From dfc95ade620952af587dc55464d0697efad15301 Mon Sep 17 00:00:00 2001
From: yuanyuyuan <az6980522@gmail.com>
Date: Sun, 18 Aug 2024 22:18:54 +0800
Subject: [PATCH] fix: segmentation fault due to the unallocated query memory

---
 rmw_zenoh_cpp/src/detail/rmw_data_types.cpp |  6 +++---
 rmw_zenoh_cpp/src/detail/rmw_data_types.hpp |  2 +-
 rmw_zenoh_cpp/src/rmw_init.cpp              |  2 --
 rmw_zenoh_cpp/src/rmw_zenoh.cpp             | 21 +++++++--------------
 4 files changed, 11 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 d39084ae..0d288964 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
@@ -465,15 +465,15 @@ void sub_data_handler(const z_loaned_sample_t *sample, void *data) {
 
 ///=============================================================================
 ZenohQuery::ZenohQuery(const z_loaned_query_t *query) {
-  z_query_clone(query_, query);
+  z_query_clone(&query_, query);
 }
 
 ///=============================================================================
-ZenohQuery::~ZenohQuery() { z_drop(z_move(*query_)); }
+ZenohQuery::~ZenohQuery() { z_drop(z_move(query_)); }
 
 ///=============================================================================
 const z_loaned_query_t *ZenohQuery::get_query() const {
-  return z_query_loan(query_);
+  return z_query_loan(&query_);
 }
 
 //==============================================================================
diff --git a/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp b/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
index 0b314d35..b6744971 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
@@ -216,7 +216,7 @@ class ZenohQuery final
   const z_loaned_query_t * get_query() const;
 
 private:
-  z_owned_query_t * query_{nullptr};
+  z_owned_query_t query_;
 };
 
 ///=============================================================================
diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
index 66f67b67..2a8f8772 100644
--- a/rmw_zenoh_cpp/src/rmw_init.cpp
+++ b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -386,8 +386,6 @@ rmw_ret_t rmw_init(const rmw_init_options_t *options, rmw_context_t *context) {
   free_shm_provider.cancel();
   restore_context.cancel();
 
-
-
   return RMW_RET_OK;
 }
 
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 26689c5f..662ff494 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -1416,17 +1416,14 @@ rmw_subscription_t *rmw_create_subscription(
       sub_options.reliability = Z_RELIABILITY_RELIABLE;
     }
 
-    ;
-
-    ze_owned_querying_subscriber_t *sub =
-        &std::get<ze_owned_querying_subscriber_t>(sub_data->sub);
-    ze_declare_querying_subscriber(sub, z_loan(context_impl->session),
+    ze_owned_querying_subscriber_t sub;
+    if (ze_declare_querying_subscriber(&sub, z_loan(context_impl->session),
                                    z_loan(keyexpr), z_move(callback),
-                                   &sub_options);
-    if (!z_check(*sub)) {
+                                   &sub_options)) {
       RMW_SET_ERROR_MSG("unable to create zenoh subscription");
       return nullptr;
     }
+    sub_data->sub = sub;
   } else {
     // Create a regular subscriber for all other durability settings.
     z_subscriber_options_t sub_options;
@@ -1435,13 +1432,12 @@ rmw_subscription_t *rmw_create_subscription(
       sub_options.reliability = Z_RELIABILITY_RELIABLE;
     }
 
-    z_owned_subscriber_t *sub = &std::get<z_owned_subscriber_t>(sub_data->sub);
-    z_declare_subscriber(sub, z_loan(context_impl->session), z_loan(keyexpr),
-                         z_move(callback), &sub_options);
-    if (!z_check(*sub)) {
+    z_owned_subscriber_t sub;
+    if(z_declare_subscriber(&sub, z_loan(context_impl->session), z_loan(keyexpr), z_move(callback), &sub_options)) {
       RMW_SET_ERROR_MSG("unable to create zenoh subscription");
       return nullptr;
     }
+    sub_data->sub = sub;
   }
 
   auto undeclare_z_sub = rcpputils::make_scope_exit([sub_data]() {
@@ -2374,9 +2370,6 @@ rmw_ret_t rmw_send_request(const rmw_client_t *client, const void *ros_request,
 
   z_owned_closure_reply_t callback;
   z_closure(&callback, rmw_zenoh_cpp::client_data_handler, NULL, client_data);
-
-  // TODO(yuyuan):  z_owned_closure_reply_t zn_closure_reply is replaced with a
-  // moved callback
   z_get(z_loan(context_impl->session), z_loan(client_data->keyexpr), "",
         z_move(callback), &opts);