Refactor GraphCache to support multiple types for the same topic. (#70)

* use std::find_if to find matching pubs

Signed-off-by: Yadunund <[email protected]>

* Refactor to support multiple types

Signed-off-by: Yadunund <[email protected]>

* Refactor liveliness token generation

Signed-off-by: Yadunund <[email protected]>

* Map topic types to TopicData

Signed-off-by: Yadunund <[email protected]>

* Store map of types in graph_topics_

Signed-off-by: Yadunund <[email protected]>

* fix bug in deleting and counting topics

Signed-off-by: Yadunund <[email protected]>

* Cleanup liveliness_utils

Signed-off-by: Yadunund <[email protected]>

* Style cleanups.

Signed-off-by: Chris Lalancette <[email protected]>

* Cleanup some of the code in the liveliness.

Also fix a couple of bugs where we were mixing up subscriptions
and publications, leading to incorrect counts.

Signed-off-by: Chris Lalancette <[email protected]>

* Remove Entity::node_info.

Because it returned a reference, it is difficult to
tell the lifetime of it.  It would also be hard to add
in locking in the future.  Since we are reaching through
it in most cases, just return some data directly.

Signed-off-by: Chris Lalancette <[email protected]>

* Remove some uses of auto.

Signed-off-by: Chris Lalancette <[email protected]>

* Return copies from Entity

Signed-off-by: Yadunund <[email protected]>

* Address feedback

Signed-off-by: Yadunund <[email protected]>

---------

Signed-off-by: Yadunund <[email protected]>
Signed-off-by: Yadunund <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>

rmw_zenoh_cpp/CMakeLists.txt

@@ -28,6 +28,7 @@ add_library(rmw_zenoh_cpp SHARED
   src/detail/identifier.cpp
   src/detail/graph_cache.cpp
   src/detail/guard_condition.cpp
+  src/detail/liveliness_utils.cpp
   src/detail/message_type_support.cpp
   src/detail/rmw_data_types.cpp
   src/detail/service_type_support.cpp