Add missed z_query_reply_options_t fields (#509)

eclipse-zenoh · Jul 5, 2024 · e439767 · e439767
1 parent 9e73622
commit e439767
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Showing 4 changed files with 22 additions and 5 deletions.
diff --git a/include/zenoh-pico/api/types.h b/include/zenoh-pico/api/types.h
@@ -242,10 +242,18 @@ typedef struct {
  *
  * Members:
  *   z_owned_encoding_t *encoding: The encoding of the payload.
+ *   z_congestion_control_t congestion_control: The congestion control to apply when routing this message.
+ *   z_priority_t priority: The priority of this message when routed.
+ *   z_timestamp_t *timestamp: The API level timestamp (e.g. of the data when it was created).
+ *   _Bool is_express: If true, Zenoh will not wait to batch this operation with others to reduce the bandwith.
  *   z_owned_bytes_t *attachment: An optional attachment to the response.
  */
 typedef struct {
     z_owned_encoding_t *encoding;
+    z_congestion_control_t congestion_control;
+    z_priority_t priority;
+    z_timestamp_t *timestamp;
+    _Bool is_express;
     z_owned_bytes_t *attachment;
 } z_query_reply_options_t;
 

diff --git a/include/zenoh-pico/net/primitives.h b/include/zenoh-pico/net/primitives.h
@@ -201,7 +201,8 @@ int8_t _z_undeclare_queryable(_z_queryable_t *qle);
  *     attachment: An optional attachment to the reply.
  */
 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, const _z_bytes_t attachment);
+                     const z_sample_kind_t kind, const z_congestion_control_t cong_ctrl, z_priority_t priority,
+                     _Bool is_express, const _z_timestamp_t *timestamp, const _z_bytes_t attachment);
 #endif
 
 #if Z_FEATURE_QUERY == 1

diff --git a/src/api/api.c b/src/api/api.c
@@ -1205,6 +1205,10 @@ int8_t z_undeclare_queryable(z_owned_queryable_t *queryable) {
 
 void z_query_reply_options_default(z_query_reply_options_t *options) {
     options->encoding = NULL;
+    options->priority = Z_PRIORITY_DEFAULT;
+    options->encoding = NULL;
+    options->timestamp = NULL;
+    options->is_express = false;
     options->attachment = NULL;
 }
 
@@ -1221,7 +1225,8 @@ int8_t z_query_reply(const z_loaned_query_t *query, const z_loaned_keyexpr_t *ke
                         .encoding = _z_encoding_from_owned(opts.encoding)};
 
     int8_t ret =
-        _z_send_reply(&query->in->val, *keyexpr, value, Z_SAMPLE_KIND_PUT, _z_bytes_from_owned_bytes(opts.attachment));
+        _z_send_reply(&query->in->val, *keyexpr, value, Z_SAMPLE_KIND_PUT, opts.congestion_control, opts.priority,
+                      opts.is_express, opts.timestamp, _z_bytes_from_owned_bytes(opts.attachment));
     if (payload != NULL) {
         z_bytes_drop(payload);
     }

diff --git a/src/net/primitives.c b/src/net/primitives.c
@@ -307,7 +307,8 @@ int8_t _z_undeclare_queryable(_z_queryable_t *qle) {
 }
 
 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, const _z_bytes_t att) {
+                     const z_sample_kind_t kind, const z_congestion_control_t cong_ctrl, z_priority_t priority,
+                     _Bool is_express, const _z_timestamp_t *timestamp, const _z_bytes_t att) {
     int8_t ret = _Z_RES_OK;
 
     _z_keyexpr_t q_ke;
@@ -337,14 +338,16 @@ int8_t _z_send_reply(const _z_query_t *query, _z_keyexpr_t keyexpr, const _z_val
                 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_qos =
+                    _z_n_qos_make(is_express, cong_ctrl == Z_CONGESTION_CONTROL_BLOCK, priority);
                 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._commons._timestamp = _z_timestamp_null();
+                z_msg._body._response._body._reply._body._body._put._commons._timestamp =
+                    (timestamp != NULL) ? *timestamp : _z_timestamp_null();
                 z_msg._body._response._body._reply._body._body._put._commons._source_info = _z_source_info_null();
                 z_msg._body._response._body._reply._body._body._put._attachment = att;
                 break;