Style cleanups.

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

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -93,14 +93,15 @@ void GraphCache::parse_put(const std::string & keyexpr)
             graph_topic_data->info_.type_,
             graph_topic_data));
         if (!type_insertion.second) {
-          // We have another instance of a pub/sub over the same topic and type so we increment the counters.
+          // We have another instance of a pub/sub over the same topic and type so we increment
+          // the counters.
           auto & existing_graph_topic = type_insertion.first->second;
           existing_graph_topic->stats_.pub_count_ += pub_count;
           existing_graph_topic->stats_.pub_count_ += sub_count;
         }
       }
 
-      // Bookkeeping: We update graph_topic_ which keeps track of topics across all nodes in the graph.
+      // Bookkeeping: Update graph_topic_ which keeps track of topics across all nodes in the graph.
       if (update_cache) {
         auto cache_topic_it = graph_topics_.find(entity.topic_info()->name_);
         if (cache_topic_it == graph_topics_.end()) {
@@ -113,8 +114,8 @@ void GraphCache::parse_put(const std::string & keyexpr)
             {entity.topic_info()->type_, topic_data_ptr}
           };
         } else {
-          // If a TopicData entry for the same type exists in the topic map, update pub/sub counts or
-          // else create an new TopicData.
+          // If a TopicData entry for the same type exists in the topic map, update pub/sub counts
+          // or else create an new TopicData.
           auto topic_data_insertion =
             cache_topic_it->second.insert(std::make_pair(entity.topic_info()->type_, nullptr));
           if (topic_data_insertion.second) {
@@ -251,7 +252,7 @@ void GraphCache::parse_del(const std::string & keyexpr)
         return;
       }
 
-      // Decrement the relevant counters. Check if both counters are 0 and if so remove from graph_node.
+      // Decrement the relevant counters. If both counters are 0 remove from graph_node.
       auto & existing_topic_data = topic_data_it->second;
       existing_topic_data->stats_.pub_count_ -= pub_count;
       existing_topic_data->stats_.sub_count_ -= sub_count;
@@ -265,7 +266,7 @@ void GraphCache::parse_del(const std::string & keyexpr)
         topic_map.erase(entity.topic_info()->name_);
       }
 
-      // Bookkeeping: We update graph_topic_ which keeps track of topics across all nodes in the graph.
+      // Bookkeeping: Update graph_topic_ which keeps track of topics across all nodes in the graph.
       if (update_cache) {
         auto cache_topic_it = graph_topics_.find(entity.topic_info()->name_);
         if (cache_topic_it == graph_topics_.end()) {
@@ -276,7 +277,7 @@ void GraphCache::parse_del(const std::string & keyexpr)
         } else {
           auto cache_topic_data_it = cache_topic_it->second.find(entity.topic_info()->type_);
           if (cache_topic_data_it != cache_topic_it->second.end()) {
-            // Decrement the relevant counters. Check if both counters are 0 and if so remove from cache.
+            // Decrement the relevant counters. If both counters are 0 remove from cache.
             cache_topic_data_it->second->stats_.pub_count_ -= pub_count;
             cache_topic_data_it->second->stats_.sub_count_ -= sub_count;
             if (cache_topic_data_it->second->stats_.pub_count_ == 0 &&
@@ -289,7 +290,6 @@ void GraphCache::parse_del(const std::string & keyexpr)
               graph_topics_.erase(cache_topic_it);
             }
           }
-
         }
       }
 
@@ -321,17 +321,18 @@ void GraphCache::parse_del(const std::string & keyexpr)
   if (entity.type() == EntityType::Node) {
     // Node
     // The liveliness tokens to remove pub/subs should be received before the one to remove a node
-    // given the reliability QoS for liveliness subs. However, if we find any pubs/subs present in the node below,
-    // we should update the count in graph_topics_.
+    // given the reliability QoS for liveliness subs. However, if we find any pubs/subs present in
+    // the node below, we should update the count in graph_topics_.
     const auto graph_node = node_it->second;
     if (!graph_node->pubs_.empty() || !graph_node->subs_.empty()) {
       RCUTILS_LOG_WARN_NAMED(
         "rmw_zenoh_cpp",
-        "Received liveliness token to remove node /%s from the graph before all pub/subs for this node have been removed. "
-        "Report this issue.",
+        "Received liveliness token to remove node /%s from the graph before all pub/subs for this "
+        "node have been removed. Report this issue.",
         entity.node_info().name_.c_str()
       );
-      // TODO(Yadunund): Iterate through the nodes pubs_ and subs_ and decrement topic count in graph_topics_.
+      // TODO(Yadunund): Iterate through the nodes pubs_ and subs_ and decrement topic count in
+      // graph_topics_.
     }
     ns_it->second.erase(entity.node_info().name_);
     RCUTILS_LOG_WARN_NAMED(

rmw_zenoh_cpp/src/detail/liveliness_utils.cpp

@@ -14,7 +14,12 @@
 
 #include "liveliness_utils.hpp"
 
+#include <optional>
 #include <sstream>
+#include <stdexcept>
+#include <string>
+#include <unordered_map>
+#include <utility>
 #include <vector>
 
 #include "rcpputils/scope_exit.hpp"
@@ -55,12 +60,12 @@ namespace
 {
 
 /// The admin space used to prefix the liveliness tokens.
-static const std::string ADMIN_SPACE = "@ros2_lv";
-static const std::string NODE_STR = "NN";
-static const std::string PUB_STR = "MP";
-static const std::string SUB_STR = "MS";
-static const std::string SRV_STR = "SS";
-static const std::string CLI_STR = "SC";
+static const char ADMIN_SPACE[] = "@ros2_lv";
+static const char NODE_STR[] = "NN";
+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 std::unordered_map<EntityType, std::string> entity_to_str = {
   {EntityType::Node, NODE_STR},
@@ -78,12 +83,12 @@ static const std::unordered_map<std::string, EntityType> str_to_entity = {
   {CLI_STR, EntityType::Client}
 };
 
-} // namespace
+}  // namespace
 
 ///=============================================================================
 std::string subscription_token(size_t domain_id)
 {
-  std::string token = ADMIN_SPACE + "/" + std::to_string(domain_id) + "/**";
+  std::string token = std::string(ADMIN_SPACE) + "/" + std::to_string(domain_id) + "/**";
   return token;
 }
 
@@ -156,7 +161,7 @@ std::optional<Entity> Entity::make(
   }
 
   Entity entity{std::move(type), std::move(node_info), std::move(topic_info)};
-  return std::move(entity);
+  return entity;
 }
 
 namespace
@@ -192,14 +197,14 @@ std::vector<std::string> split_keyexpr(
   return result;
 }
 
-} // namespace
+}  // namespace
 
 ///=============================================================================
 std::optional<Entity> Entity::make(const std::string & keyexpr)
 {
-
   std::vector<std::string> parts = split_keyexpr(keyexpr);
-  // At minimum, a token will contain 5 parts (ADMIN_SPACE, domain_id, entity_str, namespace, node_name).
+  // A token will contain at least 5 parts:
+  // (ADMIN_SPACE, domain_id, entity_str, namespace, node_name).
   // Basic validation.
   if (parts.size() < 5) {
     RCUTILS_LOG_ERROR_NAMED(
@@ -344,4 +349,4 @@ bool PublishToken::del(
   return true;
 }
 
-} // namespace liveliness
+}  // namespace liveliness

rmw_zenoh_cpp/src/detail/liveliness_utils.hpp

@@ -19,7 +19,7 @@
 
 #include <optional>
 #include <string>
-#include <unordered_map>
+#include <vector>
 
 
 namespace liveliness
@@ -28,7 +28,6 @@ namespace liveliness
 ///=============================================================================
 struct NodeInfo
 {
-
   std::size_t domain_id_;
   std::string ns_;
   std::string name_;
@@ -126,6 +125,6 @@ class PublishToken
     const std::string & token);
 };
 
-} // namespace liveliness
+}  // namespace liveliness
 
 #endif  // DETAIL__LIVELINESS_UTILS_HPP_

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -251,7 +251,8 @@ rmw_destroy_node(rmw_node_t * node)
   // Publish to the graph that a node has ridden off into the sunset
   // const bool del_result = PublishToken::del(
   //   &node->context->impl->session,
-  //   liveliness::GenerateToken::node(node->context->actual_domain_id, node->namespace_, node->name)
+  //   liveliness::GenerateToken::node(node->context->actual_domain_id, node->namespace_,
+  //     node->name)
   // );
   // if (!del_result) {
   //   return RMW_RET_ERROR;