Merge remote-tracking branch 'zenoh/dev/1.0.0' into ahcorde/rolling/1…

….0.0_windows

rmw_zenoh_cpp/src/detail/attachment_helpers.cpp

@@ -62,9 +62,8 @@ attachment_data_t::attachment_data_t(const z_loaned_bytes_t * attachment)
   ze_deserializer_t deserializer = ze_deserializer_from_bytes(attachment);
   z_owned_string_t key;
 
-  ze_deserializer_deserialize_string(&deserializer, &key);
-
   // Deserialize the sequence_number
+  ze_deserializer_deserialize_string(&deserializer, &key);
   if (std::string_view(
       z_string_data(z_loan(key)),
       z_string_len(z_loan(key))) != "sequence_number")

rmw_zenoh_cpp/src/detail/rmw_client_data.cpp

@@ -236,23 +236,19 @@ ClientData::ClientData(
 bool ClientData::init(const z_loaned_session_t * session)
 {
   std::string topic_keyexpr = this->entity_->topic_info().value().topic_keyexpr_;
-  auto free_ros_keyexpr = rcpputils::make_scope_exit(
-    [this]() {
-      z_drop(z_move(this->keyexpr_));
-    });
   if (z_keyexpr_from_str(&this->keyexpr_, topic_keyexpr.c_str()) != Z_OK) {
     RMW_SET_ERROR_MSG("unable to create zenoh keyexpr.");
     return false;
   }
+  auto free_ros_keyexpr = rcpputils::make_scope_exit(
+    [this]() {
+      z_drop(z_move(this->keyexpr_));
+    });
 
   std::string liveliness_keyexpr = this->entity_->liveliness_keyexpr();
   z_view_keyexpr_t liveliness_ke;
   z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str());
-  auto free_token = rcpputils::make_scope_exit(
-    [this]() {
-      z_drop(z_move(this->token_));
-    });
-  if (zc_liveliness_declare_token(
+  if (z_liveliness_declare_token(
       session,
       &this->token_,
       z_loan(liveliness_ke),
@@ -266,7 +262,6 @@ bool ClientData::init(const z_loaned_session_t * session)
   }
 
   free_ros_keyexpr.cancel();
-  free_token.cancel();
 
   return true;
 }
@@ -518,7 +513,7 @@ void ClientData::_shutdown()
   }
 
   // Unregister this node from the ROS graph.
-  zc_liveliness_undeclare_token(z_move(token_));
+  z_liveliness_undeclare_token(z_move(token_));
 
   z_drop(z_move(keyexpr_));
 

rmw_zenoh_cpp/src/detail/rmw_client_data.hpp

@@ -131,7 +131,7 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
   // An owned keyexpression.
   z_owned_keyexpr_t keyexpr_;
   // Liveliness token for the service.
-  zc_owned_liveliness_token_t token_;
+  z_owned_liveliness_token_t token_;
   // Type support fields.
   const void * request_type_support_impl_;
   const void * response_type_support_impl_;

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

@@ -124,7 +124,7 @@ 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.
@@ -143,7 +143,7 @@ class rmw_context_impl_s::Data final
 
     z_view_keyexpr_t keyexpr;
     z_view_keyexpr_from_str(&keyexpr, liveliness_str.c_str());
-    zc_liveliness_get(
+    z_liveliness_get(
       z_loan(session_), z_loan(keyexpr),
       z_move(closure), NULL);
     z_owned_reply_t reply;
@@ -152,10 +152,10 @@ class rmw_context_impl_s::Data final
         const z_loaned_sample_t * sample = z_reply_ok(z_loan(reply));
         z_view_string_t keystr;
         z_keyexpr_as_view_string(z_sample_keyexpr(sample), &keystr);
-        std::string livelines_str(z_string_data(z_loan(keystr)), z_string_len(z_loan(keystr)));
+        std::string liveliness_str(z_string_data(z_loan(keystr)), z_string_len(z_loan(keystr)));
         // Ignore tokens from the same session to avoid race conditions from this
         // query and the liveliness subscription.
-        graph_cache_->parse_put(std::move(livelines_str), true);
+        graph_cache_->parse_put(std::move(liveliness_str), true);
       } else {
         RMW_ZENOH_LOG_DEBUG_NAMED(
           "rmw_zenoh_cpp", "[rmw_context_impl_s] z_call received an invalid reply.\n");
@@ -196,17 +196,13 @@ class rmw_context_impl_s::Data final
 
     // Setup the liveliness subscriber to receives updates from the ROS graph
     // and update the graph cache.
-    zc_liveliness_subscriber_options_t sub_options;
-    zc_liveliness_subscriber_options_default(&sub_options);
+    z_liveliness_subscriber_options_t sub_options;
+    z_liveliness_subscriber_options_default(&sub_options);
     z_owned_closure_sample_t callback;
     z_closure(&callback, graph_sub_data_handler, nullptr, this);
     z_view_keyexpr_t liveliness_ke;
     z_view_keyexpr_from_str(&liveliness_ke, liveliness_str.c_str());
-    auto undeclare_z_sub = rcpputils::make_scope_exit(
-      [this]() {
-        z_undeclare_subscriber(z_move(this->graph_subscriber_));
-      });
-    if (zc_liveliness_declare_subscriber(
+    if (z_liveliness_declare_subscriber(
         z_loan(session_),
         &graph_subscriber_, z_loan(liveliness_ke),
         z_move(callback), &sub_options) != Z_OK)
@@ -217,7 +213,6 @@ class rmw_context_impl_s::Data final
 
     close_session.cancel();
     // free_shm_provider.cancel();
-    undeclare_z_sub.cancel();
   }
 
   // Shutdown the Zenoh session.
@@ -245,6 +240,7 @@ class rmw_context_impl_s::Data final
       RMW_SET_ERROR_MSG("Error while closing zenoh session");
       return RMW_RET_ERROR;
     }
+
     return RMW_RET_OK;
   }
 
@@ -443,8 +439,8 @@ static void graph_sub_data_handler(z_loaned_sample_t * sample, void * data)
   }
 
   // Update the graph cache.
-  std::string livelines_str(z_string_data(z_loan(keystr)), z_string_len(z_loan(keystr)));
-  data_shared_ptr->update_graph_cache(z_sample_kind(sample), std::move(livelines_str));
+  std::string liveliness_str(z_string_data(z_loan(keystr)), z_string_len(z_loan(keystr)));
+  data_shared_ptr->update_graph_cache(z_sample_kind(sample), std::move(liveliness_str));
 }
 
 ///=============================================================================

rmw_zenoh_cpp/src/detail/rmw_node_data.cpp

@@ -60,18 +60,13 @@ std::shared_ptr<NodeData> NodeData::make(
   std::string liveliness_keyexpr = entity->liveliness_keyexpr();
   z_view_keyexpr_t liveliness_ke;
   z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str());
-  zc_owned_liveliness_token_t token;
-  auto free_token = rcpputils::make_scope_exit(
-    [&token]() {
-      z_drop(z_move(token));
-    });
-  if (zc_liveliness_declare_token(session, &token, z_loan(liveliness_ke), NULL) != Z_OK) {
+  z_owned_liveliness_token_t token;
+  if (z_liveliness_declare_token(session, &token, z_loan(liveliness_ke), NULL) != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the node.");
     return nullptr;
   }
-  free_token.cancel();
 
   return std::shared_ptr<NodeData>(
     new NodeData{
@@ -87,7 +82,7 @@ NodeData::NodeData(
   const rmw_node_t * const node,
   std::size_t id,
   std::shared_ptr<liveliness::Entity> entity,
-  zc_owned_liveliness_token_t token)
+  z_owned_liveliness_token_t token)
 : node_(node),
   id_(std::move(id)),
   entity_(std::move(entity)),
@@ -402,7 +397,7 @@ rmw_ret_t NodeData::shutdown()
   }
 
   // Unregister this node from the ROS graph.
-  zc_liveliness_undeclare_token(z_move(token_));
+  z_liveliness_undeclare_token(z_move(token_));
 
   is_shutdown_ = true;
   return ret;

rmw_zenoh_cpp/src/detail/rmw_node_data.hpp

@@ -128,7 +128,7 @@ class NodeData final
     const rmw_node_t * const node,
     std::size_t id,
     std::shared_ptr<liveliness::Entity> entity,
-    zc_owned_liveliness_token_t token);
+    z_owned_liveliness_token_t token);
   // Internal mutex.
   mutable std::recursive_mutex mutex_;
   // The rmw_node_t associated with this NodeData.
@@ -139,7 +139,7 @@ class NodeData final
   // The Entity generated for the node.
   std::shared_ptr<liveliness::Entity> entity_;
   // Liveliness token for the node.
-  zc_owned_liveliness_token_t token_;
+  z_owned_liveliness_token_t token_;
   // Shutdown flag.
   bool is_shutdown_;
   // Map of publishers.

rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp

@@ -111,12 +111,6 @@ std::shared_ptr<PublisherData> PublisherData::make(
 
   // Create a Publication Cache if durability is transient_local.
   std::optional<ze_owned_publication_cache_t> pub_cache = std::nullopt;
-  auto undeclare_z_publisher_cache = rcpputils::make_scope_exit(
-    [&pub_cache]() {
-      if (pub_cache.has_value()) {
-        z_drop(z_move(pub_cache.value()));
-      }
-    });
   if (adapted_qos_profile.durability == RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL) {
     ze_publication_cache_options_t pub_cache_opts;
     ze_publication_cache_options_default(&pub_cache_opts);
@@ -142,6 +136,12 @@ std::shared_ptr<PublisherData> PublisherData::make(
     }
     pub_cache = pub_cache_;
   }
+  auto undeclare_z_publisher_cache = rcpputils::make_scope_exit(
+    [&pub_cache]() {
+      if (pub_cache.has_value()) {
+        z_drop(z_move(pub_cache.value()));
+      }
+    });
 
   // Set congestion_control to BLOCK if appropriate.
   z_publisher_options_t opts;
@@ -157,26 +157,22 @@ std::shared_ptr<PublisherData> PublisherData::make(
   }
   z_owned_publisher_t pub;
   // TODO(clalancette): What happens if the key name is a valid but empty string?
-  auto undeclare_z_publisher = rcpputils::make_scope_exit(
-    [&pub]() {
-      z_undeclare_publisher(z_move(pub));
-    });
   if (z_declare_publisher(
       session, &pub, z_loan(pub_ke), &opts) != Z_OK)
   {
     RMW_SET_ERROR_MSG("Unable to create Zenoh publisher.");
     return nullptr;
   }
+  auto undeclare_z_publisher = rcpputils::make_scope_exit(
+    [&pub]() {
+      z_undeclare_publisher(z_move(pub));
+    });
 
   std::string liveliness_keyexpr = entity->liveliness_keyexpr();
   z_view_keyexpr_t liveliness_ke;
   z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str());
-  zc_owned_liveliness_token_t token;
-  auto free_token = rcpputils::make_scope_exit(
-    [&token]() {
-      z_drop(z_move(token));
-    });
-  if (zc_liveliness_declare_token(
+  z_owned_liveliness_token_t token;
+  if (z_liveliness_declare_token(
       session, &token, z_loan(liveliness_ke),
       NULL) != Z_OK)
   {
@@ -186,7 +182,6 @@ std::shared_ptr<PublisherData> PublisherData::make(
     return nullptr;
   }
 
-  free_token.cancel();
   undeclare_z_publisher_cache.cancel();
   undeclare_z_publisher.cancel();
 
@@ -208,7 +203,7 @@ PublisherData::PublisherData(
   std::shared_ptr<liveliness::Entity> entity,
   z_owned_publisher_t pub,
   std::optional<ze_owned_publication_cache_t> pub_cache,
-  zc_owned_liveliness_token_t token,
+  z_owned_liveliness_token_t token,
   const void * type_support_impl,
   std::unique_ptr<MessageTypeSupport> type_support)
 : rmw_node_(rmw_node),
@@ -431,7 +426,7 @@ rmw_ret_t PublisherData::shutdown()
   }
 
   // Unregister this publisher from the ROS graph.
-  zc_liveliness_undeclare_token(z_move(token_));
+  z_liveliness_undeclare_token(z_move(token_));
   if (pub_cache_.has_value()) {
     z_drop(z_move(pub_cache_.value()));
   }

rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp

@@ -89,7 +89,7 @@ class PublisherData final
     std::shared_ptr<liveliness::Entity> entity,
     z_owned_publisher_t pub,
     std::optional<ze_owned_publication_cache_t> pub_cache,
-    zc_owned_liveliness_token_t token,
+    z_owned_liveliness_token_t token,
     const void * type_support_impl,
     std::unique_ptr<MessageTypeSupport> type_support);
 
@@ -104,7 +104,7 @@ class PublisherData final
   // Optional publication cache when durability is transient_local.
   std::optional<ze_owned_publication_cache_t> pub_cache_;
   // Liveliness token for the publisher.
-  zc_owned_liveliness_token_t token_;
+  z_owned_liveliness_token_t token_;
   // Type support fields
   const void * type_support_impl_;
   std::unique_ptr<MessageTypeSupport> type_support_;

rmw_zenoh_cpp/src/detail/rmw_service_data.cpp

@@ -171,17 +171,17 @@ std::shared_ptr<ServiceData> ServiceData::make(
   z_queryable_options_t qable_options;
   z_queryable_options_default(&qable_options);
   qable_options.complete = true;
-  auto undeclare_z_queryable = rcpputils::make_scope_exit(
-    [service_data]() {
-      z_undeclare_queryable(z_move(service_data->qable_));
-    });
   if (z_declare_queryable(
       session, &service_data->qable_, z_loan(service_ke),
       z_move(callback), &qable_options) != Z_OK)
   {
     RMW_SET_ERROR_MSG("unable to create zenoh queryable");
     return nullptr;
   }
+  auto undeclare_z_queryable = rcpputils::make_scope_exit(
+    [service_data]() {
+      z_undeclare_queryable(z_move(service_data->qable_));
+    });
 
   std::string liveliness_keyexpr = service_data->entity_->liveliness_keyexpr();
   z_view_keyexpr_t liveliness_ke;
@@ -195,7 +195,7 @@ std::shared_ptr<ServiceData> ServiceData::make(
         z_drop(z_move(service_data->token_));
       }
     });
-  if (zc_liveliness_declare_token(
+  if (z_liveliness_declare_token(
       session, &service_data->token_, z_loan(liveliness_ke),
       NULL) != Z_OK)
   {
@@ -495,7 +495,7 @@ rmw_ret_t ServiceData::shutdown()
   }
 
   // Unregister this node from the ROS graph.
-  zc_liveliness_undeclare_token(z_move(token_));
+  z_liveliness_undeclare_token(z_move(token_));
   z_undeclare_queryable(z_move(qable_));
 
   is_shutdown_ = true;

rmw_zenoh_cpp/src/detail/rmw_service_data.hpp

@@ -112,7 +112,7 @@ class ServiceData final
   // An owned queryable.
   z_owned_queryable_t qable_;
   // Liveliness token for the service.
-  zc_owned_liveliness_token_t token_;
+  z_owned_liveliness_token_t token_;
   // Type support fields.
   const void * request_type_support_impl_;
   const void * response_type_support_impl_;