Add documentation and update comments

docs/api.rst

@@ -1271,6 +1271,32 @@ Functions
 .. autocfunction:: serialization.h::ze_serialize_substr
 
 
+Liveliness
+========================
+Types
+-----
+.. autoctype:: liveliness.h::z_liveliness_declaration_options_t
+.. autoctype:: liveliness.h::z_liveliness_subscriber_options_t
+.. autoctype:: liveliness.h::z_liveliness_get_options_t
+
+Represents a Liveliness token entity.
+See details at :ref:`owned_types_concept`
+
+.. c:type:: z_owned_liveliness_token_t
+.. c:type:: z_loaned_liveliness_token_t
+.. c:type:: z_moved_liveliness_token_t
+
+
+Functions
+---------
+.. autocfunction:: liveliness.h::z_liveliness_declaration_options_default
+.. autocfunction:: liveliness.h::z_liveliness_declare_token
+.. autocfunction:: liveliness.h::z_liveliness_undeclare_token
+.. autocfunction:: liveliness.h::z_liveliness_subscriber_options_default
+.. autocfunction:: liveliness.h::z_liveliness_declare_subscriber
+.. autocfunction:: liveliness.h::z_liveliness_get
+
+
 Others
 ======
 

examples/unix/c11/z_sub_liveliness.c

@@ -42,7 +42,6 @@ int main(int argc, char **argv) {
     const char *mode = "client";
     char *clocator = NULL;
     char *llocator = NULL;
-    int n = 0;
 
     int opt;
     while ((opt = getopt(argc, argv, "k:e:m:l:n:")) != -1) {
@@ -59,11 +58,8 @@ int main(int argc, char **argv) {
             case 'l':
                 llocator = optarg;
                 break;
-            case 'n':
-                n = atoi(optarg);
-                break;
             case '?':
-                if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'l' || optopt == 'n') {
+                if (optopt == 'k' || optopt == 'e' || optopt == 'm' || optopt == 'l') {
                     fprintf(stderr, "Option -%c requires an argument.\n", optopt);
                 } else {
                     fprintf(stderr, "Unknown option `-%c'.\n", optopt);

include/zenoh-pico/api/liveliness.h

@@ -39,14 +39,14 @@ _Z_OWNED_FUNCTIONS_DEF(liveliness_token)
 /**************** Liveliness Token ****************/
 
 /**
- * The options for `z_liveliness_declare_token()`.
+ * The options for :c:func:`z_liveliness_declare_token()`.
  */
 typedef struct z_liveliness_declaration_options_t {
     uint8_t __dummy;
 } z_liveliness_declaration_options_t;
 
 /**
- * Constructs default value for `z_liveliness_declaration_options_t`.
+ * Constructs default value for :c:type:`z_liveliness_declaration_options_t`.
  */
 z_result_t z_liveliness_declaration_options_default(z_liveliness_declaration_options_t *options);
 
@@ -57,10 +57,10 @@ z_result_t z_liveliness_declaration_options_default(z_liveliness_declaration_opt
  * is achieved, and a DELETE sample if it's lost.
  *
  * Parameters:
- *   token: An uninitialized memory location where liveliness token will be constructed.
  *   zs: A Zenos session to declare the liveliness token.
+ *   token: An uninitialized memory location where liveliness token will be constructed.
  *   keyexpr: A keyexpr to declare a liveliess token for.
- *   options: Liveliness token declaration properties.
+ *   options: Liveliness token declaration options.
  *
  * Return:
  *   ``0`` if put operation is successful, ``negative value`` otherwise.
@@ -84,23 +84,23 @@ z_result_t z_liveliness_undeclare_token(z_moved_liveliness_token_t *token);
 
 #if Z_FEATURE_SUBSCRIPTION == 1
 /**
- * The options for `z_liveliness_declare_subscriber()`
+ * The options for :c:func:`z_liveliness_declare_subscriber()`
  */
 typedef struct z_liveliness_subscriber_options_t {
     bool history;
 } z_liveliness_subscriber_options_t;
 
 /**
- * Constucts default value for `z_liveliness_subscriber_options_t`.
+ * Constucts default value for :c:type:`z_liveliness_subscriber_options_t`.
  */
 z_result_t z_liveliness_subscriber_options_default(z_liveliness_subscriber_options_t *options);
 
 /**
  * Declares a subscriber on liveliness tokens that intersect `keyexpr`.
  *
  * Parameters:
- *   token: An uninitialized memory location where subscriber will be constructed.
  *   zs: The Zenoh session.
+ *   sub: An uninitialized memory location where subscriber will be constructed.
  *   keyexpr: The key expression to subscribe to.
  *   callback: The callback function that will be called each time a liveliness token status is changed.
  *   options: The options to be passed to the liveliness subscriber declaration.
@@ -117,14 +117,14 @@ z_result_t z_liveliness_declare_subscriber(const z_loaned_session_t *zs, z_owned
 
 #if Z_FEATURE_QUERY == 1
 /**
- * The options for `z_liveliness_get()`
+ * The options for :c:func:`z_liveliness_get()`
  */
 typedef struct z_liveliness_get_options_t {
     uint32_t timeout_ms;
 } z_liveliness_get_options_t;
 
 /**
- * Constructs default value `z_liveliness_get_options_t`.
+ * Constructs default value :c:type:`z_liveliness_get_options_t`.
  */
 z_result_t z_liveliness_get_options_default(z_liveliness_get_options_t *options);
 

include/zenoh-pico/collections/intmap.h

@@ -30,7 +30,7 @@ extern "C" {
 #define _Z_DEFAULT_INT_MAP_CAPACITY 16
 
 /**
- * An entry of an hashmap with integer keys.
+ * An entry of a hashmap with integer keys.
  *
  * Members:
  *   size_t key: the hashed key of the value

src/api/api.c

@@ -828,7 +828,7 @@ z_result_t z_put(const z_loaned_session_t *zs, const z_loaned_keyexpr_t *keyexpr
                    opt.priority, opt.is_express, opt.timestamp, _z_bytes_from_owned_bytes(&opt.attachment->_this),
                    reliability);
 
-    // Trigger  subscriptions
+    // Trigger subscriptions
     _z_trigger_subscriptions_put(
         _Z_RC_IN_VAL(zs), keyexpr_aliased, _z_bytes_from_owned_bytes(&payload->_this),
         opt.encoding == NULL ? NULL : &opt.encoding->_this._val, opt.timestamp,

src/collections/intmap.c

@@ -159,6 +159,7 @@ bool _z_int_void_map_iterator_next(_z_int_void_map_iterator_t *iter) {
     if (iter->_map->_vals == NULL) {
         return false;
     }
+
     while (iter->_idx < iter->_map->_capacity) {
         if (iter->_list_ptr == NULL) {
             iter->_list_ptr = iter->_map->_vals[iter->_idx];