eclipse-zenoh · DenisBiryukov91 · May 15, 2024 · May 23, 2024 · May 24, 2024 · May 28, 2024
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -59,7 +59,7 @@ jobs:
         shell: bash
         run: |
           cd build
-          ctest
+          ctest --output-on-failure
 
       - name: Upload artifact
         uses: actions/upload-artifact@v3

diff --git a/docs/Doxyfile b/docs/Doxyfile
@@ -943,7 +943,7 @@ WARN_LOGFILE           =
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  = ../include/zenohcxx/base.hxx ../include/zenohcxx/api.hxx
+INPUT                  = ../include/zenoh/api
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
@@ -2353,7 +2353,7 @@ INCLUDE_FILE_PATTERNS  =
 # recursively expanded use the := operator instead of the = operator.
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
-PREDEFINED             = __ZENOHCXX_ZENOHPICO __ZENOHCXX_ZENOHC __DOXYGEN__ z=zenoh
+PREDEFINED             = ZENOHCXX_ZENOHPICO ZENOHCXX_ZENOHC __DOXYGEN__
 
 # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
 # tag can be used to specify a list of macro names that should be expanded. The

diff --git a/docs/api.rst b/docs/api.rst
@@ -19,17 +19,13 @@ API Reference
 .. toctree::
    :maxdepth: 10
 
-   namespaces
-   templates 
-   closure_templates
-   enums
-   generic
+   commons
+   error_handling
    keyexpr
    config
    session
-   entities
-   data
-   closures
-   shm
-   options
+   scouting
+   publish_subscribe
+   query_reply
+   serialization_deserialization
    channels
diff --git a/docs/channels.rst b/docs/channels.rst
@@ -15,8 +15,18 @@
 Channels
 ========
 
-The functions allowing to receive data in synchronous mode, without a callback
+Classes providing stream interface for Zenoh messages.
 
-.. doxygenfunction:: reply_fifo_new
+.. doxygenclass:: zenoh::channels::FifoChannel
+    :members:
 
-.. doxygenfunction:: reply_non_blocking_fifo_new
+.. doxygenclass:: zenoh::channels::FifoHandler
+   :members:
+   :membergroups: Constructors Operators Methods
+
+.. doxygenclass:: zenoh::channels::RingChannel
+    :members:
+
+.. doxygenclass:: zenoh::channels::RingHandler
+   :members:
+   :membergroups: Constructors Operators Methods
diff --git a/docs/closure_templates.rst b/docs/closure_templates.rst
diff --git a/docs/commons.rst b/docs/commons.rst
@@ -0,0 +1,82 @@
+..
+.. Copyright (c) 2024 ZettaScale Technology
+..
+.. This program and the accompanying materials are made available under the
+.. terms of the Eclipse Public License 2.0 which is available at
+.. http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+.. which is available at https://www.apache.org/licenses/LICENSE-2.0.
+..
+.. SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+..
+.. Contributors:
+..   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+..
+
+Commonly used types
+===================
+
+Enums
+-----
+
+Enum types are C++ - style typedefs for corrresponding enums of `zenoh-c`_ / `zenoh-pico`_ C API.
+
+.. doxygentypedef:: zenoh::SampleKind
+.. doxygentypedef:: zenoh::ConsolidationMode
+
+.. doxygentypedef:: zenoh::Reliability
+
+.. doxygentypedef:: zenoh::CongestionControl
+
+.. doxygentypedef:: zenoh::Priority
+
+.. doxygentypedef:: zenoh::QueryTarget
+
+.. doxygentypedef:: zenoh::WhatAmI
+
+.. doxygentypedef:: zenoh::Locality
+
+.. doxygenfunction:: whatami_as_str
+
+.. _zenoh-c: https://zenoh-c.readthedocs.io
+.. _zenoh-pico: https://zenoh-pico.readthedocs.io
+
+Source Info
+-----------
+
+.. doxygenclass:: zenoh::Id
+   :members:
+   :membergroups: Constructors Operators Methods
+
+.. doxygenfunction:: zenoh::operator<<(std::ostream &os, const Id &id)
+
+.. doxygenclass:: zenoh::EntityGlobalId
+   :members:
+   :membergroups: Constructors Operators Methods
+
+.. doxygenclass:: zenoh::SourceInfo
+   :members:
+   :membergroups: Constructors Operators Methods
+
+Timestamp
+---------
+.. doxygenclass:: zenoh::Timestamp
+   :members:
+   :membergroups: Constructors Operators Methods
+
+
+Encoding
+--------
+.. doxygenclass:: zenoh::Encoding
+   :members:
+   :membergroups: Constructors Operators Methods
+
+Sample
+------
+.. doxygenclass:: zenoh::Sample
+   :members:
+   :membergroups: Constructors Operators Methods
+
+Logging
+-------
+
+.. doxygenfunction:: init_logger
diff --git a/docs/conf.py b/docs/conf.py
@@ -18,7 +18,6 @@
 read_the_docs_build = os.environ.get('READTHEDOCS', None) == 'True'
 if read_the_docs_build:
      subprocess.call('doxygen', shell=True)
-     breathe_projects = {"zenohcpp": "xml"}
 
 # -- Project information -----------------------------------------------------
 project = 'zenoh-cpp'
@@ -36,4 +35,5 @@
 extensions = [ "breathe" ]
 
 breathe_default_project = "zenohcpp"
+breathe_projects = {"zenohcpp": "xml"}
 breathe_order_parameters_first = True
diff --git a/docs/config.rst b/docs/config.rst
@@ -15,26 +15,6 @@
 Configuration
 =============
 
-The classes which defines network configuration parameters
-
-Builder functions
------------------
-
-.. doxygenfunction:: zenoh::config_peer
-
-.. doxygenfunction:: zenoh::config_from_file
-
-.. doxygenfunction:: zenoh::config_client(const zenoh::StrArrayView& peers)
-
-.. doxygenfunction:: zenoh::config_client(const std::initializer_list<const char*>& peers)
-
-Configuration classes
----------------------
-
 .. doxygenclass:: zenoh::Config
-   :members:
-   :membergroups: Constructors Operators Methods
-
-.. doxygenclass:: zenoh::ScoutingConfig
    :members:
    :membergroups: Constructors Operators Methods
diff --git a/docs/enums.rst b/docs/enums.rst
diff --git a/docs/error_handling.rst b/docs/error_handling.rst
@@ -0,0 +1,29 @@
+..
+.. Copyright (c) 2024 ZettaScale Technology
+..
+.. This program and the accompanying materials are made available under the
+.. terms of the Eclipse Public License 2.0 which is available at
+.. http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+.. which is available at https://www.apache.org/licenses/LICENSE-2.0.
+..
+.. SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+..
+.. Contributors:
+..   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+..
+
+Error Handling
+==============
+
+All failable Zenoh methods accept pointer to zenoh::ZError as an optional argument.
+If it is not provided (or set to ``nullptr``) a ``zenoh::ZException`` will be thrown in case of failure.
+Otherwise a error code will be written to provided pointer and no exception will be thrown from Zenoh side.
+If corresponding method is expected to return or consume (via ``std::move``) any objects, they will be reset to
+gravestone state (i.e. None of the functions or methods will work with the object in this state, except 
+explicit conversion to ``bool``, which will return false).
+
+.. doxygenclass:: zenoh::ZException
+   :members:
+   :membergroups: Constructors Operators Methods
+
+.. doxygentypedef:: zenoh::ZError