Merge branch 'dev/1.0.0' into ahcorde/rolling/1.0.0_windows

rmw_zenoh_cpp/CMakeLists.txt

@@ -11,8 +11,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-set(RMW_ZENOH_BUILD_WITH_SHARED_MEMORY ON CACHE BOOL "Compile Zenoh RMW with Shared Memory support")
-
 # find dependencies
 find_package(ament_cmake REQUIRED)
 
@@ -36,8 +34,8 @@ add_library(rmw_zenoh_cpp SHARED
   src/detail/logging.cpp
   src/detail/message_type_support.cpp
   src/detail/qos.cpp
+  src/detail/rmw_client_data.cpp
   src/detail/rmw_context_impl_s.cpp
-  src/detail/rmw_data_types.cpp
   src/detail/rmw_publisher_data.cpp
   src/detail/rmw_node_data.cpp
   src/detail/rmw_service_data.cpp
@@ -82,13 +80,6 @@ target_compile_definitions(rmw_zenoh_cpp
     RMW_VERSION_PATCH=${rmw_VERSION_PATCH}
 )
 
-if(${RMW_ZENOH_BUILD_WITH_SHARED_MEMORY})
-  target_compile_definitions(rmw_zenoh_cpp
-    PRIVATE
-      RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
-  )
-endif()
-
 ament_export_targets(export_rmw_zenoh_cpp)
 
 register_rmw_implementation(

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5

@@ -457,6 +457,8 @@
       /// A probing procedure for shared memory is performed upon session opening. To enable zenoh to operate
       /// over shared memory (and to not fallback on network mode), shared memory needs to be enabled also on the
       /// subscriber side. By doing so, the probing procedure will succeed and shared memory will operate as expected.
+      ///
+      /// ROS setting: disabled by default until fully tested
       enabled: false,
     },
     auth: {

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

@@ -462,6 +462,8 @@
       /// A probing procedure for shared memory is performed upon session opening. To enable zenoh to operate
       /// over shared memory (and to not fallback on network mode), shared memory needs to be enabled also on the
       /// subscriber side. By doing so, the probing procedure will succeed and shared memory will operate as expected.
+      ///
+      /// ROS setting: disabled by default until fully tested
       enabled: false,
     },
     auth: {

rmw_zenoh_cpp/src/detail/attachment_helpers.cpp

@@ -27,7 +27,7 @@
 namespace rmw_zenoh_cpp
 {
 
-attachement_data_t::attachement_data_t(
+attachment_data_t::attachment_data_t(
   const int64_t _sequence_number,
   const int64_t _source_timestamp,
   const uint8_t _source_gid[RMW_GID_STORAGE_SIZE])
@@ -37,14 +37,14 @@ attachement_data_t::attachement_data_t(
   memcpy(source_gid, _source_gid, RMW_GID_STORAGE_SIZE);
 }
 
-attachement_data_t::attachement_data_t(attachement_data_t && data)
+attachment_data_t::attachment_data_t(attachment_data_t && data)
 {
   sequence_number = std::move(data.sequence_number);
   source_timestamp = std::move(data.source_timestamp);
   memcpy(source_gid, data.source_gid, RMW_GID_STORAGE_SIZE);
 }
 
-void attachement_data_t::serialize_to_zbytes(z_owned_bytes_t * attachment)
+void attachment_data_t::serialize_to_zbytes(z_owned_bytes_t * attachment)
 {
   ze_owned_serializer_t serializer;
   ze_serializer_empty(&serializer);
@@ -57,7 +57,7 @@ void attachement_data_t::serialize_to_zbytes(z_owned_bytes_t * attachment)
   ze_serializer_finish(z_move(serializer), attachment);
 }
 
-attachement_data_t::attachement_data_t(const z_loaned_bytes_t * attachment)
+attachment_data_t::attachment_data_t(const z_loaned_bytes_t * attachment)
 {
   ze_deserializer_t deserializer = ze_deserializer_from_bytes(attachment);
   z_owned_string_t key;

rmw_zenoh_cpp/src/detail/attachment_helpers.hpp

@@ -22,15 +22,15 @@
 namespace rmw_zenoh_cpp
 {
 
-class attachement_data_t final
+class attachment_data_t final
 {
 public:
-  explicit attachement_data_t(
+  explicit attachment_data_t(
     const int64_t _sequence_number,
     const int64_t _source_timestamp,
     const uint8_t _source_gid[RMW_GID_STORAGE_SIZE]);
-  explicit attachement_data_t(const z_loaned_bytes_t *);
-  explicit attachement_data_t(attachement_data_t && data);
+  explicit attachment_data_t(const z_loaned_bytes_t *);
+  explicit attachment_data_t(attachment_data_t && data);
 
   int64_t sequence_number;
   int64_t source_timestamp;

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -17,6 +17,7 @@
 #include <memory>
 #include <mutex>
 #include <optional>
+#include <sstream>
 #include <string>
 #include <utility>
 #include <vector>
@@ -35,7 +36,6 @@
 
 #include "graph_cache.hpp"
 #include "logging_macros.hpp"
-#include "rmw_data_types.hpp"
 
 namespace rmw_zenoh_cpp
 {
@@ -612,10 +612,10 @@ void GraphCache::parse_del(
 
   if (entity->type() == EntityType::Node) {
     // Node
-    // In case the remote Node closed abruptly or was disconnected, Zenoh could deliver the
-    // liveliness tokens unregistration events in any order.
-    // If the event for Node unregistration comes before the unregistration of its
-    // pubs/subs/services, we should update the count in graph_topics_ and graph_services_.
+    // When destroying a node, Zenoh does not guarantee that liveliness tokens to remove pub/subs
+    // arrive before the one to remove the node from the graph despite un-registering those entities
+    // earlier. In such scenarios, if we find any pub/subs present in the node, we reduce their
+    // counts in graph_topics_.
     const GraphNodePtr graph_node = node_it->second;
     if (!graph_node->pubs_.empty() ||
       !graph_node->subs_.empty() ||
@@ -1182,15 +1182,15 @@ rmw_ret_t GraphCache::get_entities_info_by_topic(
 
 ///=============================================================================
 rmw_ret_t GraphCache::service_server_is_available(
-  const char * service_name,
-  const char * service_type,
+  const liveliness::TopicInfo & client_topic_info,
   bool * is_available) const
 {
   *is_available = false;
   std::lock_guard<std::mutex> lock(graph_mutex_);
-  GraphNode::TopicMap::const_iterator service_it = graph_services_.find(service_name);
+  GraphNode::TopicMap::const_iterator service_it = graph_services_.find(client_topic_info.name_);
   if (service_it != graph_services_.end()) {
-    GraphNode::TopicTypeMap::const_iterator type_it = service_it->second.find(service_type);
+    GraphNode::TopicTypeMap::const_iterator type_it =
+      service_it->second.find(client_topic_info.type_);
     if (type_it != service_it->second.end()) {
       for (const auto & [_, topic_data] : type_it->second) {
         if (topic_data->subs_.size() > 0) {

rmw_zenoh_cpp/src/detail/graph_cache.hpp

@@ -23,14 +23,17 @@
 #include <string>
 #include <unordered_map>
 #include <unordered_set>
+#include <vector>
 
 #include "event.hpp"
 #include "liveliness_utils.hpp"
 #include "ordered_map.hpp"
 
 #include "rcutils/allocator.h"
+#include "rcutils/types.h"
 
-#include "rmw/topic_endpoint_info_array.h"
+#include "rmw/rmw.h"
+#include "rmw/get_topic_endpoint_info.h"
 #include "rmw/names_and_types.h"
 
 
@@ -169,8 +172,7 @@ class GraphCache final
     rmw_topic_endpoint_info_array_t * endpoints_info) const;
 
   rmw_ret_t service_server_is_available(
-    const char * service_name,
-    const char * service_type,
+    const liveliness::TopicInfo & client_topic_info,
     bool * is_available) const;
 
   /// Set a qos event callback for an entity from the current session.

rmw_zenoh_cpp/src/detail/liveliness_utils.cpp

@@ -14,15 +14,14 @@
 
 #include "liveliness_utils.hpp"
 
-#include <zenoh.h>
-
 #include <functional>
 #include <limits>
 #include <optional>
 #include <random>
 #include <sstream>
 #include <stdexcept>
 #include <string>
+#include <type_traits>
 #include <unordered_map>
 #include <utility>
 #include <vector>
@@ -31,6 +30,8 @@
 #include "qos.hpp"
 #include "simplified_xxhash3.hpp"
 
+#include "rcpputils/scope_exit.hpp"
+
 #include "rmw/error_handling.h"
 
 namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/liveliness_utils.hpp

@@ -23,6 +23,7 @@
 #include <memory>
 #include <optional>
 #include <string>
+#include <vector>
 
 #include "rmw/types.h"