Dev/1.0.0-ci

rmw_zenoh_cpp/CMakeLists.txt

@@ -13,7 +13,7 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-
+find_package(zenohc REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(fastcdr CONFIG REQUIRED)
 find_package(rcpputils REQUIRED)
@@ -23,9 +23,6 @@ find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rmw REQUIRED)
 find_package(zenoh_c_vendor REQUIRED)
 find_package(zenohc_debug QUIET)
-if(NOT zenohc_debug_FOUND)
-  find_package(zenohc REQUIRED)
-endif()
 
 add_library(rmw_zenoh_cpp SHARED
   src/detail/attachment_helpers.cpp

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5

@@ -44,7 +44,7 @@
       /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast.
       /// Accepts a single value or different values for router, peer and client.
       /// Each value is bit-or-like combinations of "peer", "router" and "client".
-      autoconnect: { router: "", peer: "router|peer" },
+      autoconnect: { router: [], peer: ["router", "peer"] },
       /// Whether or not to listen for scout messages on UDP multicast and reply to them.
       listen: true,
     },
@@ -61,7 +61,7 @@
       /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
       /// Accepts a single value or different values for router, peer and client.
       /// Each value is bit-or-like combinations of "peer", "router" and "client".
-      autoconnect: { router: "", peer: "router|peer" },
+      autoconnect: { router: [], peer: ["router", "peer"] },
     },
   },
 

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

@@ -47,7 +47,7 @@
       /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast.
       /// Accepts a single value or different values for router, peer and client.
       /// Each value is bit-or-like combinations of "peer", "router" and "client".
-      autoconnect: { router: "", peer: "router|peer" },
+      autoconnect: { router: [], peer: ["router", "peer"] },
       /// Whether or not to listen for scout messages on UDP multicast and reply to them.
       listen: true,
     },
@@ -64,7 +64,7 @@
       /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
       /// Accepts a single value or different values for router, peer and client.
       /// Each value is bit-or-like combinations of "peer", "router" and "client".
-      autoconnect: { router: "", peer: "router|peer" },
+      autoconnect: { router: [], peer: ["router", "peer"] },
     },
   },
 

rmw_zenoh_cpp/src/detail/attachment_helpers.cpp

@@ -12,85 +12,154 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <cstdio>
 #include <zenoh.h>
 
 #include <cstdlib>
 #include <cstring>
 #include <string>
+#include <zenoh_macros.h>
 
 #include "rmw/types.h"
 
+#include "logging_macros.hpp"
+
 #include "attachment_helpers.hpp"
 
-namespace rmw_zenoh_cpp
-{
-bool get_gid_from_attachment(
-  const z_attachment_t * const attachment, uint8_t gid[RMW_GID_STORAGE_SIZE])
-{
-  if (!z_check(*attachment)) {
+namespace rmw_zenoh_cpp {
+
+bool create_attachment_iter(z_owned_bytes_t *kv_pair, void *context) {
+  attachement_context_t *ctx = (attachement_context_t *)context;
+  z_owned_bytes_t k, v;
+
+  if (ctx->idx == 0) {
+    z_bytes_serialize_from_str(&k, "sequence_number");
+    z_bytes_serialize_from_int64(&v, ctx->data->sequence_number);
+  } else if (ctx->idx == 1) {
+    z_bytes_serialize_from_str(&k, "source_timestamp");
+    z_bytes_serialize_from_int64(&v, ctx->data->source_timestamp);
+  } else if (ctx->idx == 2) {
+    z_bytes_serialize_from_str(&k, "source_gid");
+    z_bytes_serialize_from_slice_copy(&v, ctx->data->source_gid,
+                                      RMW_GID_STORAGE_SIZE);
+  } else {
     return false;
   }
 
-  z_bytes_t index = z_attachment_get(*attachment, z_bytes_new("source_gid"));
-  if (!z_check(index)) {
+  z_bytes_serialize_from_pair(kv_pair, z_move(k), z_move(v));
+  ctx->idx += 1;
+  return true;
+}
+
+z_error_t attachement_data_t::serialize_to_zbytes(z_owned_bytes_t *attachment) {
+  attachement_context_t context = attachement_context_t(this);
+  return z_bytes_serialize_from_iter(attachment, create_attachment_iter,
+                                     (void *)&context);
+}
+
+bool get_attachment(const z_loaned_bytes_t *const attachment,
+                    const std::string &key, z_owned_bytes_t *val) {
+  if (z_bytes_is_empty(attachment)) {
     return false;
   }
 
-  if (index.len != RMW_GID_STORAGE_SIZE) {
+  z_bytes_iterator_t iter = z_bytes_get_iterator(attachment);
+  z_owned_bytes_t pair, key_;
+  bool found = false;
+
+  while (z_bytes_iterator_next(&iter, &pair)) {
+    z_bytes_deserialize_into_pair(z_loan(pair), &key_, val);
+    z_owned_string_t key_string;
+    z_bytes_deserialize_into_string(z_loan(key_), &key_string);
+
+    char dbg_info[120];
+    sprintf(dbg_info, "Given key: %s, found: %s", key.c_str(),
+            z_string_data(z_loan(key_string)));
+    sprintf(dbg_info, "Given key: %s, found: %.*s", key.c_str(),
+            (int)z_string_len(z_loan(key_string)),
+            z_string_data(z_loan(key_string)));
+
+    std::string found_key;
+    found_key.assign(z_string_data(z_loan(key_string)), z_string_len(z_loan(key_string)));
+    if (found_key == key) {
+    // if (strcmp(z_string_data(z_loan(key_string)), key.c_str()) == 0) {
+      found = true;
+    }
+
+    z_drop(z_move(pair));
+    z_drop(z_move(key_));
+    z_drop(z_move(key_string));
+
+    if (found) {
+      break;
+    }
+  }
+
+  if (!found) {
     return false;
   }
 
-  memcpy(gid, index.start, index.len);
+  if (z_bytes_is_empty(z_loan(*val))) {
+    return false;
+  }
 
   return true;
 }
 
-int64_t get_int64_from_attachment(
-  const z_attachment_t * const attachment, const std::string & name)
-{
-  if (!z_check(*attachment)) {
-    // A valid request must have had an attachment
-    return -1;
+bool get_gid_from_attachment(const z_loaned_bytes_t *const attachment,
+                             uint8_t gid[RMW_GID_STORAGE_SIZE]) {
+
+  if (z_bytes_is_empty(attachment)) {
+    return false;
   }
 
-  z_bytes_t index = z_attachment_get(*attachment, z_bytes_new(name.c_str()));
-  if (!z_check(index)) {
-    return -1;
+  z_owned_bytes_t val;
+  if (!get_attachment(attachment, "source_gid", &val)) {
+    return false;
   }
 
-  if (index.len < 1) {
-    return -1;
+  z_owned_slice_t slice;
+  z_bytes_deserialize_into_slice(z_loan(val), &slice);
+  if (z_slice_len(z_loan(slice)) != RMW_GID_STORAGE_SIZE) {
+    RMW_ZENOH_LOG_ERROR_NAMED("rmw_zenoh_cpp", "GID length mismatched.")
+    return false;
   }
+  memcpy(gid, z_slice_data(z_loan(slice)), z_slice_len(z_loan(slice)));
+
+  z_drop(z_move(val));
+  z_drop(z_move(slice));
+
+  return true;
+}
 
-  if (index.len > 19) {
-    // The number was larger than we expected
+int64_t get_int64_from_attachment(const z_loaned_bytes_t *const attachment,
+                                  const std::string &name) {
+  // A valid request must have had an attachment
+  if (z_bytes_is_empty(attachment)) {
     return -1;
   }
 
-  // The largest possible int64_t number is INT64_MAX, i.e. 9223372036854775807.
-  // That is 19 characters long, plus one for the trailing \0, means we need 20 bytes.
-  char int64_str[20];
+  // TODO(yuyuan): This key should be specific
+  z_owned_bytes_t val;
+  if (!get_attachment(attachment, name, &val)) {
+    RMW_ZENOH_LOG_ERROR_NAMED(
+        "rmw_zenoh_cpp", "Failed to deserialize int64 from the attachment.")
+    return false;
+  }
 
-  memcpy(int64_str, index.start, index.len);
-  int64_str[index.len] = '\0';
+  int64_t num;
+  if (z_bytes_deserialize_into_int64(z_loan(val), &num)) {
+    return -1;
+  }
 
-  errno = 0;
-  char * endptr;
-  int64_t num = strtol(int64_str, &endptr, 10);
   if (num == 0) {
     // This is an error regardless; the client should never send this
     return -1;
-  } else if (endptr == int64_str) {
-    // No values were converted, this is an error
-    return -1;
-  } else if (*endptr != '\0') {
-    // There was junk after the number
-    return -1;
-  } else if (errno != 0) {
-    // Some other error occurred, which may include overflow or underflow
-    return -1;
   }
 
+  z_drop(z_move(val));
+
   return num;
 }
-}  // namespace rmw_zenoh_cpp
+
+} // namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/attachment_helpers.hpp

@@ -21,13 +21,40 @@
 
 #include "rmw/types.h"
 
-namespace rmw_zenoh_cpp
-{
-bool get_gid_from_attachment(
-  const z_attachment_t * const attachment, uint8_t gid[RMW_GID_STORAGE_SIZE]);
+namespace rmw_zenoh_cpp {
 
-int64_t get_int64_from_attachment(
-  const z_attachment_t * const attachment, const std::string & name);
-}  // namespace rmw_zenoh_cpp
+class attachement_data_t final {
+public:
+  int64_t sequence_number;
+  int64_t source_timestamp;
+  uint8_t source_gid[RMW_GID_STORAGE_SIZE];
+  attachement_data_t(const int64_t _sequence_number,
+                     const int64_t _source_timestamp,
+                     const uint8_t _source_gid[RMW_GID_STORAGE_SIZE]) {
+    sequence_number = _sequence_number;
+    source_timestamp = _source_timestamp;
+    memcpy(source_gid, _source_gid, RMW_GID_STORAGE_SIZE);
+  }
+  z_error_t serialize_to_zbytes(z_owned_bytes_t *);
+};
 
-#endif  // DETAIL__ATTACHMENT_HELPERS_HPP_
+class attachement_context_t final {
+public:
+  const attachement_data_t *data;
+  int length = 3;
+  int idx = 0;
+
+  attachement_context_t(const attachement_data_t *_data) : data(_data) {}
+};
+
+bool get_attachment(const z_loaned_bytes_t *const attachment,
+                    const std::string &key, z_owned_bytes_t *val);
+
+bool get_gid_from_attachment(const z_loaned_bytes_t *const attachment,
+                             uint8_t gid[RMW_GID_STORAGE_SIZE]);
+
+int64_t get_int64_from_attachment(const z_loaned_bytes_t *const attachment,
+                                  const std::string &name);
+} // namespace rmw_zenoh_cpp
+
+#endif // DETAIL__ATTACHMENT_HELPERS_HPP_

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -17,7 +17,6 @@
 #include <memory>
 #include <mutex>
 #include <optional>
-#include <sstream>
 #include <string>
 #include <utility>
 #include <vector>

rmw_zenoh_cpp/src/detail/graph_cache.hpp

@@ -22,16 +22,13 @@
 #include <string>
 #include <unordered_map>
 #include <unordered_set>
-#include <vector>
 
 #include "event.hpp"
 #include "liveliness_utils.hpp"
 
 #include "rcutils/allocator.h"
-#include "rcutils/types.h"
 
-#include "rmw/rmw.h"
-#include "rmw/get_topic_endpoint_info.h"
+#include "rmw/topic_endpoint_info_array.h"
 #include "rmw/names_and_types.h"
 
 

rmw_zenoh_cpp/src/detail/liveliness_utils.cpp

@@ -17,7 +17,6 @@
 #include <functional>
 #include <optional>
 #include <sstream>
-#include <stdexcept>
 #include <string>
 #include <unordered_map>
 #include <utility>

rmw_zenoh_cpp/src/detail/liveliness_utils.hpp

@@ -21,7 +21,6 @@
 #include <memory>
 #include <optional>
 #include <string>
-#include <vector>
 
 #include "rmw/types.h"
 

rmw_zenoh_cpp/src/detail/logging.cpp

@@ -63,4 +63,5 @@ void Logger::log_named(
     );
   }
 }
+
 }  // namespace rmw_zenoh_cpp