Merge pull request #57 from eclipse-zenoh/closure_api_update

API update: closures accepts references instead of pointers
eclipse-zenoh · Jul 21, 2023 · 08294b9 · 08294b9
2 parents 36bd8ae + cead526
commit 08294b9
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Showing 17 changed files with 716 additions and 461 deletions.
diff --git a/examples/universal/z_get.cxx b/examples/universal/z_get.cxx
@@ -65,25 +65,23 @@ int _main(int argc, char **argv) {
     std::condition_variable done_signal;
     bool done = false;
 
-    session.get(
-        keyexpr, "",
-        [&m, &done, &done_signal](Reply reply) {
-            if (reply.check()) {
-                auto result = reply.get();
-                if (auto sample = std::get_if<Sample>(&result)) {
-                    std::cout << "Received ('" << sample->get_keyexpr().as_string_view() << "' : '"
-                              << sample->get_payload().as_string_view() << "')\n";
-                } else if (auto error = std::get_if<ErrorMessage>(&result)) {
-                    std::cout << "Received an error :" << error->as_string_view() << "\n";
-                }
-            } else {
-                // No more replies
-                std::lock_guard lock(m);
-                done = true;
-                done_signal.notify_all();
-            }
-        },
-        opts);
+    auto on_reply = [](Reply &&reply) {
+        auto result = reply.get();
+        if (auto sample = std::get_if<Sample>(&result)) {
+            std::cout << "Received ('" << sample->get_keyexpr().as_string_view() << "' : '"
+                      << sample->get_payload().as_string_view() << "')\n";
+        } else if (auto error = std::get_if<ErrorMessage>(&result)) {
+            std::cout << "Received an error :" << error->as_string_view() << "\n";
+        }
+    };
+
+    auto on_done = [&m, &done, &done_signal]() {
+        std::lock_guard lock(m);
+        done = true;
+        done_signal.notify_all();
+    };
+
+    session.get(keyexpr, "", {on_reply, on_done}, opts);
 
     std::unique_lock lock(m);
     done_signal.wait(lock, [&done] { return done; });

diff --git a/examples/universal/z_info.cxx b/examples/universal/z_info.cxx
@@ -17,8 +17,8 @@
 #include "zenoh.hxx"
 using namespace zenoh;
 
-void print_zid(const Id* id) {
-    if (id) std::cout << id << std::endl;
+void print_zid(const Id& id) {
+    std::cout << id << std::endl;
 }
 
 int _main(int argc, char** argv) {
@@ -48,7 +48,7 @@ int _main(int argc, char** argv) {
 
     auto self_id = session.info_zid();
     printf("own id: ");
-    print_zid(&self_id);
+    print_zid(self_id);
 
     printf("routers ids:\n");
     session.info_routers_zid(print_zid);

diff --git a/examples/universal/z_ping.cxx b/examples/universal/z_ping.cxx
@@ -56,10 +56,8 @@ int _main(int argc, char** argv) {
     auto session = std::get<Session>(open(std::move(config)));
 
     auto sub = std::get<Subscriber>(
-        session.declare_subscriber("test/pong", std::move([&condvar](const Sample* sample) mutable {
-                                       if (sample) {
-                                           condvar.notify_one();
-                                       }
+        session.declare_subscriber("test/pong", std::move([&condvar](const Sample&) mutable {
+                                        condvar.notify_one();
                                    })));
     auto pub = std::get<Publisher>(session.declare_publisher("test/ping"));
     std::vector<char> data(args.size);

diff --git a/examples/universal/z_pong.cxx b/examples/universal/z_pong.cxx
@@ -26,10 +26,8 @@ int _main(int argc, char **argv) {
 
     auto pub = std::get<Publisher>(session.declare_publisher("test/pong"));
     auto sub = std::get<Subscriber>(
-        session.declare_subscriber("test/ping", std::move([pub = std::move(pub)](const Sample *sample) mutable {
-                                       if (sample) {
-                                           pub.put(sample->get_payload());
-                                       }
+        session.declare_subscriber("test/ping", std::move([pub = std::move(pub)](const Sample& sample) mutable {
+                                        pub.put(sample.get_payload());
                                    })));
     std::cout << "Pong ready, press any key to quit\n";
     std::getchar();

diff --git a/examples/universal/z_pull.cxx b/examples/universal/z_pull.cxx
@@ -25,12 +25,10 @@ using namespace zenoh;
 
 const char *kind_to_str(SampleKind kind);
 
-void data_handler(const Sample *sample) {
-    if (sample) {
-        std::cout << ">> [Subscriber] Received " << kind_to_str(sample->get_kind()) << " ('"
-                  << sample->get_keyexpr().as_string_view() << "' : '" << sample->get_payload().as_string_view()
-                  << "')\n";
-    }
+void data_handler(const Sample& sample) {
+    std::cout << ">> [Subscriber] Received " << kind_to_str(sample.get_kind()) << " ('"
+                << sample.get_keyexpr().as_string_view() << "' : '" << sample.get_payload().as_string_view()
+                << "')\n";
 }
 
 int _main(int argc, char **argv) {
@@ -62,10 +60,8 @@ int _main(int argc, char **argv) {
     printf("Opening session...\n");
     auto session = std::get<Session>(open(std::move(config)));
 
-    auto callback = ClosureSample(data_handler);
-
     printf("Declaring Subscriber on '%s'...\n", expr);
-    auto subscriber = std::get<PullSubscriber>(session.declare_pull_subscriber(keyexpr, std::move(callback)));
+    auto subscriber = std::get<PullSubscriber>(session.declare_pull_subscriber(keyexpr, data_handler));
 
     printf("Press <enter> to pull data...\n");
     char c = 0;

diff --git a/examples/universal/z_queryable.cxx b/examples/universal/z_queryable.cxx
@@ -68,20 +68,20 @@ int _main(int argc, char **argv) {
 
     printf("Declaring Queryable on '%s'...\n", expr);
 
-    auto queryable = std::get<Queryable>(session.declare_queryable(keyexpr, [](const Query *query) {
-        if (query) {
-            auto keystr = query->get_keyexpr();
-            auto pred = query->get_parameters();
-            auto query_value = query->get_value();
-            std::cout << ">> [Queryable ] Received Query '" << keystr.as_string_view() << "?" << pred.as_string_view()
-                      << "' value = '" << query_value.as_string_view() << "'\n";
-            QueryReplyOptions options;
-            options.set_encoding(Encoding(Z_ENCODING_PREFIX_TEXT_PLAIN));
-            query->reply(expr, value, options);
-        } else {
-            std::cout << "Destroying queryable\n";
-        }
-    }));
+    auto on_query = [](const Query &query) {
+        auto keystr = query.get_keyexpr();
+        auto pred = query.get_parameters();
+        auto query_value = query.get_value();
+        std::cout << ">> [Queryable ] Received Query '" << keystr.as_string_view() << "?" << pred.as_string_view()
+                  << "' value = '" << query_value.as_string_view() << "'\n";
+        QueryReplyOptions options;
+        options.set_encoding(Encoding(Z_ENCODING_PREFIX_TEXT_PLAIN));
+        query.reply(expr, value, options);
+    };
+
+    auto on_drop_queryable = []() { std::cout << "Destroying queryable\n"; };
+
+    auto queryable = std::get<Queryable>(session.declare_queryable(keyexpr, {on_query, on_drop_queryable}));
 
     printf("Enter 'q' to quit...\n");
     char c = 0;

diff --git a/examples/universal/z_scout.cxx b/examples/universal/z_scout.cxx
@@ -79,21 +79,22 @@ int _main(int argc, char **argv) {
     std::condition_variable done_signal;
     bool done = false;
 
-    scout(std::move(config.create_scouting_config()), [&m, &done, &done_signal, &count](Hello hello) {
-        if (hello.check()) {
-            printhello(hello);
-            std::cout << std::endl;
-            count++;
-        } else {
-            std::cout << "Dropping scout\n";
-            if (!count) std::cout << "Did not find any zenoh process.\n";
-            std::lock_guard lock(m);
-            done = true;
-            done_signal.notify_all();
-        }
-    });
-
-    std::cout << "Scout started" << std::endl;
+    auto on_hello = [&m, &done, &done_signal, &count](Hello hello) {
+        printhello(hello);
+        std::cout << std::endl;
+        count++;
+    };
+
+    auto on_end_scouting = [&m, &done, &done_signal, &count]() {
+        if (!count) std::cout << "Did not find any zenoh process.\n";
+        std::lock_guard lock(m);
+        done = true;
+        done_signal.notify_all();
+    };
+
+    std::cout << "Scout starting" << std::endl;
+
+    scout(std::move(config.create_scouting_config()), {on_hello, on_end_scouting});
 
     std::unique_lock lock(m);
     done_signal.wait(lock, [&done] { return done; });

diff --git a/examples/universal/z_sub.cxx b/examples/universal/z_sub.cxx
@@ -25,12 +25,10 @@ using namespace zenoh;
 
 const char *kind_to_str(z_sample_kind_t kind);
 
-void data_handler(const Sample *sample) {
-    if (sample) {
-        std::cout << ">> [Subscriber] Received " << kind_to_str(sample->get_kind()) << " ('"
-                  << sample->get_keyexpr().as_string_view() << "' : '" << sample->get_payload().as_string_view()
-                  << "')\n";
-    }
+void data_handler(const Sample& sample) {
+    std::cout << ">> [Subscriber] Received " << kind_to_str(sample.get_kind()) << " ('"
+                << sample.get_keyexpr().as_string_view() << "' : '" << sample.get_payload().as_string_view()
+                << "')\n";
 }
 
 int _main(int argc, char **argv) {

diff --git a/examples/universal/z_sub_thr.cxx b/examples/universal/z_sub_thr.cxx
@@ -27,27 +27,25 @@ struct Stats {
     volatile clock_t end = 0;
     volatile clock_t first_start = 0;
 
-    void operator()(const Sample *sample) {
-        if (sample) {
-            if (count == 0) {
-                start = clock();
-                if (!first_start) {
-                    first_start = start;
-                }
-                count++;
-            } else if (count < N) {
-                count++;
-            } else {
-                stop = clock();
-                finished_rounds++;
-                printf("%f msg/s\n", N * (double)CLOCKS_PER_SEC / (double)(stop - start));
-                count = 0;
+    void operator()(const Sample &sample) {
+        if (count == 0) {
+            start = clock();
+            if (!first_start) {
+                first_start = start;
             }
+            count++;
+        } else if (count < N) {
+            count++;
         } else {
-            end = clock();
+            stop = clock();
+            finished_rounds++;
+            printf("%f msg/s\n", N * (double)CLOCKS_PER_SEC / (double)(stop - start));
+            count = 0;
         }
     }
 
+    void operator()() { end = clock(); }
+
     void print() const {
         const double elapsed = (double)(end - first_start) / (double)CLOCKS_PER_SEC;
         const unsigned long sent_messages = N * finished_rounds + count;
@@ -83,7 +81,7 @@ int _main(int argc, char **argv) {
     KeyExpr keyexpr = session.declare_keyexpr("test/thr");
 
     Stats stats;
-    auto subscriber = std::get<Subscriber>(session.declare_subscriber(keyexpr, stats));
+    auto subscriber = std::get<Subscriber>(session.declare_subscriber(keyexpr, {stats, stats}));
     char c = 0;
     while (c != 'q') {
         c = fgetc(stdin);

diff --git a/include/zenohcxx/api.hxx b/include/zenohcxx/api.hxx
@@ -815,17 +815,17 @@ typedef ClosureMoveParam<::z_owned_closure_reply_t, ::z_owned_reply_t, z::Reply>
 //
 //  Represents the query closure.
 //
-typedef ClosureConstPtrParam<::z_owned_closure_query_t, ::z_query_t, z::Query> ClosureQuery;
+typedef ClosureConstRefParam<::z_owned_closure_query_t, ::z_query_t, z::Query> ClosureQuery;
 
 //
 //  Represents the sample closure.
 //
-typedef ClosureConstPtrParam<::z_owned_closure_sample_t, ::z_sample_t, z::Sample> ClosureSample;
+typedef ClosureConstRefParam<::z_owned_closure_sample_t, ::z_sample_t, z::Sample> ClosureSample;
 
 //
 //  Represents the zenoh ID closure.
 //
-typedef ClosureConstPtrParam<::z_owned_closure_zid_t, ::z_id_t, z::Id> ClosureZid;
+typedef ClosureConstRefParam<::z_owned_closure_zid_t, ::z_id_t, z::Id> ClosureZid;
 
 //
 // Represents the scouting closure