clean merge

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros2 · Dec 9, 2024 · 23f4235 · 23f4235
1 parent 9e2e837
commit 23f4235
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Showing 5 changed files with 9 additions and 8 deletions.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
@@ -80,8 +80,6 @@ void client_data_handler(z_loaned_reply_t * reply, void * data)
   std::chrono::nanoseconds::rep received_timestamp =
     std::chrono::system_clock::now().time_since_epoch().count();
 
-  z_owned_reply_t owned_reply;
-  z_reply_clone(&owned_reply, reply);
   client_data->add_new_reply(
     std::make_unique<rmw_zenoh_cpp::ZenohReply>(reply, received_timestamp));
 }

diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
@@ -67,12 +67,12 @@ class PublisherData final
   // Get a copy of the TopicInfo of this PublisherData.
   liveliness::TopicInfo topic_info() const;
 
-  // Returns true if liveliness token is still valid.
-  bool liveliness_is_valid() const;
-
   // Copy the GID of this PublisherData into an rmw_gid_t.
   void copy_gid(uint8_t out_gid[RMW_GID_STORAGE_SIZE]) const;
 
+  // Returns true if liveliness token is still valid.
+  bool liveliness_is_valid() const;
+
   // Get the events manager of this PublisherData.
   std::shared_ptr<EventsManager> events_mgr() const;
 

diff --git a/rmw_zenoh_cpp/src/detail/rmw_service_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_service_data.hpp
@@ -110,7 +110,7 @@ class ServiceData final
   const rmw_node_t * rmw_node_;
   // The Entity generated for the service.
   std::shared_ptr<liveliness::Entity> entity_;
-  // The keyexpr string.
+  // An owned keyexpression.
   z_owned_keyexpr_t keyexpr_;
   // An owned queryable.
   z_owned_queryable_t qable_;

diff --git a/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp b/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
@@ -52,7 +52,10 @@ std::chrono::nanoseconds::rep ZenohQuery::get_received_timestamp() const
 }
 
 ///=============================================================================
-ZenohQuery::~ZenohQuery() {z_drop(z_move(query_));}
+ZenohQuery::~ZenohQuery()
+{
+  z_drop(z_move(query_));
+}
 
 ///=============================================================================
 const z_loaned_query_t * ZenohQuery::get_query() const {return z_loan(query_);}

diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -750,7 +750,7 @@ rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher)
   auto pub_data = node_data->get_pub_data(publisher);
   RMW_CHECK_ARGUMENT_FOR_NULL(pub_data, RMW_RET_INVALID_ARGUMENT);
 
-  if (pub_data->is_shutdown()) {
+  if (!pub_data->liveliness_is_valid()) {
     return RMW_RET_ERROR;
   }