feat: add subscription config token

include/zenoh-pico/api/primitives.h

@@ -1116,6 +1116,7 @@ int8_t z_publisher_put(const z_publisher_t pub, const uint8_t *payload, size_t l
  */
 int8_t z_publisher_delete(const z_publisher_t pub, const z_publisher_delete_options_t *options);
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 /**
  * Constructs the default values for the subscriber entity.
  *
@@ -1237,6 +1238,7 @@ int8_t z_undeclare_pull_subscriber(z_owned_pull_subscriber_t *sub);
  *   Returns ``0`` if the pull operation is successful, or a ``negative value`` otherwise.
  */
 int8_t z_subscriber_pull(const z_pull_subscriber_t sub);
+#endif
 
 /**
  * Checks if a given value is valid.

include/zenoh-pico/config.h

@@ -132,6 +132,13 @@
 #define Z_FEATURE_QUERY 1
 #endif
 
+/**
+ * Enable subscription to this node
+ */
+#ifndef Z_FEATURE_SUBSCRIPTION
+#define Z_FEATURE_SUBSCRIPTION 1
+#endif
+
 /**
  * Enable TCP links.
  */

include/zenoh-pico/net/primitives.h

@@ -99,6 +99,7 @@ _z_publisher_t *_z_declare_publisher(_z_session_t *zn, _z_keyexpr_t keyexpr, z_c
  */
 int8_t _z_undeclare_publisher(_z_publisher_t *pub);
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 /**
  * Declare a :c:type:`_z_subscriber_t` for the given resource key.
  *
@@ -128,6 +129,18 @@ _z_subscriber_t *_z_declare_subscriber(_z_session_t *zn, _z_keyexpr_t keyexpr, _
  */
 int8_t _z_undeclare_subscriber(_z_subscriber_t *sub);
 
+/**
+ * Pull data for a pull mode :c:type:`_z_subscriber_t`. The pulled data will be provided
+ * by calling the **callback** function provided to the :c:func:`_z_declare_subscriber` function.
+ *
+ * Parameters:
+ *     sub: The :c:type:`_z_subscriber_t` to pull from.
+ * Returns:
+ *     ``0`` in case of success, ``-1`` in case of failure.
+ */
+int8_t _z_subscriber_pull(const _z_subscriber_t *sub);
+#endif
+
 #if Z_FEATURE_QUERYABLE == 1
 /**
  * Declare a :c:type:`_z_queryable_t` for the given resource key.
@@ -218,15 +231,4 @@ int8_t _z_write(_z_session_t *zn, const _z_keyexpr_t keyexpr, const uint8_t *pay
                 const _z_encoding_t encoding, const z_sample_kind_t kind, const z_congestion_control_t cong_ctrl,
                 z_priority_t priority);
 
-/**
- * Pull data for a pull mode :c:type:`_z_subscriber_t`. The pulled data will be provided
- * by calling the **callback** function provided to the :c:func:`_z_declare_subscriber` function.
- *
- * Parameters:
- *     sub: The :c:type:`_z_subscriber_t` to pull from.
- * Returns:
- *     ``0`` in case of success, ``-1`` in case of failure.
- */
-int8_t _z_subscriber_pull(const _z_subscriber_t *sub);
-
 #endif /* ZENOH_PICO_PRIMITIVES_NETAPI_H */

include/zenoh-pico/net/session.h

@@ -50,8 +50,10 @@ typedef struct {
     _z_resource_list_t *_remote_resources;
 
     // Session subscriptions
+#if Z_FEATURE_SUBSCRIPTION == 1
     _z_subscription_sptr_list_t *_local_subscriptions;
     _z_subscription_sptr_list_t *_remote_subscriptions;
+#endif
 
     // Session queryables
 #if Z_FEATURE_QUERYABLE == 1

include/zenoh-pico/net/subscribe.h

@@ -30,6 +30,7 @@ typedef struct {
 
 typedef _z_subscriber_t _z_pull_subscriber_t;
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 /**
  * Create a default subscription info for a push subscriber.
  *
@@ -48,5 +49,6 @@ _z_subinfo_t _z_subinfo_pull_default(void);
 
 void _z_subscriber_clear(_z_subscriber_t *sub);
 void _z_subscriber_free(_z_subscriber_t **sub);
+#endif
 
 #endif /* ZENOH_PICO_SUBSCRIBE_NETAPI_H */

include/zenoh-pico/session/subscription.h

@@ -17,6 +17,7 @@
 
 #include "zenoh-pico/net/session.h"
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 /*------------------ Subscription ------------------*/
 _z_subscription_sptr_t *_z_get_subscription_by_id(_z_session_t *zn, uint8_t is_local, const _z_zint_t id);
 _z_subscription_sptr_list_t *_z_get_subscriptions_by_key(_z_session_t *zn, uint8_t is_local,
@@ -30,5 +31,6 @@ void _z_flush_subscriptions(_z_session_t *zn);
 
 /*------------------ Pull ------------------*/
 _z_zint_t _z_get_pull_id(_z_session_t *zn);
+#endif
 
 #endif /* ZENOH_PICO_SESSION_SUBSCRIPTION_H */

src/api/api.c

@@ -409,14 +409,6 @@ OWNED_FUNCTIONS_PTR_COMMON(z_session_t, z_owned_session_t, session)
 OWNED_FUNCTIONS_PTR_CLONE(z_session_t, z_owned_session_t, session, _z_owner_noop_copy)
 void z_session_drop(z_owned_session_t *val) { z_close(val); }
 
-OWNED_FUNCTIONS_PTR_COMMON(z_subscriber_t, z_owned_subscriber_t, subscriber)
-OWNED_FUNCTIONS_PTR_CLONE(z_subscriber_t, z_owned_subscriber_t, subscriber, _z_owner_noop_copy)
-void z_subscriber_drop(z_owned_subscriber_t *val) { z_undeclare_subscriber(val); }
-
-OWNED_FUNCTIONS_PTR_COMMON(z_pull_subscriber_t, z_owned_pull_subscriber_t, pull_subscriber)
-OWNED_FUNCTIONS_PTR_CLONE(z_pull_subscriber_t, z_owned_pull_subscriber_t, pull_subscriber, _z_owner_noop_copy)
-void z_pull_subscriber_drop(z_owned_pull_subscriber_t *val) { z_undeclare_pull_subscriber(val); }
-
 OWNED_FUNCTIONS_PTR_COMMON(z_publisher_t, z_owned_publisher_t, publisher)
 OWNED_FUNCTIONS_PTR_CLONE(z_publisher_t, z_owned_publisher_t, publisher, _z_owner_noop_copy)
 void z_publisher_drop(z_owned_publisher_t *val) { z_undeclare_publisher(val); }
@@ -878,6 +870,15 @@ int8_t z_publisher_delete(const z_publisher_t pub, const z_publisher_delete_opti
                     pub._val->_congestion_control, pub._val->_priority);
 }
 
+#if Z_FEATURE_SUBSCRIPTION == 1
+OWNED_FUNCTIONS_PTR_COMMON(z_subscriber_t, z_owned_subscriber_t, subscriber)
+OWNED_FUNCTIONS_PTR_CLONE(z_subscriber_t, z_owned_subscriber_t, subscriber, _z_owner_noop_copy)
+void z_subscriber_drop(z_owned_subscriber_t *val) { z_undeclare_subscriber(val); }
+
+OWNED_FUNCTIONS_PTR_COMMON(z_pull_subscriber_t, z_owned_pull_subscriber_t, pull_subscriber)
+OWNED_FUNCTIONS_PTR_CLONE(z_pull_subscriber_t, z_owned_pull_subscriber_t, pull_subscriber, _z_owner_noop_copy)
+void z_pull_subscriber_drop(z_owned_pull_subscriber_t *val) { z_undeclare_pull_subscriber(val); }
+
 z_subscriber_options_t z_subscriber_options_default(void) {
     return (z_subscriber_options_t){.reliability = Z_RELIABILITY_DEFAULT};
 }
@@ -970,6 +971,29 @@ int8_t z_undeclare_pull_subscriber(z_owned_pull_subscriber_t *sub) {
 
 int8_t z_subscriber_pull(const z_pull_subscriber_t sub) { return _z_subscriber_pull(sub._val); }
 
+z_owned_keyexpr_t z_subscriber_keyexpr(z_subscriber_t sub) {
+    z_owned_keyexpr_t ret = z_keyexpr_null();
+    uint32_t lookup = sub._val->_entity_id;
+    if (sub._val != NULL) {
+        _z_subscription_sptr_list_t *tail = sub._val->_zn->_local_subscriptions;
+        while (tail != NULL && !z_keyexpr_check(&ret)) {
+            _z_subscription_sptr_t *head = _z_subscription_sptr_list_head(tail);
+            if (head->ptr->_id == lookup) {
+                _z_keyexpr_t key = _z_keyexpr_duplicate(head->ptr->_key);
+                ret = (z_owned_keyexpr_t){._value = z_malloc(sizeof(_z_keyexpr_t))};
+                if (ret._value != NULL) {
+                    *ret._value = key;
+                } else {
+                    _z_keyexpr_clear(&key);
+                }
+            }
+            tail = _z_subscription_sptr_list_tail(tail);
+        }
+    }
+    return ret;
+}
+#endif
+
 /**************** Tasks ****************/
 zp_task_read_options_t zp_task_read_options_default(void) { return (zp_task_read_options_t){.__dummy = 0}; }
 
@@ -1042,26 +1066,4 @@ z_owned_keyexpr_t z_publisher_keyexpr(z_publisher_t publisher) {
         *ret._value = _z_keyexpr_duplicate(publisher._val->_key);
     }
     return ret;
-}
-
-z_owned_keyexpr_t z_subscriber_keyexpr(z_subscriber_t sub) {
-    z_owned_keyexpr_t ret = z_keyexpr_null();
-    uint32_t lookup = sub._val->_entity_id;
-    if (sub._val != NULL) {
-        _z_subscription_sptr_list_t *tail = sub._val->_zn->_local_subscriptions;
-        while (tail != NULL && !z_keyexpr_check(&ret)) {
-            _z_subscription_sptr_t *head = _z_subscription_sptr_list_head(tail);
-            if (head->ptr->_id == lookup) {
-                _z_keyexpr_t key = _z_keyexpr_duplicate(head->ptr->_key);
-                ret = (z_owned_keyexpr_t){._value = z_malloc(sizeof(_z_keyexpr_t))};
-                if (ret._value != NULL) {
-                    *ret._value = key;
-                } else {
-                    _z_keyexpr_clear(&key);
-                }
-            }
-            tail = _z_subscription_sptr_list_tail(tail);
-        }
-    }
-    return ret;
-}
+}

src/net/primitives.c

@@ -124,6 +124,7 @@ int8_t _z_undeclare_publisher(_z_publisher_t *pub) {
     return ret;
 }
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 /*------------------ Subscriber Declaration ------------------*/
 _z_subscriber_t *_z_declare_subscriber(_z_session_t *zn, _z_keyexpr_t keyexpr, _z_subinfo_t sub_info,
                                        _z_data_handler_t callback, _z_drop_handler_t dropper, void *arg) {
@@ -190,6 +191,25 @@ int8_t _z_undeclare_subscriber(_z_subscriber_t *sub) {
     return ret;
 }
 
+/*------------------ Pull ------------------*/
+int8_t _z_subscriber_pull(const _z_subscriber_t *sub) {
+    int8_t ret = _Z_RES_OK;
+
+    _z_subscription_sptr_t *s = _z_get_subscription_by_id(sub->_zn, _Z_RESOURCE_IS_LOCAL, sub->_entity_id);
+    if (s != NULL) {
+        _z_zint_t pull_id = _z_get_pull_id(sub->_zn);
+        _z_zenoh_message_t z_msg = _z_msg_make_pull(_z_keyexpr_alias(s->ptr->_key), pull_id);
+        if (_z_send_n_msg(sub->_zn, &z_msg, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK) != _Z_RES_OK) {
+            ret = _Z_ERR_TRANSPORT_TX_FAILED;
+        }
+    } else {
+        ret = _Z_ERR_ENTITY_UNKNOWN;
+    }
+
+    return ret;
+}
+#endif
+
 #if Z_FEATURE_QUERYABLE == 1
 /*------------------ Queryable Declaration ------------------*/
 _z_queryable_t *_z_declare_queryable(_z_session_t *zn, _z_keyexpr_t keyexpr, _Bool complete,
@@ -393,22 +413,4 @@ int8_t _z_write(_z_session_t *zn, const _z_keyexpr_t keyexpr, const uint8_t *pay
     // Freeing z_msg is unnecessary, as all of its components are aliased
 
     return ret;
-}
-
-/*------------------ Pull ------------------*/
-int8_t _z_subscriber_pull(const _z_subscriber_t *sub) {
-    int8_t ret = _Z_RES_OK;
-
-    _z_subscription_sptr_t *s = _z_get_subscription_by_id(sub->_zn, _Z_RESOURCE_IS_LOCAL, sub->_entity_id);
-    if (s != NULL) {
-        _z_zint_t pull_id = _z_get_pull_id(sub->_zn);
-        _z_zenoh_message_t z_msg = _z_msg_make_pull(_z_keyexpr_alias(s->ptr->_key), pull_id);
-        if (_z_send_n_msg(sub->_zn, &z_msg, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK) != _Z_RES_OK) {
-            ret = _Z_ERR_TRANSPORT_TX_FAILED;
-        }
-    } else {
-        ret = _Z_ERR_ENTITY_UNKNOWN;
-    }
-
-    return ret;
-}
+}

src/net/subscribe.c

@@ -13,6 +13,7 @@
 
 #include "zenoh-pico/net/subscribe.h"
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 _z_subinfo_t _z_subinfo_push_default(void) {
     _z_subinfo_t si;
     si.reliability = Z_RELIABILITY_RELIABLE;
@@ -44,3 +45,4 @@ void _z_subscriber_free(_z_subscriber_t **sub) {
         *sub = NULL;
     }
 }
+#endif

src/session/push.c

@@ -28,8 +28,8 @@ int8_t _z_trigger_push(_z_session_t *zn, _z_n_msg_push_t *push) {
     _z_bytes_t payload = push->_body._is_put ? push->_body._body._put._payload : _z_bytes_empty();
     _z_encoding_t encoding = push->_body._is_put ? push->_body._body._put._encoding : z_encoding_default();
     int kind = push->_body._is_put ? Z_SAMPLE_KIND_PUT : Z_SAMPLE_KIND_DELETE;
-
+#if Z_FEATURE_SUBSCRIPTION == 1
     ret = _z_trigger_subscriptions(zn, push->_key, payload, encoding, kind, push->_timestamp);
-
+#endif
     return ret;
 }

src/session/rx.c

@@ -99,8 +99,10 @@ int8_t _z_handle_network_message(_z_session_t *zn, _z_zenoh_message_t *msg, uint
                 } break;
                 case _Z_REQUEST_PUT: {
                     _z_msg_put_t put = req._body._put;
+#if Z_FEATURE_SUBSCRIPTION == 1
                     ret = _z_trigger_subscriptions(zn, req._key, put._payload, put._encoding, Z_SAMPLE_KIND_PUT,
                                                    put._commons._timestamp);
+#endif
                     if (ret == _Z_RES_OK) {
                         _z_network_message_t ack = _z_n_msg_make_ack(req._rid, &req._key);
                         ret = _z_send_n_msg(zn, &ack, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK);
@@ -110,8 +112,10 @@ int8_t _z_handle_network_message(_z_session_t *zn, _z_zenoh_message_t *msg, uint
                 } break;
                 case _Z_REQUEST_DEL: {
                     _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);
+#endif
                     if (ret == _Z_RES_OK) {
                         _z_network_message_t ack = _z_n_msg_make_ack(req._rid, &req._key);
                         ret = _z_send_n_msg(zn, &ack, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK);
@@ -144,13 +148,17 @@ int8_t _z_handle_network_message(_z_session_t *zn, _z_zenoh_message_t *msg, uint
                 } break;
                 case _Z_RESPONSE_BODY_PUT: {
                     _z_msg_put_t put = response._body._put;
+#if Z_FEATURE_SUBSCRIPTION == 1
                     ret = _z_trigger_subscriptions(zn, response._key, put._payload, put._encoding, Z_SAMPLE_KIND_PUT,
                                                    put._commons._timestamp);
+#endif
                 } break;
                 case _Z_RESPONSE_BODY_DEL: {
                     _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);
+#endif
                 } break;
             }
         } break;

src/session/subscription.c

@@ -24,6 +24,7 @@
 #include "zenoh-pico/session/session.h"
 #include "zenoh-pico/utils/logging.h"
 
+#if Z_FEATURE_SUBSCRIPTION == 1
 _Bool _z_subscription_eq(const _z_subscription_t *other, const _z_subscription_t *this) {
     return this->_id == other->_id;
 }
@@ -226,3 +227,4 @@ void _z_flush_subscriptions(_z_session_t *zn) {
     _z_mutex_unlock(&zn->_mutex_inner);
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 }
+#endif

src/session/utils.c

@@ -61,8 +61,10 @@ int8_t _z_session_init(_z_session_t *zn, _z_id_t *zid) {
     // Initialize the data structs
     zn->_local_resources = NULL;
     zn->_remote_resources = NULL;
+#if Z_FEATURE_SUBSCRIPTION == 1
     zn->_local_subscriptions = NULL;
     zn->_remote_subscriptions = NULL;
+#endif
 #if Z_FEATURE_QUERYABLE == 1
     zn->_local_questionable = NULL;
 #endif
@@ -103,8 +105,9 @@ void _z_session_clear(_z_session_t *zn) {
 
     // Clean up the entities
     _z_flush_resources(zn);
+#if Z_FEATURE_SUBSCRIPTION == 1
     _z_flush_subscriptions(zn);
-
+#endif
 #if Z_FEATURE_QUERYABLE == 1
     _z_flush_questionables(zn);
 #endif