Expose timeout option in z_get_options_t

include/zenoh-pico/api/types.h

@@ -360,6 +360,7 @@ typedef struct {
     z_value_t value;
     z_query_consolidation_t consolidation;
     z_query_target_t target;
+    uint32_t timeout_ms;
 #if Z_FEATURE_ATTACHMENT == 1
 // TODO:ATT z_attachment_t attachment;
 #endif

include/zenoh-pico/config.h

@@ -330,4 +330,11 @@
 #define ZP_ASM_NOP __asm__("nop")
 #endif
 
+/**
+ * Default get timeout in milliseconds.
+ */
+#ifndef Z_GET_TIMEOUT_DEFAULT
+#define Z_GET_TIMEOUT_DEFAULT 10000
+#endif
+
 #endif /* INCLUDE_ZENOH_PICO_CONFIG_H */

include/zenoh-pico/net/primitives.h

@@ -233,7 +233,7 @@ int8_t _z_send_reply(const _z_query_t *query, const _z_keyexpr_t keyexpr, const
  */
 int8_t _z_query(_z_session_t *zn, _z_keyexpr_t keyexpr, const char *parameters, const z_query_target_t target,
                 const z_consolidation_mode_t consolidation, const _z_value_t value, _z_reply_handler_t callback,
-                void *arg_call, _z_drop_handler_t dropper, void *arg_drop
+                void *arg_call, _z_drop_handler_t dropper, void *arg_drop, uint32_t timeout_ms
 #if Z_FEATURE_ATTACHMENT == 1
                 ,
                 z_attachment_t attachment

include/zenoh-pico/protocol/definitions/network.h

@@ -243,7 +243,8 @@ _Z_VEC_DEFINE(_z_network_message, _z_network_message_t)
 void _z_msg_fix_mapping(_z_zenoh_message_t *msg, uint16_t mapping);
 _z_network_message_t _z_msg_make_pull(_z_keyexpr_t key, _z_zint_t pull_id);
 _z_network_message_t _z_msg_make_query(_Z_MOVE(_z_keyexpr_t) key, _Z_MOVE(_z_bytes_t) parameters, _z_zint_t qid,
-                                       z_consolidation_mode_t consolidation, _Z_MOVE(_z_value_t) value
+                                       z_consolidation_mode_t consolidation, _Z_MOVE(_z_value_t) value,
+                                       uint32_t timeout_ms
 #if Z_FEATURE_ATTACHMENT == 1
                                        ,
                                        z_attachment_t attachment

src/api/api.c

@@ -788,6 +788,7 @@ z_get_options_t z_get_options_default(void) {
 #if Z_FEATURE_ATTACHMENT == 1
         // TODO:ATT.attachment = z_attachment_null()
 #endif
+        .timeout_ms = Z_GET_TIMEOUT_DEFAULT
     };
 }
 
@@ -836,7 +837,7 @@ int8_t z_get(z_session_t zs, z_keyexpr_t keyexpr, const char *parameters, z_owne
     }
 
     ret = _z_query(&zs._val.in->val, keyexpr, parameters, opt.target, opt.consolidation.mode, opt.value,
-                   __z_reply_handler, wrapped_ctx, callback->drop, ctx
+                   __z_reply_handler, wrapped_ctx, callback->drop, ctx, opt.timeout_ms
 #if Z_FEATURE_ATTACHMENT == 1
                    ,
                    z_attachment_null()
@@ -1286,4 +1287,4 @@ z_owned_bytes_map_t z_bytes_map_new(void) { return (z_owned_bytes_map_t){._inner
 z_owned_bytes_map_t z_bytes_map_null(void) { return (z_owned_bytes_map_t){._inner = NULL}; }
 z_bytes_t z_bytes_from_str(const char *str) { return z_bytes_wrap((const uint8_t *)str, strlen(str)); }
 z_bytes_t z_bytes_null(void) { return (z_bytes_t){.len = 0, ._is_alloc = false, .start = NULL}; }
-#endif
+#endif

src/net/primitives.c

@@ -378,7 +378,7 @@ int8_t _z_send_reply(const _z_query_t *query, _z_keyexpr_t keyexpr, const _z_val
 /*------------------ Query ------------------*/
 int8_t _z_query(_z_session_t *zn, _z_keyexpr_t keyexpr, const char *parameters, const z_query_target_t target,
                 const z_consolidation_mode_t consolidation, _z_value_t value, _z_reply_handler_t callback,
-                void *arg_call, _z_drop_handler_t dropper, void *arg_drop
+                void *arg_call, _z_drop_handler_t dropper, void *arg_drop, uint32_t timeout_ms
 #if Z_FEATURE_ATTACHMENT == 1
                 ,
                 z_attachment_t attachment
@@ -404,12 +404,13 @@ int8_t _z_query(_z_session_t *zn, _z_keyexpr_t keyexpr, const char *parameters,
         ret = _z_register_pending_query(zn, pq);  // Add the pending query to the current session
         if (ret == _Z_RES_OK) {
             _z_bytes_t params = _z_bytes_wrap((uint8_t *)pq->_parameters, strlen(pq->_parameters));
-            _z_zenoh_message_t z_msg = _z_msg_make_query(&keyexpr, &params, pq->_id, pq->_consolidation, &value
+            _z_zenoh_message_t z_msg =
+                _z_msg_make_query(&keyexpr, &params, pq->_id, pq->_consolidation, &value, timeout_ms
 #if Z_FEATURE_ATTACHMENT == 1
-                                                         ,
-                                                         attachment
+                                  ,
+                                  attachment
 #endif
-            );
+                );
 
             if (_z_send_n_msg(zn, &z_msg, Z_RELIABILITY_RELIABLE, Z_CONGESTION_CONTROL_BLOCK) != _Z_RES_OK) {
                 _z_unregister_pending_query(zn, pq);

src/protocol/definitions/network.c

@@ -168,7 +168,8 @@ _z_network_message_t _z_msg_make_pull(_z_keyexpr_t key, _z_zint_t pull_id) {
     return ret;
 }
 _z_zenoh_message_t _z_msg_make_query(_Z_MOVE(_z_keyexpr_t) key, _Z_MOVE(_z_bytes_t) parameters, _z_zint_t qid,
-                                     z_consolidation_mode_t consolidation, _Z_MOVE(_z_value_t) value
+                                     z_consolidation_mode_t consolidation, _Z_MOVE(_z_value_t) value,
+                                     uint32_t timeout_ms
 #if Z_FEATURE_ATTACHMENT == 1
                                      ,
                                      z_attachment_t attachment
@@ -192,7 +193,7 @@ _z_zenoh_message_t _z_msg_make_query(_Z_MOVE(_z_keyexpr_t) key, _Z_MOVE(_z_bytes
                 ._ext_budget = 0,
                 ._ext_qos = _Z_N_QOS_DEFAULT,
                 ._ext_target = Z_QUERY_TARGET_BEST_MATCHING,
-                ._ext_timeout_ms = 0,
+                ._ext_timeout_ms = timeout_ms,
                 ._ext_timestamp = _z_timestamp_null(),
             },
     };