From 2cfa97c96e17d82532d0e0f9fdb75d80aad4e468 Mon Sep 17 00:00:00 2001
From: yuanyuyuan <az6980522@gmail.com>
Date: Thu, 7 Nov 2024 22:51:37 +0800
Subject: [PATCH] fix: adjust the merge

---
 rmw_zenoh_cpp/src/detail/rmw_data_types.cpp   | 11 ++++-------
 rmw_zenoh_cpp/src/detail/rmw_service_data.cpp |  1 -
 rmw_zenoh_cpp/src/detail/zenoh_utils.cpp      |  4 ++--
 rmw_zenoh_cpp/src/detail/zenoh_utils.hpp      |  3 +--
 rmw_zenoh_cpp/src/rmw_zenoh.cpp               |  8 --------
 5 files changed, 7 insertions(+), 20 deletions(-)

diff --git a/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp b/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
index 00ac12cd..dd9dcfd1 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
@@ -19,6 +19,7 @@
 
 #include "logging_macros.hpp"
 #include "rmw_data_types.hpp"
+#include <zenoh_macros.h>
 
 #include "rmw/impl/cpp/macros.hpp"
 
@@ -165,7 +166,9 @@ void client_data_handler(z_loaned_reply_t * reply, void * data)
   if (z_reply_is_ok(reply)) {
     z_owned_reply_t owned_reply;
     z_reply_clone(&owned_reply, reply);
-    client_data->add_new_reply(std::make_unique<ZenohReply>(owned_reply));
+    std::chrono::nanoseconds::rep received_timestamp =
+      std::chrono::system_clock::now().time_since_epoch().count();
+    client_data->add_new_reply(std::make_unique<ZenohReply>(owned_reply, received_timestamp));
   } else {
     z_view_string_t keystr;
     z_keyexpr_as_view_string(z_loan(client_data->keyexpr), &keystr);
@@ -183,12 +186,6 @@ void client_data_handler(z_loaned_reply_t * reply, void * data)
     return;
   }
 
-  std::chrono::nanoseconds::rep received_timestamp =
-    std::chrono::system_clock::now().time_since_epoch().count();
-
-  client_data->add_new_reply(std::make_unique<ZenohReply>(reply, received_timestamp));
-  // Since we took ownership of the reply, null it out here
-  *reply = z_reply_null();
 }
 
 void client_data_drop(void * data)
diff --git a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
index ee0af35f..5cb53d58 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
@@ -317,7 +317,6 @@ rmw_ret_t ServiceData::take_request(
 
   memcpy(request_header->request_id.writer_guid, attachment.source_gid, RMW_GID_STORAGE_SIZE);
 
-
   request_header->source_timestamp = attachment.source_timestamp;
   if (request_header->source_timestamp < 0) {
     RMW_SET_ERROR_MSG("Failed to get source_timestamp from client call attachment");
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp b/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
index 8c39a513..f8f61a2e 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
@@ -44,10 +44,10 @@ const z_loaned_query_t * ZenohQuery::get_query() const {return z_loan(query_);}
 
 ///=============================================================================
 ZenohReply::ZenohReply(
-  const z_owned_reply_t * reply,
+  z_owned_reply_t reply,
   std::chrono::nanoseconds::rep received_timestamp)
 {
-  reply_ = *reply;
+  reply_ = reply;
   received_timestamp_ = received_timestamp;
 }
 
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp b/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
index 4e291c58..97e1446f 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
@@ -18,7 +18,6 @@
 #include <zenoh.h>
 
 #include <chrono>
-#include <functional>
 #include <optional>
 
 #include "rmw/types.h"
@@ -36,7 +35,7 @@ create_map_and_set_sequence_num(
 class ZenohReply final
 {
 public:
-  ZenohReply(const z_owned_reply_t * reply, std::chrono::nanoseconds::rep received_timestamp);
+  ZenohReply(z_owned_reply_t reply, std::chrono::nanoseconds::rep received_timestamp);
 
   ~ZenohReply();
 
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index b6d66ad7..920b12dd 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -1874,14 +1874,6 @@ rmw_take_response(
     return RMW_RET_ERROR;
   }
 
-  if (!rmw_zenoh_cpp::get_gid_from_attachment(
-      &sample->attachment,
-      request_header->request_id.writer_guid))
-  {
-    RMW_SET_ERROR_MSG("Could not get client gid from attachment");
-    return RMW_RET_ERROR;
-  }
-
   request_header->received_timestamp = latest_reply->get_received_timestamp();
 
   z_drop(z_move(payload));