diff --git a/include/zenoh-pico/collections/arc_slice.h b/include/zenoh-pico/collections/arc_slice.h
index ce67d2975..7e03c936c 100644
--- a/include/zenoh-pico/collections/arc_slice.h
+++ b/include/zenoh-pico/collections/arc_slice.h
@@ -24,6 +24,10 @@
 #include "slice.h"
 #include "zenoh-pico/system/platform_common.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 _Z_REFCOUNT_DEFINE(_z_slice, _z_slice)
 
 /*-------- ArcSlice --------*/
@@ -52,4 +56,8 @@ z_result_t _z_arc_slice_copy(_z_arc_slice_t* dst, const _z_arc_slice_t* src);
 z_result_t _z_arc_slice_move(_z_arc_slice_t* dst, _z_arc_slice_t* src);
 z_result_t _z_arc_slice_drop(_z_arc_slice_t* s);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_ARC_SLICE_H */
diff --git a/include/zenoh-pico/collections/array.h b/include/zenoh-pico/collections/array.h
index 0c08d9af2..b5d077433 100644
--- a/include/zenoh-pico/collections/array.h
+++ b/include/zenoh-pico/collections/array.h
@@ -19,6 +19,10 @@
 #include <stdint.h>
 #include <string.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Internal Array Macros ------------------*/
 #define _Z_ARRAY_DEFINE(name, type)                                                                 \
     typedef struct {                                                                                \
@@ -71,4 +75,8 @@
         }                                                                                           \
     }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_ARRAY_H */
diff --git a/include/zenoh-pico/collections/bytes.h b/include/zenoh-pico/collections/bytes.h
index b662ff613..05ab01e37 100644
--- a/include/zenoh-pico/collections/bytes.h
+++ b/include/zenoh-pico/collections/bytes.h
@@ -23,6 +23,10 @@
 #include "vec.h"
 #include "zenoh-pico/protocol/iobuf.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 inline size_t _z_arc_slice_size(const _z_arc_slice_t *s) {
     (void)s;
     return sizeof(_z_arc_slice_t);
@@ -94,4 +98,8 @@ void _z_bytes_writer_clear(_z_bytes_writer_t *writer);
 void _z_bytes_writer_move(_z_bytes_writer_t *dst, _z_bytes_writer_t *src);
 size_t _z_bytes_reader_remaining(const _z_bytes_reader_t *reader);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_BYTES_H */
diff --git a/include/zenoh-pico/collections/element.h b/include/zenoh-pico/collections/element.h
index ef5178ad1..bd5701187 100644
--- a/include/zenoh-pico/collections/element.h
+++ b/include/zenoh-pico/collections/element.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/system/platform.h"
 #include "zenoh-pico/utils/result.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- element functions --------*/
 typedef size_t (*z_element_size_f)(void *e);
 typedef void (*z_element_clear_f)(void *e);
@@ -74,4 +78,8 @@ static inline void _z_noop_move(void *dst, void *src) {
 
 _Z_ELEM_DEFINE(_z_noop, _z_noop_t, _z_noop_size, _z_noop_clear, _z_noop_copy)
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_ELEMENT_H */
diff --git a/include/zenoh-pico/collections/fifo.h b/include/zenoh-pico/collections/fifo.h
index 3e36bb509..0f4a887ce 100644
--- a/include/zenoh-pico/collections/fifo.h
+++ b/include/zenoh-pico/collections/fifo.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/collections/element.h"
 #include "zenoh-pico/collections/ring.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- Fifo Buffer --------*/
 typedef struct {
     _z_ring_t _ring;
@@ -60,4 +64,8 @@ void _z_fifo_free(_z_fifo_t **xs, z_element_free_f f_f);
     static inline void name##_fifo_clear(name##_fifo_t *r) { _z_fifo_clear(r, name##_elem_free); }         \
     static inline void name##_fifo_free(name##_fifo_t **r) { _z_fifo_free(r, name##_elem_free); }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_FIFO_H */
diff --git a/include/zenoh-pico/collections/intmap.h b/include/zenoh-pico/collections/intmap.h
index c897e2e50..136cf9772 100644
--- a/include/zenoh-pico/collections/intmap.h
+++ b/include/zenoh-pico/collections/intmap.h
@@ -22,6 +22,10 @@
 #include "zenoh-pico/collections/list.h"
 #include "zenoh-pico/utils/result.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- int-void map --------*/
 #define _Z_DEFAULT_INT_MAP_CAPACITY 16
 
@@ -113,4 +117,8 @@ void _z_int_void_map_free(_z_int_void_map_t **map, z_element_free_f f);
         _z_int_void_map_free(m, name##_intmap_entry_elem_free);                                                 \
     }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_INTMAP_H */
diff --git a/include/zenoh-pico/collections/lifo.h b/include/zenoh-pico/collections/lifo.h
index cf696b994..b6142b05a 100644
--- a/include/zenoh-pico/collections/lifo.h
+++ b/include/zenoh-pico/collections/lifo.h
@@ -19,6 +19,10 @@
 
 #include "zenoh-pico/collections/element.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- Ring Buffer --------*/
 typedef struct {
     void **_val;
@@ -61,4 +65,8 @@ void _z_lifo_free(_z_lifo_t **xs, z_element_free_f f_f);
     static inline void name##_lifo_clear(name##_lifo_t *r) { _z_lifo_clear(r, name##_elem_free); }         \
     static inline void name##_lifo_free(name##_lifo_t **r) { _z_lifo_free(r, name##_elem_free); }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_LIFO_H */
diff --git a/include/zenoh-pico/collections/list.h b/include/zenoh-pico/collections/list.h
index a779706f0..590d0f32d 100644
--- a/include/zenoh-pico/collections/list.h
+++ b/include/zenoh-pico/collections/list.h
@@ -20,6 +20,10 @@
 
 #include "zenoh-pico/collections/element.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- Single-linked List --------*/
 /**
  * A single-linked list.
@@ -72,4 +76,8 @@ void _z_list_free(_z_list_t **xs, z_element_free_f f_f);
     static inline name##_list_t *name##_list_clone(name##_list_t *l) { return _z_list_clone(l, name##_elem_clone); } \
     static inline void name##_list_free(name##_list_t **l) { _z_list_free(l, name##_elem_free); }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_LIST_H */
diff --git a/include/zenoh-pico/collections/ring.h b/include/zenoh-pico/collections/ring.h
index de8743e58..d1e26ec57 100644
--- a/include/zenoh-pico/collections/ring.h
+++ b/include/zenoh-pico/collections/ring.h
@@ -19,6 +19,10 @@
 
 #include "zenoh-pico/collections/element.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- Ring Buffer --------*/
 typedef struct {
     void **_val;
@@ -65,4 +69,8 @@ void _z_ring_free(_z_ring_t **xs, z_element_free_f f_f);
     static inline void name##_ring_clear(name##_ring_t *r) { _z_ring_clear(r, name##_elem_free); }                     \
     static inline void name##_ring_free(name##_ring_t **r) { _z_ring_free(r, name##_elem_free); }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_RING_H */
diff --git a/include/zenoh-pico/collections/slice.h b/include/zenoh-pico/collections/slice.h
index 8027f6b1c..c57af6ff9 100644
--- a/include/zenoh-pico/collections/slice.h
+++ b/include/zenoh-pico/collections/slice.h
@@ -21,6 +21,10 @@
 
 #include "zenoh-pico/utils/result.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef struct {
     void (*deleter)(void *data, void *context);
     void *context;
@@ -67,4 +71,8 @@ void _z_slice_clear(_z_slice_t *bs);
 void _z_slice_free(_z_slice_t **bs);
 bool _z_slice_is_alloced(const _z_slice_t *s);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_SLICE_H */
diff --git a/include/zenoh-pico/collections/string.h b/include/zenoh-pico/collections/string.h
index f2ebd15ac..ef07a0227 100644
--- a/include/zenoh-pico/collections/string.h
+++ b/include/zenoh-pico/collections/string.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/collections/slice.h"
 #include "zenoh-pico/collections/vec.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- str --------*/
 typedef char *_z_str_t;
 
@@ -100,4 +104,8 @@ _Z_SVEC_DEFINE(_z_string, _z_string_t)
 _Z_LIST_DEFINE(_z_string, _z_string_t)
 _Z_INT_MAP_DEFINE(_z_string, _z_string_t)
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_STRING_H */
diff --git a/include/zenoh-pico/collections/vec.h b/include/zenoh-pico/collections/vec.h
index d1c12ec6b..d89acd93c 100644
--- a/include/zenoh-pico/collections/vec.h
+++ b/include/zenoh-pico/collections/vec.h
@@ -19,6 +19,10 @@
 
 #include "zenoh-pico/collections/element.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*-------- Dynamically allocated vector --------*/
 /**
  * A dynamically allocated vector. Elements are stored as pointers.
@@ -114,4 +118,8 @@ void _z_svec_release(_z_svec_t *v);
     static inline void name##_svec_clear(name##_svec_t *v) { _z_svec_clear(v, name##_elem_clear, sizeof(type)); }  \
     static inline void name##_svec_free(name##_svec_t **v) { _z_svec_free(v, name##_elem_clear, sizeof(type)); }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_COLLECTIONS_VECTOR_H */
diff --git a/include/zenoh-pico/link/config/bt.h b/include/zenoh-pico/link/config/bt.h
index 630b9ae41..fca0740d1 100644
--- a/include/zenoh-pico/link/config/bt.h
+++ b/include/zenoh-pico/link/config/bt.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_BLUETOOTH == 1
 
 #define BT_CONFIG_ARGC 3
@@ -50,4 +54,8 @@ z_result_t _z_bt_config_from_str(_z_str_intmap_t *strint, const char *s);
 z_result_t _z_bt_config_from_strn(_z_str_intmap_t *strint, const char *s, size_t n);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_CONFIG_BT_H */
diff --git a/include/zenoh-pico/link/config/raweth.h b/include/zenoh-pico/link/config/raweth.h
index c30cc6403..65700aaba 100644
--- a/include/zenoh-pico/link/config/raweth.h
+++ b/include/zenoh-pico/link/config/raweth.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/link/link.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define RAWETH_SCHEMA "reth"
 
 z_result_t _z_endpoint_raweth_valid(_z_endpoint_t *endpoint);
@@ -29,4 +33,8 @@ char *_z_raweth_config_to_str(const _z_str_intmap_t *s);
 z_result_t _z_raweth_config_from_strn(_z_str_intmap_t *strint, const char *s, size_t n);
 z_result_t _z_raweth_config_from_str(_z_str_intmap_t *strint, const char *s);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_CONFIG_RAWETH_H */
diff --git a/include/zenoh-pico/link/config/serial.h b/include/zenoh-pico/link/config/serial.h
index 6180d0a59..3b9f6530a 100644
--- a/include/zenoh-pico/link/config/serial.h
+++ b/include/zenoh-pico/link/config/serial.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_SERIAL == 1
 
 #define SERIAL_CONFIG_ARGC 1
@@ -66,4 +70,8 @@ z_result_t _z_serial_config_from_str(_z_str_intmap_t *strint, const char *s);
 z_result_t _z_serial_config_from_strn(_z_str_intmap_t *strint, const char *s, size_t n);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_CONFIG_SERIAL_H */
diff --git a/include/zenoh-pico/link/config/tcp.h b/include/zenoh-pico/link/config/tcp.h
index 51792c8ac..c521a1751 100644
--- a/include/zenoh-pico/link/config/tcp.h
+++ b/include/zenoh-pico/link/config/tcp.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_TCP == 1
 
 #define TCP_CONFIG_ARGC 1
@@ -40,4 +44,8 @@ z_result_t _z_tcp_config_from_str(_z_str_intmap_t *strint, const char *s);
 z_result_t _z_tcp_config_from_strn(_z_str_intmap_t *strint, const char *s, size_t n);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_CONFIG_TCP_H */
diff --git a/include/zenoh-pico/link/config/udp.h b/include/zenoh-pico/link/config/udp.h
index 8af8b5d47..87cd6655e 100644
--- a/include/zenoh-pico/link/config/udp.h
+++ b/include/zenoh-pico/link/config/udp.h
@@ -18,6 +18,10 @@
 #include "zenoh-pico/collections/intmap.h"
 #include "zenoh-pico/collections/string.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define UDP_CONFIG_ARGC 3
 
 #define UDP_CONFIG_IFACE_KEY 0x01
@@ -48,4 +52,8 @@ z_result_t _z_udp_config_from_str(_z_str_intmap_t *strint, const char *s);
 z_result_t _z_udp_config_from_strn(_z_str_intmap_t *strint, const char *s, size_t n);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_CONFIG_UDP_H */
diff --git a/include/zenoh-pico/link/config/ws.h b/include/zenoh-pico/link/config/ws.h
index e9c3e6be6..a845807c5 100644
--- a/include/zenoh-pico/link/config/ws.h
+++ b/include/zenoh-pico/link/config/ws.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_WS == 1
 
 #define WS_CONFIG_TOUT_KEY 0x01
@@ -39,4 +43,8 @@ z_result_t _z_ws_config_from_str(_z_str_intmap_t *strint, const char *s);
 z_result_t _z_ws_config_from_strn(_z_str_intmap_t *strint, const char *s, size_t n);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_CONFIG_WS_H */
diff --git a/include/zenoh-pico/link/endpoint.h b/include/zenoh-pico/link/endpoint.h
index 4868f4d44..d6b83e30a 100644
--- a/include/zenoh-pico/link/endpoint.h
+++ b/include/zenoh-pico/link/endpoint.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/utils/result.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Locator ------------------*/
 #if Z_FEATURE_LINK_TCP == 1
 #define TCP_SCHEMA "tcp"
@@ -72,4 +76,8 @@ z_result_t _z_endpoint_from_string(_z_endpoint_t *ep, _z_string_t *s);
 void _z_endpoint_clear(_z_endpoint_t *ep);
 void _z_endpoint_free(_z_endpoint_t **ep);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_ENDPOINT_H */
diff --git a/include/zenoh-pico/link/link.h b/include/zenoh-pico/link/link.h
index 6356af3cf..522721fe8 100644
--- a/include/zenoh-pico/link/link.h
+++ b/include/zenoh-pico/link/link.h
@@ -46,6 +46,10 @@
 
 #include "zenoh-pico/utils/result.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Link transport capability enum.
  *
@@ -144,4 +148,8 @@ z_result_t _z_link_send_wbuf(const _z_link_t *zl, const _z_wbuf_t *wbf);
 size_t _z_link_recv_zbuf(const _z_link_t *zl, _z_zbuf_t *zbf, _z_slice_t *addr);
 size_t _z_link_recv_exact_zbuf(const _z_link_t *zl, _z_zbuf_t *zbf, size_t len, _z_slice_t *addr);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_H */
diff --git a/include/zenoh-pico/link/manager.h b/include/zenoh-pico/link/manager.h
index e0aba1f93..7a962e68f 100644
--- a/include/zenoh-pico/link/manager.h
+++ b/include/zenoh-pico/link/manager.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/link/link.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_TCP == 1
 z_result_t _z_endpoint_tcp_valid(_z_endpoint_t *ep);
 z_result_t _z_new_link_tcp(_z_link_t *zl, _z_endpoint_t *ep);
@@ -44,4 +48,8 @@ z_result_t _z_endpoint_ws_valid(_z_endpoint_t *ep);
 z_result_t _z_new_link_ws(_z_link_t *zl, _z_endpoint_t *ep);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LINK_MANAGER_H */
diff --git a/include/zenoh-pico/net/config.h b/include/zenoh-pico/net/config.h
index fabc7415f..4977f1b5c 100644
--- a/include/zenoh-pico/net/config.h
+++ b/include/zenoh-pico/net/config.h
@@ -18,6 +18,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/utils/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Create an empty set of properties for zenoh-net session configuration.
  *
@@ -50,4 +54,8 @@ z_result_t _z_config_default(_z_config_t *config);
  */
 z_result_t _z_config_client(_z_config_t *config, const char *locator);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_CONFIG_NETAPI_H */
diff --git a/include/zenoh-pico/net/encoding.h b/include/zenoh-pico/net/encoding.h
index 88ac5f0d1..0b35ce338 100644
--- a/include/zenoh-pico/net/encoding.h
+++ b/include/zenoh-pico/net/encoding.h
@@ -17,6 +17,10 @@
 #include "zenoh-pico/api/constants.h"
 #include "zenoh-pico/collections/string.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define _Z_ENCODING_ID_DEFAULT 0
 
 /**
@@ -36,4 +40,8 @@ z_result_t _z_encoding_copy(_z_encoding_t *dst, const _z_encoding_t *src);
 void _z_encoding_move(_z_encoding_t *dst, _z_encoding_t *src);
 _z_encoding_t _z_encoding_steal(_z_encoding_t *val);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_ENCODING_NETAPI_H */
diff --git a/include/zenoh-pico/net/filtering.h b/include/zenoh-pico/net/filtering.h
index 18023b66d..14461a322 100644
--- a/include/zenoh-pico/net/filtering.h
+++ b/include/zenoh-pico/net/filtering.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef enum {
     WRITE_FILTER_INIT = 0,
     WRITE_FILTER_ACTIVE = 1,
@@ -45,4 +49,8 @@ z_result_t _z_write_filter_create(_z_publisher_t *pub);
 z_result_t _z_write_filter_destroy(_z_publisher_t *pub);
 bool _z_write_filter_active(const _z_publisher_t *pub);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_FILTERING_NETAPI_H */
diff --git a/include/zenoh-pico/net/logger.h b/include/zenoh-pico/net/logger.h
index 73a4bede1..b9bbede1a 100644
--- a/include/zenoh-pico/net/logger.h
+++ b/include/zenoh-pico/net/logger.h
@@ -15,9 +15,17 @@
 #ifndef ZENOH_PICO_LOGGER_NETAPI_H
 #define ZENOH_PICO_LOGGER_NETAPI_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Initialise the zenoh runtime logger
  */
 void _z_init_logger(void);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_LOGGER_NETAPI_H */
diff --git a/include/zenoh-pico/net/primitives.h b/include/zenoh-pico/net/primitives.h
index b5a83a6f5..95b47078b 100644
--- a/include/zenoh-pico/net/primitives.h
+++ b/include/zenoh-pico/net/primitives.h
@@ -26,6 +26,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/utils/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Discovery ------------------*/
 
 /**
@@ -257,4 +261,8 @@ uint32_t _z_add_interest(_z_session_t *zn, _z_keyexpr_t keyexpr, _z_interest_han
 z_result_t _z_remove_interest(_z_session_t *zn, uint32_t interest_id);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_NET_PRIMITIVES_H */
diff --git a/include/zenoh-pico/net/publish.h b/include/zenoh-pico/net/publish.h
index 21a8b500f..2f29b0b05 100644
--- a/include/zenoh-pico/net/publish.h
+++ b/include/zenoh-pico/net/publish.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Return type when declaring a publisher.
  */
@@ -43,4 +47,8 @@ bool _z_publisher_check(const _z_publisher_t *publisher);
 _z_publisher_t _z_publisher_null(void);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_NET_PUBLISH_H */
diff --git a/include/zenoh-pico/net/query.h b/include/zenoh-pico/net/query.h
index 5e57c1eee..ed2c7579c 100644
--- a/include/zenoh-pico/net/query.h
+++ b/include/zenoh-pico/net/query.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * The query to be answered by a queryable.
  */
@@ -58,4 +62,8 @@ _z_queryable_t _z_queryable_null(void);
 bool _z_queryable_check(const _z_queryable_t *queryable);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_QUERY_NETAPI_H */
diff --git a/include/zenoh-pico/net/reply.h b/include/zenoh-pico/net/reply.h
index 14ef1b232..df2a2742e 100644
--- a/include/zenoh-pico/net/reply.h
+++ b/include/zenoh-pico/net/reply.h
@@ -23,6 +23,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/session/session.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Reply tag values.
  *
@@ -97,4 +101,8 @@ void _z_pending_reply_clear(_z_pending_reply_t *res);
 _Z_ELEM_DEFINE(_z_pending_reply, _z_pending_reply_t, _z_noop_size, _z_pending_reply_clear, _z_noop_copy)
 _Z_LIST_DEFINE(_z_pending_reply, _z_pending_reply_t)
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_REPLY_NETAPI_H */
diff --git a/include/zenoh-pico/net/sample.h b/include/zenoh-pico/net/sample.h
index 9fadfbc76..3133c9706 100644
--- a/include/zenoh-pico/net/sample.h
+++ b/include/zenoh-pico/net/sample.h
@@ -18,6 +18,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/session/session.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * A zenoh-net data sample.
  *
@@ -58,5 +62,8 @@ _z_sample_t _z_sample_duplicate(const _z_sample_t *src);
 _z_sample_t _z_sample_create(_z_keyexpr_t *key, const _z_bytes_t payload, const _z_timestamp_t *timestamp,
                              _z_encoding_t *encoding, const z_sample_kind_t kind, const _z_qos_t qos,
                              const _z_bytes_t attachment, z_reliability_t reliability);
+#ifdef __cplusplus
+}
+#endif
 
 #endif /* ZENOH_PICO_SAMPLE_NETAPI_H */
diff --git a/include/zenoh-pico/net/session.h b/include/zenoh-pico/net/session.h
index 6d7ede3a4..d7ab4495a 100644
--- a/include/zenoh-pico/net/session.h
+++ b/include/zenoh-pico/net/session.h
@@ -24,6 +24,10 @@
 #include "zenoh-pico/session/session.h"
 #include "zenoh-pico/utils/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * A zenoh-net session.
  */
@@ -199,4 +203,8 @@ z_result_t _zp_start_lease_task(_z_session_t *z, z_task_attr_t *attr);
 z_result_t _zp_stop_lease_task(_z_session_t *z);
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_NET_SESSION_H */
diff --git a/include/zenoh-pico/net/subscribe.h b/include/zenoh-pico/net/subscribe.h
index 4cf0cb4d4..ae9fad18f 100644
--- a/include/zenoh-pico/net/subscribe.h
+++ b/include/zenoh-pico/net/subscribe.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Return type when declaring a subscriber.
  */
@@ -36,4 +40,8 @@ bool _z_subscriber_check(const _z_subscriber_t *subscriber);
 _z_subscriber_t _z_subscriber_null(void);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SUBSCRIBE_NETAPI_H */
diff --git a/include/zenoh-pico/protocol/codec/core.h b/include/zenoh-pico/protocol/codec/core.h
index c86d1b18c..00eec6890 100644
--- a/include/zenoh-pico/protocol/codec/core.h
+++ b/include/zenoh-pico/protocol/codec/core.h
@@ -24,6 +24,10 @@
 #include "zenoh-pico/utils/config.h"
 #include "zenoh-pico/utils/result.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef z_result_t (*__z_single_byte_reader_t)(uint8_t *, void *context);
 /*------------------ Internal Zenoh-net Macros ------------------*/
 z_result_t _z_consolidation_mode_encode(_z_wbuf_t *wbf, z_consolidation_mode_t en);
@@ -84,4 +88,8 @@ z_result_t _z_timestamp_encode(_z_wbuf_t *buf, const _z_timestamp_t *ts);
 z_result_t _z_timestamp_encode_ext(_z_wbuf_t *buf, const _z_timestamp_t *ts);
 z_result_t _z_timestamp_decode(_z_timestamp_t *ts, _z_zbuf_t *buf);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_CORE_H */
diff --git a/include/zenoh-pico/protocol/codec/declarations.h b/include/zenoh-pico/protocol/codec/declarations.h
index 86efb1a64..840061d92 100644
--- a/include/zenoh-pico/protocol/codec/declarations.h
+++ b/include/zenoh-pico/protocol/codec/declarations.h
@@ -17,6 +17,11 @@
 
 #include "zenoh-pico/protocol/definitions/declarations.h"
 #include "zenoh-pico/protocol/iobuf.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define _Z_DECL_KEXPR_MID 0
 #define _Z_DECL_KEXPR_FLAG_N 0x20
 #define _Z_UNDECL_KEXPR_MID 1
@@ -50,4 +55,8 @@ z_result_t _z_undecl_token_decode(_z_undecl_token_t *decl, _z_zbuf_t *zbf, uint8
 z_result_t _z_declaration_encode(_z_wbuf_t *wbf, const _z_declaration_t *decl);
 z_result_t _z_declaration_decode(_z_declaration_t *decl, _z_zbuf_t *zbf);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_DECLARATIONS_H */
diff --git a/include/zenoh-pico/protocol/codec/ext.h b/include/zenoh-pico/protocol/codec/ext.h
index 7efd7063e..cc339dd0d 100644
--- a/include/zenoh-pico/protocol/codec/ext.h
+++ b/include/zenoh-pico/protocol/codec/ext.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/protocol/ext.h"
 #include "zenoh-pico/protocol/iobuf.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Message Extension ------------------*/
 z_result_t _z_msg_ext_encode(_z_wbuf_t *wbf, const _z_msg_ext_t *ext, bool has_next);
 z_result_t _z_msg_ext_decode(_z_msg_ext_t *ext, _z_zbuf_t *zbf, bool *has_next);
@@ -66,4 +70,8 @@ z_result_t _z_msg_ext_encode_zbuf(_z_wbuf_t *wbf, const _z_msg_ext_zbuf_t *pld);
 z_result_t _z_msg_ext_decode_zbuf(_z_msg_ext_zbuf_t *pld, _z_zbuf_t *zbf);
 z_result_t _z_msg_ext_decode_zbuf_na(_z_msg_ext_zbuf_t *pld, _z_zbuf_t *zbf);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TEST_H */
diff --git a/include/zenoh-pico/protocol/codec/interest.h b/include/zenoh-pico/protocol/codec/interest.h
index 4e8aa4921..b8781efbe 100644
--- a/include/zenoh-pico/protocol/codec/interest.h
+++ b/include/zenoh-pico/protocol/codec/interest.h
@@ -18,7 +18,15 @@
 #include "zenoh-pico/protocol/definitions/interest.h"
 #include "zenoh-pico/protocol/iobuf.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_interest_encode(_z_wbuf_t *wbf, const _z_interest_t *interest, bool is_final);
 z_result_t _z_interest_decode(_z_interest_t *decl, _z_zbuf_t *zbf, bool is_final, bool has_ext);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_DECLARATIONS_H */
diff --git a/include/zenoh-pico/protocol/codec/message.h b/include/zenoh-pico/protocol/codec/message.h
index c9bd9c039..ae4b88567 100644
--- a/include/zenoh-pico/protocol/codec/message.h
+++ b/include/zenoh-pico/protocol/codec/message.h
@@ -18,6 +18,10 @@
 #include "zenoh-pico/protocol/definitions/network.h"
 #include "zenoh-pico/protocol/iobuf.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_push_body_encode(_z_wbuf_t *wbf, const _z_push_body_t *pshb);
 z_result_t _z_push_body_decode(_z_push_body_t *body, _z_zbuf_t *zbf, uint8_t header);
 
@@ -36,4 +40,8 @@ z_result_t _z_put_decode(_z_msg_put_t *put, _z_zbuf_t *zbf, uint8_t header);
 z_result_t _z_del_encode(_z_wbuf_t *wbf, const _z_msg_del_t *del);
 z_result_t _z_del_decode(_z_msg_del_t *del, _z_zbuf_t *zbf, uint8_t header);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_MESSAGE_H */
diff --git a/include/zenoh-pico/protocol/codec/network.h b/include/zenoh-pico/protocol/codec/network.h
index 64a5229c8..e74322eb0 100644
--- a/include/zenoh-pico/protocol/codec/network.h
+++ b/include/zenoh-pico/protocol/codec/network.h
@@ -19,6 +19,11 @@
 
 #include "zenoh-pico/protocol/definitions/network.h"
 #include "zenoh-pico/protocol/iobuf.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_push_encode(_z_wbuf_t *wbf, const _z_n_msg_push_t *msg);
 z_result_t _z_push_decode(_z_n_msg_push_t *msg, _z_zbuf_t *zbf, uint8_t header);
 z_result_t _z_request_encode(_z_wbuf_t *wbf, const _z_n_msg_request_t *msg);
@@ -35,4 +40,8 @@ z_result_t _z_n_interest_decode(_z_n_msg_interest_t *interest, _z_zbuf_t *zbf, u
 z_result_t _z_network_message_encode(_z_wbuf_t *wbf, const _z_network_message_t *msg);
 z_result_t _z_network_message_decode(_z_network_message_t *msg, _z_zbuf_t *zbf);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_NETWORK_H */
diff --git a/include/zenoh-pico/protocol/codec/transport.h b/include/zenoh-pico/protocol/codec/transport.h
index cd0e4a2c5..d7b4320a5 100644
--- a/include/zenoh-pico/protocol/codec/transport.h
+++ b/include/zenoh-pico/protocol/codec/transport.h
@@ -17,6 +17,11 @@
 
 #include "zenoh-pico/protocol/definitions/transport.h"
 #include "zenoh-pico/protocol/iobuf.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define _ZENOH_PICO_FRAME_MESSAGES_VEC_SIZE 32
 
 z_result_t _z_scouting_message_encode(_z_wbuf_t *buf, const _z_scouting_message_t *msg);
@@ -48,4 +53,9 @@ z_result_t _z_fragment_decode(_z_t_msg_fragment_t *msg, _z_zbuf_t *zbf, uint8_t
 
 z_result_t _z_transport_message_encode(_z_wbuf_t *wbf, const _z_transport_message_t *msg);
 z_result_t _z_transport_message_decode(_z_transport_message_t *msg, _z_zbuf_t *zbf);
+
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CODEC_TRANSPORT_H */
diff --git a/include/zenoh-pico/protocol/core.h b/include/zenoh-pico/protocol/core.h
index 7dcf49508..40dd8355e 100644
--- a/include/zenoh-pico/protocol/core.h
+++ b/include/zenoh-pico/protocol/core.h
@@ -29,6 +29,10 @@
 #include "zenoh-pico/net/encoding.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define _Z_OPTIONAL
 #define _Z_MOVE(x) x *
 
@@ -209,4 +213,8 @@ typedef struct {
     uint32_t _entity_id;
 } _z_reply_context_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_CORE_H */
diff --git a/include/zenoh-pico/protocol/definitions/declarations.h b/include/zenoh-pico/protocol/definitions/declarations.h
index c33cab627..e6f715722 100644
--- a/include/zenoh-pico/protocol/definitions/declarations.h
+++ b/include/zenoh-pico/protocol/definitions/declarations.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/protocol/keyexpr.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef struct {
     uint16_t _id;
     _z_keyexpr_t _keyexpr;
@@ -113,4 +117,8 @@ _z_declaration_t _z_make_undecl_token(uint32_t id, _Z_OPTIONAL const _z_keyexpr_
 
 _z_declaration_t _z_make_decl_final(void);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_DEFINITIONS_DECLARATIONS_H */
diff --git a/include/zenoh-pico/protocol/definitions/interest.h b/include/zenoh-pico/protocol/definitions/interest.h
index ca2900874..7e0e849ae 100644
--- a/include/zenoh-pico/protocol/definitions/interest.h
+++ b/include/zenoh-pico/protocol/definitions/interest.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/protocol/keyexpr.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define _Z_INTEREST_FLAG_KEYEXPRS (1)
 #define _Z_INTEREST_FLAG_SUBSCRIBERS (1 << 1)
 #define _Z_INTEREST_FLAG_QUERYABLES (1 << 2)
@@ -43,4 +47,8 @@ void _z_interest_clear(_z_interest_t* decl);
 _z_interest_t _z_make_interest(_Z_MOVE(_z_keyexpr_t) key, uint32_t id, uint8_t flags);
 _z_interest_t _z_make_interest_final(uint32_t id);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_DEFINITIONS_INTEREST_H */
diff --git a/include/zenoh-pico/protocol/definitions/message.h b/include/zenoh-pico/protocol/definitions/message.h
index 5d43defa4..2cfa93cd3 100644
--- a/include/zenoh-pico/protocol/definitions/message.h
+++ b/include/zenoh-pico/protocol/definitions/message.h
@@ -18,6 +18,11 @@
 #include "zenoh-pico/net/encoding.h"
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/protocol/definitions/core.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /* Zenoh Messages */
 #define _Z_MID_Z_OAM 0x00
 #define _Z_MID_Z_PUT 0x01
@@ -140,4 +145,8 @@ typedef struct {
 void _z_msg_reply_clear(_z_msg_reply_t *msg);
 #define _Z_FLAG_Z_R_C 0x20
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_DEFINITIONS_MESSAGE_H */
diff --git a/include/zenoh-pico/protocol/definitions/network.h b/include/zenoh-pico/protocol/definitions/network.h
index f0cd40f01..489c996b3 100644
--- a/include/zenoh-pico/protocol/definitions/network.h
+++ b/include/zenoh-pico/protocol/definitions/network.h
@@ -25,6 +25,11 @@
 #include "zenoh-pico/protocol/definitions/message.h"
 #include "zenoh-pico/protocol/ext.h"
 #include "zenoh-pico/protocol/keyexpr.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /* Network Messages */
 #define _Z_MID_N_OAM 0x1f
 #define _Z_MID_N_DECLARE 0x1e
@@ -301,4 +306,8 @@ _z_network_message_t _z_n_msg_make_declare(_z_declaration_t declaration, bool ha
 _z_network_message_t _z_n_msg_make_push(_Z_MOVE(_z_keyexpr_t) key, _Z_MOVE(_z_push_body_t) body);
 _z_network_message_t _z_n_msg_make_interest(_z_interest_t interest);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_DEFINITIONS_NETWORK_H */
diff --git a/include/zenoh-pico/protocol/definitions/transport.h b/include/zenoh-pico/protocol/definitions/transport.h
index 7334f391a..261c61fc6 100644
--- a/include/zenoh-pico/protocol/definitions/transport.h
+++ b/include/zenoh-pico/protocol/definitions/transport.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/link/endpoint.h"
 #include "zenoh-pico/protocol/definitions/network.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define _Z_MID_SCOUT 0x01
 #define _Z_MID_HELLO 0x02
 
@@ -541,4 +545,8 @@ void _z_s_msg_copy(_z_scouting_message_t *clone, _z_scouting_message_t *msg);
 void _z_s_msg_copy_scout(_z_s_msg_scout_t *clone, _z_s_msg_scout_t *msg);
 void _z_s_msg_copy_hello(_z_s_msg_hello_t *clone, _z_s_msg_hello_t *msg);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_DEFINITIONS_TRANSPORT_H */
diff --git a/include/zenoh-pico/protocol/ext.h b/include/zenoh-pico/protocol/ext.h
index cba1ab55d..eb70ede42 100644
--- a/include/zenoh-pico/protocol/ext.h
+++ b/include/zenoh-pico/protocol/ext.h
@@ -20,6 +20,10 @@
 
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*=============================*/
 /*       Message header        */
 /*=============================*/
@@ -99,4 +103,8 @@ void _z_msg_ext_copy_zbuf(_z_msg_ext_zbuf_t *clone, const _z_msg_ext_zbuf_t *ext
 _Z_ELEM_DEFINE(_z_msg_ext, _z_msg_ext_t, _z_noop_size, _z_msg_ext_clear, _z_msg_ext_copy)
 _Z_VEC_DEFINE(_z_msg_ext, _z_msg_ext_t)
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_PROTOCOL_EXTENSION_H */
diff --git a/include/zenoh-pico/protocol/iobuf.h b/include/zenoh-pico/protocol/iobuf.h
index 888b69d46..abd5b1a36 100644
--- a/include/zenoh-pico/protocol/iobuf.h
+++ b/include/zenoh-pico/protocol/iobuf.h
@@ -23,6 +23,10 @@
 #include "zenoh-pico/collections/slice.h"
 #include "zenoh-pico/collections/vec.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ IOSli ------------------*/
 
 typedef struct {
@@ -129,4 +133,8 @@ void _z_wbuf_reset(_z_wbuf_t *wbf);
 void _z_wbuf_clear(_z_wbuf_t *wbf);
 void _z_wbuf_free(_z_wbuf_t **wbf);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_PROTOCOL_IOBUF_H */
diff --git a/include/zenoh-pico/protocol/keyexpr.h b/include/zenoh-pico/protocol/keyexpr.h
index f171ee32f..27cdb8853 100644
--- a/include/zenoh-pico/protocol/keyexpr.h
+++ b/include/zenoh-pico/protocol/keyexpr.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/api/constants.h"
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 zp_keyexpr_canon_status_t _z_keyexpr_is_canon(const char *start, size_t len);
 zp_keyexpr_canon_status_t _z_keyexpr_canonize(char *start, size_t *len);
 bool _z_keyexpr_suffix_includes(const _z_keyexpr_t *left, const _z_keyexpr_t *right);
@@ -45,4 +49,8 @@ void _z_keyexpr_move(_z_keyexpr_t *dst, _z_keyexpr_t *src);
 void _z_keyexpr_clear(_z_keyexpr_t *rk);
 void _z_keyexpr_free(_z_keyexpr_t **rk);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_PROTOCOL_KEYEXPR_H */
diff --git a/include/zenoh-pico/session/interest.h b/include/zenoh-pico/session/interest.h
index 3e1f6d4da..d8792ca77 100644
--- a/include/zenoh-pico/session/interest.h
+++ b/include/zenoh-pico/session/interest.h
@@ -19,6 +19,10 @@
 
 #include "zenoh-pico/net/session.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_INTEREST == 1
 _z_session_interest_rc_t *_z_get_interest_by_id(_z_session_t *zn, const _z_zint_t id);
 _z_session_interest_rc_t *_z_register_interest(_z_session_t *zn, _z_session_interest_t *intr);
@@ -32,4 +36,8 @@ z_result_t _z_interest_process_declare_final(_z_session_t *zn, uint32_t id);
 z_result_t _z_interest_process_interest_final(_z_session_t *zn, uint32_t id);
 z_result_t _z_interest_process_interest(_z_session_t *zn, _z_keyexpr_t key, uint32_t id, uint8_t flags);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SESSION_INTEREST_H */
diff --git a/include/zenoh-pico/session/push.h b/include/zenoh-pico/session/push.h
index 5c774b704..49da5bf21 100644
--- a/include/zenoh-pico/session/push.h
+++ b/include/zenoh-pico/session/push.h
@@ -21,6 +21,14 @@
 #ifndef ZENOH_PICO_SESSION_PUSH_H
 #define ZENOH_PICO_SESSION_PUSH_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_trigger_push(_z_session_t *zn, _z_n_msg_push_t *push, z_reliability_t reliability);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SESSION_PUSH_H */
diff --git a/include/zenoh-pico/session/query.h b/include/zenoh-pico/session/query.h
index 1bf03b74d..c096bd793 100644
--- a/include/zenoh-pico/session/query.h
+++ b/include/zenoh-pico/session/query.h
@@ -18,6 +18,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_QUERY == 1
 /*------------------ Query ------------------*/
 _z_zint_t _z_get_query_id(_z_session_t *zn);
@@ -33,4 +37,8 @@ void _z_unregister_pending_query(_z_session_t *zn, _z_pending_query_t *pq);
 void _z_flush_pending_queries(_z_session_t *zn);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SESSION_QUERY_H */
diff --git a/include/zenoh-pico/session/reply.h b/include/zenoh-pico/session/reply.h
index c10aa0b28..6e5221f49 100644
--- a/include/zenoh-pico/session/reply.h
+++ b/include/zenoh-pico/session/reply.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/protocol/definitions/message.h"
 #include "zenoh-pico/protocol/definitions/network.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #ifndef ZENOH_PICO_SESSION_REPLY_H
 #define ZENOH_PICO_SESSION_REPLY_H
 
@@ -28,4 +32,8 @@ z_result_t _z_trigger_reply_err(_z_session_t *zn, _z_zint_t id, _z_msg_err_t *er
 
 z_result_t _z_trigger_reply_final(_z_session_t *zn, _z_n_msg_response_final_t *final);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SESSION_REPLY_H */
diff --git a/include/zenoh-pico/session/resource.h b/include/zenoh-pico/session/resource.h
index 3702a86cd..bedffac06 100644
--- a/include/zenoh-pico/session/resource.h
+++ b/include/zenoh-pico/session/resource.h
@@ -19,6 +19,10 @@
 
 #include "zenoh-pico/net/session.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Entity ------------------*/
 uint32_t _z_get_entity_id(_z_session_t *zn);
 
@@ -36,4 +40,8 @@ _z_keyexpr_t __unsafe_z_get_expanded_key_from_key(_z_session_t *zn, const _z_key
 _z_resource_t *__unsafe_z_get_resource_by_id(_z_session_t *zn, uint16_t mapping, _z_zint_t id);
 _z_resource_t *__unsafe_z_get_resource_matching_key(_z_session_t *zn, const _z_keyexpr_t *keyexpr);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_SESSION_RESOURCE_H */
diff --git a/include/zenoh-pico/session/session.h b/include/zenoh-pico/session/session.h
index 3d591d906..1b7ea5dd9 100644
--- a/include/zenoh-pico/session/session.h
+++ b/include/zenoh-pico/session/session.h
@@ -26,6 +26,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/transport/manager.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * The callback signature of the cleanup functions.
  */
@@ -203,4 +207,8 @@ void _z_declare_data_clear(_z_declare_data_t *data);
 _Z_ELEM_DEFINE(_z_declare_data, _z_declare_data_t, _z_noop_size, _z_declare_data_clear, _z_noop_copy)
 _Z_LIST_DEFINE(_z_declare_data, _z_declare_data_t)
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_SESSION_SESSION_H */
diff --git a/include/zenoh-pico/session/subscription.h b/include/zenoh-pico/session/subscription.h
index dd48ecb83..236789f53 100644
--- a/include/zenoh-pico/session/subscription.h
+++ b/include/zenoh-pico/session/subscription.h
@@ -18,6 +18,10 @@
 #include "zenoh-pico/net/encoding.h"
 #include "zenoh-pico/net/session.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Subscription ------------------*/
 void _z_trigger_local_subscriptions(_z_session_t *zn, const _z_keyexpr_t keyexpr, const _z_bytes_t payload,
                                     _z_encoding_t *encoding, const _z_n_qos_t qos, const _z_timestamp_t *timestamp,
@@ -35,4 +39,8 @@ void _z_unregister_subscription(_z_session_t *zn, uint8_t is_local, _z_subscript
 void _z_flush_subscriptions(_z_session_t *zn);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_SESSION_SUBSCRIPTION_H */
diff --git a/include/zenoh-pico/session/utils.h b/include/zenoh-pico/session/utils.h
index 75eaac2e8..97d4d11b3 100644
--- a/include/zenoh-pico/session/utils.h
+++ b/include/zenoh-pico/session/utils.h
@@ -22,6 +22,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/protocol/core.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Session ------------------*/
 _z_hello_list_t *_z_scout_inner(const z_what_t what, _z_id_t id, _z_string_t *locator, const uint32_t timeout,
                                 const bool exit_on_first);
@@ -37,4 +41,8 @@ z_result_t _z_send_n_msg(_z_session_t *zn, _z_network_message_t *n_msg, z_reliab
 void _zp_session_lock_mutex(_z_session_t *zn);
 void _zp_session_unlock_mutex(_z_session_t *zn);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_SESSION_UTILS_H */
diff --git a/include/zenoh-pico/system/link/raweth.h b/include/zenoh-pico/system/link/raweth.h
index d48bf1fa4..f7b106571 100644
--- a/include/zenoh-pico/system/link/raweth.h
+++ b/include/zenoh-pico/system/link/raweth.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_RAWETH_TRANSPORT == 1
 
 // Ethernet types (big endian)
@@ -92,4 +96,8 @@ uint16_t _z_raweth_htons(uint16_t val);
 
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_LINK_RAWETH_H */
diff --git a/include/zenoh-pico/system/link/serial.h b/include/zenoh-pico/system/link/serial.h
index 21d832c65..21679d996 100644
--- a/include/zenoh-pico/system/link/serial.h
+++ b/include/zenoh-pico/system/link/serial.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/config.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_SERIAL == 1
 
 #define _Z_SERIAL_MTU_SIZE 1500
@@ -43,4 +47,8 @@ size_t _z_send_serial(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t
 
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_LINK_BT_H */
diff --git a/include/zenoh-pico/system/link/tcp.h b/include/zenoh-pico/system/link/tcp.h
index 22bdc3efc..c6dcd7032 100644
--- a/include/zenoh-pico/system/link/tcp.h
+++ b/include/zenoh-pico/system/link/tcp.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_TCP == 1
 
 typedef struct {
@@ -38,4 +42,8 @@ size_t _z_read_tcp(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len);
 size_t _z_send_tcp(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t len);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_LINK_TCP_H */
diff --git a/include/zenoh-pico/system/link/udp.h b/include/zenoh-pico/system/link/udp.h
index 47899c04a..a0eb9cb01 100644
--- a/include/zenoh-pico/system/link/udp.h
+++ b/include/zenoh-pico/system/link/udp.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_UDP_UNICAST == 1 || Z_FEATURE_LINK_UDP_MULTICAST == 1
 
 typedef struct {
@@ -56,4 +60,8 @@ size_t _z_send_udp_multicast(const _z_sys_net_socket_t sock, const uint8_t *ptr,
                              const _z_sys_net_endpoint_t rep);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_LINK_UDP_H */
diff --git a/include/zenoh-pico/system/link/ws.h b/include/zenoh-pico/system/link/ws.h
index aa57fcbf8..c3fcadc14 100644
--- a/include/zenoh-pico/system/link/ws.h
+++ b/include/zenoh-pico/system/link/ws.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/system/platform.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_LINK_WS == 1
 
 typedef struct {
@@ -38,4 +42,8 @@ size_t _z_read_ws(const _z_sys_net_socket_t sock, uint8_t *ptr, size_t len);
 size_t _z_send_ws(const _z_sys_net_socket_t sock, const uint8_t *ptr, size_t len);
 #endif
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_LINK_WS_H */
diff --git a/include/zenoh-pico/system/platform/arduino/esp32.h b/include/zenoh-pico/system/platform/arduino/esp32.h
index af09722a2..9e8df7a07 100644
--- a/include/zenoh-pico/system/platform/arduino/esp32.h
+++ b/include/zenoh-pico/system/platform/arduino/esp32.h
@@ -21,6 +21,10 @@
 #include <pthread.h>
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 typedef void *_z_task_t;
 typedef void *z_task_attr_t;  // Not used in ESP32
@@ -56,4 +60,8 @@ typedef struct {
     };
 } _z_sys_net_endpoint_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_ESP32_TYPES_H */
diff --git a/include/zenoh-pico/system/platform/arduino/opencr.h b/include/zenoh-pico/system/platform/arduino/opencr.h
index c9c374d2d..e1fa1da4a 100644
--- a/include/zenoh-pico/system/platform/arduino/opencr.h
+++ b/include/zenoh-pico/system/platform/arduino/opencr.h
@@ -20,6 +20,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 typedef void *_z_task_t;
 typedef void *z_task_attr_t;
@@ -60,4 +64,8 @@ typedef struct {
     bool _err;
 } _z_sys_net_endpoint_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_ARDUINO_OPENCR_TYPES_H */
diff --git a/include/zenoh-pico/system/platform/emscripten.h b/include/zenoh-pico/system/platform/emscripten.h
index edb9c6b44..068cca9f2 100644
--- a/include/zenoh-pico/system/platform/emscripten.h
+++ b/include/zenoh-pico/system/platform/emscripten.h
@@ -19,6 +19,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 #include <pthread.h>
 
@@ -50,4 +54,8 @@ typedef struct {
     };
 } _z_sys_net_endpoint_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_WASM_TYPES_H */
diff --git a/include/zenoh-pico/system/platform/espidf.h b/include/zenoh-pico/system/platform/espidf.h
index 1f35832a6..aadeb782f 100644
--- a/include/zenoh-pico/system/platform/espidf.h
+++ b/include/zenoh-pico/system/platform/espidf.h
@@ -22,6 +22,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 #include <pthread.h>
 
@@ -69,4 +73,8 @@ typedef struct {
     };
 } _z_sys_net_endpoint_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_ESPIDF_TYPES_H */
diff --git a/include/zenoh-pico/system/platform/flipper.h b/include/zenoh-pico/system/platform/flipper.h
index 4a51074f6..8eb94b4c7 100644
--- a/include/zenoh-pico/system/platform/flipper.h
+++ b/include/zenoh-pico/system/platform/flipper.h
@@ -21,6 +21,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define FLIPPER_DEFAULT_THREAD_STACK_SIZE 2048
 #define FLIPPER_SERIAL_STREAM_BUFFER_SIZE 512
 #define FLIPPER_SERIAL_STREAM_TRIGGERED_LEVEL 10
@@ -43,4 +47,8 @@ typedef struct {
 #endif
 } _z_sys_net_socket_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_FLIPPER_TYPES_H */
diff --git a/include/zenoh-pico/system/platform/freertos_plus_tcp.h b/include/zenoh-pico/system/platform/freertos_plus_tcp.h
index 7332889c5..31a2dfc83 100644
--- a/include/zenoh-pico/system/platform/freertos_plus_tcp.h
+++ b/include/zenoh-pico/system/platform/freertos_plus_tcp.h
@@ -18,6 +18,10 @@
 #include "FreeRTOS_IP.h"
 #include "semphr.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 typedef struct {
     const char *name;
@@ -58,4 +62,8 @@ typedef struct {
     };
 } _z_sys_net_endpoint_t;
 
-#endif
\ No newline at end of file
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/include/zenoh-pico/system/platform/mbed.h b/include/zenoh-pico/system/platform/mbed.h
index 08bb09c83..87fdb4626 100644
--- a/include/zenoh-pico/system/platform/mbed.h
+++ b/include/zenoh-pico/system/platform/mbed.h
@@ -20,6 +20,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef int _z_socket_t;
 
 #if Z_FEATURE_MULTI_THREAD == 1
@@ -61,4 +65,8 @@ typedef struct {
     };
 } _z_sys_net_endpoint_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_MBED_TYPES_H */
diff --git a/include/zenoh-pico/system/platform/unix.h b/include/zenoh-pico/system/platform/unix.h
index cea7b5868..b83dbb424 100644
--- a/include/zenoh-pico/system/platform/unix.h
+++ b/include/zenoh-pico/system/platform/unix.h
@@ -19,12 +19,17 @@
 #include <stddef.h>
 #include <stdint.h>
 #include <sys/time.h>
+#if Z_FEATURE_MULTI_THREAD == 1
+#include <pthread.h>
+#endif  // Z_FEATURE_MULTI_THREAD == 1
 
 #include "zenoh-pico/config.h"
 
-#if Z_FEATURE_MULTI_THREAD == 1
-#include <pthread.h>
+#ifdef __cplusplus
+extern "C" {
+#endif
 
+#if Z_FEATURE_MULTI_THREAD == 1
 typedef pthread_t _z_task_t;
 typedef pthread_attr_t z_task_attr_t;
 typedef pthread_mutex_t _z_mutex_t;
@@ -51,4 +56,8 @@ typedef struct {
     };
 } _z_sys_net_endpoint_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_UNIX_TYPES_H */
diff --git a/include/zenoh-pico/system/platform/void.h b/include/zenoh-pico/system/platform/void.h
index cda1b50ab..f46217281 100644
--- a/include/zenoh-pico/system/platform/void.h
+++ b/include/zenoh-pico/system/platform/void.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 typedef void *_z_task_t;
 typedef void *z_task_attr_t;
@@ -27,4 +31,8 @@ typedef void *_z_condvar_t;
 typedef void *z_clock_t;
 typedef void *z_time_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_VOID_H */
diff --git a/include/zenoh-pico/system/platform/windows.h b/include/zenoh-pico/system/platform/windows.h
index cb41f243d..7ccd38509 100644
--- a/include/zenoh-pico/system/platform/windows.h
+++ b/include/zenoh-pico/system/platform/windows.h
@@ -20,6 +20,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 typedef HANDLE *_z_task_t;
 typedef void *z_task_attr_t;  // Not used in Windows
@@ -48,4 +52,8 @@ typedef struct {
 
 inline void __asm__(char *instruction) { (void)(instruction); }
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_VOID_H */
diff --git a/include/zenoh-pico/system/platform/zephyr.h b/include/zenoh-pico/system/platform/zephyr.h
index 966edaa52..1f25e839c 100644
--- a/include/zenoh-pico/system/platform/zephyr.h
+++ b/include/zenoh-pico/system/platform/zephyr.h
@@ -30,6 +30,10 @@
 
 #include "zenoh-pico/config.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #if Z_FEATURE_MULTI_THREAD == 1
 typedef pthread_t _z_task_t;
 typedef pthread_attr_t z_task_attr_t;
@@ -59,4 +63,8 @@ typedef struct {
     };
 } _z_sys_net_endpoint_t;
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_SYSTEM_ZEPHYR_TYPES_H */
diff --git a/include/zenoh-pico/transport/common/lease.h b/include/zenoh-pico/transport/common/lease.h
index 900a2f887..858282636 100644
--- a/include/zenoh-pico/transport/common/lease.h
+++ b/include/zenoh-pico/transport/common/lease.h
@@ -17,7 +17,15 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_send_join(_z_transport_t *zt);
 z_result_t _z_send_keep_alive(_z_transport_t *zt);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_LEASE_H */
diff --git a/include/zenoh-pico/transport/common/read.h b/include/zenoh-pico/transport/common/read.h
index f298d1878..fe6b79b6a 100644
--- a/include/zenoh-pico/transport/common/read.h
+++ b/include/zenoh-pico/transport/common/read.h
@@ -17,7 +17,15 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_read(_z_transport_t *zt);
 void *_zp_read_task(void *zt_arg);  // The argument is void* to avoid incompatible pointer types in tasks
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_READ_H */
diff --git a/include/zenoh-pico/transport/common/rx.h b/include/zenoh-pico/transport/common/rx.h
index 147273816..e4f548c6e 100644
--- a/include/zenoh-pico/transport/common/rx.h
+++ b/include/zenoh-pico/transport/common/rx.h
@@ -18,8 +18,16 @@
 #include "zenoh-pico/link/link.h"
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ Transmission and Reception helpers ------------------*/
 size_t _z_read_stream_size(_z_zbuf_t *zbuf);
 z_result_t _z_link_recv_t_msg(_z_transport_message_t *t_msg, const _z_link_t *zl);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_RX_H */
diff --git a/include/zenoh-pico/transport/common/tx.h b/include/zenoh-pico/transport/common/tx.h
index 1eb4abac1..05d22a89e 100644
--- a/include/zenoh-pico/transport/common/tx.h
+++ b/include/zenoh-pico/transport/common/tx.h
@@ -19,6 +19,10 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 void __unsafe_z_prepare_wbuf(_z_wbuf_t *buf, uint8_t link_flow_capability);
 void __unsafe_z_finalize_wbuf(_z_wbuf_t *buf, uint8_t link_flow_capability);
 /*This function is unsafe because it operates in potentially concurrent
@@ -29,4 +33,8 @@ z_result_t __unsafe_z_serialize_zenoh_fragment(_z_wbuf_t *dst, _z_wbuf_t *src, z
 z_result_t _z_send_t_msg(_z_transport_t *zt, const _z_transport_message_t *t_msg);
 z_result_t _z_link_send_t_msg(const _z_link_t *zl, const _z_transport_message_t *t_msg);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_TX_H */
diff --git a/include/zenoh-pico/transport/manager.h b/include/zenoh-pico/transport/manager.h
index 8ac95dd7c..321bed3ac 100644
--- a/include/zenoh-pico/transport/manager.h
+++ b/include/zenoh-pico/transport/manager.h
@@ -19,7 +19,15 @@
 #include "zenoh-pico/link/manager.h"
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_new_transport(_z_transport_t *zt, _z_id_t *bs, _z_string_t *locator, z_whatami_t mode);
 void _z_free_transport(_z_transport_t **zt);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_TRANSPORT_MANAGER_H */
diff --git a/include/zenoh-pico/transport/multicast.h b/include/zenoh-pico/transport/multicast.h
index 487ef6dae..bdf939514 100644
--- a/include/zenoh-pico/transport/multicast.h
+++ b/include/zenoh-pico/transport/multicast.h
@@ -17,7 +17,15 @@
 
 #include "zenoh-pico/api/types.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 void _zp_multicast_fetch_zid(const _z_transport_t *zt, _z_closure_zid_t *callback);
 void _zp_multicast_info_session(const _z_transport_t *zt, _z_config_t *ps);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_MULTICAST_H */
diff --git a/include/zenoh-pico/transport/multicast/lease.h b/include/zenoh-pico/transport/multicast/lease.h
index 09a0b4135..71472bb55 100644
--- a/include/zenoh-pico/transport/multicast/lease.h
+++ b/include/zenoh-pico/transport/multicast/lease.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _zp_multicast_send_join(_z_transport_multicast_t *ztm);
 z_result_t _zp_multicast_send_keep_alive(_z_transport_multicast_t *ztm);
 z_result_t _zp_multicast_stop_lease_task(_z_transport_multicast_t *ztm);
@@ -28,4 +32,8 @@ z_result_t _zp_multicast_start_lease_task(_z_transport_multicast_t *ztm, z_task_
 z_result_t _zp_multicast_start_lease_task(_z_transport_multicast_t *ztm, void *attr, void *task);
 #endif /* Z_FEATURE_MULTI_THREAD == 1 &&  (Z_FEATURE_MULTICAST_TRANSPORT == 1 || Z_FEATURE_RAWETH_TRANSPORT == 1) */
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_MULTICAST_LEASE_H */
diff --git a/include/zenoh-pico/transport/multicast/read.h b/include/zenoh-pico/transport/multicast/read.h
index acaa82308..63c9a0eda 100644
--- a/include/zenoh-pico/transport/multicast/read.h
+++ b/include/zenoh-pico/transport/multicast/read.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _zp_multicast_read(_z_transport_multicast_t *ztm);
 z_result_t _zp_multicast_stop_read_task(_z_transport_t *zt);
 void *_zp_multicast_read_task(void *ztm_arg);  // The argument is void* to avoid incompatible pointer types in tasks
@@ -27,4 +31,8 @@ z_result_t _zp_multicast_start_read_task(_z_transport_t *zt, z_task_attr_t *attr
 z_result_t _zp_multicast_start_read_task(_z_transport_t *zt, void *attr, void *task);
 #endif /* #if Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_MULTICAST_TRANSPORT == 1 */
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_MULTICAST_READ_H */
diff --git a/include/zenoh-pico/transport/multicast/rx.h b/include/zenoh-pico/transport/multicast/rx.h
index 31a10e64a..c16ca82d4 100644
--- a/include/zenoh-pico/transport/multicast/rx.h
+++ b/include/zenoh-pico/transport/multicast/rx.h
@@ -17,8 +17,16 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_multicast_recv_t_msg(_z_transport_multicast_t *ztm, _z_transport_message_t *t_msg, _z_slice_t *addr);
 z_result_t _z_multicast_handle_transport_message(_z_transport_multicast_t *ztm, _z_transport_message_t *t_msg,
                                                  _z_slice_t *addr);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_LINK_RX_H */
diff --git a/include/zenoh-pico/transport/multicast/transport.h b/include/zenoh-pico/transport/multicast/transport.h
index fa9cd085c..ef8b73994 100644
--- a/include/zenoh-pico/transport/multicast/transport.h
+++ b/include/zenoh-pico/transport/multicast/transport.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/api/types.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_multicast_transport_create(_z_transport_t *zt, _z_link_t *zl,
                                          _z_transport_multicast_establish_param_t *param);
 z_result_t _z_multicast_open_peer(_z_transport_multicast_establish_param_t *param, const _z_link_t *zl,
@@ -26,4 +30,9 @@ z_result_t _z_multicast_open_client(_z_transport_multicast_establish_param_t *pa
 z_result_t _z_multicast_send_close(_z_transport_multicast_t *ztm, uint8_t reason, bool link_only);
 z_result_t _z_multicast_transport_close(_z_transport_multicast_t *ztm, uint8_t reason);
 void _z_multicast_transport_clear(_z_transport_t *zt);
+
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_MULTICAST_TRANSPORT_H */
diff --git a/include/zenoh-pico/transport/multicast/tx.h b/include/zenoh-pico/transport/multicast/tx.h
index c9721523a..903fc80cd 100644
--- a/include/zenoh-pico/transport/multicast/tx.h
+++ b/include/zenoh-pico/transport/multicast/tx.h
@@ -18,8 +18,16 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_multicast_send_n_msg(_z_session_t *zn, const _z_network_message_t *z_msg, z_reliability_t reliability,
                                    z_congestion_control_t cong_ctrl);
 z_result_t _z_multicast_send_t_msg(_z_transport_multicast_t *ztm, const _z_transport_message_t *t_msg);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_MULTICAST_TX_H */
diff --git a/include/zenoh-pico/transport/raweth/read.h b/include/zenoh-pico/transport/raweth/read.h
index 6ead7be9b..f5cc3a6ee 100644
--- a/include/zenoh-pico/transport/raweth/read.h
+++ b/include/zenoh-pico/transport/raweth/read.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _zp_raweth_read(_z_transport_multicast_t *ztm);
 z_result_t _zp_raweth_stop_read_task(_z_transport_t *zt);
 void *_zp_raweth_read_task(void *ztm_arg);  // The argument is void* to avoid incompatible pointer types in tasks
@@ -27,4 +31,8 @@ z_result_t _zp_raweth_start_read_task(_z_transport_t *zt, z_task_attr_t *attr, _
 z_result_t _zp_raweth_start_read_task(_z_transport_t *zt, void *attr, void *task);
 #endif /* Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_RAWETH_TRANSPORT == 1 */
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_RAWETH_READ_H */
diff --git a/include/zenoh-pico/transport/raweth/rx.h b/include/zenoh-pico/transport/raweth/rx.h
index 81874d633..5ebcfb0e1 100644
--- a/include/zenoh-pico/transport/raweth/rx.h
+++ b/include/zenoh-pico/transport/raweth/rx.h
@@ -17,7 +17,15 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_raweth_recv_t_msg(_z_transport_multicast_t *ztm, _z_transport_message_t *t_msg, _z_slice_t *addr);
 z_result_t _z_raweth_recv_t_msg_na(_z_transport_multicast_t *ztm, _z_transport_message_t *t_msg, _z_slice_t *addr);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_RAWETH_RX_H */
diff --git a/include/zenoh-pico/transport/raweth/tx.h b/include/zenoh-pico/transport/raweth/tx.h
index 83abdd9fb..4b191f2de 100644
--- a/include/zenoh-pico/transport/raweth/tx.h
+++ b/include/zenoh-pico/transport/raweth/tx.h
@@ -18,9 +18,17 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_raweth_link_send_t_msg(const _z_link_t *zl, const _z_transport_message_t *t_msg);
 z_result_t _z_raweth_send_n_msg(_z_session_t *zn, const _z_network_message_t *z_msg, z_reliability_t reliability,
                                 z_congestion_control_t cong_ctrl);
 z_result_t _z_raweth_send_t_msg(_z_transport_multicast_t *ztm, const _z_transport_message_t *t_msg);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_RAWETH_TX_H */
diff --git a/include/zenoh-pico/transport/transport.h b/include/zenoh-pico/transport/transport.h
index 4e013594e..1671786df 100644
--- a/include/zenoh-pico/transport/transport.h
+++ b/include/zenoh-pico/transport/transport.h
@@ -25,6 +25,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/protocol/definitions/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef struct {
 #if Z_FEATURE_FRAGMENTATION == 1
     // Defragmentation buffers
@@ -182,4 +186,8 @@ z_result_t _z_transport_close(_z_transport_t *zt, uint8_t reason);
 void _z_transport_clear(_z_transport_t *zt);
 void _z_transport_free(_z_transport_t **zt);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_TRANSPORT_TRANSPORT_H */
diff --git a/include/zenoh-pico/transport/unicast.h b/include/zenoh-pico/transport/unicast.h
index 652384e47..4c0d525bd 100644
--- a/include/zenoh-pico/transport/unicast.h
+++ b/include/zenoh-pico/transport/unicast.h
@@ -17,7 +17,15 @@
 
 #include "zenoh-pico/api/types.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 void _zp_unicast_fetch_zid(const _z_transport_t *zt, _z_closure_zid_t *callback);
 void _zp_unicast_info_session(const _z_transport_t *zt, _z_config_t *ps);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UNICAST_H */
diff --git a/include/zenoh-pico/transport/unicast/lease.h b/include/zenoh-pico/transport/unicast/lease.h
index 469fd1333..0d607afd6 100644
--- a/include/zenoh-pico/transport/unicast/lease.h
+++ b/include/zenoh-pico/transport/unicast/lease.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _zp_unicast_send_keep_alive(_z_transport_unicast_t *ztu);
 z_result_t _zp_unicast_stop_lease_task(_z_transport_t *zt);
 void *_zp_unicast_lease_task(void *ztu_arg);  // The argument is void* to avoid incompatible pointer types in tasks
@@ -27,4 +31,8 @@ z_result_t _zp_unicast_start_lease_task(_z_transport_t *zt, z_task_attr_t *attr,
 z_result_t _zp_unicast_start_lease_task(_z_transport_t *zt, void *attr, void *task);
 #endif /* Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_UNICAST_TRANSPORT == 1 */
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_LINK_TASK_LEASE_H */
diff --git a/include/zenoh-pico/transport/unicast/read.h b/include/zenoh-pico/transport/unicast/read.h
index 63a8976bb..e703a1ee1 100644
--- a/include/zenoh-pico/transport/unicast/read.h
+++ b/include/zenoh-pico/transport/unicast/read.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _zp_unicast_read(_z_transport_unicast_t *ztu);
 z_result_t _zp_unicast_stop_read_task(_z_transport_t *zt);
 void *_zp_unicast_read_task(void *ztu_arg);  // The argument is void* to avoid incompatible pointer types in tasks
@@ -27,4 +31,8 @@ z_result_t _zp_unicast_start_read_task(_z_transport_t *zt, z_task_attr_t *attr,
 z_result_t _zp_unicast_start_read_task(_z_transport_t *zt, void *attr, void *task);
 #endif /* Z_FEATURE_MULTI_THREAD == 1 && Z_FEATURE_UNICAST_TRANSPORT == 1 */
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UNICAST_READ_H */
diff --git a/include/zenoh-pico/transport/unicast/rx.h b/include/zenoh-pico/transport/unicast/rx.h
index f36cb592c..6e948dc73 100644
--- a/include/zenoh-pico/transport/unicast/rx.h
+++ b/include/zenoh-pico/transport/unicast/rx.h
@@ -17,8 +17,16 @@
 
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_unicast_recv_t_msg(_z_transport_unicast_t *ztu, _z_transport_message_t *t_msg);
 z_result_t _z_unicast_recv_t_msg_na(_z_transport_unicast_t *ztu, _z_transport_message_t *t_msg);
 z_result_t _z_unicast_handle_transport_message(_z_transport_unicast_t *ztu, _z_transport_message_t *t_msg);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UNICAST_RX_H */
diff --git a/include/zenoh-pico/transport/unicast/transport.h b/include/zenoh-pico/transport/unicast/transport.h
index 4b60b7c70..dc39cac54 100644
--- a/include/zenoh-pico/transport/unicast/transport.h
+++ b/include/zenoh-pico/transport/unicast/transport.h
@@ -17,6 +17,10 @@
 
 #include "zenoh-pico/api/types.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_unicast_transport_create(_z_transport_t *zt, _z_link_t *zl,
                                        _z_transport_unicast_establish_param_t *param);
 z_result_t _z_unicast_open_client(_z_transport_unicast_establish_param_t *param, const _z_link_t *zl,
@@ -26,4 +30,9 @@ z_result_t _z_unicast_open_peer(_z_transport_unicast_establish_param_t *param, c
 z_result_t _z_unicast_send_close(_z_transport_unicast_t *ztu, uint8_t reason, bool link_only);
 z_result_t _z_unicast_transport_close(_z_transport_unicast_t *ztu, uint8_t reason);
 void _z_unicast_transport_clear(_z_transport_t *zt);
+
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UNICAST_TRANSPORT_H */
diff --git a/include/zenoh-pico/transport/unicast/tx.h b/include/zenoh-pico/transport/unicast/tx.h
index 56a33bfdd..ade38faf0 100644
--- a/include/zenoh-pico/transport/unicast/tx.h
+++ b/include/zenoh-pico/transport/unicast/tx.h
@@ -18,8 +18,16 @@
 #include "zenoh-pico/net/session.h"
 #include "zenoh-pico/transport/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 z_result_t _z_unicast_send_n_msg(_z_session_t *zn, const _z_network_message_t *z_msg, z_reliability_t reliability,
                                  z_congestion_control_t cong_ctrl);
 z_result_t _z_unicast_send_t_msg(_z_transport_unicast_t *ztu, const _z_transport_message_t *t_msg);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_LINK_TX_H */
diff --git a/include/zenoh-pico/transport/utils.h b/include/zenoh-pico/transport/utils.h
index aff81dc03..62fa319b4 100644
--- a/include/zenoh-pico/transport/utils.h
+++ b/include/zenoh-pico/transport/utils.h
@@ -20,6 +20,10 @@
 #include "zenoh-pico/protocol/core.h"
 #include "zenoh-pico/protocol/definitions/transport.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /*------------------ SN helpers ------------------*/
 _z_zint_t _z_sn_max(uint8_t bits);
 _z_zint_t _z_sn_half(_z_zint_t sn);
@@ -31,4 +35,8 @@ _z_zint_t _z_sn_decrement(const _z_zint_t sn_resolution, const _z_zint_t sn);
 void _z_conduit_sn_list_copy(_z_conduit_sn_list_t *dst, const _z_conduit_sn_list_t *src);
 void _z_conduit_sn_list_decrement(const _z_zint_t sn_resolution, _z_conduit_sn_list_t *sns);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_TRANSPORT_UTILS_H */
diff --git a/include/zenoh-pico/utils/checksum.h b/include/zenoh-pico/utils/checksum.h
index b649ad02b..aad153f9c 100644
--- a/include/zenoh-pico/utils/checksum.h
+++ b/include/zenoh-pico/utils/checksum.h
@@ -18,6 +18,14 @@
 #include <stdint.h>
 #include <stdlib.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 uint32_t _z_crc32(const uint8_t *message, size_t len);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UTILS_CHECKSUM_H */
diff --git a/include/zenoh-pico/utils/config.h b/include/zenoh-pico/utils/config.h
index de17a1239..bab52b317 100644
--- a/include/zenoh-pico/utils/config.h
+++ b/include/zenoh-pico/utils/config.h
@@ -21,6 +21,10 @@
 #include "zenoh-pico/collections/string.h"
 #include "zenoh-pico/utils/result.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 // Properties returned by _z_info()
 #define Z_INFO_PID_KEY 0x00
 #define Z_INFO_PEER_PID_KEY 0x01
@@ -109,4 +113,8 @@ char *_z_config_get(const _z_config_t *ps, uint8_t key);
  */
 #define _z_config_free _z_str_intmap_free
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UTILS_PROPERTY_H */
diff --git a/include/zenoh-pico/utils/encoding.h b/include/zenoh-pico/utils/encoding.h
index 266eb4db1..3ff2c6988 100644
--- a/include/zenoh-pico/utils/encoding.h
+++ b/include/zenoh-pico/utils/encoding.h
@@ -18,7 +18,15 @@
 #include <stdint.h>
 #include <stdlib.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 size_t _z_cobs_encode(const uint8_t *input, size_t input_len, uint8_t *output);
 size_t _z_cobs_decode(const uint8_t *input, size_t input_len, uint8_t *output);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UTILS_ENCODING_H */
diff --git a/include/zenoh-pico/utils/logging.h b/include/zenoh-pico/utils/logging.h
index 2c9f3ab0d..b50110bdf 100644
--- a/include/zenoh-pico/utils/logging.h
+++ b/include/zenoh-pico/utils/logging.h
@@ -19,6 +19,10 @@
 
 #include "zenoh-pico/system/platform_common.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 // Logging values
 #define _Z_LOG_LVL_ERROR 1
 #define _Z_LOG_LVL_INFO 2
@@ -72,4 +76,8 @@ static inline void __z_print_timestamp(void) {
     } while (false)
 #endif  // ZENOH_DEBUG == 0 && !defined(Z_BUILD_DEBUG)
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif  // ZENOH_PICO_UTILS_LOGGING_H
diff --git a/include/zenoh-pico/utils/pointers.h b/include/zenoh-pico/utils/pointers.h
index 7ce798c64..a5f5156df 100644
--- a/include/zenoh-pico/utils/pointers.h
+++ b/include/zenoh-pico/utils/pointers.h
@@ -18,6 +18,10 @@
 #include <stddef.h>
 #include <stdint.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Computes the distance between two ``uint8_t`` pointers as an absolute value.
  * Note that ``l_ptr`` must be higher than ``r_ptr``.
@@ -92,4 +96,8 @@ const char *_z_cptr_char_offset(const char *ptr, ptrdiff_t off);
  */
 char *_z_ptr_char_offset(char *ptr, ptrdiff_t off);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UTILS_POINTERS_H */
diff --git a/include/zenoh-pico/utils/result.h b/include/zenoh-pico/utils/result.h
index 4dd16f141..6b1061d21 100644
--- a/include/zenoh-pico/utils/result.h
+++ b/include/zenoh-pico/utils/result.h
@@ -17,6 +17,10 @@
 
 #include <stdint.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #define _ZP_UNUSED(x) (void)(x)
 #define _ZP_ARRAY_SIZE(array) (sizeof(array) / sizeof(array[0]))
 
@@ -106,4 +110,8 @@ typedef enum {
 #define _Z_IS_OK(expr) (expr == _Z_RES_OK)
 #define _Z_IS_ERR(expr) (expr != _Z_RES_OK)
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* ZENOH_PICO_UTILS_RESULT_H */
diff --git a/include/zenoh-pico/utils/string.h b/include/zenoh-pico/utils/string.h
index ca9b5a6b6..e4ffd69d2 100644
--- a/include/zenoh-pico/utils/string.h
+++ b/include/zenoh-pico/utils/string.h
@@ -12,10 +12,17 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
+#ifndef ZENOH_PICO_UTILS_STRING_H
+#define ZENOH_PICO_UTILS_STRING_H
+
 #include <stdbool.h>
 #include <stddef.h>
 #include <stdint.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 typedef struct {
     char const *start;
     char const *end;
@@ -55,3 +62,9 @@ _z_str_se_t _z_splitstr_nextback(_z_splitstr_t *str);
 size_t _z_strcnt(char const *haystack_start, const char *harstack_end, const char *needle_start);
 
 size_t _z_str_startswith(const char *s, const char *needle);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ZENOH_PICO_UTILS_STRING_H */
diff --git a/include/zenoh-pico/utils/uuid.h b/include/zenoh-pico/utils/uuid.h
index 4bd581a91..ea612715d 100644
--- a/include/zenoh-pico/utils/uuid.h
+++ b/include/zenoh-pico/utils/uuid.h
@@ -14,6 +14,13 @@
 
 #include <stdint.h>
 
+#ifndef ZENOH_PICO_UTILS_UUID_H
+#define ZENOH_PICO_UTILS_UUID_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /**
  * Converts an UUID in string format to a byte array.
  *
@@ -22,3 +29,9 @@
  *   uuid_str: A valid UUID string.
  */
 void _z_uuid_to_bytes(uint8_t *bytes, const char *uuid_str);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ZENOH_PICO_UTILS_UUID_H */