Nolocal close

include/zenoh/api.hxx

@@ -33,6 +33,9 @@
 #include "api/reply.hxx"
 #include "api/sample.hxx"
 #include "api/scout.hxx"
+#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+#include "api/close.hxx"
+#endif
 #include "api/session.hxx"
 #include "api/subscriber.hxx"
 #include "api/timestamp.hxx"

include/zenoh/api/close.hxx

@@ -0,0 +1,38 @@
+
+//
+// Copyright (c) 2025 ZettaScale Technology
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+// Contributors:
+//   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+
+#pragma once
+
+#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+
+namespace zenoh {
+
+/// A close operation handle.
+class CloseHandle : public Owned<::zc_owned_concurrent_close_handle_t> {
+    friend class Session;
+    CloseHandle(zenoh::detail::null_object_t) : Owned(nullptr){};
+
+   public:
+    /// @brief Blocks until corresponding close operation completes.
+    /// @param err if not null, the result code will be written to this location, otherwise ZException exception will be
+    /// thrown in case of error.
+    void wait(ZResult* err = nullptr) {
+        __ZENOH_RESULT_CHECK(zc_concurrent_close_handle_wait(interop::as_moved_c_ptr(*this)), err,
+                             "Failed to wait for close operation");
+    }
+};
+
+}  // namespace zenoh
+
+#endif

include/zenoh/api/session.hxx

@@ -36,6 +36,9 @@
 #if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_SHARED_MEMORY) && defined(Z_FEATURE_UNSTABLE_API)
 #include "shm/client_storage/client_storage.hxx"
 #endif
+#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+#include "close.hxx"
+#endif
 
 namespace zenoh {
 namespace ext {
@@ -63,6 +66,14 @@ class Session : public Owned<::z_owned_session_t> {
 
     /// @brief Options to be passed when closing a ``Session``.
     struct SessionCloseOptions {
+#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+        /// The timeout for close operation in milliseconds. 0 means default close timeout which is 10 seconds.
+        uint32_t timeout_ms = 10000;
+        /// A function to receive close handle. If set, the close operation will be executed concurrently
+        /// in separate task, and this function will receive a handle to be used for controlling
+        /// close execution.
+        std::function<void(CloseHandle&&)> out_concurrent = nullptr;
+#endif
         /// @name Fields
         static SessionCloseOptions create_default() { return {}; }
     };
@@ -1129,8 +1140,23 @@ class Session : public Owned<::z_owned_session_t> {
     /// @param err if not null, the result code will be written to this location, otherwise ZException exception will be
     /// thrown in case of error.
     void close(SessionCloseOptions&& options = SessionCloseOptions::create_default(), ZResult* err = nullptr) {
+#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+        CloseHandle close_handle(zenoh::detail::null_object);
+        ::z_close_options_t close_opts;
+        ::z_close_options_default(&close_opts);
+        close_opts.internal_timeout_ms = options.timeout_ms;
+        if (options.out_concurrent) {
+            close_opts.internal_out_concurrent = &close_handle._0;
+        }
+        __ZENOH_RESULT_CHECK(::z_close(interop::as_loaned_c_ptr(*this), &close_opts), err,
+                             "Failed to close the session");
+        if (options.out_concurrent && (!err || *err == Z_OK)) {
+            options.out_concurrent(std::move(close_handle));
+        }
+#else
         (void)options;
         __ZENOH_RESULT_CHECK(::z_close(interop::as_loaned_c_ptr(*this), nullptr), err, "Failed to close the session");
+#endif
     }
 
     /// @brief Check if session is closed.

tests/zenohc/close.cxx

@@ -0,0 +1,54 @@
+//
+// Copyright (c) 2022 ZettaScale Technology
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+// Contributors:
+//   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+//
+
+#include "zenoh.hxx"
+
+using namespace zenoh;
+
+#undef NDEBUG
+#include <assert.h>
+
+void test_session_close_in_drop() { auto session = Session::open(Config::create_default()); }
+
+void test_session_close() {
+    auto session = Session::open(Config::create_default());
+    session.close();
+}
+
+#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+void test_session_close_in_background() {
+    auto session = Session::open(Config::create_default());
+
+    bool close_called = false;
+    auto close_options = Session::SessionCloseOptions::create_default();
+    close_options.out_concurrent = [&close_called](CloseHandle&& h) {
+        h.wait();
+        close_called = true;
+    };
+
+    session.close(std::move(close_options));
+
+    if (!close_called) {
+        exit(-1);
+    }
+}
+#endif
+
+int main() {
+    test_session_close_in_drop();
+    test_session_close();
+#if defined(ZENOHCXX_ZENOHC) && defined(Z_FEATURE_UNSTABLE_API)
+    test_session_close_in_background();
+#endif
+}