Rename guid in liveliness_utils to keyexpr_hash.

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -319,7 +319,7 @@ void GraphCache::take_entities_with_events(const EntityEventMap & entities_with_
   for (const auto & [local_entity, event_set] : entities_with_events) {
     // Trigger callback set for this entity for the event type.
     GraphEventCallbackMap::const_iterator event_callbacks_it =
-      event_callbacks_.find(local_entity->guid());
+      event_callbacks_.find(local_entity->keyexpr_hash());
     if (event_callbacks_it != event_callbacks_.end()) {
       for (const rmw_zenoh_event_type_t & event_type : event_set) {
         GraphEventCallbacks::const_iterator callback_it =
@@ -1240,7 +1240,7 @@ rmw_ret_t GraphCache::service_server_is_available(
 
 ///=============================================================================
 void GraphCache::set_qos_event_callback(
-  std::size_t entity_guid,
+  std::size_t entity_keyexpr_hash,
   const rmw_zenoh_event_type_t & event_type,
   GraphCacheEventCallback callback)
 {
@@ -1253,20 +1253,20 @@ void GraphCache::set_qos_event_callback(
     return;
   }
 
-  const GraphEventCallbackMap::iterator event_cb_it = event_callbacks_.find(entity_guid);
+  const GraphEventCallbackMap::iterator event_cb_it = event_callbacks_.find(entity_keyexpr_hash);
   if (event_cb_it == event_callbacks_.end()) {
     // First time a callback is being set for this entity.
-    event_callbacks_[entity_guid] = {std::make_pair(event_type, std::move(callback))};
+    event_callbacks_[entity_keyexpr_hash] = {std::make_pair(event_type, std::move(callback))};
     return;
   }
   event_cb_it->second[event_type] = std::move(callback);
 }
 
 ///=============================================================================
-void GraphCache::remove_qos_event_callbacks(std::size_t entity_guid)
+void GraphCache::remove_qos_event_callbacks(std::size_t entity_keyexpr_hash)
 {
   std::lock_guard<std::mutex> lock(graph_mutex_);
-  event_callbacks_.erase(entity_guid);
+  event_callbacks_.erase(entity_keyexpr_hash);
 }
 
 ///=============================================================================
@@ -1342,28 +1342,34 @@ std::unique_ptr<rmw_zenoh_event_status_t> GraphCache::take_event_status(
 ///=============================================================================
 void GraphCache::set_querying_subscriber_callback(
   const std::string & sub_keyexpr,
-  const std::size_t sub_guid,
+  const std::size_t sub_keyxpr_hash,
   QueryingSubscriberCallback cb)
 {
-  auto cb_it = querying_subs_cbs_.find(sub_keyexpr);
+  std::unordered_map<
+    std::string,
+    std::unordered_map<std::size_t, QueryingSubscriberCallback>
+  >::iterator cb_it = querying_subs_cbs_.find(sub_keyexpr);
   if (cb_it == querying_subs_cbs_.end()) {
     querying_subs_cbs_[sub_keyexpr] = std::move(
       std::unordered_map<std::size_t, QueryingSubscriberCallback>{});
     cb_it = querying_subs_cbs_.find(sub_keyexpr);
   }
-  cb_it->second.insert(std::make_pair(sub_guid, std::move(cb)));
+  cb_it->second.insert(std::make_pair(sub_keyxpr_hash, std::move(cb)));
 }
 
 ///=============================================================================
 void GraphCache::remove_querying_subscriber_callback(
   const std::string & sub_keyexpr,
-  const std::size_t sub_guid)
+  const std::size_t sub_keyexpr_hash)
 {
-  auto cb_map_it = querying_subs_cbs_.find(sub_keyexpr);
+  std::unordered_map<
+    std::string,
+    std::unordered_map<std::size_t, QueryingSubscriberCallback>
+  >::iterator cb_map_it = querying_subs_cbs_.find(sub_keyexpr);
   if (cb_map_it == querying_subs_cbs_.end()) {
     return;
   }
-  cb_map_it->second.erase(sub_guid);
+  cb_map_it->second.erase(sub_keyexpr_hash);
 }
 
 }  // namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/graph_cache.hpp

@@ -179,24 +179,24 @@ class GraphCache final
   /// Set a qos event callback for an entity from the current session.
   /// @note The callback will be removed when the entity is removed from the graph.
   void set_qos_event_callback(
-    std::size_t entity_guid,
+    std::size_t entity_keyexpr_hash,
     const rmw_zenoh_event_type_t & event_type,
     GraphCacheEventCallback callback);
 
   /// Remove all qos event callbacks for an entity.
-  void remove_qos_event_callbacks(std::size_t entity_guid);
+  void remove_qos_event_callbacks(std::size_t entity_keyexpr_hash);
 
   /// Returns true if the entity is a publisher or client. False otherwise.
   static bool is_entity_pub(const liveliness::Entity & entity);
 
   void set_querying_subscriber_callback(
     const std::string & sub_keyexpr,
-    const std::size_t sub_guid,
+    const std::size_t sub_keyexpr_hash,
     QueryingSubscriberCallback cb);
 
   void remove_querying_subscriber_callback(
     const std::string & sub_keyexpr,
-    const std::size_t sub_guid);
+    const std::size_t sub_keyexpr_hash);
 
 private:
   // Helper function to convert an Entity into a GraphNode.
@@ -287,7 +287,7 @@ class GraphCache final
   GraphNode::TopicMap graph_services_ = {};
 
   using GraphEventCallbacks = std::unordered_map<rmw_zenoh_event_type_t, GraphCacheEventCallback>;
-  // Map an entity's guid to a map of event callbacks.
+  // Map an entity's keyexpr_hash to a map of event callbacks.
   // Note: Since we use unordered_map, we will only store a single callback for an
   // entity string. So we do not support the case where a node create a duplicate
   // pub/sub with the exact same topic, type & QoS but registers a different callback
@@ -296,7 +296,7 @@ class GraphCache final
   using GraphEventCallbackMap = std::unordered_map<std::size_t, GraphEventCallbacks>;
   // EventCallbackMap for each type of event we support in rmw_zenoh_cpp.
   GraphEventCallbackMap event_callbacks_;
-  // Map key expressions to a map of sub guid and QueryingSubscriberCallback.
+  // Map key expressions to a map of sub keyexpr_hash and QueryingSubscriberCallback.
   std::unordered_map<std::string, std::unordered_map<std::size_t,
     QueryingSubscriberCallback>> querying_subs_cbs_;
   // Counters to track changes to event statues for each topic.

rmw_zenoh_cpp/src/detail/liveliness_utils.cpp

@@ -441,7 +441,7 @@ Entity::Entity(
     // Append the delimiter unless it is the last component.
     this->liveliness_keyexpr_ += KEYEXPR_DELIMITER;
   }
-  this->guid_ = std::hash<std::string>{}(this->liveliness_keyexpr_);
+  this->keyexpr_hash_ = std::hash<std::string>{}(this->liveliness_keyexpr_);
 }
 
 ///=============================================================================
@@ -585,9 +585,9 @@ std::string Entity::id() const
 }
 
 ///=============================================================================
-std::size_t Entity::guid() const
+std::size_t Entity::keyexpr_hash() const
 {
-  return this->guid_;
+  return this->keyexpr_hash_;
 }
 
 ///=============================================================================
@@ -632,9 +632,7 @@ std::string Entity::liveliness_keyexpr() const
 ///=============================================================================
 bool Entity::operator==(const Entity & other) const
 {
-  // TODO(Yadunund): If we decide to directly store the guid as a
-  // rmw_gid_t type, we should rely on rmw_compare_gids_equal() instead.
-  return other.guid() == guid_;
+  return other.keyexpr_hash() == keyexpr_hash_;
 }
 
 ///=============================================================================

rmw_zenoh_cpp/src/detail/liveliness_utils.hpp

@@ -145,13 +145,11 @@ class Entity
   std::string nid() const;
 
   // Get the id of the entity local to a zenoh session.
-  // Use guid() to retrieve a globally unique id.
+  // Use keyexpr_hash() to retrieve a globally unique id.
   std::string id() const;
 
   // Interim method to get a globally unique id for this entity which is the hash of the keyexpr.
-  // TODO(Yadunund): Should this return a rmw_gid_t?
-  // This is named guid and not gid to remain distinct as it is not of type rmw_gid_t.
-  std::size_t guid() const;
+  std::size_t keyexpr_hash() const;
 
   /// Get the entity type.
   EntityType type() const;
@@ -171,7 +169,7 @@ class Entity
   /// Get the liveliness keyexpr for this entity.
   std::string liveliness_keyexpr() const;
 
-  // Two entities are equal if their guids are equal.
+  // Two entities are equal if their keyexpr_hash are equal.
   bool operator==(const Entity & other) const;
 
 private:
@@ -186,7 +184,7 @@ class Entity
   std::string zid_;
   std::string nid_;
   std::string id_;
-  std::size_t guid_;
+  std::size_t keyexpr_hash_;
   EntityType type_;
   NodeInfo node_info_;
   std::optional<TopicInfo> topic_info_;
@@ -254,7 +252,7 @@ struct hash<rmw_zenoh_cpp::liveliness::Entity>
 {
   auto operator()(const rmw_zenoh_cpp::liveliness::Entity & entity) const -> size_t
   {
-    return entity.guid();
+    return entity.keyexpr_hash();
   }
 };
 
@@ -263,7 +261,7 @@ struct hash<rmw_zenoh_cpp::liveliness::ConstEntityPtr>
 {
   auto operator()(const rmw_zenoh_cpp::liveliness::ConstEntityPtr & entity) const -> size_t
   {
-    return entity->guid();
+    return entity->keyexpr_hash();
   }
 };
 
@@ -274,7 +272,7 @@ struct equal_to<rmw_zenoh_cpp::liveliness::ConstEntityPtr>
     const rmw_zenoh_cpp::liveliness::ConstEntityPtr & lhs,
     const rmw_zenoh_cpp::liveliness::ConstEntityPtr & rhs) const -> bool
   {
-    return lhs->guid() == rhs->guid();
+    return lhs->keyexpr_hash() == rhs->keyexpr_hash();
   }
 };
 }  // namespace std

rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp

@@ -410,10 +410,10 @@ rmw_ret_t PublisherData::publish_serialized_message(
 }
 
 ///=============================================================================
-std::size_t PublisherData::guid() const
+std::size_t PublisherData::keyexpr_hash() const
 {
   std::lock_guard<std::mutex> lock(mutex_);
-  return entity_->guid();
+  return entity_->keyexpr_hash();
 }
 
 ///=============================================================================

rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp

@@ -64,8 +64,8 @@ class PublisherData final
     const rmw_serialized_message_t * serialized_message,
     std::optional<zc_owned_shm_manager_t> & shm_manager);
 
-  // Get a copy of the GUID of this PublisherData's liveliness::Entity.
-  std::size_t guid() const;
+  // Get a copy of the keyexpr_hash of this PublisherData's liveliness::Entity.
+  std::size_t keyexpr_hash() const;
 
   // Get a copy of the TopicInfo of this PublisherData.
   liveliness::TopicInfo topic_info() const;

rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp

@@ -249,7 +249,7 @@ std::shared_ptr<SubscriptionData> SubscriptionData::make(
     std::weak_ptr<SubscriptionData> data_wp = sub_data;
     graph_cache->set_querying_subscriber_callback(
       sub_data->entity_->topic_info().value().topic_keyexpr_,
-      sub_data->entity_->guid(),
+      sub_data->entity_->keyexpr_hash(),
       [data_wp](const std::string & queryable_prefix) -> void
       {
         auto sub_data = data_wp.lock();
@@ -359,10 +359,10 @@ SubscriptionData::SubscriptionData(
 }
 
 ///=============================================================================
-std::size_t SubscriptionData::guid() const
+std::size_t SubscriptionData::keyexpr_hash() const
 {
   std::lock_guard<std::mutex> lock(mutex_);
-  return entity_->guid();
+  return entity_->keyexpr_hash();
 }
 
 ///=============================================================================

rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp

@@ -80,8 +80,8 @@ class SubscriptionData final
     const void * ros_message,
     std::optional<zc_owned_shm_manager_t> & shm_manager);
 
-  // Get a copy of the GUID of this SubscriptionData's liveliness::Entity.
-  std::size_t guid() const;
+  // Get a copy of the keyexpr_hash of this SubscriptionData's liveliness::Entity.
+  std::size_t keyexpr_hash() const;
 
   // Get a copy of the TopicInfo of this SubscriptionData.
   liveliness::TopicInfo topic_info() const;

rmw_zenoh_cpp/src/rmw_event.cpp

@@ -71,7 +71,7 @@ rmw_publisher_event_init(
   // Register the event with graph cache.
   std::weak_ptr<rmw_zenoh_cpp::PublisherData> data_wp = pub_data;
   context_impl->graph_cache()->set_qos_event_callback(
-    pub_data->guid(),
+    pub_data->keyexpr_hash(),
     zenoh_event_type,
     [data_wp,
     zenoh_event_type](std::unique_ptr<rmw_zenoh_cpp::rmw_zenoh_event_status_t> zenoh_event)
@@ -130,7 +130,7 @@ rmw_subscription_event_init(
 
   // std::weak_ptr<rmw_zenoh_cpp::SubscriptionData> data_wp = sub_data;
   sub_data->graph_cache()->set_qos_event_callback(
-    sub_data->guid(),
+    sub_data->keyexpr_hash(),
     zenoh_event_type,
     [sub_data,
     zenoh_event_type](std::unique_ptr<rmw_zenoh_cpp::rmw_zenoh_event_status_t> zenoh_event)

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -488,7 +488,7 @@ rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
     return RMW_RET_INVALID_ARGUMENT;
   }
   // Remove any event callbacks registered to this publisher.
-  context_impl->graph_cache()->remove_qos_event_callbacks(pub_data->guid());
+  context_impl->graph_cache()->remove_qos_event_callbacks(pub_data->keyexpr_hash());
   // Remove the PublisherData from NodeData.
   node_data->delete_pub_data(publisher);
 
@@ -1028,13 +1028,13 @@ rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription)
   rcutils_allocator_t * allocator = &node->context->options.allocator;
 
   // Remove the registered callback from the GraphCache if any.
-  const std::size_t guid = sub_data->guid();
+  const std::size_t keyexpr_hash = sub_data->keyexpr_hash();
   context_impl->graph_cache()->remove_querying_subscriber_callback(
     sub_data->topic_info().topic_keyexpr_,
-    guid
+    keyexpr_hash
   );
   // Remove any event callbacks registered to this subscription.
-  context_impl->graph_cache()->remove_qos_event_callbacks(guid);
+  context_impl->graph_cache()->remove_qos_event_callbacks(keyexpr_hash);
   // Finally remove the SubscriptionData from NodeData.
   node_data->delete_sub_data(subscription);