cleanups

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

rmw_zenoh_cpp/src/detail/liveliness_utils.cpp

@@ -453,42 +453,6 @@ Entity::Entity(
 
 ///=============================================================================
 std::shared_ptr<Entity> Entity::make(
-  z_id_t zid,
-  const std::string & nid,
-  const std::string & id,
-  EntityType type,
-  NodeInfo node_info,
-  std::optional<TopicInfo> topic_info)
-{
-  if (id.empty()) {
-    RCUTILS_SET_ERROR_MSG("Invalid id.");
-    return nullptr;
-  }
-  if (entity_to_str.find(type) == entity_to_str.end()) {
-    RCUTILS_SET_ERROR_MSG("Invalid entity type.");
-    return nullptr;
-  }
-  if (node_info.ns_.empty() || node_info.name_.empty()) {
-    RCUTILS_SET_ERROR_MSG("Invalid node_info for entity.");
-    return nullptr;
-  }
-  if (type != EntityType::Node && !topic_info.has_value()) {
-    RCUTILS_SET_ERROR_MSG("Invalid topic_info for entity.");
-    return nullptr;
-  }
-
-  return std::make_shared<Entity>(
-    Entity{
-        zid_to_str(zid),
-        nid,
-        id,
-        std::move(type),
-        std::move(node_info),
-        std::move(topic_info)});
-}
-
-///=============================================================================
-std::shared_ptr<Entity> Entity::make_cpp(
   zenoh::Id zid,
   const std::string & nid,
   const std::string & id,

rmw_zenoh_cpp/src/detail/liveliness_utils.hpp

@@ -128,14 +128,6 @@ class Entity
   /// @param topic_info An optional topic information for relevant entities.
   /// @return An entity if all inputs are valid. This way no invalid entities can be created.
   static EntityPtr make(
-    z_id_t zid,
-    const std::string & nid,
-    const std::string & id,
-    EntityType type,
-    NodeInfo node_info,
-    std::optional<TopicInfo> topic_info = std::nullopt);
-
-  static EntityPtr make_cpp(
     zenoh::Id zid,
     const std::string & nid,
     const std::string & id,

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

@@ -84,7 +84,6 @@ void rmw_context_impl_s::graph_sub_data_handler(z_loaned_sample_t * sample, void
 rmw_context_impl_s::Data::Data(
   std::size_t domain_id,
   const std::string & enclave,
-  z_owned_session_t session,
   std::shared_ptr<zenoh::Session> session_cpp,
   const std::string & liveliness_str,
   std::shared_ptr<rmw_zenoh_cpp::GraphCache> graph_cache
@@ -94,7 +93,6 @@ rmw_context_impl_s::Data::Data(
 )
 : enclave_(std::move(enclave)),
   domain_id_(std::move(domain_id)),
-  session_(std::move(session)),
   session_cpp_(session_cpp),
   liveliness_str_(std::move(liveliness_str)),
   graph_cache_(std::move(graph_cache)),
@@ -187,7 +185,7 @@ rmw_ret_t rmw_context_impl_s::Data::subscribe_to_ros_graph()
       z_undeclare_subscriber(z_move(this->graph_subscriber_));
     });
   if (zc_liveliness_declare_subscriber(
-      z_loan(session_),
+      z_loan(session_cpp_->_0),
       &graph_subscriber_, z_loan(keyexpr),
       z_move(callback), &sub_options) != Z_OK)
   {
@@ -366,7 +364,6 @@ rmw_context_impl_s::rmw_context_impl_s(
   data_ = std::make_shared<Data>(
     domain_id,
     std::move(enclave),
-    std::move(session->_0),
     std::move(session),
     std::move(liveliness_str),
     std::move(graph_cache)
@@ -397,7 +394,7 @@ std::string rmw_context_impl_s::enclave() const
 const z_loaned_session_t * rmw_context_impl_s::session() const
 {
   std::lock_guard<std::recursive_mutex> lock(data_->mutex_);
-  return z_loan(data_->session_);
+  return z_loan(data_->session_cpp_->_0);
 }
 
 const std::shared_ptr<zenoh::Session> rmw_context_impl_s::session_cpp() const

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp

@@ -106,7 +106,6 @@ class rmw_context_impl_s final
     Data(
       std::size_t domain_id,
       const std::string & enclave,
-      z_owned_session_t session,
       std::shared_ptr<zenoh::Session> session_cpp,
       const std::string & liveliness_str,
       std::shared_ptr<rmw_zenoh_cpp::GraphCache> graph_cache
@@ -133,7 +132,7 @@ class rmw_context_impl_s final
     // The ROS domain id of this context.
     std::size_t domain_id_;
     // An owned session.
-    z_owned_session_t session_;
+    // z_owned_session_t session_;
     std::shared_ptr<zenoh::Session> session_cpp_;
     // Liveliness keyexpr string to subscribe to for ROS graph changes.
     std::string liveliness_str_;

rmw_zenoh_cpp/src/detail/rmw_node_data.cpp

@@ -37,7 +37,7 @@ std::shared_ptr<NodeData> NodeData::make(
   const std::string & enclave)
 {
   // Create the entity.
-  auto entity = rmw_zenoh_cpp::liveliness::Entity::make_cpp(
+  auto entity = rmw_zenoh_cpp::liveliness::Entity::make(
     session->get_zid(),
     std::to_string(id),
     std::to_string(id),

rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp

@@ -78,7 +78,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
     });
 
   std::size_t domain_id = node_info.domain_id_;
-  auto entity = liveliness::Entity::make_cpp(
+  auto entity = liveliness::Entity::make(
     session->get_zid(),
     std::to_string(node_id),
     std::to_string(publisher_id),

rmw_zenoh_cpp/src/detail/rmw_service_data.cpp

@@ -121,7 +121,7 @@ std::shared_ptr<ServiceData> ServiceData::make(
     });
 
   std::size_t domain_id = node_info.domain_id_;
-  auto entity = liveliness::Entity::make_cpp(
+  auto entity = liveliness::Entity::make(
     session->get_zid(),
     std::to_string(node_id),
     std::to_string(service_id),

rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp

@@ -132,7 +132,7 @@ std::shared_ptr<SubscriptionData> SubscriptionData::make(
   // Everything above succeeded and is setup properly. Now declare a subscriber
   // with Zenoh; after this, callbacks may come in at any time.
   std::size_t domain_id = node_info.domain_id_;
-  auto entity = liveliness::Entity::make_cpp(
+  auto entity = liveliness::Entity::make(
     session->get_zid(),
     std::to_string(node_id),
     std::to_string(subscription_id),

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -1568,7 +1568,7 @@ rmw_create_client(
     node_data,
     "NodeData not found.",
     return nullptr);
-  client_data->entity = rmw_zenoh_cpp::liveliness::Entity::make_cpp(
+  client_data->entity = rmw_zenoh_cpp::liveliness::Entity::make(
     session->get_zid(),
     std::to_string(node_data->id()),
     std::to_string(