Bump up zenoh version (#347)

* deps: bump up zenoh-cpp and zenoh-c
ros2 · Dec 18, 2024 · 86ccf3f · 86ccf3f
1 parent f683ad8
commit 86ccf3f
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Showing 3 changed files with 9 additions and 8 deletions.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
@@ -109,16 +109,17 @@ std::shared_ptr<PublisherData> PublisherData::make(
   zenoh::KeyExpr pub_ke(entity->topic_info()->topic_keyexpr_);
   // Create a Publication Cache if durability is transient_local.
   if (adapted_qos_profile.durability == RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL) {
-    zenoh::Session::PublicationCacheOptions pub_cache_opts =
-      zenoh::Session::PublicationCacheOptions::create_default();
+    zenoh::ext::SessionExt::PublicationCacheOptions pub_cache_opts =
+      zenoh::ext::SessionExt::PublicationCacheOptions::create_default();
 
     pub_cache_opts.history = adapted_qos_profile.depth;
     pub_cache_opts.queryable_complete = true;
 
     std::string queryable_prefix = entity->zid();
     pub_cache_opts.queryable_prefix = zenoh::KeyExpr(queryable_prefix);
 
-    pub_cache = session->declare_publication_cache(pub_ke, std::move(pub_cache_opts), &result);
+    pub_cache = session->ext().declare_publication_cache(
+      pub_ke, std::move(pub_cache_opts), &result);
 
     if (result != Z_OK) {
       RMW_SET_ERROR_MSG("unable to create zenoh publisher cache");

diff --git a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
@@ -181,8 +181,8 @@ bool SubscriptionData::init()
   // TODO(Yadunund): Rely on a separate function to return the sub
   // as we start supporting more qos settings.
   if (entity_->topic_info()->qos_.durability == RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL) {
-    zenoh::Session::QueryingSubscriberOptions sub_options =
-      zenoh::Session::QueryingSubscriberOptions::create_default();
+    zenoh::ext::SessionExt::QueryingSubscriberOptions sub_options =
+      zenoh::ext::SessionExt::QueryingSubscriberOptions::create_default();
     const std::string selector = "*/" + entity_->topic_info()->topic_keyexpr_;
     zenoh::KeyExpr selector_ke(selector);
     sub_options.query_keyexpr = std::move(selector_ke);
@@ -200,7 +200,7 @@ bool SubscriptionData::init()
       zenoh::QueryConsolidation(zenoh::ConsolidationMode::Z_CONSOLIDATION_MODE_NONE);
 
     std::weak_ptr<SubscriptionData> data_wp = shared_from_this();
-    auto sub = context_impl->session()->declare_querying_subscriber(
+    auto sub = context_impl->session()->ext().declare_querying_subscriber(
       sub_ke,
       [data_wp](const zenoh::Sample & sample) {
         auto sub_data = data_wp.lock();

diff --git a/zenoh_cpp_vendor/CMakeLists.txt b/zenoh_cpp_vendor/CMakeLists.txt
@@ -26,7 +26,7 @@ set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memor
 # - https://github.com/eclipse-zenoh/zenoh-c/pull/620 (fix ze_querying_subscriber_get API to query newly discovered publishers)
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION 42e717ff7b633649f11ebb7800b71d4939cd21c7
+  VCS_VERSION 2f389597264c200d9ddf72bbabbfea878abd5179
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${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 e8eca99b4eaff0963e52aefd8405909c1552080d
+  VCS_VERSION c549fbdf54e866b9d8f29c883e66359fcac88ed4
   CMAKE_ARGS
     -DZENOHCXX_ZENOHC=OFF
 )