Merge branch 'rolling' into yadu/tmp_jazzy

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5

@@ -189,14 +189,7 @@
         },
         // Number of threads dedicated to transmission
         // By default, the number of threads is calculated as follows: 1 + ((#cores - 1) / 4)
-        // We limit the number of threads that the zenoh session can spin to 1.
-        // Without this limit, applications with multiple zenoh sessions can
-        // encounter system resource errors when trying to create new threads.
-        // Once zenoh migrates to relying on tokio for its async runtime,
-        // see https://github.com/eclipse-zenoh/zenoh/pull/566, we can consider
-        // removing these flags since with tokio, zenoh can better manage the threads it spins
-        // with the help of thread pools.
-        threads: 1,
+        // threads: 1,
       },
       /// Configure the zenoh RX parameters of a link
       rx: {

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

@@ -189,14 +189,7 @@
         },
         // Number of threads dedicated to transmission
         // By default, the number of threads is calculated as follows: 1 + ((#cores - 1) / 4)
-        // We limit the number of threads that the zenoh session can spin to 1.
-        // Without this limit, applications with multiple zenoh sessions can
-        // encounter system resource errors when trying to create new threads.
-        // Once zenoh migrates to relying on tokio for its async runtime,
-        // see https://github.com/eclipse-zenoh/zenoh/pull/566, we can consider
-        // removing these flags since with tokio, zenoh can better manage the threads it spins
-        // with the help of thread pools.
-        threads: 1,
+        // threads: 1,
       },
       /// Configure the zenoh RX parameters of a link
       rx: {

rmw_zenoh_cpp/src/detail/attachment_helpers.cpp

@@ -22,6 +22,8 @@
 
 #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])
 {
@@ -91,3 +93,4 @@ int64_t get_int64_from_attachment(
 
   return num;
 }
+}  // namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/attachment_helpers.hpp

@@ -21,10 +21,13 @@
 
 #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]);
 
 int64_t get_int64_from_attachment(
   const z_attachment_t * const attachment, const std::string & name);
+}  // namespace rmw_zenoh_cpp
 
 #endif  // DETAIL__ATTACHMENT_HELPERS_HPP_

rmw_zenoh_cpp/src/detail/cdr.cpp

@@ -18,7 +18,9 @@
 
 #include "cdr.hpp"
 
-rmw_zenoh_cpp::Cdr::Cdr(eprosima::fastcdr::FastBuffer & fastbuffer)
+namespace rmw_zenoh_cpp
+{
+Cdr::Cdr(eprosima::fastcdr::FastBuffer & fastbuffer)
 #if FASTCDR_VERSION_MAJOR == 1
 : cdr_(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR)
 #else
@@ -27,7 +29,7 @@ rmw_zenoh_cpp::Cdr::Cdr(eprosima::fastcdr::FastBuffer & fastbuffer)
 {
 }
 
-size_t rmw_zenoh_cpp::Cdr::get_serialized_data_length() const
+size_t Cdr::get_serialized_data_length() const
 {
 #if FASTCDR_VERSION_MAJOR == 1
   return cdr_.getSerializedDataLength();
@@ -36,7 +38,8 @@ size_t rmw_zenoh_cpp::Cdr::get_serialized_data_length() const
 #endif
 }
 
-eprosima::fastcdr::Cdr & rmw_zenoh_cpp::Cdr::get_cdr()
+eprosima::fastcdr::Cdr & Cdr::get_cdr()
 {
   return cdr_;
 }
+}  // namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/cdr.hpp

@@ -33,7 +33,6 @@ class Cdr final
 private:
   eprosima::fastcdr::Cdr cdr_;
 };
-
 }  // namespace rmw_zenoh_cpp
 
 #endif  // DETAIL__CDR_HPP_

rmw_zenoh_cpp/src/detail/event.cpp

@@ -20,7 +20,8 @@
 
 #include "rmw/error_handling.h"
 
-
+namespace rmw_zenoh_cpp
+{
 ///=============================================================================
 void DataCallbackManager::set_callback(
   const void * user_data, rmw_event_callback_t callback)
@@ -229,3 +230,4 @@ void EventsManager::notify_event(rmw_zenoh_event_type_t event_id)
     event_conditions_[event_id]->notify_one();
   }
 }
+}  // namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/event.hpp

@@ -25,7 +25,8 @@
 #include "rmw/event.h"
 #include "rmw/event_callback_type.h"
 
-
+namespace rmw_zenoh_cpp
+{
 ///=============================================================================
 // A struct that represents an event status in rmw_zenoh.
 enum rmw_zenoh_event_type_t
@@ -157,18 +158,14 @@ class EventsManager
   mutable std::mutex event_condition_mutex_;
   /// Condition variable to attach for event notifications.
   std::condition_variable * event_conditions_[ZENOH_EVENT_ID_MAX + 1]{nullptr};
-  /// User callback that can be set via data_callback_mgr.set_callback().
-  rmw_event_callback_t callback_ {nullptr};
-  /// User data that should be passed to the user callback.
-  const void * user_data_ {nullptr};
-  /// Count for
-  size_t unread_count_ {0};
+
   rmw_event_callback_t event_callback_[ZENOH_EVENT_ID_MAX + 1] {nullptr};
   const void * event_data_[ZENOH_EVENT_ID_MAX + 1] {nullptr};
   size_t event_unread_count_[ZENOH_EVENT_ID_MAX + 1] {0};
   // A dequeue of events for each type of event this RMW supports.
   std::deque<std::unique_ptr<rmw_zenoh_event_status_t>> event_queues_[ZENOH_EVENT_ID_MAX + 1] {};
   const std::size_t event_queue_depth_ = 10;
 };
+}  // namespace rmw_zenoh_cpp
 
 #endif  // DETAIL__EVENT_HPP_

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -36,6 +36,8 @@
 #include "graph_cache.hpp"
 #include "rmw_data_types.hpp"
 
+namespace rmw_zenoh_cpp
+{
 ///=============================================================================
 using Entity = liveliness::Entity;
 using ConstEntityPtr = liveliness::ConstEntityPtr;
@@ -836,7 +838,8 @@ rmw_ret_t GraphCache::publisher_count_matched_subscriptions(
   *subscription_count = 0;
   GraphNode::TopicMap::const_iterator topic_it = graph_topics_.find(publisher->topic_name);
   if (topic_it != graph_topics_.end()) {
-    rmw_publisher_data_t * pub_data = static_cast<rmw_publisher_data_t *>(publisher->data);
+    rmw_publisher_data_t * pub_data =
+      static_cast<rmw_publisher_data_t *>(publisher->data);
     GraphNode::TopicTypeMap::const_iterator topic_data_it = topic_it->second.find(
       pub_data->type_support->get_name());
     if (topic_data_it != topic_it->second.end()) {
@@ -871,7 +874,8 @@ rmw_ret_t GraphCache::subscription_count_matched_publishers(
   *publisher_count = 0;
   GraphNode::TopicMap::const_iterator topic_it = graph_topics_.find(subscription->topic_name);
   if (topic_it != graph_topics_.end()) {
-    rmw_subscription_data_t * sub_data = static_cast<rmw_subscription_data_t *>(subscription->data);
+    rmw_subscription_data_t * sub_data =
+      static_cast<rmw_subscription_data_t *>(subscription->data);
     GraphNode::TopicTypeMap::const_iterator topic_data_it = topic_it->second.find(
       sub_data->type_support->get_name());
     if (topic_data_it != topic_it->second.end()) {
@@ -1297,3 +1301,4 @@ std::unique_ptr<rmw_zenoh_event_status_t> GraphCache::take_event_status(
   status_to_take.current_count_change = 0;
   return result;
 }
+}  // namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/graph_cache.hpp

@@ -35,6 +35,8 @@
 #include "rmw/names_and_types.h"
 
 
+namespace rmw_zenoh_cpp
+{
 ///=============================================================================
 // TODO(Yadunund): Consider changing this to an array of unordered_set where the index of the
 // array corresponds to the EntityType enum. This way we don't need to mix
@@ -284,5 +286,6 @@ class GraphCache final
   // Mutex to lock before modifying the members above.
   mutable std::mutex graph_mutex_;
 };
+}  // namespace rmw_zenoh_cpp
 
 #endif  // DETAIL__GRAPH_CACHE_HPP_

rmw_zenoh_cpp/src/detail/guard_condition.cpp

@@ -15,14 +15,16 @@
 
 #include "guard_condition.hpp"
 
-///==============================================================================
+namespace rmw_zenoh_cpp
+{
+///=============================================================================
 GuardCondition::GuardCondition()
 : has_triggered_(false),
   condition_variable_(nullptr)
 {
 }
 
-///==============================================================================
+///=============================================================================
 void GuardCondition::trigger()
 {
   std::lock_guard<std::mutex> lock(internal_mutex_);
@@ -37,21 +39,21 @@ void GuardCondition::trigger()
   }
 }
 
-///==============================================================================
+///=============================================================================
 void GuardCondition::attach_condition(std::condition_variable * condition_variable)
 {
   std::lock_guard<std::mutex> lock(internal_mutex_);
   condition_variable_ = condition_variable;
 }
 
-///==============================================================================
+///=============================================================================
 void GuardCondition::detach_condition()
 {
   std::lock_guard<std::mutex> lock(internal_mutex_);
   condition_variable_ = nullptr;
 }
 
-///==============================================================================
+///=============================================================================
 bool GuardCondition::get_and_reset_trigger()
 {
   std::lock_guard<std::mutex> lock(internal_mutex_);
@@ -63,3 +65,4 @@ bool GuardCondition::get_and_reset_trigger()
 
   return ret;
 }
+}  // namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/guard_condition.hpp

@@ -20,7 +20,9 @@
 #include <condition_variable>
 #include <mutex>
 
-///==============================================================================
+namespace rmw_zenoh_cpp
+{
+///=============================================================================
 class GuardCondition final
 {
 public:
@@ -40,5 +42,6 @@ class GuardCondition final
   std::atomic_bool has_triggered_;
   std::condition_variable * condition_variable_;
 };
+}  // namespace rmw_zenoh_cpp
 
 #endif  // DETAIL__GUARD_CONDITION_HPP_

rmw_zenoh_cpp/src/detail/identifier.cpp

@@ -14,4 +14,7 @@
 
 #include "identifier.hpp"
 
+namespace rmw_zenoh_cpp
+{
 const char * const rmw_zenoh_identifier = "rmw_zenoh_cpp";
+}  // namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/identifier.hpp

@@ -15,6 +15,9 @@
 #ifndef DETAIL__IDENTIFIER_HPP_
 #define DETAIL__IDENTIFIER_HPP_
 
+namespace rmw_zenoh_cpp
+{
 extern const char * const rmw_zenoh_identifier;
+}  // namespace rmw_zenoh_cpp
 
 #endif  // DETAIL__IDENTIFIER_HPP_

rmw_zenoh_cpp/src/detail/liveliness_utils.cpp

@@ -28,10 +28,10 @@
 
 #include "rmw/error_handling.h"
 
-
+namespace rmw_zenoh_cpp
+{
 namespace liveliness
 {
-
 ///=============================================================================
 NodeInfo::NodeInfo(
   std::size_t domain_id,
@@ -88,7 +88,6 @@ static const char PUB_STR[] = "MP";
 static const char SUB_STR[] = "MS";
 static const char SRV_STR[] = "SS";
 static const char CLI_STR[] = "SC";
-static const char EMPTY_NAMESPACE_REPLACEMENT = '_';
 static const char KEYEXPR_DELIMITER = '/';
 static const char SLASH_REPLACEMENT = '%';
 static const char QOS_DELIMITER = ':';
@@ -261,7 +260,7 @@ Entity::Entity(
   keyexpr_parts[KeyexprIndex::Id] = id_;
   keyexpr_parts[KeyexprIndex::EntityStr] = entity_to_str.at(type_);
   // An empty namespace from rcl will contain "/" but zenoh does not allow keys with "//".
-  // Hence we add an "_" to denote an empty namespace such that splitting the key
+  // Hence we mangle the empty namespace such that splitting the key
   // will always result in 5 parts.
   keyexpr_parts[KeyexprIndex::Namespace] = mangle_name(node_info_.ns_);
   keyexpr_parts[KeyexprIndex::NodeName] = mangle_name(node_info_.name_);
@@ -318,12 +317,12 @@ std::shared_ptr<Entity> Entity::make(
 
   return std::make_shared<Entity>(
     Entity{
-      zid_to_str(zid),
-      nid,
-      id,
-      std::move(type),
-      std::move(node_info),
-      std::move(topic_info)});
+        zid_to_str(zid),
+        nid,
+        id,
+        std::move(type),
+        std::move(node_info),
+        std::move(topic_info)});
 }
 
 ///=============================================================================
@@ -399,12 +398,12 @@ std::shared_ptr<Entity> Entity::make(const std::string & keyexpr)
 
   return std::make_shared<Entity>(
     Entity{
-      std::move(zid),
-      std::move(nid),
-      std::move(id),
-      std::move(entity_type),
-      NodeInfo{std::move(domain_id), std::move(ns), std::move(node_name), ""},
-      std::move(topic_info)});
+        std::move(zid),
+        std::move(nid),
+        std::move(id),
+        std::move(entity_type),
+        NodeInfo{std::move(domain_id), std::move(ns), std::move(node_name), ""},
+        std::move(topic_info)});
 }
 
 ///=============================================================================
@@ -499,5 +498,5 @@ std::string demangle_name(const std::string & input)
   }
   return output;
 }
-
 }  // namespace liveliness
+}  // namespace rmw_zenoh_cpp