made closure param mutable

include/zenoh_commons.h

@@ -461,7 +461,7 @@ typedef struct z_owned_closure_hello_t {
   /**
    * A closure body.
    */
-  void (*call)(const struct z_loaned_hello_t *hello, void *context);
+  void (*call)(struct z_loaned_hello_t *hello, void *context);
   /**
    * An optional drop function that will be called when the closure is dropped.
    */
@@ -491,7 +491,7 @@ typedef struct z_owned_closure_query_t {
   /**
    * A closure body.
    */
-  void (*call)(const struct z_loaned_query_t *reply, void *context);
+  void (*call)(struct z_loaned_query_t *reply, void *context);
   /**
    * An optional drop function that will be called when the closure is dropped.
    */
@@ -521,7 +521,7 @@ typedef struct z_owned_closure_reply_t {
   /**
    * A closure body.
    */
-  void (*call)(const struct z_loaned_reply_t *reply, void *context);
+  void (*call)(struct z_loaned_reply_t *reply, void *context);
   /**
    * An optional drop function that will be called when the closure is dropped.
    */
@@ -551,7 +551,7 @@ typedef struct z_owned_closure_sample_t {
   /**
    * A closure body.
    */
-  void (*call)(const struct z_loaned_sample_t *sample, void *context);
+  void (*call)(struct z_loaned_sample_t *sample, void *context);
   /**
    * An optional drop function that will be called when the closure is dropped.
    */
@@ -583,7 +583,7 @@ typedef struct z_owned_closure_zid_t {
   /**
    * A callback function.
    */
-  void (*call)(const z_id_t *z_id, void *context);
+  void (*call)(z_id_t *z_id, void *context);
   /**
    * An optional function that will be called upon closure drop.
    */
@@ -1184,7 +1184,7 @@ typedef struct zc_owned_closure_matching_status_t {
   /**
    * A closure body.
    */
-  void (*call)(const struct zc_matching_status_t *matching_status, void *context);
+  void (*call)(struct zc_matching_status_t *matching_status, void *context);
   /**
    * An optional drop function that will be called when the closure is dropped.
    */
@@ -1865,7 +1865,7 @@ ZENOHC_API void z_close_options_default(struct z_close_options_t *this_);
  */
 ZENOHC_API
 void z_closure_hello_call(const struct z_loaned_closure_hello_t *closure,
-                          const struct z_loaned_hello_t *hello);
+                          struct z_loaned_hello_t *hello);
 /**
  * Drops the closure. Droping an uninitialized closure is a no-op.
  */
@@ -1880,7 +1880,7 @@ const struct z_loaned_closure_hello_t *z_closure_hello_loan(const struct z_owned
  */
 ZENOHC_API
 void z_closure_query_call(const struct z_loaned_closure_query_t *closure,
-                          const struct z_loaned_query_t *query);
+                          struct z_loaned_query_t *query);
 /**
  * Drops the closure, resetting it to its gravestone state.
  */
@@ -1895,7 +1895,7 @@ const struct z_loaned_closure_query_t *z_closure_query_loan(const struct z_owned
  */
 ZENOHC_API
 void z_closure_reply_call(const struct z_loaned_closure_reply_t *closure,
-                          const struct z_loaned_reply_t *reply);
+                          struct z_loaned_reply_t *reply);
 /**
  * Drops the closure, resetting it to its gravestone state. Droping an uninitialized closure is a no-op.
  */
@@ -1911,7 +1911,7 @@ const struct z_loaned_closure_reply_t *z_closure_reply_loan(const struct z_owned
  */
 ZENOHC_API
 void z_closure_sample_call(const struct z_loaned_closure_sample_t *closure,
-                           const struct z_loaned_sample_t *sample);
+                           struct z_loaned_sample_t *sample);
 /**
  * Drops the closure. Droping an uninitialized closure is a no-op.
  */

include/zenoh_macros.h

@@ -658,22 +658,22 @@ inline bool z_internal_check(const z_owned_task_t& this_) { return z_internal_ta
 inline bool z_internal_check(const zc_owned_closure_log_t& this_) { return zc_internal_closure_log_check(&this_); };
 
 
-inline void z_call(const z_loaned_closure_hello_t* closure, const z_loaned_hello_t* hello) {
+inline void z_call(const z_loaned_closure_hello_t* closure, z_loaned_hello_t* hello) {
     z_closure_hello_call(closure, hello);
 };
-inline void z_call(const z_loaned_closure_query_t* closure, const z_loaned_query_t* query) {
+inline void z_call(const z_loaned_closure_query_t* closure, z_loaned_query_t* query) {
     z_closure_query_call(closure, query);
 };
-inline void z_call(const z_loaned_closure_reply_t* closure, const z_loaned_reply_t* reply) {
+inline void z_call(const z_loaned_closure_reply_t* closure, z_loaned_reply_t* reply) {
     z_closure_reply_call(closure, reply);
 };
-inline void z_call(const z_loaned_closure_sample_t* closure, const z_loaned_sample_t* sample) {
+inline void z_call(const z_loaned_closure_sample_t* closure, z_loaned_sample_t* sample) {
     z_closure_sample_call(closure, sample);
 };
 
 extern "C" using z_closure_drop_callback_t = void(void*);
 
-extern "C" using z_closure_hello_callback_t = void(const z_loaned_hello_t*, void*);
+extern "C" using z_closure_hello_callback_t = void(z_loaned_hello_t*, void*);
 inline void z_closure(
     z_owned_closure_hello_t* closure,
     z_closure_hello_callback_t* call,
@@ -683,7 +683,7 @@ inline void z_closure(
     closure->drop = drop;
     closure->call = call;
 };
-extern "C" using z_closure_query_callback_t = void(const z_loaned_query_t*, void*);
+extern "C" using z_closure_query_callback_t = void(z_loaned_query_t*, void*);
 inline void z_closure(
     z_owned_closure_query_t* closure,
     z_closure_query_callback_t* call,
@@ -693,7 +693,7 @@ inline void z_closure(
     closure->drop = drop;
     closure->call = call;
 };
-extern "C" using z_closure_reply_callback_t = void(const z_loaned_reply_t*, void*);
+extern "C" using z_closure_reply_callback_t = void(z_loaned_reply_t*, void*);
 inline void z_closure(
     z_owned_closure_reply_t* closure,
     z_closure_reply_callback_t* call,
@@ -703,7 +703,7 @@ inline void z_closure(
     closure->drop = drop;
     closure->call = call;
 };
-extern "C" using z_closure_sample_callback_t = void(const z_loaned_sample_t*, void*);
+extern "C" using z_closure_sample_callback_t = void(z_loaned_sample_t*, void*);
 inline void z_closure(
     z_owned_closure_sample_t* closure,
     z_closure_sample_callback_t* call,

src/closures/hello_closure.rs

@@ -34,7 +34,7 @@ pub struct z_owned_closure_hello_t {
     /// An optional pointer to a closure state.
     context: *mut c_void,
     /// A closure body.
-    call: Option<extern "C" fn(hello: *const z_loaned_hello_t, context: *mut c_void)>,
+    call: Option<extern "C" fn(hello: &mut z_loaned_hello_t, context: *mut c_void)>,
     /// An optional drop function that will be called when the closure is dropped.
     drop: Option<extern "C" fn(context: *mut c_void)>,
 }
@@ -92,7 +92,7 @@ pub unsafe extern "C" fn z_internal_closure_hello_null(
 #[no_mangle]
 pub extern "C" fn z_closure_hello_call(
     closure: &z_loaned_closure_hello_t,
-    hello: &z_loaned_hello_t,
+    hello: &mut z_loaned_hello_t,
 ) {
     let closure = closure.as_owned_c_type_ref();
     match closure.call {
@@ -108,15 +108,15 @@ pub extern "C" fn z_closure_hello_drop(this_: &mut z_moved_closure_hello_t) {
     let _ = this_.take_rust_type();
 }
 
-impl<F: Fn(&z_loaned_hello_t)> From<F> for z_owned_closure_hello_t {
+impl<F: Fn(&mut z_loaned_hello_t)> From<F> for z_owned_closure_hello_t {
     fn from(f: F) -> Self {
         let this = Box::into_raw(Box::new(f)) as _;
-        extern "C" fn call<F: Fn(&z_loaned_hello_t)>(
-            response: *const z_loaned_hello_t,
+        extern "C" fn call<F: Fn(&mut z_loaned_hello_t)>(
+            response: &mut z_loaned_hello_t,
             this: *mut c_void,
         ) {
             let this = unsafe { &*(this as *const F) };
-            unsafe { this(response.as_ref().unwrap()) }
+            this(response)
         }
         extern "C" fn drop<F>(this: *mut c_void) {
             std::mem::drop(unsafe { Box::from_raw(this as *mut F) })

src/closures/matching_status_closure.rs

@@ -33,7 +33,7 @@ pub struct zc_owned_closure_matching_status_t {
     /// An optional pointer to a closure state.
     context: *mut c_void,
     /// A closure body.
-    call: Option<extern "C" fn(matching_status: &zc_matching_status_t, context: *mut c_void)>,
+    call: Option<extern "C" fn(matching_status: &mut zc_matching_status_t, context: *mut c_void)>,
     /// An optional drop function that will be called when the closure is dropped.
     drop: Option<extern "C" fn(context: *mut c_void)>,
 }

src/closures/query_channel.rs

@@ -55,7 +55,7 @@ pub extern "C" fn z_internal_fifo_handler_query_check(
     this_.as_rust_type_ref().is_some()
 }
 
-extern "C" fn __z_handler_query_send(query: &z_loaned_query_t, context: *mut c_void) {
+extern "C" fn __z_handler_query_send(query: &mut z_loaned_query_t, context: *mut c_void) {
     unsafe {
         let f = (context as *mut std::sync::Arc<dyn Fn(Query) + Send + Sync>)
             .as_mut()

src/closures/query_closure.rs

@@ -33,7 +33,7 @@ pub struct z_owned_closure_query_t {
     /// An optional pointer to a context representing a closure state.
     pub context: *mut c_void,
     /// A closure body.
-    pub call: Option<extern "C" fn(reply: &z_loaned_query_t, context: *mut c_void)>,
+    pub call: Option<extern "C" fn(reply: &mut z_loaned_query_t, context: *mut c_void)>,
     /// An optional drop function that will be called when the closure is dropped.
     pub drop: Option<extern "C" fn(context: *mut c_void)>,
 }
@@ -99,7 +99,7 @@ pub extern "C" fn z_internal_closure_query_check(this_: &z_owned_closure_query_t
 #[no_mangle]
 pub extern "C" fn z_closure_query_call(
     closure: &z_loaned_closure_query_t,
-    query: &z_loaned_query_t,
+    query: &mut z_loaned_query_t,
 ) {
     let closure = closure.as_owned_c_type_ref();
     match closure.call {
@@ -113,10 +113,10 @@ pub extern "C" fn z_closure_query_drop(closure_: &mut z_moved_closure_query_t) {
     let _ = closure_.take_rust_type();
 }
 
-impl<F: Fn(&z_loaned_query_t)> From<F> for z_owned_closure_query_t {
+impl<F: Fn(&mut z_loaned_query_t)> From<F> for z_owned_closure_query_t {
     fn from(f: F) -> Self {
         let this = Box::into_raw(Box::new(f)) as _;
-        extern "C" fn call<F: Fn(&z_loaned_query_t)>(query: &z_loaned_query_t, this: *mut c_void) {
+        extern "C" fn call<F: Fn(&mut z_loaned_query_t)>(query: &mut z_loaned_query_t, this: *mut c_void) {
             let this = unsafe { &*(this as *const F) };
             this(query)
         }

src/closures/reply_closure.rs

@@ -33,7 +33,7 @@ pub struct z_owned_closure_reply_t {
     /// An optional pointer to a context representing a closure state.
     pub context: *mut c_void,
     /// A closure body.
-    pub(crate) call: Option<extern "C" fn(reply: &z_loaned_reply_t, context: *mut c_void)>,
+    pub(crate) call: Option<extern "C" fn(reply: &mut z_loaned_reply_t, context: *mut c_void)>,
     /// An optional drop function that will be called when the closure is dropped.
     pub drop: Option<extern "C" fn(context: *mut c_void)>,
 }
@@ -100,7 +100,7 @@ pub extern "C" fn z_internal_closure_reply_check(this_: &z_owned_closure_reply_t
 #[no_mangle]
 pub extern "C" fn z_closure_reply_call(
     closure: &z_loaned_closure_reply_t,
-    reply: &z_loaned_reply_t,
+    reply: &mut z_loaned_reply_t,
 ) {
     let closure = closure.as_owned_c_type_ref();
     match closure.call {
@@ -116,11 +116,11 @@ pub extern "C" fn z_closure_reply_drop(closure_: &mut z_moved_closure_reply_t) {
     let _ = closure_.take_rust_type();
 }
 
-impl<F: Fn(&z_loaned_reply_t)> From<F> for z_owned_closure_reply_t {
+impl<F: Fn(&mut z_loaned_reply_t)> From<F> for z_owned_closure_reply_t {
     fn from(f: F) -> Self {
         let this = Box::into_raw(Box::new(f)) as _;
-        extern "C" fn call<F: Fn(&z_loaned_reply_t)>(
-            response: &z_loaned_reply_t,
+        extern "C" fn call<F: Fn(&mut z_loaned_reply_t)>(
+            response: &mut z_loaned_reply_t,
             this: *mut c_void,
         ) {
             let this = unsafe { &*(this as *const F) };

src/closures/response_channel.rs

@@ -55,7 +55,7 @@ pub extern "C" fn z_internal_fifo_handler_reply_check(
     this_.as_rust_type_ref().is_some()
 }
 
-extern "C" fn __z_handler_reply_send(reply: &z_loaned_reply_t, context: *mut c_void) {
+extern "C" fn __z_handler_reply_send(reply: &mut z_loaned_reply_t, context: *mut c_void) {
     unsafe {
         let f = (context as *mut std::sync::Arc<dyn Fn(Reply) + Send + Sync>)
             .as_mut()

src/closures/sample_channel.rs

@@ -55,7 +55,7 @@ pub extern "C" fn z_internal_fifo_handler_sample_check(
     this_.as_rust_type_ref().is_some()
 }
 
-extern "C" fn __z_handler_sample_send(sample: &z_loaned_sample_t, context: *mut c_void) {
+extern "C" fn __z_handler_sample_send(sample: &mut z_loaned_sample_t, context: *mut c_void) {
     unsafe {
         let f = (context as *mut std::sync::Arc<dyn Fn(Sample) + Send + Sync>)
             .as_mut()

src/closures/sample_closure.rs

@@ -33,7 +33,7 @@ pub struct z_owned_closure_sample_t {
     /// An optional pointer to a context representing a closure state.
     pub context: *mut c_void,
     /// A closure body.
-    pub(crate) call: Option<extern "C" fn(sample: &z_loaned_sample_t, context: *mut c_void)>,
+    pub(crate) call: Option<extern "C" fn(sample: &mut z_loaned_sample_t, context: *mut c_void)>,
     /// An optional drop function that will be called when the closure is dropped.
     pub drop: Option<extern "C" fn(context: *mut c_void)>,
 }
@@ -100,7 +100,7 @@ pub extern "C" fn z_internal_closure_sample_check(this_: &z_owned_closure_sample
 #[no_mangle]
 pub extern "C" fn z_closure_sample_call(
     closure: &z_loaned_closure_sample_t,
-    sample: &z_loaned_sample_t,
+    sample: &mut z_loaned_sample_t,
 ) {
     let closure = closure.as_owned_c_type_ref();
     match closure.call {
@@ -115,11 +115,11 @@ pub extern "C" fn z_closure_sample_drop(closure_: &mut z_moved_closure_sample_t)
     let _ = closure_.take_rust_type();
 }
 
-impl<F: Fn(&z_loaned_sample_t)> From<F> for z_owned_closure_sample_t {
+impl<F: Fn(&mut z_loaned_sample_t)> From<F> for z_owned_closure_sample_t {
     fn from(f: F) -> Self {
         let this = Box::into_raw(Box::new(f)) as _;
-        extern "C" fn call<F: Fn(&z_loaned_sample_t)>(
-            sample: &z_loaned_sample_t,
+        extern "C" fn call<F: Fn(&mut z_loaned_sample_t)>(
+            sample: &mut z_loaned_sample_t,
             this: *mut c_void,
         ) {
             let this = unsafe { &*(this as *const F) };

src/closures/zenohid_closure.rs

@@ -34,7 +34,7 @@ pub struct z_owned_closure_zid_t {
     /// An optional pointer to a closure state.
     context: *mut c_void,
     /// A callback function.
-    call: Option<extern "C" fn(z_id: &z_id_t, context: *mut c_void)>,
+    call: Option<extern "C" fn(z_id: &mut z_id_t, context: *mut c_void)>,
     /// An optional function that will be called upon closure drop.
     drop: Option<extern "C" fn(context: *mut c_void)>,
 }

src/get.rs

@@ -266,10 +266,10 @@ pub unsafe extern "C" fn z_get(
         }
     }
     match get
-        .callback(move |response| {
+        .callback(move |mut response| {
             z_closure_reply_call(
                 z_closure_reply_loan(&callback),
-                response.as_loaned_c_type_ref(),
+                response.as_loaned_c_type_mut(),
             )
         })
         .wait()

src/queryable.rs

@@ -234,10 +234,10 @@ pub extern "C" fn z_declare_queryable(
         builder = builder.complete(options.complete);
     }
     let queryable = builder
-        .callback(move |query| {
+        .callback(move |mut query| {
             z_closure_query_call(
                 z_closure_query_loan(&callback),
-                query.as_loaned_c_type_ref(),
+                query.as_loaned_c_type_mut(),
             )
         })
         .wait();

src/scouting.rs

@@ -177,8 +177,8 @@ pub extern "C" fn z_scout(
 
     task::block_on(async move {
         let scout = zenoh::scout(what, config)
-            .callback(move |h| {
-                z_closure_hello_call(z_closure_hello_loan(&callback), h.as_loaned_c_type_ref())
+            .callback(move |mut h| {
+                z_closure_hello_call(z_closure_hello_loan(&callback), h.as_loaned_c_type_mut())
             })
             .await
             .unwrap();

src/subscriber.rs

@@ -83,8 +83,8 @@ pub extern "C" fn z_declare_subscriber(
     let callback = callback.take_rust_type();
     let subscriber = session
         .declare_subscriber(key_expr)
-        .callback(move |sample| {
-            let sample = sample.as_loaned_c_type_ref();
+        .callback(move |mut sample| {
+            let sample = sample.as_loaned_c_type_mut();
             z_closure_sample_call(z_closure_sample_loan(&callback), sample)
         });
     match subscriber.wait() {