asterism-zenoh 0.4.0 → 0.4.1

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA256:
-  metadata.gz: d0a06884bbb4ef08eebe9eab69518c1d4c300b345ad7853742cda7ae48175e8d
-  data.tar.gz: acb609412809b6324c07d2a874819dfffa6499aec3b85d75e9c764bee551e2c4
+  metadata.gz: 8dab0299ce74089f6125a49c9e782f363913e46c80e9282b83859644f1002055
+  data.tar.gz: b5cb1141f1614d45bb20094605e031acc73d04f1be190b2f9ba18122cedd3c07
 SHA512:
-  metadata.gz: 861adc9617255ca81225f4782e36c6fc664a37e56c34f778efebd6890359380ca047d9b9f29bc59aa12ddba39bee10f188cf3317244490bdc0299590a93e0e72
-  data.tar.gz: 75075726af74d8d6bfa6b785ac53b462e805f3445e9a434c94f5d38d07b1839d46493751c584e4c957f771b66ca36e76e11e2ee80bdec718340480c66b36279b
+  metadata.gz: 99313b04d8bf329d57398be0fe925039e0dee7ac41c849d306d25add4ffded0759430b0dc24f8948bcf5c6d3b592e79c47f5eaf91ccd49c23d15cc0f913a01b6
+  data.tar.gz: d4d5c42188f5c2c98a218cddb2d97c287b089943d513ea3f1686f5aa319e54f404fb3c77e1733ac960becec879557956703410c1c58146ea203cc715a957554e

data/CHANGELOG.md

@@ -2,8 +2,14 @@
 
 All notable changes to asterism-zenoh. The mruby / PicoRuby binding
 (picoruby-asterism-zenoh) carries the same version number from 0.4.0 on.
-Nothing has been published to rubygems.org yet; the versions below are
-the ones in this repository.
+0.4.0 is the first version on rubygems.org; the earlier ones are only in
+this repository.
+
+## 0.4.1
+
+- A client session is no longer closed when its router goes away: zenoh-c
+  reconnects and declares again by itself. `Session#reconnecting?` and
+  `AUTO_RECONNECT` (true). `rake test_reconnect` (docker).
 
 ## 0.4.0
 

data/README.md

@@ -183,10 +183,15 @@ thread and Enumerators on top of this API are in the CRuby layer of the
 - **Remote only**: a session's own puts do not reach its own subscribers,
   and its gets do not reach its own queryables (zenoh-pico's behaviour;
   Asterism calls its own objects in place).
-- **Losing the connection**: 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 (or scouting) session stays open. From then on `poll` is false, `closed?`
-  true, and `put` raises `Asterism::Zenoh::Error`. No reconnection.
+- **Losing the connection**: 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); meanwhile `reconnecting?` is true, a put
+  reaches nobody and a get ends at its time limit (`rake test_reconnect`:
+  back about 1 s after a restarted zenohd). A peer session that only
+  connects is closed when it has no peer left; a listening (or scouting)
+  session stays open. Once closed, `poll` is false, `closed?` true, and
+  `put` raises `Asterism::Zenoh::ClosedError`.
 - **Full queues drop the oldest** entry and count it in `dropped` (a dropped
   query is finished, so its requester gets no answer from it).
 

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,
@@ -2197,6 +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;
@@ -2204,6 +2215,15 @@ 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()) {
@@ -2823,6 +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;
@@ -4137,6 +4163,8 @@ void Init_asterism_zenoh(void) {
     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. */
@@ -4200,6 +4228,7 @@ void Init_asterism_zenoh(void) {
     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. */

data/lib/asterism/zenoh/version.rb

@@ -1,6 +1,6 @@
 module Asterism
   module Zenoh
     # The gem's version.
-    VERSION = "0.4.0"
+    VERSION = "0.4.1"
   end
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: asterism-zenoh
 version: !ruby/object:Gem::Version
-  version: 0.4.0
+  version: 0.4.1
 platform: ruby
 authors:
 - Katsuhiko Kageyama
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2026-10-09 00:00:00.000000000 Z
+date: 2026-10-13 00:00:00.000000000 Z
 dependencies: []
 description: Sessions, put / subscribe, get / queryable, liveliness and attachments,
   received by polling. The same Ruby API as Asterism's mruby / PicoRuby binding, plus