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Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros2 · Dec 6, 2024 · 0b43524 · 0b43524
1 parent e63355a
commit 0b43524
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Showing 3 changed files with 11 additions and 18 deletions.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
@@ -439,19 +439,16 @@ rmw_ret_t ClientData::send_request(
       sub_data->add_new_reply(
         std::make_unique<rmw_zenoh_cpp::ZenohReply>(reply, received_timestamp));
     },
-    zenoh::closures::none,
-    // TODO(ahcorde): Try this
-    //     [client_data]() {
-    //       auto sub_data = client_data.lock();
-    //       if (sub_data == nullptr) {
-    //         RMW_ZENOH_LOG_ERROR_NAMED(
-    //           "rmw_zenoh_cpp",
-    //           "Unable to obtain ClientData from data for %s.",
-    //           std::string(sample.get_keyexpr().as_string_view()));
-    //         return;
-    //       }
-    //       client_data->decrement_in_flight_and_conditionally_remove();
-    // },
+    [client_data]() {
+      auto sub_data = client_data.lock();
+      if (sub_data == nullptr) {
+        RMW_ZENOH_LOG_ERROR_NAMED(
+          "rmw_zenoh_cpp",
+          "Unable to obtain ClientData");
+        return;
+      }
+      sub_data->decrement_in_flight_and_conditionally_remove();
+    },
     std::move(opts),
     &err);
   return RMW_RET_OK;
@@ -517,8 +514,6 @@ void ClientData::_shutdown()
       "Unable to undeclare liveliness token");
     return;
   }
-  // TODO(ahcorde)
-  // z_drop(z_move(keyexpr_));
 
   is_shutdown_ = true;
 }

diff --git a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
@@ -361,9 +361,6 @@ rmw_ret_t ServiceData::take_request(
       "ServiceData not able to get slice data");
     return RMW_RET_ERROR;
   }
-  // TODO(ahcorde): review
-  // it->second.insert(std::make_pair(request_header->request_id.sequence_number, std::move(query)));
-  // *taken = true;
 
   return RMW_RET_OK;
 }

diff --git a/rmw_zenoh_cpp/src/rmw_get_topic_endpoint_info.cpp b/rmw_zenoh_cpp/src/rmw_get_topic_endpoint_info.cpp
@@ -35,6 +35,7 @@ rmw_get_publishers_info_by_topic(
   bool no_mangle,
   rmw_topic_endpoint_info_array_t * publishers_info)
 {
+  printf("zenoh::rmw_get_publishers_info_by_topic\n");
   RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
     node,