Add z_publisher_keyexpr and z_subscriber_keyexpr methods (#588)

* feat: rework pub sub keyexpr functions

* feat: store ke suffix in publisher

* fix: avoid suffix duplication

include/zenoh-pico/api/primitives.h

@@ -1737,8 +1737,6 @@ int8_t z_declare_publisher(z_owned_publisher_t *pub, const z_loaned_session_t *z
  */
 int8_t z_undeclare_publisher(z_moved_publisher_t pub);
 
-z_owned_keyexpr_t z_publisher_keyexpr(z_loaned_publisher_t *publisher);
-
 /**
  * Builds a :c:type:`z_publisher_put_options_t` with default values.
  *
@@ -1780,6 +1778,17 @@ int8_t z_publisher_put(const z_loaned_publisher_t *pub, z_moved_bytes_t payload,
  *   ``0`` if delete operation successful, ``negative value`` otherwise.
  */
 int8_t z_publisher_delete(const z_loaned_publisher_t *pub, const z_publisher_delete_options_t *options);
+
+/**
+ * Gets the keyexpr from a publisher.
+ *
+ * Parameters:
+ *   publisher: Pointer to a :c:type:`z_loaned_publisher_t` to get the keyexpr from.
+ *
+ * Return:
+ *   The keyexpr wrapped as a :c:type:`z_loaned_keyexpr_t`.
+ */
+const z_loaned_keyexpr_t *z_publisher_keyexpr(const z_loaned_publisher_t *publisher);
 #endif
 
 #if Z_FEATURE_QUERY == 1
@@ -2093,16 +2102,15 @@ int8_t z_declare_subscriber(z_owned_subscriber_t *sub, const z_loaned_session_t
 int8_t z_undeclare_subscriber(z_moved_subscriber_t sub);
 
 /**
- * Copies the keyexpr of a subscriber
+ * Gets the keyexpr from a subscriber.
  *
  * Parameters:
- *   keyexpr: Pointer to an uninitialized :c:type:`z_owned_keyexpr_t` to contain the keyexpr.
- *   sub: Pointer to a :c:type:`z_loaned_subscriber_t` to copy the keyexpr from.
+ *   subscriber: Pointer to a :c:type:`z_loaned_subscriber_t` to get the keyexpr from.
  *
  * Return:
- *   ``0`` if copy successful, ``negative value`` otherwise.
+ *   The keyexpr wrapped as a :c:type:`z_loaned_keyexpr_t`.
  */
-int8_t z_subscriber_keyexpr(z_owned_keyexpr_t *keyexpr, z_loaned_subscriber_t *sub);
+const z_loaned_keyexpr_t *z_subscriber_keyexpr(const z_loaned_subscriber_t *subscriber);
 #endif
 
 /************* Multi Thread Tasks helpers **************/

src/api/api.c

@@ -1141,7 +1141,7 @@ int8_t z_declare_publisher(z_owned_publisher_t *pub, const z_loaned_session_t *z
         _z_resource_t *r = _z_get_resource_by_key(_Z_RC_IN_VAL(zs), &keyexpr_aliased);
         if (r == NULL) {
             uint16_t id = _z_declare_resource(_Z_RC_IN_VAL(zs), keyexpr_aliased);
-            key = _z_rid_with_suffix(id, NULL);
+            key = _z_rid_with_suffix(id, keyexpr_aliased._suffix);
         }
     }
     // Set options
@@ -1192,17 +1192,22 @@ int8_t z_publisher_put(const z_loaned_publisher_t *pub, z_moved_bytes_t payload,
     } else {
         encoding = _z_encoding_steal(&opt.encoding._ptr->_val);
     }
+    // Remove potentially redundant ke suffix
+    _z_keyexpr_t pub_keyexpr = _z_keyexpr_alias(pub->_key);
+    if (pub_keyexpr._id != Z_RESOURCE_ID_NONE) {
+        pub_keyexpr._suffix = NULL;
+    }
 
     // Check if write filter is active before writing
     if (!_z_write_filter_active(pub)) {
         // Write value
-        ret = _z_write(_Z_RC_IN_VAL(&pub->_zn), pub->_key, _z_bytes_from_owned_bytes(payload._ptr), &encoding,
+        ret = _z_write(_Z_RC_IN_VAL(&pub->_zn), pub_keyexpr, _z_bytes_from_owned_bytes(payload._ptr), &encoding,
                        Z_SAMPLE_KIND_PUT, pub->_congestion_control, pub->_priority, pub->_is_express, opt.timestamp,
                        _z_bytes_from_owned_bytes(opt.attachment._ptr));
     }
     // Trigger local subscriptions
     _z_trigger_local_subscriptions(
-        _Z_RC_IN_VAL(&pub->_zn), pub->_key, _z_bytes_from_owned_bytes(payload._ptr), &encoding,
+        _Z_RC_IN_VAL(&pub->_zn), pub_keyexpr, _z_bytes_from_owned_bytes(payload._ptr), &encoding,
         _z_n_qos_make(pub->_is_express, pub->_congestion_control == Z_CONGESTION_CONTROL_BLOCK, pub->_priority),
         opt.timestamp, _z_bytes_from_owned_bytes(opt.attachment._ptr));
     // Clean-up
@@ -1219,14 +1224,18 @@ int8_t z_publisher_delete(const z_loaned_publisher_t *pub, const z_publisher_del
     if (options != NULL) {
         opt.timestamp = options->timestamp;
     }
-    return _z_write(_Z_RC_IN_VAL(&pub->_zn), pub->_key, _z_bytes_null(), NULL, Z_SAMPLE_KIND_DELETE,
+    // Remove potentially redundant ke suffix
+    _z_keyexpr_t pub_keyexpr = _z_keyexpr_alias(pub->_key);
+    if (pub_keyexpr._id != Z_RESOURCE_ID_NONE) {
+        pub_keyexpr._suffix = NULL;
+    }
+
+    return _z_write(_Z_RC_IN_VAL(&pub->_zn), pub_keyexpr, _z_bytes_null(), NULL, Z_SAMPLE_KIND_DELETE,
                     pub->_congestion_control, pub->_priority, pub->_is_express, opt.timestamp, _z_bytes_null());
 }
 
-z_owned_keyexpr_t z_publisher_keyexpr(z_loaned_publisher_t *publisher) {
-    z_owned_keyexpr_t ret;
-    ret._val = _z_keyexpr_duplicate(publisher->_key);
-    return ret;
+const z_loaned_keyexpr_t *z_publisher_keyexpr(const z_loaned_publisher_t *publisher) {
+    return (const z_loaned_keyexpr_t *)&publisher->_key;
 }
 #endif
 
@@ -1608,22 +1617,18 @@ int8_t z_declare_subscriber(z_owned_subscriber_t *sub, const z_loaned_session_t
 
 int8_t z_undeclare_subscriber(z_moved_subscriber_t sub) { return _z_undeclare_and_clear_subscriber(&sub._ptr->_val); }
 
-int8_t z_subscriber_keyexpr(z_owned_keyexpr_t *keyexpr, z_loaned_subscriber_t *sub) {
-    // Init keyexpr
-    z_keyexpr_null(keyexpr);
-    if ((keyexpr == NULL) || (sub == NULL)) {
-        return _Z_ERR_GENERIC;
-    }
+const z_loaned_keyexpr_t *z_subscriber_keyexpr(const z_loaned_subscriber_t *sub) {
+    // Retrieve keyexpr from session
     uint32_t lookup = sub->_entity_id;
     _z_subscription_rc_list_t *tail = _Z_RC_IN_VAL(&sub->_zn)->_local_subscriptions;
-    while (tail != NULL && !z_keyexpr_check(keyexpr)) {
+    while (tail != NULL) {
         _z_subscription_rc_t *head = _z_subscription_rc_list_head(tail);
         if (_Z_RC_IN_VAL(head)->_id == lookup) {
-            _Z_RETURN_IF_ERR(_z_keyexpr_copy(&keyexpr->_val, &_Z_RC_IN_VAL(head)->_key));
+            return (const z_loaned_keyexpr_t *)&_Z_RC_IN_VAL(head)->_key;
         }
         tail = _z_subscription_rc_list_tail(tail);
     }
-    return _Z_RES_OK;
+    return NULL;
 }
 #endif