Update batching to stable.

include/zenoh-pico/api/primitives.h

@@ -2077,12 +2077,11 @@ z_result_t z_declare_background_subscriber(const z_loaned_session_t *zs, const z
 const z_loaned_keyexpr_t *z_subscriber_keyexpr(const z_loaned_subscriber_t *subscriber);
 #endif
 
-#ifdef Z_FEATURE_UNSTABLE_API
 #if Z_FEATURE_BATCHING == 1
 /**
  * Activate the batching mechanism, any message that would have been sent on the network by a subsequent api call (e.g
- * z_put, z_get) will be instead stored until the batch is full, flushed with :c:func:`zp_batch_flush` or batching is
- * stopped with :c:func:`zp_batch_stop`.
+ * z_put, z_get) will be instead stored until either: the batch is full, flushed with :c:func:`zp_batch_flush`, batching
+ * is stopped with :c:func:`zp_batch_stop`, a message needs to be sent immediately.
  *
  * Parameters:
  *   zs: Pointer to a :c:type:`z_loaned_session_t` that will start batching messages.
@@ -2114,7 +2113,6 @@ z_result_t zp_batch_flush(const z_loaned_session_t *zs);
  */
 z_result_t zp_batch_stop(const z_loaned_session_t *zs);
 #endif
-#endif
 
 /************* Multi Thread Tasks helpers **************/
 /**

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

@@ -80,6 +80,8 @@ extern "C" {
 
 typedef _z_qos_t _z_n_qos_t;
 
+#define _Z_N_QOS_IS_EXPRESS_FLAG (1 << 4)
+
 static inline _z_qos_t _z_n_qos_create(bool express, z_congestion_control_t congestion_control, z_priority_t priority) {
     _z_n_qos_t ret;
     bool nodrop = congestion_control == Z_CONGESTION_CONTROL_DROP ? 0 : 1;

src/api/api.c

@@ -1490,7 +1490,6 @@ const z_loaned_keyexpr_t *z_subscriber_keyexpr(const z_loaned_subscriber_t *sub)
 }
 #endif
 
-#ifdef Z_FEATURE_UNSTABLE_API
 #if Z_FEATURE_BATCHING == 1
 z_result_t zp_batch_start(const z_loaned_session_t *zs) {
     if (_Z_RC_IS_NULL(zs)) {
@@ -1519,7 +1518,6 @@ z_result_t zp_batch_stop(const z_loaned_session_t *zs) {
     return _z_send_n_batch(session, Z_CONGESTION_CONTROL_DEFAULT);
 }
 #endif
-#endif
 
 /**************** Tasks ****************/
 void zp_task_read_options_default(zp_task_read_options_t *options) {

src/transport/common/tx.c

@@ -26,6 +26,20 @@
 
 /*------------------ Transmission helper ------------------*/
 
+static bool _z_transport_tx_get_express_status(const _z_network_message_t *msg) {
+    switch (msg->_tag) {
+        case _Z_N_DECLARE:
+            return _Z_HAS_FLAG(msg->_body._declare._ext_qos._val, _Z_N_QOS_IS_EXPRESS_FLAG);
+        case _Z_N_PUSH:
+            return _Z_HAS_FLAG(msg->_body._push._qos._val, _Z_N_QOS_IS_EXPRESS_FLAG);
+        case _Z_N_REQUEST:
+            return _Z_HAS_FLAG(msg->_body._request._ext_qos._val, _Z_N_QOS_IS_EXPRESS_FLAG);
+        case _Z_N_RESPONSE:
+            return _Z_HAS_FLAG(msg->_body._response._ext_qos._val, _Z_N_QOS_IS_EXPRESS_FLAG);
+        default:
+            return false;
+    }
+}
 static _z_zint_t _z_transport_tx_get_sn(_z_transport_common_t *ztc, z_reliability_t reliability) {
     _z_zint_t sn;
     if (reliability == Z_RELIABILITY_RELIABLE) {
@@ -139,13 +153,19 @@ static z_result_t _z_transport_tx_batch_overflow(_z_transport_common_t *ztc, con
     _z_transport_message_t t_msg = _z_t_msg_make_frame_header(sn, reliability);
     _Z_RETURN_IF_ERR(_z_transport_message_encode(&ztc->_wbuf, &t_msg));
     // Retry encode
+    bool is_express = _z_transport_tx_get_express_status(n_msg);
     z_result_t ret = _z_network_message_encode(&ztc->_wbuf, n_msg);
     if (ret != _Z_RES_OK) {
         // Message still doesn't fit in buffer, send as fragments
         return _z_transport_tx_send_fragment(ztc, n_msg, reliability, sn);
     } else {
-        // Increment batch
-        ztc->_batch_count++;
+        if (is_express) {
+            // Send immediately
+            return _z_transport_tx_flush_buffer(ztc);
+        } else {
+            // Increment batch
+            ztc->_batch_count++;
+        }
     }
     return _Z_RES_OK;
 #else
@@ -180,10 +200,16 @@ static z_result_t _z_transport_tx_send_n_msg_inner(_z_transport_common_t *ztc, c
     }
     // Try encoding the network message
     size_t prev_wpos = _z_transport_tx_save_wpos(&ztc->_wbuf);
+    bool is_express = _z_transport_tx_get_express_status(n_msg);
     z_result_t ret = _z_network_message_encode(&ztc->_wbuf, n_msg);
     if (ret == _Z_RES_OK) {
-        // Flush buffer or increase batch
-        return _z_transport_tx_flush_or_incr_batch(ztc);
+        if (is_express) {
+            // Send immediately
+            return _z_transport_tx_flush_buffer(ztc);
+        } else {
+            // Flush buffer or increase batch
+            return _z_transport_tx_flush_or_incr_batch(ztc);
+        }
     } else if (!batch_has_data) {
         // Message doesn't fit in buffer, send as fragments
         return _z_transport_tx_send_fragment(ztc, n_msg, reliability, sn);
@@ -193,22 +219,26 @@ static z_result_t _z_transport_tx_send_n_msg_inner(_z_transport_common_t *ztc, c
     }
 }
 
+static z_result_t _z_transport_tx_send_t_msg_inner(_z_transport_common_t *ztc, const _z_transport_message_t *t_msg) {
+    // Send batch if needed
+    bool batch_has_data = _z_transport_tx_batch_has_data(ztc);
+    if (batch_has_data) {
+        _Z_RETURN_IF_ERR(_z_transport_tx_flush_buffer(ztc));
+    }
+    // Encode transport message
+    __unsafe_z_prepare_wbuf(&ztc->_wbuf, ztc->_link._cap._flow);
+    _Z_RETURN_IF_ERR(_z_transport_message_encode(&ztc->_wbuf, t_msg));
+    // Send message
+    return _z_transport_tx_flush_buffer(ztc);
+}
+
 z_result_t _z_transport_tx_send_t_msg(_z_transport_common_t *ztc, const _z_transport_message_t *t_msg) {
     z_result_t ret = _Z_RES_OK;
     _Z_DEBUG("Send session message");
     _z_transport_tx_mutex_lock(ztc, true);
 
-    // Encode transport message
-    __unsafe_z_prepare_wbuf(&ztc->_wbuf, ztc->_link._cap._flow);
-    ret = _z_transport_message_encode(&ztc->_wbuf, t_msg);
-    if (ret == _Z_RES_OK) {
-        // Send message
-        __unsafe_z_finalize_wbuf(&ztc->_wbuf, ztc->_link._cap._flow);
-        ret = _z_link_send_wbuf(&ztc->_link, &ztc->_wbuf);
-        if (ret == _Z_RES_OK) {
-            ztc->_transmitted = true;  // Tell session we transmitted data
-        }
-    }
+    ret = _z_transport_tx_send_t_msg_inner(ztc, t_msg);
+
     _z_transport_tx_mutex_unlock(ztc);
     return ret;
 }