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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,129 @@ | ||
| // | ||
| // 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]> | ||
|
|
||
| #include <ctype.h> | ||
| #include <stddef.h> | ||
| #include <stdio.h> | ||
| #include <stdlib.h> | ||
| #include <unistd.h> | ||
| #include <zenoh-pico.h> | ||
|
|
||
| #if Z_FEATURE_QUERY == 1 && Z_FEATURE_MULTI_THREAD == 1 | ||
|
|
||
| int main(int argc, char **argv) { | ||
| const char *keyexpr = "demo/example/**"; | ||
| const char *mode = "client"; | ||
| const char *clocator = NULL; | ||
| const char *llocator = NULL; | ||
| const char *value = NULL; | ||
|
|
||
| int opt; | ||
| while ((opt = getopt(argc, argv, "k:e:m:v:l:")) != -1) { | ||
| switch (opt) { | ||
| case 'k': | ||
| keyexpr = optarg; | ||
| break; | ||
| case 'e': | ||
| clocator = optarg; | ||
| break; | ||
| case 'm': | ||
| mode = optarg; | ||
| break; | ||
| case 'l': | ||
| llocator = optarg; | ||
| break; | ||
| case 'v': | ||
| value = optarg; | ||
| break; | ||
| case '?': | ||
| if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'v' || optopt == 'l') { | ||
| fprintf(stderr, "Option -%c requires an argument.\n", optopt); | ||
| } else { | ||
| fprintf(stderr, "Unknown option `-%c'.\n", optopt); | ||
| } | ||
| return 1; | ||
| default: | ||
| return -1; | ||
| } | ||
| } | ||
|
|
||
| z_owned_config_t config = z_config_default(); | ||
| zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(mode)); | ||
| if (clocator != NULL) { | ||
| zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, z_string_make(clocator)); | ||
| } | ||
| if (llocator != NULL) { | ||
| zp_config_insert(z_loan(config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator)); | ||
| } | ||
|
|
||
| printf("Opening session...\n"); | ||
| z_owned_session_t s = z_open(z_move(config)); | ||
| if (!z_check(s)) { | ||
| printf("Unable to open session!\n"); | ||
| return -1; | ||
| } | ||
|
|
||
| // Start read and lease tasks for zenoh-pico | ||
| if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) { | ||
| printf("Unable to start read and lease tasks\n"); | ||
| z_close(z_session_move(&s)); | ||
| return -1; | ||
| } | ||
|
|
||
| z_keyexpr_t ke = z_keyexpr(keyexpr); | ||
| if (!z_check(ke)) { | ||
| printf("%s is not a valid key expression", keyexpr); | ||
| return -1; | ||
| } | ||
|
|
||
| printf("Sending Query '%s'...\n", keyexpr); | ||
| z_get_options_t opts = z_get_options_default(); | ||
| if (value != NULL) { | ||
| opts.value.payload = _z_bytes_wrap((const uint8_t *)value, strlen(value)); | ||
| } | ||
| z_owned_reply_ring_channel_t channel = z_reply_ring_channel_new(1); | ||
| if (z_get(z_loan(s), ke, "", z_move(channel.send), &opts) < 0) { | ||
| printf("Unable to send query.\n"); | ||
| return -1; | ||
| } | ||
|
|
||
| z_owned_reply_t reply = z_reply_null(); | ||
| for (z_call(channel.recv, &reply); z_check(reply); z_call(channel.recv, &reply)) { | ||
| if (z_reply_is_ok(&reply)) { | ||
| z_sample_t sample = z_reply_ok(&reply); | ||
| z_owned_str_t keystr = z_keyexpr_to_string(sample.keyexpr); | ||
| printf(">> Received ('%s': '%.*s')\n", z_loan(keystr), (int)sample.payload.len, sample.payload.start); | ||
| z_drop(z_move(keystr)); | ||
| } else { | ||
| printf(">> Received an error\n"); | ||
| } | ||
| } | ||
|
|
||
| z_drop(z_move(channel)); | ||
|
|
||
| // Stop read and lease tasks for zenoh-pico | ||
| zp_stop_read_task(z_loan(s)); | ||
| zp_stop_lease_task(z_loan(s)); | ||
|
|
||
| z_close(z_move(s)); | ||
|
|
||
| return 0; | ||
| } | ||
| #else | ||
| int main(void) { | ||
| printf( | ||
| "ERROR: Zenoh pico was compiled without Z_FEATURE_QUERY or Z_FEATURE_MULTI_THREAD but this example requires " | ||
| "them.\n"); | ||
| return -2; | ||
| } | ||
| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,130 @@ | ||
| // | ||
| // 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]> | ||
|
|
||
| #include <ctype.h> | ||
| #include <stddef.h> | ||
| #include <stdio.h> | ||
| #include <stdlib.h> | ||
| #include <unistd.h> | ||
| #include <zenoh-pico.h> | ||
|
|
||
| #if Z_FEATURE_QUERYABLE == 1 | ||
| const char *keyexpr = "demo/example/zenoh-pico-queryable"; | ||
| const char *value = "Queryable from Pico!"; | ||
|
|
||
| int main(int argc, char **argv) { | ||
| const char *mode = "client"; | ||
| char *clocator = NULL; | ||
| char *llocator = NULL; | ||
|
|
||
| int opt; | ||
| while ((opt = getopt(argc, argv, "k:e:m:v:l:")) != -1) { | ||
| switch (opt) { | ||
| case 'k': | ||
| keyexpr = optarg; | ||
| break; | ||
| case 'e': | ||
| clocator = optarg; | ||
| break; | ||
| case 'm': | ||
| mode = optarg; | ||
| break; | ||
| case 'l': | ||
| llocator = optarg; | ||
| break; | ||
| case 'v': | ||
| value = optarg; | ||
| break; | ||
| case '?': | ||
| if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'v' || optopt == 'l') { | ||
| fprintf(stderr, "Option -%c requires an argument.\n", optopt); | ||
| } else { | ||
| fprintf(stderr, "Unknown option `-%c'.\n", optopt); | ||
| } | ||
| return 1; | ||
| default: | ||
| return -1; | ||
| } | ||
| } | ||
|
|
||
| z_owned_config_t config = z_config_default(); | ||
| zp_config_insert(z_loan(config), Z_CONFIG_MODE_KEY, z_string_make(mode)); | ||
| if (clocator != NULL) { | ||
| zp_config_insert(z_loan(config), Z_CONFIG_CONNECT_KEY, z_string_make(clocator)); | ||
| } | ||
| if (llocator != NULL) { | ||
| zp_config_insert(z_loan(config), Z_CONFIG_LISTEN_KEY, z_string_make(llocator)); | ||
| } | ||
|
|
||
| printf("Opening session...\n"); | ||
| z_owned_session_t s = z_open(z_move(config)); | ||
| if (!z_check(s)) { | ||
| printf("Unable to open session!\n"); | ||
| return -1; | ||
| } | ||
|
|
||
| // Start read and lease tasks for zenoh-pico | ||
| if (zp_start_read_task(z_loan(s), NULL) < 0 || zp_start_lease_task(z_loan(s), NULL) < 0) { | ||
| printf("Unable to start read and lease tasks\n"); | ||
| z_close(z_session_move(&s)); | ||
| return -1; | ||
| } | ||
|
|
||
| z_keyexpr_t ke = z_keyexpr(keyexpr); | ||
| if (!z_check(ke)) { | ||
| printf("%s is not a valid key expression", keyexpr); | ||
| return -1; | ||
| } | ||
|
|
||
| printf("Creating Queryable on '%s'...\n", keyexpr); | ||
| z_owned_query_ring_channel_t channel = z_query_ring_channel_new(10); | ||
| z_owned_queryable_t qable = z_declare_queryable(z_loan(s), ke, z_move(channel.send), NULL); | ||
| if (!z_check(qable)) { | ||
| printf("Unable to create queryable.\n"); | ||
| return -1; | ||
| } | ||
|
|
||
| z_owned_query_t query = z_query_null(); | ||
| for (z_call(channel.recv, &query); z_check(query); z_call(channel.recv, &query)) { | ||
| z_query_t q = z_loan(query); | ||
| z_owned_str_t keystr = z_keyexpr_to_string(z_query_keyexpr(&q)); | ||
| z_bytes_t pred = z_query_parameters(&q); | ||
| z_value_t payload_value = z_query_value(&q); | ||
| printf(" >> [Queryable handler] Received Query '%s?%.*s'\n", z_loan(keystr), (int)pred.len, pred.start); | ||
| if (payload_value.payload.len > 0) { | ||
| printf(" with value '%.*s'\n", (int)payload_value.payload.len, payload_value.payload.start); | ||
| } | ||
| z_query_reply_options_t options = z_query_reply_options_default(); | ||
| options.encoding = z_encoding(Z_ENCODING_PREFIX_TEXT_PLAIN, NULL); | ||
| z_query_reply(&q, z_keyexpr(keyexpr), (const unsigned char *)value, strlen(value), &options); | ||
| z_drop(z_move(keystr)); | ||
| z_drop(z_move(query)); | ||
| } | ||
|
|
||
| z_drop(z_move(channel)); | ||
| z_undeclare_queryable(z_move(qable)); | ||
|
|
||
| // Stop read and lease tasks for zenoh-pico | ||
| zp_stop_read_task(z_loan(s)); | ||
| zp_stop_lease_task(z_loan(s)); | ||
|
|
||
| z_close(z_move(s)); | ||
|
|
||
| return 0; | ||
| } | ||
| #else | ||
| int main(void) { | ||
| printf("ERROR: Zenoh pico was compiled without Z_FEATURE_QUERYABLE but this example requires it.\n"); | ||
| return -2; | ||
| } | ||
| #endif |
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