void);
 _z_push_body_t _z_push_body_steal(_z_push_body_t *msg);
 void _z_push_body_clear(_z_push_body_t *msg);
@@ -236,7 +230,7 @@ _z_network_message_t _z_msg_make_query(_Z_MOVE(_z_keyexpr_t) key, _Z_MOVE(_z_byt
                                        z_attachment_t attachment
 #endif
 );
-_z_network_message_t _z_n_msg_make_reply(_z_zint_t rid, _Z_MOVE(_z_keyexpr_t) key, _Z_MOVE(_z_value_t) value);
+_z_network_message_t _z_n_msg_make_reply(_z_zint_t rid, _Z_MOVE(_z_keyexpr_t) key, _Z_MOVE(_z_push_body_t) body);
 _z_network_message_t _z_n_msg_make_ack(_z_zint_t rid, _Z_MOVE(_z_keyexpr_t) key);
 _z_network_message_t _z_n_msg_make_response_final(_z_zint_t rid);
 _z_network_message_t _z_n_msg_make_declare(_z_declaration_t declaration);

include/zenoh-pico/session/query.h

@@ -26,8 +26,7 @@ _z_pending_query_t *_z_get_pending_query_by_id(_z_session_t *zn, const _z_zint_t
 
 int8_t _z_register_pending_query(_z_session_t *zn, _z_pending_query_t *pq);
 int8_t _z_trigger_query_reply_partial(_z_session_t *zn, _z_zint_t reply_context, 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_msg_put_t *msg);
 int8_t _z_trigger_query_reply_final(_z_session_t *zn, _z_zint_t id);
 void _z_unregister_pending_query(_z_session_t *zn, _z_pending_query_t *pq);
 void _z_flush_pending_queries(_z_session_t *zn);

src/api/api.c

@@ -934,7 +934,7 @@ int8_t z_query_reply(const z_query_t *query, const z_keyexpr_t keyexpr, const ui
                                 .len = payload_len,
                             },
                         .encoding = {.prefix = opts.encoding.prefix, .suffix = opts.encoding.suffix}};
-    return _z_send_reply(&query->_val._rc.in->val, keyexpr, value);
+    return _z_send_reply(&query->_val._rc.in->val, keyexpr, value, Z_SAMPLE_KIND_PUT);
     return _Z_ERR_GENERIC;
 }
 #endif

src/net/primitives.c

@@ -340,7 +340,8 @@
     return _Z_RES_OK;
 }
 
-int8_t _z_send_reply(const _z_query_t *query, _z_keyexpr_t keyexpr, const _z_value_t payload) {
+int8_t _z_send_reply(const _z_query_t *query, _z_keyexpr_t keyexpr, const _z_value_t payload,
+                     const z_sample_kind_t kind) {
     int8_t ret = _Z_RES_OK;
 
     _z_keyexpr_t q_ke;
@@ -359,23 +360,30 @@
         // Build the reply context decorator. This is NOT the final reply.
         _z_id_t zid = ((_z_session_t *)query->_zn)->_local_zid;
         _z_keyexpr_t ke = _z_keyexpr_alias(keyexpr);
-        _z_zenoh_message_t z_msg = {
-            ._tag = _Z_N_RESPONSE,
-            ._body._response =
-                {
-                    ._request_id = query->_request_id,
-                    ._key = ke,
-                    ._ext_responder = {._zid = zid, ._eid = 0},
-                    ._ext_qos = _Z_N_QOS_DEFAULT,
-                    ._ext_timestamp = _z_timestamp_null(),
-                    ._tag = _Z_RESPONSE_BODY_REPLY,
-                    ._body._reply = {._value = payload,
-                                     ._timestamp = _z_timestamp_null(),
-                                     ._ext_consolidation = Z_CONSOLIDATION_MODE_AUTO,
-                                     ._ext_source_info = _z_source_info_null()},
-                },
-        };
-
+        _z_zenoh_message_t z_msg;
+        switch (kind) {
+            default:
+                return _Z_ERR_GENERIC;
+                break;
+            case Z_SAMPLE_KIND_PUT:
+                z_msg._tag = _Z_N_RESPONSE;
+                z_msg._body._response._request_id = query->_request_id;
+                z_msg._body._response._key = ke;
+                z_msg._body._response._ext_responder._zid = zid;
+                z_msg._body._response._ext_responder._eid = 0;
+                z_msg._body._response._ext_qos = _Z_N_QOS_DEFAULT;
+                z_msg._body._response._ext_timestamp = _z_timestamp_null();
+                z_msg._body._response._tag = _Z_RESPONSE_BODY_REPLY;
+                z_msg._body._response._body._reply._consolidation = Z_CONSOLIDATION_MODE_DEFAULT;
+                z_msg._body._response._body._reply._body._is_put = true;
+                z_msg._body._response._body._reply._body._body._put._payload = payload.payload;
+                z_msg._body._response._body._reply._body._body._put._encoding = payload.encoding;
+                z_msg._body._response._body._reply._body._body._put._attachment.body.decoded = z_attachment_null();
+                z_msg._body._response._body._reply._body._body._put._attachment.is_encoded = false;
+                z_msg._body._response._body._reply._body._body._put._commons._timestamp = _z_timestamp_null();
+                z_msg._body._response._body._reply._body._body._put._commons._source_info = _z_source_info_null();
+                break;
+        }
         if (_z_send_n_msg(query->_zn, &z_msg, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK) != _Z_RES_OK) {
             ret = _Z_ERR_TRANSPORT_TX_FAILED;
         }