Merge branch 'ros2:rolling' into rolling

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -13,7 +13,9 @@
 // limitations under the License.
 
 #include <algorithm>
+#include <array>
 #include <functional>
+#include <limits>
 #include <memory>
 #include <mutex>
 #include <optional>
@@ -209,29 +211,32 @@ void GraphCache::handle_matched_events_for_put(
   EntityEventMap local_entities_with_events = {};
   // The entity added may be local with callbacks registered but there
   // may be other local entities in the graph that are matched.
-  std::size_t match_count_for_entity = 0;
+  int32_t match_count_for_entity = 0;
   for (const auto & [_, topic_data_ptr] : topic_qos_map) {
     if (is_pub) {
       // Count the number of matching subs for each set of qos settings.
-      match_count_for_entity += topic_data_ptr->subs_.size();
+      std::size_t sub_size = topic_data_ptr->subs_.size();
+      if (sub_size > std::numeric_limits<int32_t>::max()) {
+        RMW_ZENOH_LOG_ERROR_NAMED(
+          "rmw_zenoh_cpp",
+          "Too many subscriptions on publisher; assuming 0. Report this bug.");
+        sub_size = 0;
+      }
+      match_count_for_entity += static_cast<int32_t>(sub_size);
       // Also iterate through the subs to check if any are local and if update event counters.
       for (liveliness::ConstEntityPtr sub_entity : topic_data_ptr->subs_) {
         // Update counters only if key expressions match.
         if (entity->topic_info()->topic_keyexpr_ ==
           sub_entity->topic_info().value().topic_keyexpr_)
         {
-          update_event_counters(
-            topic_info.name_,
-            ZENOH_EVENT_SUBSCRIPTION_MATCHED,
-            static_cast<int32_t>(1));
+          update_event_counters(topic_info.name_, ZENOH_EVENT_SUBSCRIPTION_MATCHED, 1);
           if (is_entity_local(*sub_entity)) {
             local_entities_with_events[sub_entity].insert(ZENOH_EVENT_SUBSCRIPTION_MATCHED);
           }
         }
       }
       // Update event counters for the new entity->
-      update_event_counters(
-        topic_info.name_,
+      update_event_counters(topic_info.name_,
         ZENOH_EVENT_PUBLICATION_MATCHED,
         match_count_for_entity);
       if (is_entity_local(*entity) && match_count_for_entity > 0) {
@@ -240,17 +245,21 @@ void GraphCache::handle_matched_events_for_put(
     } else {
       // Entity is a sub.
       // Count the number of matching pubs for each set of qos settings.
-      match_count_for_entity += topic_data_ptr->pubs_.size();
+      std::size_t pub_size = topic_data_ptr->pubs_.size();
+      if (pub_size > std::numeric_limits<int32_t>::max()) {
+        RMW_ZENOH_LOG_ERROR_NAMED(
+          "rmw_zenoh_cpp",
+          "Too many publishers on subscription; assuming 0. Report this bug.");
+        pub_size = 0;
+      }
+      match_count_for_entity += static_cast<int32_t>(pub_size);
       // Also iterate through the pubs to check if any are local and if update event counters.
       for (liveliness::ConstEntityPtr pub_entity : topic_data_ptr->pubs_) {
         // Update counters only if key expressions match.
         if (entity->topic_info()->topic_keyexpr_ ==
           pub_entity->topic_info().value().topic_keyexpr_)
         {
-          update_event_counters(
-            topic_info.name_,
-            ZENOH_EVENT_PUBLICATION_MATCHED,
-            static_cast<int32_t>(1));
+          update_event_counters(topic_info.name_, ZENOH_EVENT_PUBLICATION_MATCHED, 1);
           if (is_entity_local(*pub_entity)) {
             local_entities_with_events[pub_entity].insert(ZENOH_EVENT_PUBLICATION_MATCHED);
           }

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

@@ -78,13 +78,15 @@ class rmw_context_impl_s::Data final
       throw std::runtime_error("Error configuring Zenoh session.");
     }
 
+#ifndef _MSC_VER
     // Check if shm is enabled.
     z_owned_string_t shm_enabled;
     zc_config_get_from_str(z_loan(config), Z_CONFIG_SHARED_MEMORY_KEY, &shm_enabled);
     auto always_free_shm_enabled = rcpputils::make_scope_exit(
       [&shm_enabled]() {
         z_drop(z_move(shm_enabled));
       });
+#endif
 
     // Initialize the zenoh session.
     z_owned_session_t raw_session;
@@ -172,6 +174,7 @@ class rmw_context_impl_s::Data final
 
     // Initialize the shm manager if shared_memory is enabled in the config.
     shm_provider_ = std::nullopt;
+#ifndef _MSC_VER
     if (strncmp(
         z_string_data(z_loan(shm_enabled)),
         "true",
@@ -195,7 +198,7 @@ class rmw_context_impl_s::Data final
           z_drop(z_move(shm_provider_.value()));
         }
       });
-
+#endif
     graph_guard_condition_ = std::make_unique<rmw_guard_condition_t>();
     graph_guard_condition_->implementation_identifier = rmw_zenoh_cpp::rmw_zenoh_identifier;
     graph_guard_condition_->data = &guard_condition_data_;
@@ -222,7 +225,9 @@ class rmw_context_impl_s::Data final
       });
 
     close_session.cancel();
+#ifndef _MSC_VER
     free_shm_provider.cancel();
+#endif
     undeclare_z_sub.cancel();
   }
 

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp

@@ -29,7 +29,7 @@
 #include "rmw/types.h"
 
 ///=============================================================================
-class rmw_context_impl_s final
+struct rmw_context_impl_s final
 {
 public:
   // Constructor that internally initializes the Zenoh session and other artifacts.
@@ -96,5 +96,4 @@ class rmw_context_impl_s final
   std::shared_ptr<Data> data_{nullptr};
 };
 
-
 #endif  // DETAIL__RMW_CONTEXT_IMPL_S_HPP_

rmw_zenoh_cpp/src/detail/zenoh_config.cpp

@@ -105,7 +105,7 @@ std::optional<uint64_t> zenoh_router_check_attempts()
   }
   // If the environment variable contains a value, handle it accordingly.
   if (envar_value[0] != '\0') {
-    const auto read_value = std::strtol(envar_value, nullptr, 10);
+    const int64_t read_value = std::strtoll(envar_value, nullptr, 10);
     if (read_value > 0) {
       return read_value;
     } else if (read_value < 0) {

rmw_zenoh_cpp/src/rmw_event.cpp

@@ -220,16 +220,16 @@ rmw_take_event(
     case rmw_zenoh_cpp::ZENOH_EVENT_REQUESTED_QOS_INCOMPATIBLE: {
         auto ei = static_cast<rmw_requested_qos_incompatible_event_status_t *>(event_info);
         RMW_CHECK_ARGUMENT_FOR_NULL(ei, RMW_RET_INVALID_ARGUMENT);
-        ei->total_count = st->total_count;
-        ei->total_count_change = st->total_count_change;
+        ei->total_count = static_cast<int32_t>(st->total_count);
+        ei->total_count_change = static_cast<int32_t>(st->total_count_change);
         *taken = true;
         return RMW_RET_OK;
       }
     case rmw_zenoh_cpp::ZENOH_EVENT_MESSAGE_LOST: {
         auto ei = static_cast<rmw_message_lost_status_t *>(event_info);
         RMW_CHECK_ARGUMENT_FOR_NULL(ei, RMW_RET_INVALID_ARGUMENT);
-        ei->total_count = st->total_count;
-        ei->total_count_change = st->total_count_change;
+        ei->total_count = static_cast<int32_t>(st->total_count);
+        ei->total_count_change = static_cast<int32_t>(st->total_count_change);
         *taken = true;
         return RMW_RET_OK;
       }
@@ -247,8 +247,8 @@ rmw_take_event(
     case rmw_zenoh_cpp::ZENOH_EVENT_OFFERED_QOS_INCOMPATIBLE: {
         auto ei = static_cast<rmw_offered_qos_incompatible_event_status_t *>(event_info);
         RMW_CHECK_ARGUMENT_FOR_NULL(ei, RMW_RET_INVALID_ARGUMENT);
-        ei->total_count = st->total_count;
-        ei->total_count_change = st->total_count_change;
+        ei->total_count = static_cast<int32_t>(st->total_count);
+        ei->total_count_change = static_cast<int32_t>(st->total_count_change);
         *taken = true;
         return RMW_RET_OK;
       }

rmw_zenoh_cpp/src/rmw_init.cpp

@@ -86,10 +86,7 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
       }
     });
 
-  // If not already defined, set the logging environment variable for Zenoh sessions
-  // to warning level by default.
-  // TODO(Yadunund): Switch to rcutils_get_env once it supports not overwriting values.
-  if (setenv(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_WARN_LEVEL_STR, 0) != 0) {
+  if (!rcutils_set_env_overwrite(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_WARN_LEVEL_STR, 0)) {
     RMW_SET_ERROR_MSG("Error configuring Zenoh logging.");
     return RMW_RET_ERROR;
   }

rmw_zenoh_cpp/src/zenohd/main.cpp

@@ -33,6 +33,7 @@
 #include "rmw/error_handling.h"
 
 #include "rcpputils/scope_exit.hpp"
+#include "rcutils/env.h"
 
 static bool running = true;
 static std::mutex run_mutex;
@@ -60,10 +61,7 @@ int main(int argc, char ** argv)
   (void)argc;
   (void)argv;
 
-  // If not already defined, set the logging environment variable for Zenoh router
-  // to info level by default.
-  // TODO(Yadunund): Switch to rcutils_get_env once it supports not overwriting values.
-  if (setenv(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_INFO_LEVEL_STR, 0) != 0) {
+  if (!rcutils_set_env_overwrite(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_INFO_LEVEL_STR, 0)) {
     RMW_SET_ERROR_MSG("Error configuring Zenoh logging.");
     return 1;
   }