support for zenoh-pico build granularity

examples/CMakeLists.txt

@@ -61,6 +61,26 @@ function(add_examples glob mode lib)
 				continue()
 			endif()
 		endif()
+		if("${mode}" STREQUAL "zenohpico")
+			if (((${file} MATCHES "^.*pub.*$") OR (${file} MATCHES "^.*delete.*$") OR (${file} MATCHES "^.*put.*$")
+				OR (${file} MATCHES "^.*ping.*$") OR (${file} MATCHES "^.*pong.*$")) 
+				AND NOT(ZENOHPICO_FEATURE_PUBLICATION)
+			)
+				continue()
+			endif()
+			if (((${file} MATCHES "^.*sub.*$") OR (${file} MATCHES "^.*ping.*$") OR (${file} MATCHES "^.*pong.*$")) 
+				AND NOT(ZENOHPICO_FEATURE_SUBSCRIPTION)
+			)
+				continue()
+			endif()
+			if ((${file} MATCHES "^.*get.*$") AND NOT(ZENOHPICO_FEATURE_QUERY))
+				continue()
+			endif()
+			if ((${file} MATCHES "^.*queryable.*$") AND NOT(ZENOHPICO_FEATURE_QUERYABLE))
+				continue()
+			endif()
+		endif()
+
 		add_example(${file} ${mode} ${lib})
 	endforeach()
 endfunction()

examples/simple/universal/z_simple.cxx

@@ -23,5 +23,9 @@ int main(int, char **) {
 #endif
     Config config = Config::create_default();
     auto session = Session::open(std::move(config));
+#if (ZENOHCXX_ZENOHC) ||     \
+    Z_FEATURE_PUBLICATION == \
+        1  // check if zenoh-pico is compiled with publication support (always included for zenoh-c)
     session.put("demo/example/simple", "Simple!");
+#endif
 }

examples/simple/zenohpico/zp_simple.cxx

@@ -19,5 +19,7 @@ using namespace zenoh;
 int main(int, char **) {
     Config config = Config::create_default();
     auto session = Session::open(std::move(config));
+#if Z_FEATURE_PUBLICATION == 1  // check if zenoh-pico is compliled with publication support
     session.put("demo/example/simple", "Simple!");
+#endif
 }

include/zenoh/api.hxx

@@ -14,16 +14,15 @@
 #pragma once
 
 #include "api/bytes.hxx"
+#include "api/channels.hxx"
 #include "api/closures.hxx"
 #include "api/config.hxx"
 #include "api/encoding.hxx"
 #include "api/enums.hxx"
 #include "api/hello.hxx"
-#if defined Z_FEATURE_UNSTABLE_API
 #include "api/id.hxx"
-#endif
-#include "api/channels.hxx"
 #include "api/keyexpr.hxx"
+#include "api/liveliness.hxx"
 #include "api/logging.hxx"
 #include "api/publisher.hxx"
 #include "api/query.hxx"

include/zenoh/api/channels.hxx

@@ -48,6 +48,7 @@ struct FifoHandlerData<zenoh::Sample> {
     }
 };
 
+#if defined(ZENOHCXX_ZENOHC) || Z_FEATURE_QUERYABLE == 1
 template <>
 struct FifoHandlerData<zenoh::Query> {
     typedef ::z_owned_fifo_handler_query_t handler_type;
@@ -56,7 +57,9 @@ struct FifoHandlerData<zenoh::Query> {
         ::z_fifo_channel_query_new(cb, h, capacity);
     }
 };
+#endif
 
+#if defined(ZENOHCXX_ZENOHC) || Z_FEATURE_QUERY == 1
 template <>
 struct FifoHandlerData<zenoh::Reply> {
     typedef ::z_owned_fifo_handler_reply_t handler_type;
@@ -65,6 +68,7 @@ struct FifoHandlerData<zenoh::Reply> {
         ::z_fifo_channel_reply_new(cb, h, capacity);
     }
 };
+#endif
 
 template <class T>
 struct RingHandlerData {};
@@ -78,6 +82,7 @@ struct RingHandlerData<zenoh::Sample> {
     }
 };
 
+#if defined(ZENOHCXX_ZENOHC) || Z_FEATURE_QUERYABLE == 1
 template <>
 struct RingHandlerData<zenoh::Query> {
     typedef ::z_owned_ring_handler_query_t handler_type;
@@ -86,7 +91,9 @@ struct RingHandlerData<zenoh::Query> {
         ::z_ring_channel_query_new(cb, h, capacity);
     }
 };
+#endif
 
+#if defined(ZENOHCXX_ZENOHC) || Z_FEATURE_QUERY == 1
 template <>
 struct RingHandlerData<zenoh::Reply> {
     typedef ::z_owned_ring_handler_reply_t handler_type;
@@ -95,6 +102,7 @@ struct RingHandlerData<zenoh::Reply> {
         ::z_ring_channel_reply_new(cb, h, capacity);
     }
 };
+#endif
 }  // namespace detail
 
 class FifoChannel;

include/zenoh/api/liveliness.hxx

@@ -13,6 +13,7 @@
 
 #pragma once
 
+#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
 #include "base.hxx"
 #include "interop.hxx"
 
@@ -43,4 +44,5 @@ class LivelinessToken : public Owned<::zc_owned_liveliness_token_t> {
     }
 };
 
-}  // namespace zenoh
+}  // namespace zenoh
+#endif

include/zenoh/api/publisher.hxx

@@ -13,6 +13,8 @@
 
 #pragma once
 
+#if defined(ZENOHCXX_ZENOHC) || Z_FEATURE_PUBLICATION == 1
+
 #include "base.hxx"
 #include "bytes.hxx"
 #include "encoding.hxx"
@@ -47,6 +49,7 @@ class Publisher : public Owned<::z_owned_publisher_t> {
         /// @warning This API has been marked as unstable: it works as advertised, but it may be changed in a future
         /// release.
         /// @brief The source info of this message.
+        /// @note Zenoh-c only.
         std::optional<SourceInfo> source_info = {};
 #endif
         /// @brief The attachment to attach to the publication.
@@ -125,3 +128,4 @@ class Publisher : public Owned<::z_owned_publisher_t> {
 #endif
 };
 }  // namespace zenoh
+#endif

include/zenoh/api/query.hxx

@@ -13,6 +13,7 @@
 
 #pragma once
 
+#if defined(ZENOHCXX_ZENOHC) || Z_FEATURE_QUERYABLE == 1
 #include <functional>
 #include <optional>
 #include <string_view>
@@ -97,6 +98,7 @@ class Query : public Owned<::z_owned_query_t> {
         /// @warning This API has been marked as unstable: it works as advertised, but it may be changed in a future
         /// release.
         /// @brief The source info of this reply message.
+        /// @note Zenoh-c only.
         std::optional<SourceInfo> source_info = {};
 #endif
         /// @brief An optional attachment to this reply message.
@@ -221,4 +223,5 @@ class Query : public Owned<::z_owned_query_t> {
     };
 };
 
-}  // namespace zenoh
+}  // namespace zenoh
+#endif

include/zenoh/api/query_consolidation.hxx

@@ -13,6 +13,8 @@
 
 #pragma once
 
+#if defined(ZENOHCXX_ZENOHC) || Z_FEATURE_QUERY == 1
+
 #include "base.hxx"
 #include "enums.hxx"
 #include "interop.hxx"
@@ -48,4 +50,5 @@ class QueryConsolidation : public Copyable<::z_query_consolidation_t> {
     /// @return ``true`` if the two values are not equal (have different consolidation mode)
     bool operator!=(const QueryConsolidation& other) const { return !operator==(other); }
 };
-}  // namespace zenoh
+}  // namespace zenoh
+#endif

include/zenoh/api/queryable.hxx

@@ -13,6 +13,8 @@
 
 #pragma once
 
+#if defined(ZENOHCXX_ZENOHC) || Z_FEATURE_QUERYABLE == 1
+
 #include <utility>
 
 #include "base.hxx"
@@ -143,4 +145,5 @@ auto move_to_c_obj(Queryable<Handler>&& q) {
 }
 }  // namespace interop
 
-}  // namespace zenoh
+}  // namespace zenoh
+#endif

include/zenoh/api/reply.hxx

@@ -13,6 +13,8 @@
 
 #pragma once
 
+#if defined(ZENOHCXX_ZENOHC) || Z_FEATURE_QUERY == 1
+
 #include "base.hxx"
 #include "bytes.hxx"
 #include "id.hxx"
@@ -84,4 +86,5 @@ class Reply : public Owned<::z_owned_reply_t> {
 #endif
 };
 
-}  // namespace zenoh
+}  // namespace zenoh
+#endif

include/zenoh/api/sample.hxx

@@ -94,6 +94,7 @@ class Sample : public Owned<::z_owned_sample_t> {
     /// @warning This API has been marked as unstable: it works as advertised, but it may be changed in a future
     /// release.
     /// @brief Get the source info of this sample.
+    /// @note Zenoh-c only.
     const SourceInfo& get_source_info() const {
         return interop::as_owned_cpp_ref<SourceInfo>(::z_sample_source_info(interop::as_loaned_c_ptr(*this)));
     }