From 0f77d1be10a5673603eb4ce777f7c66191813d15 Mon Sep 17 00:00:00 2001
From: Alexander Bushnev <Alexander@Bushnev.pro>
Date: Fri, 24 Jan 2025 13:18:53 +0100
Subject: [PATCH 1/2] Enable querier for zenoh-pico

---
 examples/CMakeLists.txt                      | 3 +++
 examples/{zenohc => universal}/z_querier.cxx | 2 +-
 include/zenoh/api.hxx                        | 2 +-
 include/zenoh/api/querier.hxx                | 2 +-
 include/zenoh/api/session.hxx                | 4 ++--
 zenoh-pico                                   | 2 +-
 6 files changed, 9 insertions(+), 6 deletions(-)
 rename examples/{zenohc => universal}/z_querier.cxx (98%)

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 2568da43..431c6329 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -85,6 +85,9 @@ function(add_examples glob mode lib)
 			if ((${file} MATCHES "^.*liveliness.*$") AND NOT(ZENOHPICO_FEATURE_LIVELINESS))
 				continue()
 			endif()
+			if ((${file} MATCHES "^.*querier.*$") AND NOT(ZENOHPICO_BUILD_WITH_UNSTABLE_API))
+				continue()
+			endif()
 		endif()
 
 		add_example(${file} ${mode} ${lib})
diff --git a/examples/zenohc/z_querier.cxx b/examples/universal/z_querier.cxx
similarity index 98%
rename from examples/zenohc/z_querier.cxx
rename to examples/universal/z_querier.cxx
index 6801d0aa..d475d99b 100644
--- a/examples/zenohc/z_querier.cxx
+++ b/examples/universal/z_querier.cxx
@@ -34,7 +34,7 @@ int _main(int argc, char **argv) {
             .named_value({"t", "target"}, "TARGET", "Query target (BEST_MATCHING | ALL | ALL_COMPLETE)",
                          "BEST_MATCHING")
             .named_value({"o", "timeout"}, "TIMEOUT", "Timeout in ms (number)", "10000")
-#if defined(Z_FEATURE_UNSTABLE_API)
+#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
             .named_flag({"add-matching-listener"}, "Add matching listener")
 #endif
             .run();
diff --git a/include/zenoh/api.hxx b/include/zenoh/api.hxx
index 212efe84..0cbde6d3 100644
--- a/include/zenoh/api.hxx
+++ b/include/zenoh/api.hxx
@@ -36,7 +36,7 @@
 #include "api/session.hxx"
 #include "api/subscriber.hxx"
 #include "api/timestamp.hxx"
-#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+#if defined(Z_FEATURE_UNSTABLE_API)
 #include "api/querier.hxx"
 #endif
 #if defined(Z_FEATURE_SHARED_MEMORY) && defined(Z_FEATURE_UNSTABLE_API)
diff --git a/include/zenoh/api/querier.hxx b/include/zenoh/api/querier.hxx
index 76377cd9..23378905 100644
--- a/include/zenoh/api/querier.hxx
+++ b/include/zenoh/api/querier.hxx
@@ -253,4 +253,4 @@ class Querier : public Owned<::z_owned_querier_t> {
 };
 
 }  // namespace zenoh
-#endif
\ No newline at end of file
+#endif
diff --git a/include/zenoh/api/session.hxx b/include/zenoh/api/session.hxx
index 0b2438f7..d1353da6 100644
--- a/include/zenoh/api/session.hxx
+++ b/include/zenoh/api/session.hxx
@@ -29,7 +29,7 @@
 #include "query_consolidation.hxx"
 #include "subscriber.hxx"
 #include "timestamp.hxx"
-#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+#if defined(Z_FEATURE_UNSTABLE_API)
 #include "querier.hxx"
 #endif
 #if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_SHARED_MEMORY) && defined(Z_FEATURE_UNSTABLE_API)
@@ -702,7 +702,7 @@ class Session : public Owned<::z_owned_session_t> {
     }
 #endif
 
-#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+#if defined(Z_FEATURE_UNSTABLE_API)
     /// @warning This API has been marked as unstable: it works as advertised, but it may be changed in a future
     /// release.
     /// @brief Options to be passed when declaring a ``Querier``.
diff --git a/zenoh-pico b/zenoh-pico
index 3e4527e9..d076875d 160000
--- a/zenoh-pico
+++ b/zenoh-pico
@@ -1 +1 @@
-Subproject commit 3e4527e945037ca8b232c7ba970e8669709ccc2f
+Subproject commit d076875d6d3f417c36999fb739f9396dbc705cf7

From b5a3fdffee598a1b7c7b8a4acf3d13371e22b4b4 Mon Sep 17 00:00:00 2001
From: Alexander Bushnev <Alexander@Bushnev.pro>
Date: Fri, 24 Jan 2025 18:12:51 +0100
Subject: [PATCH 2/2] Disable querier when ZENOHPICO_FEATURE_QUERY disabled

---
 examples/CMakeLists.txt       | 2 +-
 include/zenoh/api.hxx         | 2 +-
 include/zenoh/api/querier.hxx | 2 +-
 include/zenoh/api/session.hxx | 4 ++--
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 431c6329..508442fd 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -85,7 +85,7 @@ function(add_examples glob mode lib)
 			if ((${file} MATCHES "^.*liveliness.*$") AND NOT(ZENOHPICO_FEATURE_LIVELINESS))
 				continue()
 			endif()
-			if ((${file} MATCHES "^.*querier.*$") AND NOT(ZENOHPICO_BUILD_WITH_UNSTABLE_API))
+			if ((${file} MATCHES "^.*querier.*$") AND (NOT(ZENOHPICO_FEATURE_QUERY) OR NOT(ZENOHPICO_BUILD_WITH_UNSTABLE_API)))
 				continue()
 			endif()
 		endif()
diff --git a/include/zenoh/api.hxx b/include/zenoh/api.hxx
index 0cbde6d3..9f9bd9f7 100644
--- a/include/zenoh/api.hxx
+++ b/include/zenoh/api.hxx
@@ -36,7 +36,7 @@
 #include "api/session.hxx"
 #include "api/subscriber.hxx"
 #include "api/timestamp.hxx"
-#if defined(Z_FEATURE_UNSTABLE_API)
+#if (defined(ZENOHCXX_ZENOHC) || Z_FEATURE_QUERY == 1) && defined(Z_FEATURE_UNSTABLE_API)
 #include "api/querier.hxx"
 #endif
 #if defined(Z_FEATURE_SHARED_MEMORY) && defined(Z_FEATURE_UNSTABLE_API)
diff --git a/include/zenoh/api/querier.hxx b/include/zenoh/api/querier.hxx
index 23378905..73b2b908 100644
--- a/include/zenoh/api/querier.hxx
+++ b/include/zenoh/api/querier.hxx
@@ -13,7 +13,7 @@
 
 #pragma once
 
-#if defined(ZENOHCXX_ZENOHC)
+#if (defined(ZENOHCXX_ZENOHC) || Z_FEATURE_QUERY == 1) && defined(Z_FEATURE_UNSTABLE_API)
 
 #include "../detail/closures_concrete.hxx"
 #include "base.hxx"
diff --git a/include/zenoh/api/session.hxx b/include/zenoh/api/session.hxx
index d1353da6..a6721d4f 100644
--- a/include/zenoh/api/session.hxx
+++ b/include/zenoh/api/session.hxx
@@ -29,7 +29,7 @@
 #include "query_consolidation.hxx"
 #include "subscriber.hxx"
 #include "timestamp.hxx"
-#if defined(Z_FEATURE_UNSTABLE_API)
+#if (defined(ZENOHCXX_ZENOHC) || Z_FEATURE_QUERY == 1) && defined(Z_FEATURE_UNSTABLE_API)
 #include "querier.hxx"
 #endif
 #if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_SHARED_MEMORY) && defined(Z_FEATURE_UNSTABLE_API)
@@ -702,7 +702,7 @@ class Session : public Owned<::z_owned_session_t> {
     }
 #endif
 
-#if defined(Z_FEATURE_UNSTABLE_API)
+#if (defined(ZENOHCXX_ZENOHC) || Z_FEATURE_QUERY == 1) && defined(Z_FEATURE_UNSTABLE_API)
     /// @warning This API has been marked as unstable: it works as advertised, but it may be changed in a future
     /// release.
     /// @brief Options to be passed when declaring a ``Querier``.