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DenisBiryukov91DenisBiryukov91
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add querier support (#297)
* add querier * move querier under unstable * switch zenoh-c to main
1 parent e8eca99 commit 725a14b

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lines changed

‎README.md‎

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@@ -120,7 +120,16 @@ The `z_pub` should receive message sent by `z_sub`.
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./z_get
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```
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The `z_get` should receive the data from `z_queryable`.
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### Queryable and Querier Example
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```bash
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./z_queryable
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```
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```bash
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./z_querier
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```
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The `z_querier` should continuously send queries and receive replies from `z_queryable`.
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### Throughput Examples
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```bash

‎docs/api.rst‎

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@@ -27,6 +27,7 @@ API Reference
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scouting
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publish_subscribe
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query_reply
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matching
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serialization_deserialization
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channels
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interop

‎docs/matching.rst‎

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@@ -0,0 +1,11 @@
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Matching
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=================
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Classes related to getting information about matching Zenoh entities.
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.. doxygenstruct:: zenoh::MatchingStatus
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:members:
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:membergroups: Constructors Operators Methods Fields
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.. doxygenclass:: zenoh::MatchingListener
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:members:
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:membergroups: Constructors Operators Methods

‎docs/publish_subscribe.rst‎

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@@ -18,7 +18,7 @@ Classes related to publish-subscribe pattern.
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.. doxygenclass:: zenoh::Publisher
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:members:
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:membergroups: Constructors Operators Methods
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:membergroups: Constructors Operators Methods Fields
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.. doxygenclass:: zenoh::Subscriber
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:members:

‎docs/query_reply.rst‎

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@@ -16,6 +16,10 @@ Query-Reply
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===========
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Classes related to query-reply pattern.
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.. doxygenclass:: zenoh::Querier
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:members:
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:membergroups: Constructors Operators Methods Fields
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.. doxygenclass:: zenoh::Queryable
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:members:
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:membergroups: Constructors Operators Methods

‎examples/CMakeLists.txt‎

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@@ -66,6 +66,9 @@ function(add_examples glob mode lib)
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if(${file} MATCHES ".*liveliness.*$")
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continue()
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endif()
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if(${file} MATCHES ".*querier.*$")
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continue()
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endif()
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if(${file} MATCHES ".*query_sub.*$")
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continue()
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endif()

‎examples/getargs.h‎

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@@ -16,6 +16,7 @@
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#include <cstring>
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#include <iostream>
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#include <string>
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#include <string_view>
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#include <unordered_map>
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#include <vector>
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@@ -155,4 +156,30 @@ inline zenoh::Config parse_args(int argc, char **argv, const std::vector<CmdArg>
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}
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#endif
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return std::move(config);
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}
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zenoh::QueryTarget parse_query_target(std::string_view v) {
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if (v == "BEST_MATCHING") {
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return zenoh::QueryTarget::Z_QUERY_TARGET_BEST_MATCHING;
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} else if (v == "ALL") {
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return zenoh::QueryTarget::Z_QUERY_TARGET_ALL;
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} else if (v == "ALL_COMPLETE") {
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return zenoh::QueryTarget::Z_QUERY_TARGET_ALL_COMPLETE;
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}
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throw std::runtime_error(std::string("Unsupported QueryTarget: ") + std::string(v));
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}
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struct Selector {
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std::string key_expr;
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std::string parameters;
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};
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Selector parse_selector(const std::string &selector_string) {
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size_t pos = selector_string.find('?');
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if (pos == std::string::npos) {
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return Selector{selector_string, ""};
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} else {
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return Selector{selector_string.substr(0, pos), selector_string.substr(pos + 1)};
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}
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}

‎examples/universal/z_get.cxx‎

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Original file line numberDiff line numberDiff line change
@@ -25,10 +25,18 @@ using namespace zenoh;
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int _main(int argc, char **argv) {
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const char *expr = "demo/example/**";
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const char *value = "Get from C++";
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Config config = parse_args(argc, argv, {}, {{"key_expression", &expr}, {"payload_value", &value}});
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const char *value = nullptr;
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const char *target = "BEST_MATCHING";
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const char *timeout = "10000";
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31-
KeyExpr keyexpr(expr);
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Config config = parse_args(argc, argv, {}, {},
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{{"-s", CmdArg{"Query selector (string)", &expr}},
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{"-p", CmdArg{"Query payload (string)", &value}},
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{"-t", CmdArg{"Query target (BEST_MATCHING | ALL | ALL_COMPLETE)", &target}},
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{"-o", CmdArg{"Timeout in ms (number)", &timeout}}});
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uint64_t timeout_ms = std::stoi(timeout);
38+
QueryTarget query_target = parse_query_target(target);
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Selector selector = parse_selector(expr);
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std::cout << "Opening session...\n";
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auto session = Session::open(std::move(config));
@@ -55,14 +63,13 @@ int _main(int argc, char **argv) {
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done_signal.notify_all();
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};
5765

58-
#if __cpp_designated_initializers >= 201707L
59-
session.get(keyexpr, "", on_reply, on_done, {.target = Z_QUERY_TARGET_ALL, .payload = Bytes::serialize(value)});
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#else
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Session::GetOptions options;
62-
options.target = Z_QUERY_TARGET_ALL;
63-
options.payload = value;
64-
session.get(keyexpr, "", on_reply, on_done, std::move(options));
65-
#endif
67+
options.target = query_target;
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if (value != nullptr) {
69+
options.payload = value;
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}
71+
options.timeout_ms = timeout_ms;
72+
session.get(selector.key_expr, selector.parameters, on_reply, on_done, std::move(options));
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std::unique_lock lock(m);
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done_signal.wait(lock, [&done] { return done; });

‎examples/universal/z_get_attachment.cxx‎

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Original file line numberDiff line numberDiff line change
@@ -25,10 +25,18 @@ using namespace zenoh;
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int _main(int argc, char **argv) {
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const char *expr = "demo/example/**";
28-
const char *value = "Get from C++";
29-
Config config = parse_args(argc, argv, {}, {{"key_expression", &expr}, {"payload value", &value}});
28+
const char *value = nullptr;
29+
const char *target = "BEST_MATCHING";
30+
const char *timeout = "10000";
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31-
KeyExpr keyexpr(expr);
32+
Config config = parse_args(argc, argv, {}, {},
33+
{{"-s", CmdArg{"Query selector (string)", &expr}},
34+
{"-p", CmdArg{"Query payload (string)", &value}},
35+
{"-t", CmdArg{"Query target (BEST_MATCHING | ALL | ALL_COMPLETE)", &target}},
36+
{"-o", CmdArg{"Timeout in ms (number)", &timeout}}});
37+
uint64_t timeout_ms = std::stoi(timeout);
38+
QueryTarget query_target = parse_query_target(target);
39+
Selector selector = parse_selector(expr);
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3341
printf("Opening session...\n");
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auto session = Session::open(std::move(config));
@@ -66,10 +74,13 @@ int _main(int argc, char **argv) {
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std::unordered_map<std::string, std::string> attachment = {{"Source", "C++"}};
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6876
Session::GetOptions options;
69-
options.target = QueryTarget::Z_QUERY_TARGET_ALL;
70-
options.payload = value;
77+
options.target = query_target;
78+
if (value != nullptr) {
79+
options.payload = value;
80+
}
81+
options.timeout_ms = timeout_ms;
7182
options.attachment = ext::serialize(attachment);
72-
session.get(keyexpr, "", on_reply, on_done, std::move(options));
83+
session.get(selector.key_expr, selector.parameters, on_reply, on_done, std::move(options));
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7485
std::unique_lock lock(m);
7586
done_signal.wait(lock, [&done] { return done; });

‎examples/universal/z_get_channel.cxx‎

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Original file line numberDiff line numberDiff line change
@@ -23,24 +23,31 @@ using namespace zenoh;
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2424
int _main(int argc, char **argv) {
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const char *expr = "demo/example/**";
26-
const char *value = "Get from C++";
27-
Config config = parse_args(argc, argv, {}, {{"key_expression", &expr}, {"payload value", &value}});
26+
const char *value = nullptr;
27+
const char *target = "BEST_MATCHING";
28+
const char *timeout = "10000";
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29-
KeyExpr keyexpr(expr);
30+
Config config = parse_args(argc, argv, {}, {},
31+
{{"-s", CmdArg{"Query selector (string)", &expr}},
32+
{"-p", CmdArg{"Query payload (string)", &value}},
33+
{"-t", CmdArg{"Query target (BEST_MATCHING | ALL | ALL_COMPLETE)", &target}},
34+
{"-o", CmdArg{"Timeout in ms (number)", &timeout}}});
35+
uint64_t timeout_ms = std::stoi(timeout);
36+
QueryTarget query_target = parse_query_target(target);
37+
Selector selector = parse_selector(expr);
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3139
std::cout << "Opening session...\n";
3240
auto session = Session::open(std::move(config));
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3442
std::cout << "Sending Query '" << expr << "'...\n";
35-
#if __cpp_designated_initializers >= 201707L
36-
auto replies = session.get(keyexpr, "", channels::FifoChannel(16),
37-
{.target = QueryTarget::Z_QUERY_TARGET_ALL, .payload = value});
38-
#else
43+
3944
Session::GetOptions options;
40-
options.target = QueryTarget::Z_QUERY_TARGET_ALL;
41-
options.payload = value;
42-
auto replies = session.get(keyexpr, "", channels::FifoChannel(16), std::move(options));
43-
#endif
45+
options.target = query_target;
46+
if (value != nullptr) {
47+
options.payload = value;
48+
}
49+
options.timeout_ms = timeout_ms;
50+
auto replies = session.get(selector.key_expr, selector.parameters, channels::FifoChannel(16), std::move(options));
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4552
for (auto res = replies.recv(); std::holds_alternative<Reply>(res); res = replies.recv()) {
4653
const auto &sample = std::get<Reply>(res).get_ok();

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