Expose Quality of Service settings (Priority, Congestion Control, Express) the Sample was published with

zenoh/src/publication.rs

@@ -22,6 +22,7 @@ use crate::prelude::*;
 #[zenoh_macros::unstable]
 use crate::sample::Attachment;
 use crate::sample::DataInfo;
+use crate::sample::QoS;
 use crate::Encoding;
 use crate::SessionRef;
 use crate::Undeclarable;
@@ -857,7 +858,13 @@ fn resolve_put(
             kind,
             encoding: Some(value.encoding),
             timestamp,
-            ..Default::default()
+            source_id: None,
+            source_sn: None,
+            qos: QoS::from_or_default(ext::QoSType::new(
+                publisher.priority.into(),
+                publisher.congestion_control,
+                false,
+            )),
         };
 
         publisher.session.handle_data(
@@ -925,7 +932,8 @@ impl TryFrom<u8> for Priority {
     }
 }
 
-impl From<Priority> for zenoh_protocol::core::Priority {
+type ProtocolPriority = zenoh_protocol::core::Priority;
+impl From<Priority> for ProtocolPriority {
     fn from(prio: Priority) -> Self {
         // The Priority in the prelude differs from the Priority in the core protocol only from
         // the missing Control priority. The Control priority is reserved for zenoh internal use
@@ -939,6 +947,22 @@ impl From<Priority> for zenoh_protocol::core::Priority {
     }
 }
 
+impl TryFrom<ProtocolPriority> for Priority {
+    type Error = zenoh_result::Error;
+    fn try_from(priority: ProtocolPriority) -> Result<Self, Self::Error> {
+        match priority {
+            ProtocolPriority::Control => bail!("'Control' is not a valid priority value."),
+            ProtocolPriority::RealTime => Ok(Priority::RealTime),
+            ProtocolPriority::InteractiveHigh => Ok(Priority::InteractiveHigh),
+            ProtocolPriority::InteractiveLow => Ok(Priority::InteractiveLow),
+            ProtocolPriority::DataHigh => Ok(Priority::DataHigh),
+            ProtocolPriority::Data => Ok(Priority::Data),
+            ProtocolPriority::DataLow => Ok(Priority::DataLow),
+            ProtocolPriority::Background => Ok(Priority::Background),
+        }
+    }
+}
+
 /// A struct that indicates if there exist Subscribers matching the Publisher's key expression.
 ///
 /// # Examples

zenoh/src/queryable.rs

@@ -193,6 +193,7 @@ impl SyncResolve for ReplyBuilder<'_> {
                     value: Value { payload, encoding },
                     kind,
                     timestamp,
+                    qos,
                     #[cfg(feature = "unstable")]
                     source_info,
                     #[cfg(feature = "unstable")]
@@ -203,6 +204,7 @@ impl SyncResolve for ReplyBuilder<'_> {
                     kind,
                     encoding: Some(encoding),
                     timestamp,
+                    qos,
                     source_id: None,
                     source_sn: None,
                 };

zenoh/src/sample.rs

@@ -18,10 +18,12 @@ use crate::prelude::ZenohId;
 use crate::prelude::{KeyExpr, SampleKind, Value};
 use crate::query::Reply;
 use crate::time::{new_reception_timestamp, Timestamp};
+use crate::Priority;
 #[zenoh_macros::unstable]
 use serde::Serialize;
 use std::convert::{TryFrom, TryInto};
-use zenoh_protocol::core::Encoding;
+use zenoh_protocol::core::{CongestionControl, Encoding};
+use zenoh_protocol::network::push::ext::QoSType;
 
 pub type SourceSn = u64;
 
@@ -50,6 +52,7 @@ pub(crate) struct DataInfo {
     pub timestamp: Option<Timestamp>,
     pub source_id: Option<ZenohId>,
     pub source_sn: Option<SourceSn>,
+    pub qos: QoS,
 }
 
 /// Informations on the source of a zenoh [`Sample`].
@@ -326,6 +329,8 @@ pub struct Sample {
     pub kind: SampleKind,
     /// The [`Timestamp`] of this Sample.
     pub timestamp: Option<Timestamp>,
+    /// Quality of service settings this sample was sent with.
+    pub qos: QoS,
 
     #[cfg(feature = "unstable")]
     /// <div class="stab unstable">
@@ -361,6 +366,7 @@ impl Sample {
             value: value.into(),
             kind: SampleKind::default(),
             timestamp: None,
+            qos: QoS::default(),
             #[cfg(feature = "unstable")]
             source_info: SourceInfo::empty(),
             #[cfg(feature = "unstable")]
@@ -383,6 +389,7 @@ impl Sample {
             value: value.into(),
             kind: SampleKind::default(),
             timestamp: None,
+            qos: QoS::default(),
             #[cfg(feature = "unstable")]
             source_info: SourceInfo::empty(),
             #[cfg(feature = "unstable")]
@@ -407,6 +414,7 @@ impl Sample {
                 value,
                 kind: data_info.kind,
                 timestamp: data_info.timestamp,
+                qos: data_info.qos,
                 #[cfg(feature = "unstable")]
                 source_info: data_info.into(),
                 #[cfg(feature = "unstable")]
@@ -418,6 +426,7 @@ impl Sample {
                 value,
                 kind: SampleKind::default(),
                 timestamp: None,
+                qos: QoS::default(),
                 #[cfg(feature = "unstable")]
                 source_info: SourceInfo::empty(),
                 #[cfg(feature = "unstable")]
@@ -509,3 +518,35 @@ impl TryFrom<Reply> for Sample {
         value.sample
     }
 }
+
+/// Structure containing quality of service data
+#[derive(Debug, Default, Copy, Clone, Eq, PartialEq)]
+pub struct QoS {
+    pub priority: Priority,
+    pub congestion_control: CongestionControl,
+    pub express: bool,
+}
+
+impl QoS {
+    /// Helper function to fallback to default QoS value and log a error in case of conversion failure
+    pub(crate) fn from_or_default(ext: QoSType) -> QoS {
+        match QoS::try_from(ext) {
+            Ok(qos) => return qos,
+            Err(e) => {
+                log::error!("Failed to convert: {}", e.to_string());
+                QoS::default()
+            }
+        }
+    }
+}
+
+impl TryFrom<QoSType> for QoS {
+    type Error = zenoh_result::Error;
+    fn try_from(ext: QoSType) -> Result<Self, Self::Error> {
+        Ok(QoS {
+            priority: ext.get_priority().try_into()?,
+            congestion_control: ext.get_congestion_control(),
+            express: ext.is_express(),
+        })
+    }
+}

zenoh/src/session.rs

@@ -31,6 +31,7 @@ use crate::queryable::*;
 #[cfg(feature = "unstable")]
 use crate::sample::Attachment;
 use crate::sample::DataInfo;
+use crate::sample::QoS;
 use crate::selector::TIME_RANGE_KEY;
 use crate::subscriber::*;
 use crate::Id;
@@ -2192,6 +2193,7 @@ impl Primitives for Session {
                     kind: SampleKind::Put,
                     encoding: Some(m.encoding),
                     timestamp: m.timestamp,
+                    qos: QoS::from_or_default(msg.ext_qos),
                     source_id: m.ext_sinfo.as_ref().map(|i| i.zid),
                     source_sn: m.ext_sinfo.as_ref().map(|i| i.sn as u64),
                 };
@@ -2209,6 +2211,7 @@ impl Primitives for Session {
                     kind: SampleKind::Delete,
                     encoding: None,
                     timestamp: m.timestamp,
+                    qos: QoS::from_or_default(msg.ext_qos),
                     source_id: m.ext_sinfo.as_ref().map(|i| i.zid),
                     source_sn: m.ext_sinfo.as_ref().map(|i| i.sn as u64),
                 };
@@ -2345,6 +2348,7 @@ impl Primitives for Session {
                             kind: SampleKind::Put,
                             encoding: Some(m.encoding),
                             timestamp: m.timestamp,
+                            qos: QoS::from_or_default(msg.ext_qos),
                             source_id: m.ext_sinfo.as_ref().map(|i| i.zid),
                             source_sn: m.ext_sinfo.as_ref().map(|i| i.sn as u64),
                         };

zenoh/tests/qos.rs

@@ -0,0 +1,66 @@
+//
+// Copyright (c) 2024 ZettaScale Technology
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+// Contributors:
+//   ZettaScale Zenoh Team, <[email protected]>
+//
+use async_std::prelude::FutureExt;
+use async_std::task;
+use std::time::Duration;
+use zenoh::prelude::r#async::*;
+use zenoh::{publication::Priority, SessionDeclarations};
+use zenoh_core::zasync_executor_init;
+
+const TIMEOUT: Duration = Duration::from_secs(60);
+const SLEEP: Duration = Duration::from_secs(1);
+
+macro_rules! ztimeout {
+    ($f:expr) => {
+        $f.timeout(TIMEOUT).await.unwrap()
+    };
+}
+
+#[test]
+fn pubsub() {
+    task::block_on(async {
+        zasync_executor_init!();
+        let session1 = ztimeout!(zenoh::open(zenoh_config::peer()).res_async()).unwrap();
+        let session2 = ztimeout!(zenoh::open(zenoh_config::peer()).res_async()).unwrap();
+
+        let publisher1 = ztimeout!(session1
+            .declare_publisher("test/qos")
+            .priority(Priority::DataHigh)
+            .congestion_control(CongestionControl::Drop)
+            .res())
+        .unwrap();
+
+        let publisher2 = ztimeout!(session1
+            .declare_publisher("test/qos")
+            .priority(Priority::DataLow)
+            .congestion_control(CongestionControl::Block)
+            .res())
+        .unwrap();
+
+        let subscriber = ztimeout!(session2.declare_subscriber("test/qos").res()).unwrap();
+        task::sleep(SLEEP).await;
+
+        ztimeout!(publisher1.put("qos").res_async()).unwrap();
+        let qos = ztimeout!(subscriber.recv_async()).unwrap().qos;
+
+        assert_eq!(qos.priority, Priority::DataHigh);
+        assert_eq!(qos.congestion_control, CongestionControl::Drop);
+
+        ztimeout!(publisher2.put("qos").res_async()).unwrap();
+        let qos = ztimeout!(subscriber.recv_async()).unwrap().qos;
+
+        assert_eq!(qos.priority, Priority::DataLow);
+        assert_eq!(qos.congestion_control, CongestionControl::Block);
+    });
+}