Rename the API to match the latest zenoh-c

rmw_zenoh_cpp/src/detail/rmw_client_data.cpp

@@ -252,7 +252,7 @@ bool ClientData::init(const z_loaned_session_t * session)
     [this]() {
       z_drop(z_move(this->token_));
     });
-  if (zc_liveliness_declare_token(
+  if (z_liveliness_declare_token(
       session,
       &this->token_,
       z_loan(liveliness_ke),
@@ -518,7 +518,7 @@ void ClientData::_shutdown()
   }
 
   // Unregister this node from the ROS graph.
-  zc_liveliness_undeclare_token(z_move(token_));
+  z_liveliness_undeclare_token(z_move(token_));
 
   z_drop(z_move(keyexpr_));
 

rmw_zenoh_cpp/src/detail/rmw_client_data.hpp

@@ -131,7 +131,7 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
   // An owned keyexpression.
   z_owned_keyexpr_t keyexpr_;
   // Liveliness token for the service.
-  zc_owned_liveliness_token_t token_;
+  z_owned_liveliness_token_t token_;
   // Type support fields.
   const void * request_type_support_impl_;
   const void * response_type_support_impl_;

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

@@ -124,7 +124,7 @@ class rmw_context_impl_s::Data final
 
     // Query router/liveliness participants to get graph information before the session was started.
     // We create a blocking channel that is unbounded, ie. `bound` = 0, to receive
-    // replies for the zc_liveliness_get() call. This is necessary as if the `bound`
+    // replies for the z_liveliness_get() call. This is necessary as if the `bound`
     // is too low, the channel may starve the zenoh executor of its threads which
     // would lead to deadlocks when trying to receive replies and block the
     // execution here.
@@ -143,7 +143,7 @@ class rmw_context_impl_s::Data final
 
     z_view_keyexpr_t keyexpr;
     z_view_keyexpr_from_str(&keyexpr, liveliness_str.c_str());
-    zc_liveliness_get(
+    z_liveliness_get(
       z_loan(session_), z_loan(keyexpr),
       z_move(closure), NULL);
     z_owned_reply_t reply;
@@ -196,8 +196,8 @@ class rmw_context_impl_s::Data final
 
     // Setup the liveliness subscriber to receives updates from the ROS graph
     // and update the graph cache.
-    zc_liveliness_subscriber_options_t sub_options;
-    zc_liveliness_subscriber_options_default(&sub_options);
+    z_liveliness_subscriber_options_t sub_options;
+    z_liveliness_subscriber_options_default(&sub_options);
     z_owned_closure_sample_t callback;
     z_closure(&callback, graph_sub_data_handler, nullptr, this);
     z_view_keyexpr_t liveliness_ke;
@@ -206,7 +206,7 @@ class rmw_context_impl_s::Data final
       [this]() {
         z_undeclare_subscriber(z_move(this->graph_subscriber_));
       });
-    if (zc_liveliness_declare_subscriber(
+    if (z_liveliness_declare_subscriber(
         z_loan(session_),
         &graph_subscriber_, z_loan(liveliness_ke),
         z_move(callback), &sub_options) != Z_OK)

rmw_zenoh_cpp/src/detail/rmw_node_data.cpp

@@ -60,12 +60,12 @@ std::shared_ptr<NodeData> NodeData::make(
   std::string liveliness_keyexpr = entity->liveliness_keyexpr();
   z_view_keyexpr_t liveliness_ke;
   z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str());
-  zc_owned_liveliness_token_t token;
+  z_owned_liveliness_token_t token;
   auto free_token = rcpputils::make_scope_exit(
     [&token]() {
       z_drop(z_move(token));
     });
-  if (zc_liveliness_declare_token(session, &token, z_loan(liveliness_ke), NULL) != Z_OK) {
+  if (z_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.");
@@ -87,7 +87,7 @@ NodeData::NodeData(
   const rmw_node_t * const node,
   std::size_t id,
   std::shared_ptr<liveliness::Entity> entity,
-  zc_owned_liveliness_token_t token)
+  z_owned_liveliness_token_t token)
 : node_(node),
   id_(std::move(id)),
   entity_(std::move(entity)),
@@ -402,7 +402,7 @@ rmw_ret_t NodeData::shutdown()
   }
 
   // Unregister this node from the ROS graph.
-  zc_liveliness_undeclare_token(z_move(token_));
+  z_liveliness_undeclare_token(z_move(token_));
 
   is_shutdown_ = true;
   return ret;

rmw_zenoh_cpp/src/detail/rmw_node_data.hpp

@@ -128,7 +128,7 @@ class NodeData final
     const rmw_node_t * const node,
     std::size_t id,
     std::shared_ptr<liveliness::Entity> entity,
-    zc_owned_liveliness_token_t token);
+    z_owned_liveliness_token_t token);
   // Internal mutex.
   mutable std::recursive_mutex mutex_;
   // The rmw_node_t associated with this NodeData.
@@ -139,7 +139,7 @@ class NodeData final
   // The Entity generated for the node.
   std::shared_ptr<liveliness::Entity> entity_;
   // Liveliness token for the node.
-  zc_owned_liveliness_token_t token_;
+  z_owned_liveliness_token_t token_;
   // Shutdown flag.
   bool is_shutdown_;
   // Map of publishers.

rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp

@@ -171,12 +171,12 @@ std::shared_ptr<PublisherData> PublisherData::make(
   std::string liveliness_keyexpr = entity->liveliness_keyexpr();
   z_view_keyexpr_t liveliness_ke;
   z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str());
-  zc_owned_liveliness_token_t token;
+  z_owned_liveliness_token_t token;
   auto free_token = rcpputils::make_scope_exit(
     [&token]() {
       z_drop(z_move(token));
     });
-  if (zc_liveliness_declare_token(
+  if (z_liveliness_declare_token(
       session, &token, z_loan(liveliness_ke),
       NULL) != Z_OK)
   {
@@ -208,7 +208,7 @@ PublisherData::PublisherData(
   std::shared_ptr<liveliness::Entity> entity,
   z_owned_publisher_t pub,
   std::optional<ze_owned_publication_cache_t> pub_cache,
-  zc_owned_liveliness_token_t token,
+  z_owned_liveliness_token_t token,
   const void * type_support_impl,
   std::unique_ptr<MessageTypeSupport> type_support)
 : rmw_node_(rmw_node),
@@ -431,7 +431,7 @@ rmw_ret_t PublisherData::shutdown()
   }
 
   // Unregister this publisher from the ROS graph.
-  zc_liveliness_undeclare_token(z_move(token_));
+  z_liveliness_undeclare_token(z_move(token_));
   if (pub_cache_.has_value()) {
     z_drop(z_move(pub_cache_.value()));
   }

rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp

@@ -89,7 +89,7 @@ class PublisherData final
     std::shared_ptr<liveliness::Entity> entity,
     z_owned_publisher_t pub,
     std::optional<ze_owned_publication_cache_t> pub_cache,
-    zc_owned_liveliness_token_t token,
+    z_owned_liveliness_token_t token,
     const void * type_support_impl,
     std::unique_ptr<MessageTypeSupport> type_support);
 
@@ -104,7 +104,7 @@ class PublisherData final
   // Optional publication cache when durability is transient_local.
   std::optional<ze_owned_publication_cache_t> pub_cache_;
   // Liveliness token for the publisher.
-  zc_owned_liveliness_token_t token_;
+  z_owned_liveliness_token_t token_;
   // Type support fields
   const void * type_support_impl_;
   std::unique_ptr<MessageTypeSupport> type_support_;

rmw_zenoh_cpp/src/detail/rmw_service_data.cpp

@@ -195,7 +195,7 @@ std::shared_ptr<ServiceData> ServiceData::make(
         z_drop(z_move(service_data->token_));
       }
     });
-  if (zc_liveliness_declare_token(
+  if (z_liveliness_declare_token(
       session, &service_data->token_, z_loan(liveliness_ke),
       NULL) != Z_OK)
   {
@@ -495,7 +495,7 @@ rmw_ret_t ServiceData::shutdown()
   }
 
   // Unregister this node from the ROS graph.
-  zc_liveliness_undeclare_token(z_move(token_));
+  z_liveliness_undeclare_token(z_move(token_));
   z_undeclare_queryable(z_move(qable_));
 
   is_shutdown_ = true;

rmw_zenoh_cpp/src/detail/rmw_service_data.hpp

@@ -112,7 +112,7 @@ class ServiceData final
   // An owned queryable.
   z_owned_queryable_t qable_;
   // Liveliness token for the service.
-  zc_owned_liveliness_token_t token_;
+  z_owned_liveliness_token_t token_;
   // Type support fields.
   const void * request_type_support_impl_;
   const void * response_type_support_impl_;

rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp

@@ -324,7 +324,7 @@ bool SubscriptionData::init()
     [this]() {
       z_drop(z_move(token_));
     });
-  if (zc_liveliness_declare_token(
+  if (z_liveliness_declare_token(
       context_impl->session(), &token_, z_loan(liveliness_ke), NULL) != Z_OK)
   {
     RMW_ZENOH_LOG_ERROR_NAMED(
@@ -393,7 +393,7 @@ rmw_ret_t SubscriptionData::shutdown()
   graph_cache_->remove_qos_event_callbacks(entity_->keyexpr_hash());
 
   // Unregister this subscription from the ROS graph.
-  zc_liveliness_undeclare_token(z_move(token_));
+  z_liveliness_undeclare_token(z_move(token_));
 
   z_owned_subscriber_t * sub = std::get_if<z_owned_subscriber_t>(&sub_);
   if (sub != nullptr) {

rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp

@@ -139,7 +139,7 @@ class SubscriptionData final : public std::enable_shared_from_this<SubscriptionD
   // An owned subscriber or querying_subscriber depending on the QoS settings.
   std::variant<z_owned_subscriber_t, ze_owned_querying_subscriber_t> sub_;
   // Liveliness token for the subscription.
-  zc_owned_liveliness_token_t token_;
+  z_owned_liveliness_token_t token_;
   // Type support fields
   const void * type_support_impl_;
   std::unique_ptr<MessageTypeSupport> type_support_;

zenoh_c_vendor/CMakeLists.txt

@@ -26,7 +26,7 @@ set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memor
 # - https://github.com/eclipse-zenoh/zenoh-c/pull/620 (fix ze_querying_subscriber_get API to query newly discovered publishers)
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION 4b759d4e4d35a97d7b20b5c4003b8b764a10f679
+  VCS_VERSION bd7c7172ff5a38d43dedf72dc2cf03607743e826
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
     "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"