asterism-zenoh 0.3.0 → 0.4.1

data/ext/asterism_zenoh/zenoh.c

@@ -30,11 +30,16 @@
  * it, the ones without it by the session's op_lock, and closing marks the
  * session closed for Ruby (with the GVL held) before zenoh-c drops it.
  *
- * Losing the connection (same rules as the mruby gem): a client session is
- * closed when it has no router left, a peer session that only connects when
- * it has no peer left; a listening peer session stays open. The check runs
- * in poll, closed?, put and get. From then on poll returns false, closed?
- * is true and put raises Asterism::Zenoh::Error. There is no reconnection.
+ * Losing the connection (same rules as the mruby gem):
+ * - A client session is not closed when its router goes away: zenoh-c opens
+ *   the connection again by itself and declares again what the session had
+ *   declared (subscribers, queryables, liveliness tokens and watches), so
+ *   the Ruby objects stay valid. Meanwhile reconnecting? is true (no
+ *   router), put reaches nobody and a get ends at its time limit.
+ * - A peer session that only connects is closed when it has no peer left; a
+ *   listening peer session stays open.
+ * The check runs in poll, closed?, put and get. Once closed, poll returns
+ * false, closed? is true and put raises Asterism::Zenoh::ClosedError.
  *
  * Lifetime: closing is optional. A session keeps lists of its live
  * subscribers, queryables and tokens and undeclares them before it closes,
@@ -43,11 +48,13 @@
  * undeclared or the get is finished); whichever lets go last frees it.
  */
 #include <pthread.h>
+#include <stdarg.h>
 #include <stdatomic.h>
 #include <stdbool.h>
 #include <stdint.h>
 #include <stdlib.h>
 #include <string.h>
+#include <unistd.h>
 
 #include <ruby.h>
 #include <ruby/encoding.h>
@@ -56,7 +63,13 @@
 #include <zenoh.h>
 
 #define ZRB_DEFAULT_DEPTH 16
-#define ZRB_MAX_DEPTH 1024
+/* A get, a liveliness get and a liveliness watch hold every reply or token
+ * a router sends in one burst (a wildcard over a busy network). On a PC the
+ * queue costs nothing until it fills: zenoh-c's FIFO and the gem's lists
+ * grow as entries come. */
+#define ZRB_DEFAULT_GET_DEPTH 1024
+#define ZRB_DEFAULT_WATCH_DEPTH 1024
+#define ZRB_MAX_DEPTH 65536
 #define ZRB_DEFAULT_POLL_STEPS 8
 #define ZRB_DEFAULT_GET_TIMEOUT_MS 2000
 #define ZRB_MAX_GET_TIMEOUT_MS 600000
@@ -64,13 +77,13 @@
 #define ZRB_CONNECT_TIMEOUT_MS 3000
 #define ZRB_SEND_TIMEOUT_MS 3000
 
-static VALUE mAsterism, mZenoh, eZenohError;
+static VALUE mAsterism, mZenoh, eAsterismError, eZenohError, eClosedError;
 static VALUE cSession, cSubscriber, cWatch, cQueryable, cQuery, cGet, cToken;
 static VALUE cAdvSubscriber, cPublisher, cAdvPublisher, cQuerier, cKeyExpr, cTimestamp;
 static VALUE cMatchingListener, cEventListener;
 static ID id_attachment, id_target, id_consolidation, id_complete, id_mode, id_listen;
 static ID id_config, id_config_file, id_scouting, id_history, id_new;
-static ID id_iv_session, id_iv_key, id_iv_parent;
+static ID id_iv_session, id_iv_key, id_iv_parent, id_iv_code, id_iv_qkey;
 static ID id_client, id_peer, id_router, id_all, id_all_complete, id_best_matching;
 static ID id_none, id_latest, id_monotonic, id_auto;
 
@@ -347,14 +360,16 @@ static void zrb_owned_key(z_owned_keyexpr_t *ke, const char *key) {
     }
 }
 
-static long zrb_check_depth(VALUE v) {
-    long depth = NIL_P(v) ? ZRB_DEFAULT_DEPTH : NUM2LONG(v);
+static long zrb_check_depth_or(VALUE v, long def) {
+    long depth = NIL_P(v) ? def : NUM2LONG(v);
     if (depth < 1 || depth > ZRB_MAX_DEPTH) {
         rb_raise(rb_eArgError, "depth must be 1..%d", ZRB_MAX_DEPTH);
     }
     return depth;
 }
 
+static long zrb_check_depth(VALUE v) { return zrb_check_depth_or(v, ZRB_DEFAULT_DEPTH); }
+
 static long zrb_check_timeout(VALUE v) {
     long t = NIL_P(v) ? ZRB_DEFAULT_GET_TIMEOUT_MS : NUM2LONG(v);
     if (t < 1 || t > ZRB_MAX_GET_TIMEOUT_MS) {
@@ -407,6 +422,22 @@ static void zrb_hold_session(VALUE obj, VALUE session, VALUE key) {
     }
 }
 
+/* Raises klass with the zenoh-c result code as the exception's code
+ * (Asterism::Zenoh::Error#code) as well as in the message. */
+#ifdef RBIMPL_ATTR_FORMAT
+RBIMPL_ATTR_FORMAT(RBIMPL_PRINTF_FORMAT, 3, 4)
+#endif
+NORETURN(static void zrb_raise_code(VALUE klass, int code, const char *fmt, ...));
+static void zrb_raise_code(VALUE klass, int code, const char *fmt, ...) {
+    va_list ap;
+    va_start(ap, fmt);
+    VALUE msg = rb_vsprintf(fmt, ap);
+    va_end(ap);
+    VALUE exc = rb_exc_new_str(klass, msg);
+    rb_ivar_set(exc, id_iv_code, INT2NUM(code));
+    rb_exc_raise(exc);
+}
+
 /* ------------------------------------------------------- object structs */
 
 typedef struct zrb_session zrb_session;
@@ -441,6 +472,7 @@ struct zrb_session {
     zrb_qable *qables;
     zrb_token *tokens;
     zrb_ent *ents;  /* the rest (0.3.0) */
+    pid_t pid;      /* the process that opened it (zenoh-c's threads do not survive fork) */
 };
 
 typedef enum { ZSUB_PLAIN, ZSUB_LIVELINESS, ZSUB_ADVANCED } zsub_type;
@@ -913,6 +945,7 @@ typedef struct {
     int accept_replies;
     VALUE target, consolidation, timeout;
     bool has_target, has_consolidation, has_timeout;
+    VALUE depth; /* gets: nil (the default) or the queue depth */
 } zrb_opts;
 
 static int zrb_priority_arg(VALUE v) {
@@ -1018,6 +1051,7 @@ static void zrb_opts_parse(VALUE hash, const char *const *names, int n, zrb_opts
     o->priority = o->congestion_control = o->express = o->reliability = o->destination = o->accept_replies = -1;
     o->target = o->consolidation = o->timeout = Qnil;
     o->has_target = o->has_consolidation = o->has_timeout = false;
+    o->depth = Qnil;
     if (NIL_P(hash)) {
         return;
     }
@@ -1079,6 +1113,8 @@ static void zrb_opts_parse(VALUE hash, const char *const *names, int n, zrb_opts
         } else if (strcmp(k, "timeout_ms") == 0) {
             o->timeout = v;
             o->has_timeout = true;
+        } else if (strcmp(k, "depth") == 0) {
+            o->depth = v;
         }
     }
 }
@@ -1670,6 +1706,9 @@ static VALUE zrb_query_yield_ensure(VALUE obj) {
 static VALUE zrb_qable_each_pending(VALUE self) {
     zrb_qable *q = zrb_qable_get(self);
     bool collect = !rb_block_given_p();
+    /* The queryable's own key goes with each query (Query#reply with one
+     * argument looks at it). */
+    VALUE qkey = rb_attr_get(self, id_iv_key);
     VALUE out = collect ? rb_ary_new() : Qnil;
     long taken = 0;
     unsigned todo = atomic_load(&q->ch->queued);
@@ -1680,6 +1719,9 @@ static VALUE zrb_qable_each_pending(VALUE self) {
             break;
         }
         VALUE obj = zrb_query_wrap(&oq);
+        if (!NIL_P(qkey)) {
+            rb_ivar_set(obj, id_iv_qkey, qkey);
+        }
         taken++;
         if (collect) {
             rb_ary_push(out, obj);
@@ -1806,7 +1848,7 @@ static VALUE zrb_query_reply(int argc, VALUE *argv, VALUE self) {
     zrb_bytes_from_str(&bytes, payload, "payload");
     z_result_t ret = z_query_reply(z_loan(zq->query), kp, z_move(bytes), &ro);
     if (ret != Z_OK) {
-        rb_raise(eZenohError, "reply failed (%d)%" PRIsVALUE, (int)ret, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)ret, "reply failed (%d)%" PRIsVALUE, (int)ret, zrb_last_error());
     }
     return Qnil;
 }
@@ -1833,7 +1875,7 @@ static VALUE zrb_query_reply_err(int argc, VALUE *argv, VALUE self) {
     zrb_bytes_from_str(&bytes, payload, "payload");
     z_result_t ret = z_query_reply_err(z_loan(zq->query), z_move(bytes), &eo);
     if (ret != Z_OK) {
-        rb_raise(eZenohError, "reply_err failed (%d)%" PRIsVALUE, (int)ret, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)ret, "reply_err failed (%d)%" PRIsVALUE, (int)ret, zrb_last_error());
     }
     return Qnil;
 }
@@ -1876,7 +1918,7 @@ static VALUE zrb_query_reply_del(int argc, VALUE *argv, VALUE self) {
     }
     z_result_t ret = z_query_reply_del(z_loan(zq->query), kp, &d);
     if (ret != Z_OK) {
-        rb_raise(eZenohError, "reply_del failed (%d)%" PRIsVALUE, (int)ret, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)ret, "reply_del failed (%d)%" PRIsVALUE, (int)ret, zrb_last_error());
     }
     return Qnil;
 }
@@ -1915,10 +1957,12 @@ static zrb_get *zrb_get_get(VALUE self) {
     return g;
 }
 
-static VALUE zrb_get_new(zrb_get **out) {
+/* depth: how many replies wait to be taken; past it the oldest go (and
+ * are counted in dropped). */
+static VALUE zrb_get_new(long depth, zrb_get **out) {
     zrb_get *g;
     VALUE obj = TypedData_Make_Struct(cGet, zrb_get, &zrb_get_type, g);
-    g->ch = zch_new(ZCH_REPLY, ZRB_DEFAULT_DEPTH);
+    g->ch = zch_new(ZCH_REPLY, (uint32_t)depth);
     *out = g;
     return obj;
 }
@@ -2084,6 +2128,12 @@ static void *zrb_session_close_nogvl(void *p) {
 }
 
 static void zrb_session_shutdown(zrb_session *z, bool with_gvl_release) {
+    if (z->open && z->pid != getpid()) {
+        /* Opened before a fork: zenoh-c's threads are in the parent. Leave
+         * the session to it; only this process's view is closed. */
+        z->open = false;
+        return;
+    }
     zrb_session_detach_all(z);
     if (!z->open) {
         return;
@@ -2142,6 +2192,9 @@ static bool zrb_session_check_link(zrb_session *z) {
     if (!z->open) {
         return true;
     }
+    if (z->pid != getpid()) {
+        return true;
+    }
     if (z_session_is_closed(z_loan(z->session))) {
         zrb_session_shutdown(z, true);
         return true;
@@ -2149,6 +2202,12 @@ static bool zrb_session_check_link(zrb_session *z) {
     if (z->peer && z->listening) {
         return false;
     }
+    if (!z->peer) {
+        /* A client: zenoh-c opens a lost router connection again by itself
+         * (and declares again what the session had declared), so no router
+         * now means "reconnecting", not closed. */
+        return false;
+    }
     if (zrb_session_links(z) == 0) {
         zrb_session_shutdown(z, true);
         return true;
@@ -2156,10 +2215,23 @@ static bool zrb_session_check_link(zrb_session *z) {
     return false;
 }
 
+/* True while a client session has no router (zenoh-c is opening the
+ * connection again). */
+static bool zrb_session_reconnecting(zrb_session *z) {
+    if (zrb_session_check_link(z) || z->peer) {
+        return false;
+    }
+    return zrb_session_links(z) == 0;
+}
+
 static zrb_session *zrb_session_get_open(VALUE self) {
     zrb_session *z = zrb_session_get(self);
+    if (z->open && z->pid != getpid()) {
+        rb_raise(eClosedError, "the session was opened in process %ld; open a new session after fork",
+                 (long)z->pid);
+    }
     if (zrb_session_check_link(z)) {
-        rb_raise(eZenohError, "session is closed");
+        rb_raise(eClosedError, "session is closed");
     }
     return z;
 }
@@ -2441,13 +2513,14 @@ static VALUE zrb_session_s_open(int argc, VALUE *argv, VALUE klass) {
 
     rb_thread_call_without_gvl(zrb_open_nogvl, &a, RUBY_UBF_IO, NULL);
     if (a.ret != Z_OK) {
-        rb_raise(eZenohError, "cannot open a session to %s (%d)%" PRIsVALUE,
+        zrb_raise_code(eZenohError, (int)a.ret, "cannot open a session to %s (%d)%" PRIsVALUE,
                  locator != NULL ? locator : (listen != NULL ? listen : "the configured endpoints"), (int)a.ret,
                  zrb_last_error());
     }
     z->open = true;
     z->live = true;
     z->peer = peer;
+    z->pid = getpid();
     /* A peer that listens (or finds the others by scouting) stays open
      * without peers; one that only connects closes when it has none. */
     z->listening = peer && (is_router || listens || scouts);
@@ -2483,7 +2556,7 @@ static VALUE zrb_sub_new(VALUE self, zrb_session *z, VALUE key_v, long depth, bo
         ret = z_declare_subscriber(z_loan(z->session), &s->u.sub, z_loan(ke), z_move(cb), &so);
     }
     if (ret != Z_OK) {
-        rb_raise(eZenohError, "cannot subscribe to %s (%d)%" PRIsVALUE, key, (int)ret, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)ret, "cannot subscribe to %s (%d)%" PRIsVALUE, key, (int)ret, zrb_last_error());
     }
     s->declared = true;
     s->owner = z;
@@ -2503,11 +2576,12 @@ static VALUE zrb_session_subscribe(int argc, VALUE *argv, VALUE self) {
     return zrb_sub_new(self, z, key_v, depth, false);
 }
 
-/* session.liveliness_watch(key, depth = 16) -> LivelinessWatch */
+/* session.liveliness_watch(key, depth = 1024) -> LivelinessWatch. The
+ * tokens alive when it is declared come in one burst. */
 static VALUE zrb_session_liveliness_watch(int argc, VALUE *argv, VALUE self) {
     VALUE key_v, depth_v = Qnil;
     rb_scan_args(argc, argv, "11", &key_v, &depth_v);
-    long depth = zrb_check_depth(depth_v);
+    long depth = zrb_check_depth_or(depth_v, ZRB_DEFAULT_WATCH_DEPTH);
     StringValueCStr(key_v);
     zrb_session *z = zrb_session_get_open(self);
     return zrb_sub_new(self, z, key_v, depth, true);
@@ -2541,7 +2615,7 @@ static VALUE zrb_session_queryable(int argc, VALUE *argv, VALUE self) {
     qo.allowed_origin = Z_LOCALITY_REMOTE;
     z_result_t ret = z_declare_queryable(z_loan(z->session), &q->qable, z_loan(ke), z_move(cb), &qo);
     if (ret != Z_OK) {
-        rb_raise(eZenohError, "cannot declare a queryable on %s (%d)%" PRIsVALUE, key, (int)ret, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)ret, "cannot declare a queryable on %s (%d)%" PRIsVALUE, key, (int)ret, zrb_last_error());
     }
     q->declared = true;
     q->owner = z;
@@ -2626,29 +2700,31 @@ static VALUE zrb_run_get(VALUE self, zrb_session *z, zrb_get_args *a, VALUE obj,
     z_drop(z_move(a->key));
     free(a->params);
     if (zrb_session_check_link(z)) {
-        rb_raise(eZenohError, "%s failed: the connection is lost (%d)", what, (int)a->ret);
+        zrb_raise_code(eClosedError, (int)a->ret, "%s failed: the connection is lost (%d)", what, (int)a->ret);
     }
     if (a->ret != Z_OK) {
-        rb_raise(eZenohError, "%s failed (%d)", what, (int)a->ret);
+        zrb_raise_code(eZenohError, (int)a->ret, "%s failed (%d)", what, (int)a->ret);
     }
     zrb_hold_session(obj, self, key_v);
     return obj;
 }
 
-static const char *const zrb_get_kw[] = {"attachment", "target", "consolidation", "encoding",
-                                         "priority", "congestion_control", "express", "accept_replies"};
+static const char *const zrb_get_kw[] = {"attachment", "target", "consolidation", "encoding", "priority",
+                                         "congestion_control", "express", "accept_replies", "depth"};
 
 /* session.get(key, timeout_ms = 2000, params = nil, payload = nil,
  *             attachment: nil, target: :all, consolidation: :none,
  *             encoding: nil, priority: nil, congestion_control: nil,
- *             express: nil, accept_replies: nil) -> Get.
+ *             express: nil, accept_replies: nil, depth: 1024) -> Get.
  * Returns at once; the replies come in on zenoh's threads. key: a String
- * or a KeyExpr. accept_replies: :matching_query (zenoh's default) or :any. */
+ * or a KeyExpr. accept_replies: :matching_query (zenoh's default) or :any.
+ * depth: the replies kept until taken (the oldest go past it; dropped). */
 static VALUE zrb_session_get_m(int argc, VALUE *argv, VALUE self) {
     VALUE key_v, timeout_v = Qnil, params_v = Qnil, payload = Qnil, opts = Qnil;
     rb_scan_args(argc, argv, "13:", &key_v, &timeout_v, &params_v, &payload, &opts);
     zrb_opts o;
-    zrb_opts_parse(opts, zrb_get_kw, 8, &o);
+    zrb_opts_parse(opts, zrb_get_kw, 9, &o);
+    long depth = zrb_check_depth_or(o.depth, ZRB_DEFAULT_GET_DEPTH);
     VALUE key_str = zrb_key_string(key_v);
     long timeout_ms = zrb_check_timeout(timeout_v);
     const char *params = NIL_P(params_v) ? NULL : StringValueCStr(params_v);
@@ -2664,7 +2740,7 @@ static VALUE zrb_session_get_m(int argc, VALUE *argv, VALUE self) {
     a.z = z;
     zrb_key_owned(key_v, &a.key);
     zrb_get *g;
-    VALUE obj = zrb_get_new(&g);
+    VALUE obj = zrb_get_new(depth, &g);
     z_get_options_default(&a.opts);
     a.opts.timeout_ms = (uint64_t)timeout_ms;
     a.opts.target = target;
@@ -2714,7 +2790,7 @@ static VALUE zrb_session_liveliness(VALUE self, VALUE key_v) {
     VALUE obj = TypedData_Make_Struct(cToken, zrb_token, &zrb_token_type, t);
     z_result_t ret = z_liveliness_declare_token(z_loan(z->session), &t->token, z_loan(ke), NULL);
     if (ret != Z_OK) {
-        rb_raise(eZenohError, "cannot declare a liveliness token on %s (%d)%" PRIsVALUE, key, (int)ret, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)ret, "cannot declare a liveliness token on %s (%d)%" PRIsVALUE, key, (int)ret, zrb_last_error());
     }
     t->declared = true;
     t->owner = z;
@@ -2724,10 +2800,15 @@ static VALUE zrb_session_liveliness(VALUE self, VALUE key_v) {
     return obj;
 }
 
-/* session.liveliness_get(key, timeout_ms = 2000) -> Get */
+static const char *const zrb_lget_kw[] = {"depth"};
+
+/* session.liveliness_get(key, timeout_ms = 2000, depth: 1024) -> Get */
 static VALUE zrb_session_liveliness_get(int argc, VALUE *argv, VALUE self) {
-    VALUE key_v, timeout_v = Qnil;
-    rb_scan_args(argc, argv, "11", &key_v, &timeout_v);
+    VALUE key_v, timeout_v = Qnil, opts = Qnil;
+    rb_scan_args(argc, argv, "11:", &key_v, &timeout_v, &opts);
+    zrb_opts o;
+    zrb_opts_parse(opts, zrb_lget_kw, 1, &o);
+    long depth = zrb_check_depth_or(o.depth, ZRB_DEFAULT_GET_DEPTH);
     const char *key = StringValueCStr(key_v);
     long timeout_ms = zrb_check_timeout(timeout_v);
     zrb_session *z = zrb_session_get_open(self);
@@ -2738,7 +2819,7 @@ static VALUE zrb_session_liveliness_get(int argc, VALUE *argv, VALUE self) {
     a.liveliness = true;
     zrb_owned_key(&a.key, key);
     zrb_get *g;
-    VALUE obj = zrb_get_new(&g);
+    VALUE obj = zrb_get_new(depth, &g);
     z_liveliness_get_options_default(&a.lopts);
     a.lopts.timeout_ms = (uint64_t)timeout_ms;
     zch_closure_reply(g->ch, &a.cb);
@@ -2762,6 +2843,12 @@ static VALUE zrb_session_closed_p(VALUE self) {
     return zrb_session_check_link(zrb_session_get(self)) ? Qtrue : Qfalse;
 }
 
+/* session.reconnecting? -> true while a client session has no router and
+ * zenoh-c opens the connection again (see the top of this file). */
+static VALUE zrb_session_reconnecting_p(VALUE self) {
+    return zrb_session_reconnecting(zrb_session_get(self)) ? Qtrue : Qfalse;
+}
+
 static VALUE zrb_session_close(VALUE self) {
     zrb_session_shutdown(zrb_session_get(self), true);
     return Qnil;
@@ -2778,8 +2865,9 @@ static VALUE zrb_session_zid(VALUE self) {
     return out;
 }
 
-/* session.peers -> Integer: connected peers (peer mode), or routers (1
- * normally) for a client session; 0 once closed. */
+/* session.connection_count -> Integer: connected peers (peer mode), or
+ * routers (1 normally) for a client session; 0 once closed. (peers, its
+ * old name, is defined in Ruby with a deprecation warning.) */
 static VALUE zrb_session_peers(VALUE self) {
     zrb_session *z = zrb_session_get(self);
     if (zrb_session_check_link(z)) {
@@ -2901,13 +2989,13 @@ static void zrb_send_run(zrb_send *s, const char *what) {
     z_drop(z_move(s->att));
     z_drop(z_move(s->enc));
     if (zrb_session_check_link(s->z)) {
-        rb_raise(eZenohError, "%s failed: the connection is lost (%d)", what, (int)s->ret);
+        zrb_raise_code(eClosedError, (int)s->ret, "%s failed: the connection is lost (%d)", what, (int)s->ret);
     }
     if (s->undeclared) {
         rb_raise(eZenohError, "%s failed: the publisher is closed", what);
     }
     if (s->ret != Z_OK) {
-        rb_raise(eZenohError, "%s failed (%d)", what, (int)s->ret);
+        zrb_raise_code(eZenohError, (int)s->ret, "%s failed (%d)", what, (int)s->ret);
     }
 }
 
@@ -3059,7 +3147,7 @@ static zrb_pub *zrb_pub_get_open(VALUE self) {
         rb_raise(eZenohError, "the publisher is closed");
     }
     if (zrb_session_check_link(p->ent.owner)) {
-        rb_raise(eZenohError, "session is closed");
+        rb_raise(eClosedError, "session is closed");
     }
     return p;
 }
@@ -3153,7 +3241,7 @@ static VALUE zrb_session_publisher(int argc, VALUE *argv, VALUE self) {
     }
     z_result_t ret = z_declare_publisher(z_loan(z->session), &p->u.p, ke, &po);
     if (ret != Z_OK) {
-        rb_raise(eZenohError, "cannot declare a publisher on %" PRIsVALUE " (%d)%" PRIsVALUE, key_str, (int)ret, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)ret, "cannot declare a publisher on %" PRIsVALUE " (%d)%" PRIsVALUE, key_str, (int)ret, zrb_last_error());
     }
     return zrb_pub_wrap(self, z, p, obj, key_str);
 }
@@ -3259,7 +3347,7 @@ static VALUE zrb_session_advanced_publisher(int argc, VALUE *argv, VALUE self) {
     }
     z_result_t ret = ze_declare_advanced_publisher(z_loan(z->session), &p->u.a, ke, &ao);
     if (ret != Z_OK) {
-        rb_raise(eZenohError, "cannot declare an advanced publisher on %" PRIsVALUE " (%d)%" PRIsVALUE, key_str, (int)ret, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)ret, "cannot declare an advanced publisher on %" PRIsVALUE " (%d)%" PRIsVALUE, key_str, (int)ret, zrb_last_error());
     }
     return zrb_pub_wrap(self, z, p, obj, key_str);
 }
@@ -3326,7 +3414,7 @@ static VALUE zrb_pub_matching_p(VALUE self) {
     z_result_t r = p->advanced ? ze_advanced_publisher_get_matching_status(z_loan(p->u.a), &st)
                                : z_publisher_get_matching_status(z_loan(p->u.p), &st);
     if (r != Z_OK) {
-        rb_raise(eZenohError, "cannot get the matching status (%d)%" PRIsVALUE, (int)r, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)r, "cannot get the matching status (%d)%" PRIsVALUE, (int)r, zrb_last_error());
     }
     return st.matching ? Qtrue : Qfalse;
 }
@@ -3370,7 +3458,7 @@ static zrb_querier *zrb_querier_get_open(VALUE self) {
         rb_raise(eZenohError, "the querier is closed");
     }
     if (zrb_session_check_link(q->ent.owner)) {
-        rb_raise(eZenohError, "session is closed");
+        rb_raise(eClosedError, "session is closed");
     }
     return q;
 }
@@ -3415,7 +3503,7 @@ static VALUE zrb_session_querier(int argc, VALUE *argv, VALUE self) {
     VALUE obj = TypedData_Make_Struct(cQuerier, zrb_querier, &zrb_querier_type, q);
     z_result_t ret = z_declare_querier(z_loan(z->session), &q->q, ke, &qo);
     if (ret != Z_OK) {
-        rb_raise(eZenohError, "cannot declare a querier on %" PRIsVALUE " (%d)%" PRIsVALUE, key_str, (int)ret, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)ret, "cannot declare a querier on %" PRIsVALUE " (%d)%" PRIsVALUE, key_str, (int)ret, zrb_last_error());
     }
     zrb_ent_link(&q->ent, z, ZENT_ENTITY, true, zrb_querier_undeclare);
     zrb_hold_session(obj, self, key_str);
@@ -3449,14 +3537,16 @@ static void *zrb_qget_nogvl(void *p) {
     return NULL;
 }
 
-static const char *const zrb_qget_kw[] = {"attachment", "encoding"};
+static const char *const zrb_qget_kw[] = {"attachment", "encoding", "depth"};
 
-/* querier.get(params = nil, payload = nil, attachment: nil, encoding: nil) -> Get */
+/* querier.get(params = nil, payload = nil, attachment: nil, encoding: nil,
+ *             depth: 1024) -> Get */
 static VALUE zrb_querier_get_m(int argc, VALUE *argv, VALUE self) {
     VALUE params_v = Qnil, payload = Qnil, opts = Qnil;
     rb_scan_args(argc, argv, "02:", &params_v, &payload, &opts);
     zrb_opts o;
-    zrb_opts_parse(opts, zrb_qget_kw, 2, &o);
+    zrb_opts_parse(opts, zrb_qget_kw, 3, &o);
+    long depth = zrb_check_depth_or(o.depth, ZRB_DEFAULT_GET_DEPTH);
     const char *params = NIL_P(params_v) ? NULL : StringValueCStr(params_v);
     if (!NIL_P(payload) && !RB_TYPE_P(payload, T_STRING)) {
         rb_raise(rb_eTypeError, "payload must be a String");
@@ -3470,7 +3560,7 @@ static VALUE zrb_querier_get_m(int argc, VALUE *argv, VALUE self) {
     z_internal_bytes_null(&a.att);
     z_internal_encoding_null(&a.enc);
     zrb_get *g;
-    VALUE obj = zrb_get_new(&g);
+    VALUE obj = zrb_get_new(depth, &g);
     z_querier_get_options_default(&a.opts);
     if (!NIL_P(payload)) {
         zrb_bytes_from_str(&a.payload, payload, "payload");
@@ -3493,13 +3583,13 @@ static VALUE zrb_querier_get_m(int argc, VALUE *argv, VALUE self) {
     z_drop(z_move(a.att));
     z_drop(z_move(a.enc));
     if (zrb_session_check_link(a.z)) {
-        rb_raise(eZenohError, "get failed: the connection is lost (%d)", (int)a.ret);
+        zrb_raise_code(eClosedError, (int)a.ret, "get failed: the connection is lost (%d)", (int)a.ret);
     }
     if (a.undeclared) {
         rb_raise(eZenohError, "get failed: the querier is closed");
     }
     if (a.ret != Z_OK) {
-        rb_raise(eZenohError, "get failed (%d)", (int)a.ret);
+        zrb_raise_code(eZenohError, (int)a.ret, "get failed (%d)", (int)a.ret);
     }
     rb_ivar_set(obj, id_iv_session, rb_ivar_get(self, id_iv_session));
     return obj;
@@ -3510,7 +3600,7 @@ static VALUE zrb_querier_matching_p(VALUE self) {
     z_matching_status_t st = {false};
     z_result_t r = z_querier_get_matching_status(z_loan(q->q), &st);
     if (r != Z_OK) {
-        rb_raise(eZenohError, "cannot get the matching status (%d)%" PRIsVALUE, (int)r, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)r, "cannot get the matching status (%d)%" PRIsVALUE, (int)r, zrb_last_error());
     }
     return st.matching ? Qtrue : Qfalse;
 }
@@ -3618,7 +3708,7 @@ static VALUE zrb_pub_matching_listener(int argc, VALUE *argv, VALUE self) {
                        ? ze_advanced_publisher_declare_matching_listener(z_loan(p->u.a), &l->u.m, z_move(cb))
                        : z_publisher_declare_matching_listener(z_loan(p->u.p), &l->u.m, z_move(cb));
     if (r != Z_OK) {
-        rb_raise(eZenohError, "cannot declare a matching listener (%d)%" PRIsVALUE, (int)r, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)r, "cannot declare a matching listener (%d)%" PRIsVALUE, (int)r, zrb_last_error());
     }
     zrb_lst_linked(obj, l, p->ent.owner, self);
     return obj;
@@ -3634,7 +3724,7 @@ static VALUE zrb_querier_matching_listener(int argc, VALUE *argv, VALUE self) {
     z_closure_matching_status(&cb, zev_on_matching, zevq_on_drop, zevq_ref(l->q));
     z_result_t r = z_querier_declare_matching_listener(z_loan(q->q), &l->u.m, z_move(cb));
     if (r != Z_OK) {
-        rb_raise(eZenohError, "cannot declare a matching listener (%d)%" PRIsVALUE, (int)r, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)r, "cannot declare a matching listener (%d)%" PRIsVALUE, (int)r, zrb_last_error());
     }
     zrb_lst_linked(obj, l, q->ent.owner, self);
     return obj;
@@ -3666,7 +3756,7 @@ static VALUE zrb_session_transport_events(int argc, VALUE *argv, VALUE self) {
     to.history = history;
     z_result_t r = z_declare_transport_events_listener(z_loan(z->session), &l->u.t, z_move(cb), &to);
     if (r != Z_OK) {
-        rb_raise(eZenohError, "cannot declare a transport events listener (%d)%" PRIsVALUE, (int)r, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)r, "cannot declare a transport events listener (%d)%" PRIsVALUE, (int)r, zrb_last_error());
     }
     zrb_lst_linked(obj, l, z, self);
     return obj;
@@ -3689,7 +3779,7 @@ static VALUE zrb_session_link_events(int argc, VALUE *argv, VALUE self) {
     lo.history = history;
     z_result_t r = z_declare_link_events_listener(z_loan(z->session), &l->u.l, z_move(cb), &lo);
     if (r != Z_OK) {
-        rb_raise(eZenohError, "cannot declare a link events listener (%d)%" PRIsVALUE, (int)r, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)r, "cannot declare a link events listener (%d)%" PRIsVALUE, (int)r, zrb_last_error());
     }
     zrb_lst_linked(obj, l, z, self);
     return obj;
@@ -3777,7 +3867,7 @@ static VALUE zrb_session_advanced_subscriber(int argc, VALUE *argv, VALUE self)
     zch_closure_sample(s->ch, &cb);
     z_result_t ret = ze_declare_advanced_subscriber(z_loan(z->session), &s->u.adv, ke, z_move(cb), &ao);
     if (ret != Z_OK) {
-        rb_raise(eZenohError, "cannot declare an advanced subscriber on %" PRIsVALUE " (%d)%" PRIsVALUE, key_str, (int)ret, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)ret, "cannot declare an advanced subscriber on %" PRIsVALUE " (%d)%" PRIsVALUE, key_str, (int)ret, zrb_last_error());
     }
     s->declared = true;
     s->owner = z;
@@ -3793,7 +3883,7 @@ static zrb_sub *zrb_advsub_get_open(VALUE self) {
         rb_raise(eZenohError, "the subscriber is closed");
     }
     if (zrb_session_check_link(s->owner)) {
-        rb_raise(eZenohError, "session is closed");
+        rb_raise(eClosedError, "session is closed");
     }
     return s;
 }
@@ -3811,7 +3901,7 @@ static VALUE zrb_advsub_miss_listener(int argc, VALUE *argv, VALUE self) {
     ze_closure_miss(&cb, zev_on_miss, zevq_on_drop, zevq_ref(l->q));
     z_result_t r = ze_advanced_subscriber_declare_sample_miss_listener(z_loan(s->u.adv), &l->u.s, z_move(cb));
     if (r != Z_OK) {
-        rb_raise(eZenohError, "cannot declare a sample miss listener (%d)%" PRIsVALUE, (int)r, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)r, "cannot declare a sample miss listener (%d)%" PRIsVALUE, (int)r, zrb_last_error());
     }
     zrb_lst_linked(obj, l, s->owner, self);
     return obj;
@@ -3842,7 +3932,7 @@ static VALUE zrb_advsub_detect_publishers(int argc, VALUE *argv, VALUE self) {
     lo.history = history;
     z_result_t ret = ze_advanced_subscriber_detect_publishers(z_loan(as->u.adv), &s->u.sub, z_move(cb), &lo);
     if (ret != Z_OK) {
-        rb_raise(eZenohError, "cannot detect publishers (%d)%" PRIsVALUE, (int)ret, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)ret, "cannot detect publishers (%d)%" PRIsVALUE, (int)ret, zrb_last_error());
     }
     s->declared = true;
     s->owner = as->owner;
@@ -3970,7 +4060,7 @@ static VALUE zrb_session_declare_keyexpr(VALUE self, VALUE key_v) {
     z_internal_keyexpr_null(&k->decl);
     z_result_t r = z_declare_keyexpr(z_loan(z->session), &k->decl, ke);
     if (r != Z_OK) {
-        rb_raise(eZenohError, "cannot declare the key expression (%d)%" PRIsVALUE, (int)r, zrb_last_error());
+        zrb_raise_code(eZenohError, (int)r, "cannot declare the key expression (%d)%" PRIsVALUE, (int)r, zrb_last_error());
     }
     zrb_ent_link(&k->ent, z, ZENT_KEYEXPR, true, zrb_ke_undeclare);
     rb_ivar_set(obj, id_iv_session, self);
@@ -4032,7 +4122,7 @@ static VALUE zrb_s_scout(VALUE mod, VALUE what_v, VALUE timeout_v, VALUE config_
     VALUE out = zevq_each_pending_noblock(q, false);
     zevq_unref(q);
     if (a.ret != Z_OK) {
-        rb_raise(eZenohError, "scouting failed (%d)", (int)a.ret);
+        zrb_raise_code(eZenohError, (int)a.ret, "scouting failed (%d)", (int)a.ret);
     }
     return out;
 }
@@ -4063,11 +4153,25 @@ void Init_asterism_zenoh(void) {
     /* Asterism::Zenoh. No top-level Zenoh (require "asterism/zenoh/global"). */
     mAsterism = rb_define_module("Asterism");
     mZenoh = rb_define_module_under(mAsterism, "Zenoh");
-    eZenohError = rb_define_class_under(mZenoh, "Error", rb_eStandardError);
+    /* The root of every Asterism error. Defined here because this binding
+     * loads first; the asterism gem reopens it (same superclass). */
+    eAsterismError = rb_define_class_under(mAsterism, "Error", rb_eStandardError);
+    eZenohError = rb_define_class_under(mZenoh, "Error", eAsterismError);
+    /* The session is closed, or its connection was lost. */
+    eClosedError = rb_define_class_under(mZenoh, "ClosedError", eZenohError);
     rb_define_const(mZenoh, "C_VERSION", rb_str_freeze(rb_str_new_cstr(ZENOH_C)));
     rb_define_const(mZenoh, "CONNECT_TIMEOUT_MS", INT2FIX(ZRB_CONNECT_TIMEOUT_MS));
     rb_define_const(mZenoh, "SEND_TIMEOUT_MS", INT2FIX(ZRB_SEND_TIMEOUT_MS));
     rb_define_const(mZenoh, "PEER", Qtrue);
+    /* A client session opens a lost router connection again (zenoh-c). */
+    rb_define_const(mZenoh, "AUTO_RECONNECT", Qtrue);
+    /* Queue depths: the default of subscribe, queryable and the listeners;
+     * of get, liveliness_get and querier.get; of liveliness_watch; and the
+     * largest accepted. */
+    rb_define_const(mZenoh, "DEFAULT_DEPTH", INT2FIX(ZRB_DEFAULT_DEPTH));
+    rb_define_const(mZenoh, "DEFAULT_GET_DEPTH", INT2FIX(ZRB_DEFAULT_GET_DEPTH));
+    rb_define_const(mZenoh, "DEFAULT_WATCH_DEPTH", INT2FIX(ZRB_DEFAULT_WATCH_DEPTH));
+    rb_define_const(mZenoh, "MAX_DEPTH", INT2FIX(ZRB_MAX_DEPTH));
     rb_define_const(mZenoh, "MAX_PEERS", LONG2NUM(zrb_default_max_sessions()));
 
     id_attachment = rb_intern("attachment");
@@ -4078,6 +4182,8 @@ void Init_asterism_zenoh(void) {
     id_listen = rb_intern("listen");
     id_iv_session = rb_intern("@session");
     id_iv_key = rb_intern("@key");
+    id_iv_code = rb_intern("@code");
+    id_iv_qkey = rb_intern("@asterism_queryable_key");
     id_iv_parent = rb_intern("@parent");
     id_config = rb_intern("config");
     id_config_file = rb_intern("config_file");
@@ -4119,9 +4225,10 @@ void Init_asterism_zenoh(void) {
     rb_define_method(cSession, "liveliness_watch", zrb_session_liveliness_watch, -1);
     rb_define_method(cSession, "liveliness_get", zrb_session_liveliness_get, -1);
     rb_define_method(cSession, "poll", zrb_session_poll, -1);
-    rb_define_method(cSession, "peers", zrb_session_peers, 0);
+    rb_define_method(cSession, "connection_count", zrb_session_peers, 0);
     rb_define_method(cSession, "zid", zrb_session_zid, 0);
     rb_define_method(cSession, "closed?", zrb_session_closed_p, 0);
+    rb_define_method(cSession, "reconnecting?", zrb_session_reconnecting_p, 0);
     rb_define_method(cSession, "close", zrb_session_close, 0);
 
     /* Subscriber and LivelinessWatch share one C structure. */