feat: update to zenoh-c 1.0.0.8 changes

rmw_zenoh_cpp/src/detail/rmw_data_types.cpp

@@ -429,7 +429,7 @@ bool rmw_client_data_t::is_shutdown() const
 
 //==============================================================================
 void sub_data_handler(
-  const z_loaned_sample_t * sample,
+  z_loaned_sample_t * sample,
   void * data)
 {
   z_view_string_t keystr;
@@ -509,7 +509,7 @@ const z_loaned_query_t * ZenohQuery::get_query() const
 }
 
 //==============================================================================
-void service_data_handler(const z_loaned_query_t * query, void * data)
+void service_data_handler(z_loaned_query_t * query, void * data)
 {
   z_view_string_t keystr;
   z_keyexpr_as_view_string(z_query_keyexpr(query), &keystr);
@@ -554,7 +554,7 @@ size_t rmw_client_data_t::get_next_sequence_number()
 }
 
 //==============================================================================
-void client_data_handler(const z_loaned_reply_t * reply, void * data)
+void client_data_handler(z_loaned_reply_t * reply, void * data)
 {
   auto client_data = static_cast<rmw_client_data_t *>(data);
   if (client_data == nullptr) {

rmw_zenoh_cpp/src/detail/rmw_data_types.hpp

@@ -129,7 +129,7 @@ class rmw_publisher_data_t final
 
 ///=============================================================================
 // z_owned_closure_sample_t
-void sub_data_handler(const z_loaned_sample_t * sample, void * sub_data);
+void sub_data_handler(z_loaned_sample_t * sample, void * sub_data);
 
 struct saved_msg_data
 {
@@ -198,10 +198,10 @@ class rmw_subscription_data_t final
 
 
 ///=============================================================================
-void service_data_handler(const z_loaned_query_t * query, void * service_data);
+void service_data_handler(z_loaned_query_t * query, void * service_data);
 
 ///=============================================================================
-void client_data_handler(const z_loaned_reply_t * reply, void * client_data);
+void client_data_handler(z_loaned_reply_t * reply, void * client_data);
 void client_data_drop(void * data);
 
 ///=============================================================================

rmw_zenoh_cpp/src/rmw_init.cpp

@@ -46,7 +46,7 @@ extern "C"
 namespace
 {
 void
-graph_sub_data_handler(const z_loaned_sample_t * sample, void * data)
+graph_sub_data_handler(z_loaned_sample_t * sample, void * data)
 {
   static_cast<void>(data);
 
@@ -196,14 +196,14 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
     });
 
   // Initialize the zenoh session.
-  if (z_open(&context->impl->session, z_move(config)) != Z_OK) {
+  if (z_open(&context->impl->session, z_move(config), NULL) != Z_OK) {
     RMW_SET_ERROR_MSG("Error setting up zenoh session");
     return RMW_RET_ERROR;
   }
 
   auto close_session = rcpputils::make_scope_exit(
     [context]() {
-      z_close(z_move(context->impl->session));
+      z_close(z_move(context->impl->session), NULL);
     });
 
   /// Initialize the graph cache.
@@ -411,7 +411,7 @@ rmw_shutdown(rmw_context_t * context)
     z_drop(z_move(context->impl->shm_provider.value()));
   }
   // Close the zenoh session
-  if (z_close(z_move(context->impl->session)) != Z_OK) {
+  if (z_close(z_move(context->impl->session), NULL) != Z_OK) {
     RMW_SET_ERROR_MSG("Error while closing zenoh session");
     return RMW_RET_ERROR;
   }

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -1426,7 +1426,9 @@ rmw_create_subscription(
     // by various publishers.
     sub_options.query_consolidation = z_query_consolidation_none();
     if (sub_data->adapted_qos_profile.reliability == RMW_QOS_POLICY_RELIABILITY_RELIABLE) {
-      sub_options.reliability = Z_RELIABILITY_RELIABLE;
+      RMW_ZENOH_LOG_WARN_NAMED(
+        "rmw_zenoh_cpp",
+        "`reliability` no longer supported on subscriber. Ignoring...");
     }
 
     ze_owned_querying_subscriber_t sub;

rmw_zenoh_cpp/src/zenohd/main.cpp

@@ -79,13 +79,13 @@ int main(int argc, char ** argv)
   }
 
   z_owned_session_t session;
-  if (z_open(&session, z_move(config)) != Z_OK) {
+  if (z_open(&session, z_move(config), NULL) != Z_OK) {
     printf("Unable to open router session!\n");
     return 1;
   }
   auto always_close_session = rcpputils::make_scope_exit(
     [&session]() {
-      z_close(z_move(session));
+      z_close(z_move(session), NULL);
     });
 
   printf(

zenoh_c_vendor/CMakeLists.txt

@@ -26,7 +26,7 @@ set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memor
 # - https://github.com/eclipse-zenoh/zenoh-c/pull/620 (fix ze_querying_subscriber_get API to query newly discovered publishers)
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION ecad7f358fabdf55c4d6c35118415b5c457c8f20
+  VCS_VERSION 1.0.0.8
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
     "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"