Add matching subscribers

.github/workflows/integration.yaml

@@ -36,6 +36,7 @@ jobs:
           BUILD_TESTING: OFF
           BUILD_MULTICAST: OFF
           BUILD_INTEGRATION: ON
+          Z_FEATURE_UNSTABLE_API: 1 
 
       - name: Test debug
         run: make test
@@ -45,4 +46,5 @@ jobs:
           BUILD_TESTING: OFF # Workaround for Windows as it seems the previous step is being ignored
           BUILD_MULTICAST: OFF # Workaround for Windows as it seems the previous step is being ignored
           BUILD_INTEGRATION: ON # Workaround for Windows as it seems the previous step is being ignored
+          Z_FEATURE_UNSTABLE_API: 1 
           ZENOH_BRANCH: main

CMakeLists.txt

@@ -243,6 +243,7 @@ set(Z_FEATURE_TCP_NODELAY 1 CACHE STRING "Toggle TCP_NODELAY")
 set(Z_FEATURE_LOCAL_SUBSCRIBER 0 CACHE STRING "Toggle local subscriptions")
 set(Z_FEATURE_PUBLISHER_SESSION_CHECK 1 CACHE STRING "Toggle publisher session check")
 set(Z_FEATURE_BATCHING 1 CACHE STRING "Toggle batching")
+set(Z_FEATURE_MATCHING 1 CACHE STRING "Toggle matching feature")
 set(Z_FEATURE_RX_CACHE 0 CACHE STRING "Toggle RX_CACHE")
 set(Z_FEATURE_AUTO_RECONNECT 1 CACHE STRING "Toggle automatic reconnection")
 
@@ -252,6 +253,11 @@ if(Z_FEATURE_LINK_SERIAL_USB AND NOT Z_FEATURE_UNSTABLE_API)
   set(Z_FEATURE_LINK_SERIAL_USB 0 CACHE STRING "Toggle Serial USB links" FORCE)
 endif()
 
+if(Z_FEATURE_MATCHING AND NOT Z_FEATURE_UNSTABLE_API)
+  message(WARNING "Z_FEATURE_MATCHING can only be enabled when Z_FEATURE_UNSTABLE_API is also enabled. Disabling Z_FEATURE_MATCHING.")
+  set(Z_FEATURE_MATCHING 0 CACHE STRING "Toggle matching feature" FORCE)
+endif()
+
 add_compile_definitions("Z_BUILD_DEBUG=$<CONFIG:Debug>")
 message(STATUS "Building with feature confing:\n\
 * UNSTABLE_API: ${Z_FEATURE_UNSTABLE_API}\n\
@@ -263,6 +269,7 @@ message(STATUS "Building with feature confing:\n\
 * LIVELINESS: ${Z_FEATURE_LIVELINESS}\n\
 * INTEREST: ${Z_FEATURE_INTEREST}\n\
 * AUTO_RECONNECT: ${Z_FEATURE_AUTO_RECONNECT}\n\
+* MATCHING: ${Z_FEATURE_MATCHING}\n\
 * RAWETH: ${Z_FEATURE_RAWETH_TRANSPORT}")
 
 configure_file(
@@ -572,11 +579,13 @@ if(UNIX OR MSVC)
       add_executable(z_api_alignment_test ${PROJECT_SOURCE_DIR}/tests/z_api_alignment_test.c)
       add_executable(z_session_test ${PROJECT_SOURCE_DIR}/tests/z_session_test.c)
       add_executable(z_api_liveliness_test ${PROJECT_SOURCE_DIR}/tests/z_api_liveliness_test.c)
+      add_executable(z_api_matching_test ${PROJECT_SOURCE_DIR}/tests/z_api_matching_test.c)
 
       target_link_libraries(z_client_test zenohpico::lib)
       target_link_libraries(z_api_alignment_test zenohpico::lib)
       target_link_libraries(z_session_test zenohpico::lib)
       target_link_libraries(z_api_liveliness_test zenohpico::lib)
+      target_link_libraries(z_api_matching_test zenohpico::lib)
 
       configure_file(${PROJECT_SOURCE_DIR}/tests/routed.sh ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/routed.sh COPYONLY)
       configure_file(${PROJECT_SOURCE_DIR}/tests/api.sh ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/api.sh COPYONLY)
@@ -586,6 +595,7 @@ if(UNIX OR MSVC)
       add_test(z_api_alignment_test bash ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/api.sh z_api_alignment_test)
       add_test(z_session_test bash ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/api.sh z_session_test)
       add_test(z_api_liveliness_test bash ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/api.sh z_api_liveliness_test)
+      add_test(z_api_matching_test bash ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/api.sh z_api_matching_test)
     endif()
   endif()
 endif()

docs/api.rst

@@ -626,6 +626,41 @@ See details at :ref:`owned_types_concept`
 .. c:function:: void z_closure_zid_drop(z_moved_closure_zid_t * closure) 
 
 
+Matching closure
+----------
+Types
+^^^^^
+
+See details at :ref:`owned_types_concept`
+
+.. c:type:: z_owned_closure_matching_status_t
+.. c:type:: z_loaned_closure_matching_status_t
+.. c:type:: z_moved_closure_matching_status_t
+
+.. c:type:: void (* z_closure_matching_status_callback_t)(z_matching_status_t * status, void * arg);
+
+    Function pointer type for handling matching status response.
+    Represents a callback function that is invoked when a matching status was changed.
+
+    Parameters:
+      - **status** - Pointer to a :c:type:`z_matching_status_t`.
+      - **arg** - A user-defined pointer to additional data that can be used during the processing of the matching status.
+
+
+Functions
+^^^^^^^^^
+.. autocfunction:: primitives.h::z_closure_matching_status
+.. autocfunction:: primitives.h::z_closure_matching_status_call
+
+Ownership Functions
+^^^^^^^^^^^^^^^^^^^
+
+See details at :ref:`owned_types_concept`
+
+.. c:function:: const z_loaned_closure_matching_status_t * z_closure_matching_status_loan(const z_owned_closure_matching_status_t * closure)
+.. c:function:: void z_closure_matching_status_drop(z_moved_closure_matching_status_t * closure) 
+
+
 .. _channels_concept:
 
 Channels
@@ -955,6 +990,26 @@ See details at :ref:`owned_types_concept`
 .. c:function:: void z_session_drop(z_moved_session_t * closure) 
 
 
+Matching
+========
+
+Types
+-----
+See details at :ref:`owned_types_concept`
+
+.. c:type:: z_owned_matching_listener_t
+.. c:type:: z_loaned_matching_listener_t
+.. c:type:: z_moved_matching_listener_t
+
+
+.. autoctype:: types.h::z_matching_status_t
+
+Functions
+---------
+
+.. autocfunction:: primitives.h::z_undeclare_matching_listener
+
+
 Publication
 ===========
 
@@ -1002,6 +1057,9 @@ Functions
 .. autocfunction:: primitives.h::z_publisher_put_options_default
 .. autocfunction:: primitives.h::z_publisher_delete_options_default
 .. autocfunction:: primitives.h::z_reliability_default
+.. autocfunction:: primitives.h::z_publisher_get_matching_status
+.. autocfunction:: primitives.h::z_publisher_declare_matching_listener
+.. autocfunction:: primitives.h::z_publisher_declare_background_matching_listener
 
 Ownership Functions
 -------------------

docs/conf.py

@@ -38,6 +38,7 @@
     "-DZ_FEATURE_QUERYABLE=1",
     "-DZ_FEATURE_ENCODING_VALUES=1",
     "-DZ_FEATURE_LIVELINESS=1",
+    "-DZ_FEATURE_MATCHING=1",
 ]
 
 # -- Options for HTML output -------------------------------------------------

examples/unix/c11/z_pub.c

@@ -20,9 +20,19 @@
 #include <unistd.h>
 #include <zenoh-pico.h>
 
-#include "zenoh-pico/system/platform.h"
-
 #if Z_FEATURE_PUBLICATION == 1
+
+#if Z_FEATURE_MATCHING == 1
+void matching_status_handler(const z_matching_status_t *matching_status, void *arg) {
+    (void)arg;
+    if (matching_status->matching) {
+        printf("Publisher has matching subscribers.\n");
+    } else {
+        printf("Publisher has NO MORE matching subscribers.\n");
+    }
+}
+#endif
+
 int main(int argc, char **argv) {
     const char *keyexpr = "demo/example/zenoh-pico-pub";
     char *const default_value = "Pub from Pico!";
@@ -31,9 +41,10 @@ int main(int argc, char **argv) {
     char *clocator = NULL;
     char *llocator = NULL;
     int n = 2147483647;  // max int value by default
+    bool add_matching_listener = false;
 
     int opt;
-    while ((opt = getopt(argc, argv, "k:v:e:m:l:n:")) != -1) {
+    while ((opt = getopt(argc, argv, "k:v:e:m:l:n:a")) != -1) {
         switch (opt) {
             case 'k':
                 keyexpr = optarg;
@@ -53,6 +64,9 @@ int main(int argc, char **argv) {
             case 'n':
                 n = atoi(optarg);
                 break;
+            case 'a':
+                add_matching_listener = true;
+                break;
             case '?':
                 if (optopt == 'k' || optopt == 'v' || optopt == 'e' || optopt == 'm' || optopt == 'l' ||
                     optopt == 'n') {
@@ -104,6 +118,17 @@ int main(int argc, char **argv) {
         return -1;
     }
 
+    if (add_matching_listener) {
+#if Z_FEATURE_MATCHING == 1
+        z_owned_closure_matching_status_t callback;
+        z_closure(&callback, matching_status_handler, NULL, NULL);
+        z_publisher_declare_background_matching_listener(z_loan(pub), z_move(callback));
+#else
+        printf("ERROR: Zenoh pico was compiled without Z_FEATURE_MATCHING but this example requires it.\n");
+        return -2;
+#endif
+    }
+
     // Publish data
     printf("Press CTRL-C to quit...\n");
     char buf[256];