Add missing properties to z_query_reply_options_t

include/zenoh_commons.h

@@ -609,6 +609,22 @@ typedef struct z_query_reply_options_t {
    * The encoding of the reply payload.
    */
   struct z_owned_encoding_t *encoding;
+  /**
+   * The congestion control to apply when routing the reply.
+   */
+  enum z_congestion_control_t congestion_control;
+  /**
+   * The priority of the reply.
+   */
+  enum z_priority_t priority;
+  /**
+   * If true, Zenoh will not wait to batch this operation with others to reduce the bandwith.
+   */
+  bool is_express;
+  /**
+   * The timestamp of the reply.
+   */
+  struct z_timestamp_t *timestamp;
   /**
    * The source info for the reply.
    */

src/queryable.rs

@@ -16,17 +16,22 @@ use crate::transmute::{
     TransmuteUninitPtr,
 };
 use crate::{
-    errors, z_closure_query_call, z_closure_query_loan, z_loaned_bytes_t, z_loaned_keyexpr_t,
-    z_loaned_session_t, z_loaned_value_t, z_owned_bytes_t, z_owned_closure_query_t,
-    z_owned_encoding_t, z_owned_source_info_t, z_view_string_from_substring, z_view_string_t,
+    errors, z_closure_query_call, z_closure_query_loan, z_congestion_control_t, z_loaned_bytes_t,
+    z_loaned_keyexpr_t, z_loaned_session_t, z_loaned_value_t, z_owned_bytes_t,
+    z_owned_closure_query_t, z_owned_encoding_t, z_owned_source_info_t, z_priority_t,
+    z_timestamp_t, z_view_string_from_substring, z_view_string_t,
 };
 use std::mem::MaybeUninit;
 use std::ptr::null_mut;
 use zenoh::core::Wait;
 use zenoh::encoding::Encoding;
 use zenoh::prelude::SessionDeclarations;
+use zenoh::publisher::CongestionControl;
+use zenoh::publisher::Priority;
 use zenoh::queryable::{Query, Queryable};
-use zenoh::sample::{SampleBuilderTrait, ValueBuilderTrait};
+use zenoh::sample::{
+    QoSBuilderTrait, SampleBuilderTrait, TimestampBuilderTrait, ValueBuilderTrait,
+};
 
 pub use crate::opaque_types::z_owned_queryable_t;
 decl_transmute_owned!(Option<Queryable<'static, ()>>, z_owned_queryable_t);
@@ -110,6 +115,14 @@ pub extern "C" fn z_queryable_options_default(this: &mut z_queryable_options_t)
 pub struct z_query_reply_options_t {
     /// The encoding of the reply payload.
     pub encoding: *mut z_owned_encoding_t,
+    /// The congestion control to apply when routing the reply.
+    pub congestion_control: z_congestion_control_t,
+    /// The priority of the reply.
+    pub priority: z_priority_t,
+    /// If true, Zenoh will not wait to batch this operation with others to reduce the bandwith.
+    pub is_express: bool,
+    /// The timestamp of the reply.
+    pub timestamp: *mut z_timestamp_t,
     /// The source info for the reply.
     pub source_info: *mut z_owned_source_info_t,
     /// The attachment to this reply.
@@ -122,6 +135,10 @@ pub struct z_query_reply_options_t {
 pub extern "C" fn z_query_reply_options_default(this: &mut z_query_reply_options_t) {
     *this = z_query_reply_options_t {
         encoding: null_mut(),
+        congestion_control: CongestionControl::default().into(),
+        priority: Priority::default().into(),
+        is_express: false,
+        timestamp: null_mut(),
         source_info: null_mut(),
         attachment: null_mut(),
     };
@@ -256,6 +273,15 @@ pub extern "C" fn z_query_reply(
             let attachment = attachment.transmute_mut().extract();
             reply = reply.attachment(attachment);
         }
+        if !options.timestamp.is_null() {
+            let timestamp = *unsafe { options.timestamp.as_mut() }
+                .unwrap()
+                .transmute_ref();
+            reply = reply.timestamp(Some(timestamp));
+        }
+        reply = reply.priority(options.priority.into());
+        reply = reply.congestion_control(options.congestion_control.into());
+        reply = reply.express(options.is_express);
     }
 
     if let Err(e) = reply.wait() {

tests/z_int_queryable_test.c

@@ -25,21 +25,40 @@ const char *const keyexpr = "test/key";
 const char *const values[] = {"test_value_1", "test_value_2", "test_value_3"};
 const size_t values_count = sizeof(values) / sizeof(values[0]);
 
+const uint32_t TEST_EID = 42;
+const uint64_t TEST_SN = 24;
+const uint64_t TEST_TS = 401706000;
+const uint8_t TEST_ID = 123;
+
 void query_handler(const z_loaned_query_t *query, void *context) {
     static int value_num = 0;
 
     z_view_string_t params;
     z_query_parameters(query, &params);
-    const z_loaned_value_t* payload_value = z_query_value(query);
+    const z_loaned_value_t *payload_value = z_query_value(query);
 
     z_query_reply_options_t options;
     z_query_reply_options_default(&options);
-
+
+    z_id_t self_id;
+    self_id.id[0] = TEST_ID;
+
+    z_entity_global_id_t entity_global_id;
+    z_entity_global_id_new(&entity_global_id, &self_id, TEST_EID);
+    z_owned_source_info_t source_info;
+    z_source_info_new(&source_info, &entity_global_id, TEST_SN);
+
+    z_timestamp_t ts;
+    z_timestamp_new(&ts, &self_id, TEST_TS + value_num);
+
+    options.source_info = &source_info;
+    options.timestamp = &ts;
+
     z_owned_bytes_t payload;
     z_bytes_encode_from_string(&payload, values[value_num]);
 
     z_view_keyexpr_t reply_ke;
-    z_view_keyexpr_from_string(&reply_ke, (const char*)context);
+    z_view_keyexpr_from_string(&reply_ke, (const char *)context);
     z_query_reply(query, z_loan(reply_ke), z_move(payload), &options);
 
     if (++value_num == values_count) {
@@ -100,7 +119,7 @@ int run_get() {
         for (z_recv(z_loan(handler), &reply); z_check(reply); z_recv(z_loan(handler), &reply)) {
             assert(z_reply_is_ok(z_loan(reply)));
 
-            const z_loaned_sample_t* sample = z_reply_ok(z_loan(reply));
+            const z_loaned_sample_t *sample = z_reply_ok(z_loan(reply));
             z_owned_string_t payload_string;
             z_bytes_decode_into_string(z_sample_payload(sample), &payload_string);
             if (strncmp(values[val_num], z_string_data(z_loan(payload_string)), z_string_len(z_loan(payload_string)))) {
@@ -109,6 +128,47 @@ int run_get() {
                 exit(-1);
             }
 
+            const z_loaned_source_info_t *source_info = z_sample_source_info(sample);
+            if (source_info == NULL) {
+                perror("Unexpected null source_info");
+                exit(-1);
+            }
+            const uint64_t sn = z_source_info_sn(source_info);
+            if (sn != TEST_SN) {
+                perror("Unexpected sn value");
+                exit(-1);
+            }
+            const z_entity_global_id_t id = z_source_info_id(source_info);
+            uint32_t eid = z_entity_global_id_eid(&id);
+            if (eid != TEST_EID) {
+                perror("Unexpected eid value");
+                exit(-1);
+            }
+
+            const z_timestamp_t *ts = z_sample_timestamp(sample);
+            if (ts == NULL) {
+                perror("Unexpected null timestamp");
+                exit(-1);
+            }
+            const uint64_t time = z_timestamp_npt64_time(ts);
+            if (time != TEST_TS + val_num) {
+                perror("Unexpected timestamp value");
+                exit(-1);
+            }
+
+            z_id_t ts_id = z_timestamp_id(ts);
+            z_id_t gloabl_id = z_entity_global_id_zid(&id);
+
+            if (memcmp(ts_id.id, gloabl_id.id, sizeof(ts_id.id)) != 0) {
+                perror("Timestamp id and global id differ");
+                exit(-1);
+            }
+
+            if (ts_id.id[0] != TEST_ID) {
+                perror("Unexpected id value");
+                exit(-1);
+            }
+
             z_drop(z_move(payload_string));
             z_drop(z_move(reply));
         }