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

…-cpp

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -17,6 +17,7 @@
 #include <memory>
 #include <mutex>
 #include <optional>
+#include <sstream>
 #include <string>
 #include <utility>
 #include <vector>
@@ -612,10 +613,10 @@ void GraphCache::parse_del(
 
   if (entity->type() == EntityType::Node) {
     // Node
-    // In case the remote Node closed abruptly or was disconnected, Zenoh could deliver the
-    // liveliness tokens unregistration events in any order.
-    // If the event for Node unregistration comes before the unregistration of its
-    // pubs/subs/services, we should update the count in graph_topics_ and graph_services_.
+    // When destroying a node, Zenoh does not guarantee that liveliness tokens to remove pub/subs
+    // arrive before the one to remove the node from the graph despite un-registering those entities
+    // earlier. In such scenarios, if we find any pub/subs present in the node, we reduce their
+    // counts in graph_topics_.
     const GraphNodePtr graph_node = node_it->second;
     if (!graph_node->pubs_.empty() ||
       !graph_node->subs_.empty() ||

rmw_zenoh_cpp/src/detail/graph_cache.hpp

@@ -23,15 +23,17 @@
 #include <string>
 #include <unordered_map>
 #include <unordered_set>
+#include <vector>
 
 #include "event.hpp"
 #include "liveliness_utils.hpp"
 #include "ordered_map.hpp"
 
 #include "rcutils/allocator.h"
-#include "rcutils/types/string_array.h"
+#include "rcutils/types.h"
 
-#include "rmw/topic_endpoint_info_array.h"
+#include "rmw/rmw.h"
+#include "rmw/get_topic_endpoint_info.h"
 #include "rmw/names_and_types.h"
 
 

rmw_zenoh_cpp/src/detail/liveliness_utils.cpp

@@ -21,6 +21,7 @@
 #include <sstream>
 #include <stdexcept>
 #include <string>
+#include <type_traits>
 #include <unordered_map>
 #include <utility>
 #include <vector>
@@ -31,6 +32,8 @@
 #include "qos.hpp"
 #include "simplified_xxhash3.hpp"
 
+#include "rcpputils/scope_exit.hpp"
+
 #include "rmw/error_handling.h"
 
 namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/liveliness_utils.hpp

@@ -21,6 +21,7 @@
 #include <memory>
 #include <optional>
 #include <string>
+#include <vector>
 
 #include <zenoh.hxx>
 

rmw_zenoh_cpp/src/detail/rmw_client_data.cpp

@@ -17,23 +17,31 @@
 #include <fastcdr/FastBuffer.h>
 
 #include <chrono>
+#include <cinttypes>
 #include <limits>
 #include <memory>
 #include <mutex>
 #include <string>
+#include <unordered_map>
+#include <unordered_set>
 #include <utility>
 #include <vector>
 
 #include <zenoh.hxx>
 
+#include "attachment_helpers.hpp"
 #include "cdr.hpp"
 #include "liveliness_utils.hpp"
 #include "logging_macros.hpp"
+#include "message_type_support.hpp"
 #include "qos.hpp"
 #include "rmw_context_impl_s.hpp"
 
 #include "rcpputils/scope_exit.hpp"
+
 #include "rmw/error_handling.h"
+#include "rmw/get_topic_endpoint_info.h"
+#include "rmw/impl/cpp/macros.hpp"
 
 namespace rmw_zenoh_cpp
 {

rmw_zenoh_cpp/src/detail/rmw_client_data.hpp

@@ -20,15 +20,22 @@
 #include <deque>
 #include <memory>
 #include <mutex>
+#include <optional>
 #include <string>
+#include <unordered_map>
 
 #include <zenoh.hxx>
 
 #include "event.hpp"
 #include "liveliness_utils.hpp"
+#include "message_type_support.hpp"
 #include "service_type_support.hpp"
+#include "type_support_common.hpp"
 #include "zenoh_utils.hpp"
 
+#include "rcutils/allocator.h"
+
+#include "rmw/rmw.h"
 #include "rmw/ret_types.h"
 
 namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

@@ -14,6 +14,7 @@
 
 #include "rmw_context_impl_s.hpp"
 
+#include <chrono>
 #include <cstddef>
 #include <cstdint>
 #include <memory>
@@ -41,16 +42,6 @@
 // TODO(clalancette): Make this configurable, or get it from the configuration
 #define SHM_BUFFER_SIZE_MB 10
 
-// The variable is used to identify whether the process is trying to exit or not.
-// The atexit function we registered will set the flag and prevent us from closing
-// Zenoh Session. Zenoh API can't be used in atexit function, because Tokio context
-// is already destroyed. It will cause panic if we do so.
-static bool is_exiting = false;
-void update_is_exiting()
-{
-  is_exiting = true;
-}
-
 // This global mapping of raw Data pointers to Data shared pointers allows graph_sub_data_handler()
 // to lookup the pointer, and gain a reference to a shared_ptr if it exists.
 // This guarantees that the Data object will not be destroyed while we are using it.

rmw_zenoh_cpp/src/detail/rmw_node_data.hpp

@@ -30,6 +30,8 @@
 #include "rmw_subscription_data.hpp"
 #include "rmw_service_data.hpp"
 
+#include "rmw/rmw.h"
+
 namespace rmw_zenoh_cpp
 {
 ///=============================================================================

rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp

@@ -16,13 +16,15 @@
 
 #include <fastcdr/FastBuffer.h>
 
+#include <cinttypes>
 #include <memory>
 #include <mutex>
 #include <string>
 #include <utility>
 #include <vector>
 
 #include "cdr.hpp"
+#include "rmw_context_impl_s.hpp"
 #include "message_type_support.hpp"
 #include "logging_macros.hpp"
 #include "qos.hpp"
@@ -32,6 +34,7 @@
 
 #include "rmw/error_handling.h"
 #include "rmw/get_topic_endpoint_info.h"
+#include "rmw/impl/cpp/macros.hpp"
 
 namespace rmw_zenoh_cpp
 {

rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp

@@ -27,7 +27,11 @@
 #include "event.hpp"
 #include "liveliness_utils.hpp"
 #include "message_type_support.hpp"
+#include "type_support_common.hpp"
 
+#include "rcutils/allocator.h"
+
+#include "rmw/rmw.h"
 #include "rmw/ret_types.h"
 
 namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/rmw_service_data.cpp

@@ -16,6 +16,7 @@
 
 #include <fastcdr/FastBuffer.h>
 
+#include <cinttypes>
 #include <memory>
 #include <mutex>
 #include <string>
@@ -27,12 +28,16 @@
 
 #include "attachment_helpers.hpp"
 #include "cdr.hpp"
+#include "rmw_context_impl_s.hpp"
+#include "message_type_support.hpp"
 #include "logging_macros.hpp"
 #include "qos.hpp"
 
 #include "rcpputils/scope_exit.hpp"
 
 #include "rmw/error_handling.h"
+#include "rmw/get_topic_endpoint_info.h"
+#include "rmw/impl/cpp/macros.hpp"
 
 namespace rmw_zenoh_cpp
 {

rmw_zenoh_cpp/src/detail/rmw_service_data.hpp

@@ -20,16 +20,22 @@
 #include <deque>
 #include <memory>
 #include <mutex>
+#include <optional>
 #include <string>
 #include <unordered_map>
 
 #include <zenoh.hxx>
 
 #include "event.hpp"
 #include "liveliness_utils.hpp"
+#include "message_type_support.hpp"
 #include "service_type_support.hpp"
+#include "type_support_common.hpp"
 #include "zenoh_utils.hpp"
 
+#include "rcutils/allocator.h"
+
+#include "rmw/rmw.h"
 #include "rmw/ret_types.h"
 
 namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp

@@ -16,6 +16,7 @@
 
 #include <fastcdr/FastBuffer.h>
 
+#include <cinttypes>
 #include <limits>
 #include <memory>
 #include <mutex>
@@ -26,16 +27,16 @@
 #include "attachment_helpers.hpp"
 #include "cdr.hpp"
 #include "identifier.hpp"
+#include "rmw_context_impl_s.hpp"
 #include "message_type_support.hpp"
 #include "logging_macros.hpp"
 #include "qos.hpp"
-// Use the implemented rmw_context_impl_t
-#include "rmw_context_impl_s.hpp"
 
 #include "rcpputils/scope_exit.hpp"
 
 #include "rmw/error_handling.h"
 #include "rmw/get_topic_endpoint_info.h"
+#include "rmw/impl/cpp/macros.hpp"
 
 namespace rmw_zenoh_cpp
 {

rmw_zenoh_cpp/src/detail/type_support.cpp

@@ -17,6 +17,8 @@
 // https://github.com/ros2/rmw_fastrtps/blob/469624e3d483290d6f88fe4b89ee5feaa7694e61/rmw_fastrtps_cpp/src/type_support_common.hpp
 
 #include <cassert>
+#include <functional>
+#include <memory>
 
 #include "rmw/error_handling.h"
 

rmw_zenoh_cpp/src/detail/zenoh_config.cpp

@@ -18,8 +18,6 @@
 
 #include <limits>
 #include <string>
-#include <unordered_map>
-#include <utility>
 
 #include <zenoh.hxx>
 #include <zenoh/api/config.hxx>
@@ -63,7 +61,6 @@ std::optional<zenoh::Config> _get_z_config(
   // If the environment variable is set, try to read the configuration from the file,
   // if the environment variable is not set use internal configuration
   configured_uri = envar_uri[0] != '\0' ? envar_uri : default_uri;
-
   // Try to read the configuration
   zenoh::ZResult err;
   zenoh::Config config = zenoh::Config::from_file(configured_uri, &err);

rmw_zenoh_cpp/src/detail/zenoh_config.hpp

@@ -16,6 +16,8 @@
 #define DETAIL__ZENOH_CONFIG_HPP_
 
 #include <optional>
+#include <unordered_map>
+#include <utility>
 
 #include <zenoh.hxx>
 #include <zenoh/api/config.hxx>

rmw_zenoh_cpp/src/detail/zenoh_utils.cpp

@@ -15,10 +15,13 @@
 #include "zenoh_utils.hpp"
 
 #include <chrono>
+#include <cinttypes>
 #include <utility>
 
 #include "attachment_helpers.hpp"
-#include "rmw/types.h"
+#include "rcpputils/scope_exit.hpp"
+
+#include "rmw/error_handling.h"
 
 namespace rmw_zenoh_cpp
 {
@@ -35,7 +38,9 @@ zenoh::Bytes create_map_and_set_sequence_num(
 }
 
 ///=============================================================================
-ZenohQuery::ZenohQuery(const zenoh::Query & query, std::chrono::nanoseconds::rep received_timestamp)
+ZenohQuery::ZenohQuery(
+  const zenoh::Query & query,
+  std::chrono::nanoseconds::rep received_timestamp)
 {
   query_ = query.clone();
   received_timestamp_ = received_timestamp;

rmw_zenoh_cpp/src/detail/zenoh_utils.hpp

@@ -18,6 +18,7 @@
 #include <zenoh.hxx>
 
 #include <chrono>
+#include <functional>
 #include <optional>
 
 #include "rmw/types.h"

rmw_zenoh_cpp/src/rmw_event.cpp

@@ -14,6 +14,7 @@
 
 #include "rmw/error_handling.h"
 #include "rmw/event.h"
+#include "rmw/events_statuses/events_statuses.h"
 #include "rmw/types.h"
 
 #include "detail/event.hpp"

rmw_zenoh_cpp/src/rmw_init.cpp

@@ -13,13 +13,19 @@
 // limitations under the License.
 
 #include <string>
+#include <thread>
 
 #include <zenoh.hxx>
 
 #include "detail/identifier.hpp"
+#include "detail/liveliness_utils.hpp"
 #include "detail/rmw_context_impl_s.hpp"
 #include "detail/zenoh_config.hpp"
 
+#include "rcutils/env.h"
+#include "detail/logging_macros.hpp"
+#include "rcutils/strdup.h"
+#include "rcutils/types.h"
 
 #include "rmw/init.h"
 #include "rmw/impl/cpp/macros.hpp"

rmw_zenoh_cpp/src/rmw_init_options.cpp

@@ -20,6 +20,7 @@
 
 #include "rcutils/allocator.h"
 #include "rcutils/strdup.h"
+#include "rcutils/types.h"
 
 #include "rmw/impl/cpp/macros.hpp"
 #include "rmw/init_options.h"