Merge remote-tracking branch 'zenoh/dev/1.0.0' into ahcorde/dev/1.0.0…

…-cpp

rmw_zenoh_cpp/src/detail/rmw_client_data.cpp

@@ -493,6 +493,8 @@ void ClientData::_shutdown()
       "Unable to undeclare liveliness token");
     return;
   }
+  // TODO(ahcorde)
+  // z_drop(z_move(keyexpr_));
 
   is_shutdown_ = true;
 }

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

@@ -132,7 +132,7 @@ class rmw_context_impl_s::Data final
 
     // Query router/liveliness participants to get graph information before the session was started.
     // We create a blocking channel that is unbounded, ie. `bound` = 0, to receive
-    // replies for the zc_liveliness_get() call. This is necessary as if the `bound`
+    // replies for the z_liveliness_get() call. This is necessary as if the `bound`
     // is too low, the channel may starve the zenoh executor of its threads which
     // would lead to deadlocks when trying to receive replies and block the
     // execution here.
@@ -222,7 +222,8 @@ class rmw_context_impl_s::Data final
       &err);
 
     if (err != Z_OK) {
-      throw std::runtime_error("unable to create zenoh subscription. ");
+      RMW_SET_ERROR_MSG("unable to create zenoh subscription");
+      throw std::runtime_error("Unable to subscribe to ROS graph updates.");
     }
   }
 

rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp

@@ -225,29 +225,28 @@ rmw_ret_t PublisherData::publish(
     });
 
   // Get memory from SHM buffer if available.
-  if (shm_provider.has_value()) {
-    RMW_ZENOH_LOG_DEBUG_NAMED("rmw_zenoh_cpp", "SHM is enabled.");
-
-    auto provider = shm_provider.value()._0;
-    z_buf_layout_alloc_result_t alloc;
-    // TODO(yuyuan): SHM, configure this
-    z_alloc_alignment_t alignment = {5};
-    z_shm_provider_alloc_gc_defrag_blocking(&alloc, z_loan(provider), SHM_BUF_OK_SIZE, alignment);
-
-    if (alloc.status == ZC_BUF_LAYOUT_ALLOC_STATUS_OK) {
-      shmbuf = std::make_optional(alloc.buf);
-      msg_bytes = reinterpret_cast<char *>(z_shm_mut_data_mut(z_loan_mut(alloc.buf)));
-    } else {
-      // TODO(Yadunund): Should we revert to regular allocation and not return an error?
-      RMW_SET_ERROR_MSG("Failed to allocate a SHM buffer, even after GCing.");
-      return RMW_RET_ERROR;
-    }
-  } else {
-    // Get memory from the allocator.
-    msg_bytes = static_cast<char *>(allocator->allocate(max_data_length, allocator->state));
-    RMW_CHECK_FOR_NULL_WITH_MSG(
-      msg_bytes, "bytes for message is null", return RMW_RET_BAD_ALLOC);
-  }
+  // if (shm_provider.has_value()) {
+  //   RMW_ZENOH_LOG_DEBUG_NAMED("rmw_zenoh_cpp", "SHM is enabled.");
+
+  //   auto provider = shm_provider.value()._0;
+  //   z_buf_layout_alloc_result_t alloc;
+  //   // TODO(yuyuan): SHM, configure this
+  //   z_alloc_alignment_t alignment = {5};
+  //   z_shm_provider_alloc_gc_defrag_blocking(&alloc, z_loan(provider), SHM_BUF_OK_SIZE, alignment);
+
+  //   if (alloc.status == ZC_BUF_LAYOUT_ALLOC_STATUS_OK) {
+  //     shmbuf = std::make_optional(alloc.buf);
+  //     msg_bytes = reinterpret_cast<char *>(z_shm_mut_data_mut(z_loan_mut(alloc.buf)));
+  //   } else {
+  //     // TODO(Yadunund): Should we revert to regular allocation and not return an error?
+  //     RMW_SET_ERROR_MSG("Failed to allocate a SHM buffer, even after GCing.");
+  //     return RMW_RET_ERROR;
+  //   }
+  // } else {
+  // Get memory from the allocator.
+  msg_bytes = static_cast<char *>(allocator->allocate(max_data_length, allocator->state));
+  RMW_CHECK_FOR_NULL_WITH_MSG(
+    msg_bytes, "bytes for message is null", return RMW_RET_BAD_ALLOC);
 
   // Object that manages the raw buffer
   eprosima::fastcdr::FastBuffer fastbuffer(msg_bytes, max_data_length);

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -393,6 +393,10 @@ rmw_create_publisher(
     context_impl,
     "unable to get rmw_context_impl_s",
     return nullptr);
+  if (!context_impl->session_is_valid()) {
+    RMW_SET_ERROR_MSG("zenoh session is invalid");
+    return nullptr;
+  }
 
   rcutils_allocator_t * allocator = &node->context->options.allocator;
   if (!rcutils_allocator_is_valid(allocator)) {
@@ -747,6 +751,10 @@ 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()) {
+    return RMW_RET_ERROR;
+  }
+
   return RMW_RET_OK;
 }
 
@@ -918,6 +926,10 @@ rmw_create_subscription(
     context_impl,
     "unable to get rmw_context_impl_s",
     return nullptr);
+  if (!context_impl->session_is_valid()) {
+    RMW_SET_ERROR_MSG("zenoh session is invalid");
+    return nullptr;
+  }
 
   rcutils_allocator_t * allocator = &node->context->options.allocator;
   if (!rcutils_allocator_is_valid(allocator)) {
@@ -1386,6 +1398,10 @@ rmw_create_client(
     context_impl,
     "unable to get rmw_context_impl_s",
     return nullptr);
+  if (!context_impl->session_is_valid()) {
+    RMW_SET_ERROR_MSG("zenoh session is invalid");
+    return nullptr;
+  }
 
   // Get the service type support.
   const rosidl_service_type_support_t * type_support = find_service_type_support(type_supports);
@@ -1630,6 +1646,10 @@ rmw_create_service(
     context_impl,
     "unable to get rmw_context_impl_s",
     return nullptr);
+  if (!context_impl->session_is_valid()) {
+    RMW_SET_ERROR_MSG("zenoh session is invalid");
+    return nullptr;
+  }
 
   // Get the RMW type support.
   const rosidl_service_type_support_t * type_support = find_service_type_support(type_supports);

zenoh_cpp_vendor/CMakeLists.txt

@@ -26,7 +26,7 @@ set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memor
 # - https://github.com/eclipse-zenoh/zenoh-c/pull/620 (fix ze_querying_subscriber_get API to query newly discovered publishers)
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION f5110732a303f31ed6d835684de1fb7f2c7af001
+  VCS_VERSION 42e717ff7b633649f11ebb7800b71d4939cd21c7
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
     "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"
@@ -37,7 +37,7 @@ ament_export_dependencies(zenohc)
 
 ament_vendor(zenoh_cpp_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
-  VCS_VERSION a1875f9085bc068b6c5140778ff5415ae82248d7
+  VCS_VERSION e8eca99b4eaff0963e52aefd8405909c1552080d
   CMAKE_ARGS
     -DZENOHCXX_ZENOHC=OFF
 )