diff --git a/rmw_zenoh_cpp/src/detail/attachment_helpers.cpp b/rmw_zenoh_cpp/src/detail/attachment_helpers.cpp index 54ea7dae..cbdcfa1b 100644 --- a/rmw_zenoh_cpp/src/detail/attachment_helpers.cpp +++ b/rmw_zenoh_cpp/src/detail/attachment_helpers.cpp @@ -65,7 +65,8 @@ attachement_data_t::attachement_data_t(const z_loaned_bytes_t * attachment) ze_deserializer_deserialize_string(&deserializer, &key); // Deserialize the sequence_number - if (std::string_view(z_string_data(z_loan(key)), + if (std::string_view( + z_string_data(z_loan(key)), z_string_len(z_loan(key))) != "sequence_number") { throw std::runtime_error("sequence_number is not found in the attachment."); @@ -77,7 +78,8 @@ attachement_data_t::attachement_data_t(const z_loaned_bytes_t * attachment) // Deserialize the source_timestamp ze_deserializer_deserialize_string(&deserializer, &key); - if (std::string_view(z_string_data(z_loan(key)), + if (std::string_view( + z_string_data(z_loan(key)), z_string_len(z_loan(key))) != "source_timestamp") { throw std::runtime_error("source_timestamp is not found in the attachment"); diff --git a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp index d4f7c372..959f846a 100644 --- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp +++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp @@ -132,8 +132,8 @@ rmw_ret_t rmw_context_impl_s::Data::subscribe_to_ros_graph() z_undeclare_subscriber(z_move(this->graph_subscriber_)); }); if (zc_liveliness_declare_subscriber( - &graph_subscriber_, - z_loan(session_), z_loan(keyexpr), + z_loan(session_), + &graph_subscriber_, z_loan(keyexpr), z_move(callback), &sub_options) != Z_OK) { RMW_SET_ERROR_MSG("unable to create zenoh subscription"); @@ -333,7 +333,8 @@ rmw_context_impl_s::rmw_context_impl_s( } ///============================================================================= -rmw_context_impl_s::~rmw_context_impl_s() { +rmw_context_impl_s::~rmw_context_impl_s() +{ // std::lock_guard lock(data_->mutex_); // z_drop(z_move(data_->session_)); } diff --git a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp index ba57b23d..ea79154a 100644 --- a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp +++ b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp @@ -65,7 +65,7 @@ std::shared_ptr NodeData::make( [&token]() { z_drop(z_move(token)); }); - if (zc_liveliness_declare_token(&token, session, z_loan(liveliness_ke), NULL) != Z_OK) { + if (zc_liveliness_declare_token(session, &token, z_loan(liveliness_ke), NULL) != Z_OK) { RMW_ZENOH_LOG_ERROR_NAMED( "rmw_zenoh_cpp", "Unable to create liveliness token for the node."); diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp index f04680aa..2de77b33 100644 --- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp +++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp @@ -132,7 +132,7 @@ std::shared_ptr PublisherData::make( ze_owned_publication_cache_t pub_cache_; if (ze_declare_publication_cache( - &pub_cache_, session, z_loan(pub_ke), &pub_cache_opts)) + session, &pub_cache_, z_loan(pub_ke), &pub_cache_opts)) { RMW_SET_ERROR_MSG("unable to create zenoh publisher cache"); return nullptr; @@ -159,7 +159,7 @@ std::shared_ptr PublisherData::make( z_undeclare_publisher(z_move(pub)); }); if (z_declare_publisher( - &pub, session, z_loan(pub_ke), &opts) != Z_OK) + session, &pub, z_loan(pub_ke), &opts) != Z_OK) { RMW_SET_ERROR_MSG("Unable to create Zenoh publisher."); return nullptr; @@ -174,7 +174,7 @@ std::shared_ptr PublisherData::make( z_drop(z_move(token)); }); if (zc_liveliness_declare_token( - &token, session, z_loan(liveliness_ke), + session, &token, z_loan(liveliness_ke), NULL) != Z_OK) { RMW_ZENOH_LOG_ERROR_NAMED( @@ -253,7 +253,7 @@ rmw_ret_t PublisherData::publish( if (shmbuf.has_value()) { z_drop(z_move(shmbuf.value())); } - }); + }); rcutils_allocator_t * allocator = &rmw_node_->context->options.allocator; @@ -324,8 +324,9 @@ rmw_ret_t PublisherData::publish( z_result_t res = z_publisher_put(z_loan(pub_), z_move(payload), &options); if (res != Z_OK) { if (res == Z_ESESSION_CLOSED) { - RMW_ZENOH_LOG_WARN_NAMED("rmw_zenoh_cpp", - "unable to publish message since the zenoh session is closed"); + RMW_ZENOH_LOG_WARN_NAMED( + "rmw_zenoh_cpp", + "unable to publish message since the zenoh session is closed"); } else { RMW_SET_ERROR_MSG("unable to publish message"); return RMW_RET_ERROR; @@ -368,8 +369,9 @@ rmw_ret_t PublisherData::publish_serialized_message( z_result_t res = z_publisher_put(z_loan(pub_), z_move(payload), &options); if (res != Z_OK) { if (res == Z_ESESSION_CLOSED) { - RMW_ZENOH_LOG_WARN_NAMED("rmw_zenoh_cpp", - "unable to publish message since the zenoh session is closed"); + RMW_ZENOH_LOG_WARN_NAMED( + "rmw_zenoh_cpp", + "unable to publish message since the zenoh session is closed"); } else { RMW_SET_ERROR_MSG("unable to publish message"); return RMW_RET_ERROR; diff --git a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp index f0d60b40..6709083c 100644 --- a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp +++ b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp @@ -203,7 +203,7 @@ std::shared_ptr SubscriptionData::make( // Make the initial query to hit all the PublicationCaches, using a query_selector with // '*' in place of the queryable_prefix of each PublicationCache const std::string selector = "*/" + - sub_data->entity_->topic_info()->topic_keyexpr_; + sub_data->entity_->topic_info()->topic_keyexpr_; z_view_keyexpr_t selector_ke; z_view_keyexpr_from_str(&selector_ke, selector.c_str()); sub_options.query_selector = z_loan(selector_ke); @@ -220,7 +220,7 @@ std::shared_ptr SubscriptionData::make( sub_options.query_consolidation = z_query_consolidation_none(); ze_owned_querying_subscriber_t sub; if (ze_declare_querying_subscriber( - &sub, session, z_loan(sub_ke), z_move(callback), &sub_options)) + session, &sub, z_loan(sub_ke), z_move(callback), &sub_options)) { RMW_SET_ERROR_MSG("unable to create zenoh subscription"); return nullptr; @@ -274,7 +274,7 @@ std::shared_ptr SubscriptionData::make( z_owned_subscriber_t sub; if (z_declare_subscriber( - &sub, session, z_loan(sub_ke), z_move(callback), + session, &sub, z_loan(sub_ke), z_move(callback), &sub_options) != Z_OK) { RMW_SET_ERROR_MSG("unable to create zenoh subscription"); @@ -291,11 +291,11 @@ std::shared_ptr SubscriptionData::make( auto free_token = rcpputils::make_scope_exit( [sub_data]() { if (sub_data != nullptr) { - z_drop(z_move(sub_data->token_ )); + z_drop(z_move(sub_data->token_)); } }); if (zc_liveliness_declare_token( - &sub_data->token_, session, z_loan(liveliness_ke), NULL) != Z_OK) + session, &sub_data->token_, z_loan(liveliness_ke), NULL) != Z_OK) { RMW_ZENOH_LOG_ERROR_NAMED( "rmw_zenoh_cpp", @@ -556,7 +556,9 @@ void SubscriptionData::add_new_message( const size_t gid_hash = hash_gid(msg->attachment.source_gid); auto last_known_pub_it = last_known_published_msg_.find(gid_hash); if (last_known_pub_it != last_known_published_msg_.end()) { - const int64_t seq_increment = std::abs(msg->attachment.sequence_number - last_known_pub_it->second); + const int64_t seq_increment = std::abs( + msg->attachment.sequence_number - + last_known_pub_it->second); if (seq_increment > 1) { const size_t num_msg_lost = seq_increment - 1; total_messages_lost_ += num_msg_lost; diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp index b39b5b90..cc8b8d5c 100644 --- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp +++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp @@ -1609,7 +1609,7 @@ rmw_create_client( } }); if (zc_liveliness_declare_token( - &client_data->token, session, z_loan(liveliness_ke), + session, &client_data->token, z_loan(liveliness_ke), NULL) != Z_OK) { RMW_ZENOH_LOG_ERROR_NAMED( @@ -1764,8 +1764,9 @@ rmw_send_request( z_get_options_default(&opts); z_owned_bytes_t attachment; - rmw_zenoh_cpp::create_map_and_set_sequence_num(&attachment, *sequence_id, - client_data->client_gid); + rmw_zenoh_cpp::create_map_and_set_sequence_num( + &attachment, *sequence_id, + client_data->client_gid); auto free_attachment = rcpputils::make_scope_exit( [&attachment]() { z_drop(z_move(attachment)); @@ -2170,7 +2171,7 @@ rmw_create_service( z_queryable_options_default(&qable_options); qable_options.complete = true; if (z_declare_queryable( - &service_data->qable, session, z_loan(service_data->keyexpr), + session, &service_data->qable, z_loan(service_data->keyexpr), z_move(callback), &qable_options) != Z_OK) { RMW_SET_ERROR_MSG("unable to create zenoh queryable"); @@ -2191,7 +2192,7 @@ rmw_create_service( } }); if (zc_liveliness_declare_token( - &service_data->token, session, z_loan(liveliness_ke), + session, &service_data->token, z_loan(liveliness_ke), NULL) != Z_OK) { RMW_ZENOH_LOG_ERROR_NAMED( @@ -2433,8 +2434,9 @@ rmw_send_response( z_query_reply_options_default(&options); z_owned_bytes_t attachment; - rmw_zenoh_cpp::create_map_and_set_sequence_num(&attachment, request_header->sequence_number, - request_header->writer_guid); + rmw_zenoh_cpp::create_map_and_set_sequence_num( + &attachment, request_header->sequence_number, + request_header->writer_guid); options.attachment = z_move(attachment); z_owned_bytes_t payload; diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt index b1dd363c..fe5467d4 100644 --- a/zenoh_c_vendor/CMakeLists.txt +++ b/zenoh_c_vendor/CMakeLists.txt @@ -26,7 +26,7 @@ set(ZENOHC_CARGO_FLAGS "--no-default-features$--features=shared-memor # - https://github.com/eclipse-zenoh/zenoh-c/pull/620 (fix ze_querying_subscriber_get API to query newly discovered publishers) ament_vendor(zenoh_c_vendor VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git - VCS_VERSION e270137cbe109032feecf06389b0560e75fc8c84 + VCS_VERSION a5232cfa1ccc760b2e89fde3efd522795d0e1dc9 CMAKE_ARGS "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}" "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"