Merge branch 'ros2:rolling' into rolling

ZettaScaleLabs · Aug 8, 2024 · 8192f62 · 8192f62
2 parents 695d0ea + b78d6a1
commit 8192f62
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Showing 3 changed files with 15 additions and 9 deletions.
diff --git a/rmw_zenoh_cpp/src/detail/graph_cache.cpp b/rmw_zenoh_cpp/src/detail/graph_cache.cpp
@@ -1202,13 +1202,13 @@ rmw_ret_t GraphCache::get_entities_info_by_topic(
 rmw_ret_t GraphCache::service_server_is_available(
   const char * service_name,
   const char * service_type,
-  bool * is_available)
+  bool * is_available) const
 {
   *is_available = false;
   std::lock_guard<std::mutex> lock(graph_mutex_);
-  GraphNode::TopicMap::iterator service_it = graph_services_.find(service_name);
+  GraphNode::TopicMap::const_iterator service_it = graph_services_.find(service_name);
   if (service_it != graph_services_.end()) {
-    GraphNode::TopicTypeMap::iterator type_it = service_it.value().find(service_type);
+    GraphNode::TopicTypeMap::const_iterator type_it = service_it->second.find(service_type);
     if (type_it != service_it->second.end()) {
       for (const auto & [_, topic_data] : type_it->second) {
         if (topic_data->subs_.size() > 0) {

diff --git a/rmw_zenoh_cpp/src/detail/graph_cache.hpp b/rmw_zenoh_cpp/src/detail/graph_cache.hpp
@@ -167,7 +167,7 @@ class GraphCache final
   rmw_ret_t service_server_is_available(
     const char * service_name,
     const char * service_type,
-    bool * is_available);
+    bool * is_available) const;
 
   /// @brief Signature for a function that will be invoked by the GraphCache when a QoS
   ///   event is detected.

diff --git a/rmw_zenoh_cpp/src/zenohd/main.cpp b/rmw_zenoh_cpp/src/zenohd/main.cpp
@@ -36,6 +36,8 @@
 
 #include "rmw/error_handling.h"
 
+#include "rcpputils/scope_exit.hpp"
+
 static bool running = true;
 
 class KeyboardReader final
@@ -192,18 +194,24 @@ int main(int argc, char ** argv)
     return 1;
   }
 
-  z_owned_session_t s = z_open(z_move(config));
-  if (!z_check(s)) {
+  z_owned_session_t session = z_open(z_move(config));
+  if (!z_check(session)) {
     printf("Unable to open router session!\n");
     return 1;
   }
+  auto always_close_session = rcpputils::make_scope_exit(
+    [&session]() {
+      z_close(z_move(session));
+    });
+
   printf(
     "Started Zenoh router with id %s.\n",
-    rmw_zenoh_cpp::liveliness::zid_to_str(z_info_zid(z_session_loan(&s))).c_str());
+    rmw_zenoh_cpp::liveliness::zid_to_str(z_info_zid(z_session_loan(&session))).c_str());
 #ifdef _WIN32
   SetConsoleCtrlHandler(quit, TRUE);
 #else
   signal(SIGINT, quit);
+  signal(SIGTERM, quit);
 #endif
 
   KeyboardReader keyreader;
@@ -227,7 +235,5 @@ int main(int argc, char ** argv)
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
   }
 
-  z_close(z_move(s));
-
   return 0;
 }