Update zenoh-pico and fix z_open and z_close invocation

bjsowa · Sep 11, 2024 · f903161 · f903161
1 parent bcfa9e9
commit f903161
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/rmw_zenohpico_c/src/rmw_init.c b/rmw_zenohpico_c/src/rmw_init.c
@@ -47,7 +47,7 @@ rmw_ret_t rmw_init(const rmw_init_options_t* options, rmw_context_t* context) {
   context->impl->is_shutdown = false;
 
   // Initialize the zenoh session.
-  if (z_open(&context->impl->session, z_move(context->options.impl->config)) < 0) {
+  if (z_open(&context->impl->session, z_move(context->options.impl->config), NULL) < 0) {
     RMW_SET_ERROR_MSG("Error setting up zenoh session");
     ret = RMW_RET_ERROR;
     goto fail_session_open;
@@ -76,7 +76,7 @@ rmw_ret_t rmw_init(const rmw_init_options_t* options, rmw_context_t* context) {
 fail_start_read_task:
   RMW_UNUSED(rmw_destroy_guard_condition(context->impl->graph_guard_condition))
 fail_create_graph_guard_condition:
-  z_close(z_move(context->impl->session));
+  z_close(z_move(context->impl->session), NULL);
 fail_session_open:
   RMW_UNUSED(rmw_init_options_fini(&context->options))
 fail_init_options_copy:
@@ -108,7 +108,7 @@ rmw_ret_t rmw_shutdown(rmw_context_t* context) {
   }
 
   // Close the zenoh session
-  if (z_close(z_move(context->impl->session)) < 0) {
+  if (z_close(z_move(context->impl->session), NULL) < 0) {
     RMW_SET_ERROR_MSG("Error while closing zenoh session");
     ret = RMW_RET_ERROR;
   }

diff --git a/zenohpico_vendor/CMakeLists.txt b/zenohpico_vendor/CMakeLists.txt
@@ -8,7 +8,7 @@ find_package(zenohpico QUIET)
 
 ament_vendor(zenohpico_vendor
   VCS_URL "https://github.com/eclipse-zenoh/zenoh-pico.git"
-  VCS_VERSION "9e926b5b517336d2a78d54b9515f420241fc7dc1"
+  VCS_VERSION "8a5f1bb38d3aafb1a94609d1f221d8357d40d9e7"
   SATISFIED ${zenohpico_FOUND}
 )