From 4982ae2d4e0e0d49395b1e7722a11cd00cd1c967 Mon Sep 17 00:00:00 2001
From: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Date: Wed, 4 Dec 2024 13:01:39 +0100
Subject: [PATCH] Fix build and linters

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
---
 rmw_zenoh_cpp/src/detail/graph_cache.cpp      |  1 +
 .../src/detail/rmw_context_impl_s.cpp         | 60 +++++++++----------
 rmw_zenoh_cpp/src/rmw_init.cpp                |  1 -
 3 files changed, 31 insertions(+), 31 deletions(-)

diff --git a/rmw_zenoh_cpp/src/detail/graph_cache.cpp b/rmw_zenoh_cpp/src/detail/graph_cache.cpp
index 1e3e5517..c602699e 100644
--- a/rmw_zenoh_cpp/src/detail/graph_cache.cpp
+++ b/rmw_zenoh_cpp/src/detail/graph_cache.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <algorithm>
+#include <array>
 #include <functional>
 #include <memory>
 #include <mutex>
diff --git a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
index 7915cd9e..29dddb2e 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
@@ -78,12 +78,12 @@ class rmw_context_impl_s::Data final
     }
 
     // Check if shm is enabled.
-    z_owned_string_t shm_enabled;
-    zc_config_get_from_str(z_loan(config), Z_CONFIG_SHARED_MEMORY_KEY, &shm_enabled);
-    auto always_free_shm_enabled = rcpputils::make_scope_exit(
-      [&shm_enabled]() {
-        z_drop(z_move(shm_enabled));
-      });
+    // z_owned_string_t shm_enabled;
+    // zc_config_get_from_str(z_loan(config), Z_CONFIG_SHARED_MEMORY_KEY, &shm_enabled);
+    // auto always_free_shm_enabled = rcpputils::make_scope_exit(
+    //   [&shm_enabled]() {
+    //     z_drop(z_move(shm_enabled));
+    //   });
 
     // Initialize the zenoh session.
     if (z_open(&session_, z_move(config), NULL) != Z_OK) {
@@ -166,29 +166,29 @@ class rmw_context_impl_s::Data final
 
     // Initialize the shm manager if shared_memory is enabled in the config.
     shm_provider_ = std::nullopt;
-    if (strncmp(
-        z_string_data(z_loan(shm_enabled)),
-        "true",
-        z_string_len(z_loan(shm_enabled))) == 0)
-    {
-      // TODO(yuyuan): determine the default alignment of SHM
-      z_alloc_alignment_t alignment = {5};
-      z_owned_memory_layout_t layout;
-      z_memory_layout_new(&layout, SHM_BUFFER_SIZE_MB * 1024 * 1024, alignment);
-
-      z_owned_shm_provider_t provider;
-      if (z_posix_shm_provider_new(&provider, z_loan(layout)) != Z_OK) {
-        RMW_ZENOH_LOG_ERROR_NAMED("rmw_zenoh_cpp", "Unable to create an SHM provider.");
-        throw std::runtime_error("Unable to create an SHM provider.");
-      }
-      shm_provider_ = provider;
-    }
-    auto free_shm_provider = rcpputils::make_scope_exit(
-      [this]() {
-        if (shm_provider_.has_value()) {
-          z_drop(z_move(shm_provider_.value()));
-        }
-      });
+    // if (strncmp(
+    //     z_string_data(z_loan(shm_enabled)),
+    //     "true",
+    //     z_string_len(z_loan(shm_enabled))) == 0)
+    // {
+    //   // TODO(yuyuan): determine the default alignment of SHM
+    //   z_alloc_alignment_t alignment = {5};
+    //   z_owned_memory_layout_t layout;
+    //   z_memory_layout_new(&layout, SHM_BUFFER_SIZE_MB * 1024 * 1024, alignment);
+
+    //   z_owned_shm_provider_t provider;
+    //   if (z_posix_shm_provider_new(&provider, z_loan(layout)) != Z_OK) {
+    //     RMW_ZENOH_LOG_ERROR_NAMED("rmw_zenoh_cpp", "Unable to create an SHM provider.");
+    //     throw std::runtime_error("Unable to create an SHM provider.");
+    //   }
+    //   shm_provider_ = provider;
+    // }
+    // auto free_shm_provider = rcpputils::make_scope_exit(
+    //   [this]() {
+    //     if (shm_provider_.has_value()) {
+    //       z_drop(z_move(shm_provider_.value()));
+    //     }
+    //   });
 
     graph_guard_condition_ = std::make_unique<rmw_guard_condition_t>();
     graph_guard_condition_->implementation_identifier = rmw_zenoh_cpp::rmw_zenoh_identifier;
@@ -216,7 +216,7 @@ class rmw_context_impl_s::Data final
     }
 
     close_session.cancel();
-    free_shm_provider.cancel();
+    // free_shm_provider.cancel();
     undeclare_z_sub.cancel();
   }
 
diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
index b80e7579..ac754aaa 100644
--- a/rmw_zenoh_cpp/src/rmw_init.cpp
+++ b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -34,7 +34,6 @@
 #include "rmw/init_options.h"
 
 #include "rcpputils/scope_exit.hpp"
-#include "rcutils/env.h"
 
 extern "C"
 {