Bump Zenoh to commit id e4ea6f0 (1.2.0 + few commits) (#446) (#448)

* Bump: zenoh-cpp=bd4d741 zenoh-c=15d56e1 zenoh=e17de41 * Config: add new gossip target setting (eclipse-zenoh/zenoh#1678) * Config: add new interests timeout setting (eclipse-zenoh/zenoh#1710) * Config: copy updates from eclipse-zenoh/zenoh#1712 * Config: copy updates from eclipse-zenoh/zenoh#1722 * Config: copy updates from eclipse-zenoh/zenoh#1749 * Config: copy updates from eclipse-zenoh/zenoh#1751 * fix: use the commit 15d56e1 to include the allocation feature * Bump zenoh-c=5fce7fb zenoh=e4ea6f0 (for eclipse-zenoh/zenoh#1754 fixing a routing issue in 1.2.0) * Update documentation for commits and undo style changes Signed-off-by: Yadunund <[email protected]> --------- Signed-off-by: Yadunund <[email protected]> Co-authored-by: yuanyuyuan <[email protected]> Co-authored-by: Yadunund <[email protected]> (cherry picked from commit d322d6f) Co-authored-by: Julien Enoch <[email protected]>
ros2 · Feb 4, 2025 · f2c6544 · f2c6544
1 parent 13161d1
commit f2c6544
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diff --git a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
@@ -135,11 +135,11 @@
       /// Accepts a single value (e.g. autoconnect: ["router", "peer"])
       /// or different values for router, peer and client (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
       /// Each value is a list of: "peer", "router" and/or "client".
-      autoconnect: { router: [], peer: ["router", "peer"] },
+      autoconnect: { router: [], peer: ["router", "peer"], client: ["router"] },
       /// Whether or not to listen for scout messages on UDP multicast and reply to them.
       listen: true,
     },
-    /// The gossip scouting configuration.
+    /// The gossip scouting configuration. Note that instances in "client" mode do not participate in gossip.
     gossip: {
       /// Whether gossip scouting is enabled or not
       enabled: true,
@@ -149,10 +149,17 @@
       /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have
       /// direct connectivity with each other.
       multihop: false,
+      /// Which type of Zenoh instances to send gossip messages to.
+      /// Accepts a single value (e.g. target: ["router", "peer"]) which applies whatever the configured "mode" is,
+      /// or different values for router or peer mode (e.g. target: { router: ["router", "peer"], peer: ["router"] }).
+      /// Each value is a list of "peer" and/or "router".
+      /// ROS setting: by default all peers rely on the router to discover each other. Thus configuring the peer to send gossip
+      ///               messages only to the router is sufficient and avoids unecessary traffic between Nodes at launch time.
+      target: { router: ["router", "peer"], peer: ["router"]},
       /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
       /// Accepts a single value (e.g. autoconnect: ["router", "peer"])
-      /// or different values for router, peer and client (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
-      /// Each value is a list of: "peer", "router" and/or "client".
+      /// or different values for router or peer mode (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
+      /// Each value is a list of: "peer" and/or "router".
       autoconnect: { router: [], peer: ["router", "peer"] },
     },
   },
@@ -191,6 +198,14 @@
       /// The routing strategy to use in peers. ("peer_to_peer" or "linkstate").
       mode: "peer_to_peer",
     },
+    /// The interests-based routing configuration.
+    /// This configuration applies regardless of the mode (router, peer or client).
+    interests: {
+      /// The timeout to wait for incoming interests declarations in milliseconds.
+      /// The expiration of this timeout implies that the discovery protocol might be incomplete,
+      /// leading to potential loss of messages, queries or liveliness tokens.
+      timeout: 10000,
+    },
   },
 
   //  /// Overwrite QoS options for Zenoh messages by key expression (ignores Zenoh API QoS config for overwritten values)
@@ -343,11 +358,11 @@
       open_timeout: 10000,
       /// Timeout in milliseconds when accepting a link
       accept_timeout: 10000,
-      /// Maximum number of zenoh session in pending state while accepting
+      /// Maximum number of links in pending state while performing the handshake for accepting it
       accept_pending: 100,
-      /// Maximum number of sessions that can be simultaneously alive
+      /// Maximum number of transports that can be simultaneously alive for a single zenoh sessions
       max_sessions: 1000,
-      /// Maximum number of incoming links that are admitted per session
+      /// Maximum number of incoming links that are admitted per transport
       max_links: 1,
       /// Enables the LowLatency transport
       /// This option does not make LowLatency transport mandatory, the actual implementation of transport
@@ -429,14 +444,14 @@
           /// then amount of memory being allocated for each queue is SIZE_XXX * LINK_MTU.
           /// If qos is false, then only the DATA priority will be allocated.
           size: {
-            control: 1,
-            real_time: 1,
-            interactive_high: 1,
-            interactive_low: 1,
+            control: 2,
+            real_time: 2,
+            interactive_high: 2,
+            interactive_low: 2,
             data_high: 2,
-            data: 4,
-            data_low: 4,
-            background: 4,
+            data: 2,
+            data_low: 2,
+            background: 2,
           },
           /// Congestion occurs when the queue is empty (no available batch).
           congestion_control: {
@@ -464,6 +479,12 @@
             /// The maximum time limit (in ms) a message should be retained for batching when back-pressure happens.
             time_limit: 1,
           },
+          allocation: {
+            /// Mode for memory allocation of batches in the priority queues. 
+            /// - "init": batches are allocated at queue initialization time. 
+            /// - "lazy": batches are allocated when needed up to the maximum number of batches configured in the size configuration parameter.
+            mode: "lazy",
+          },
         },
       },
       /// Configure the zenoh RX parameters of a link

diff --git a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5 b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
@@ -140,11 +140,11 @@
       /// Accepts a single value (e.g. autoconnect: ["router", "peer"])
       /// or different values for router, peer and client (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
       /// Each value is a list of: "peer", "router" and/or "client".
-      autoconnect: { router: [], peer: ["router", "peer"] },
+      autoconnect: { router: [], peer: ["router", "peer"], client: ["router"] },
       /// Whether or not to listen for scout messages on UDP multicast and reply to them.
       listen: true,
     },
-    /// The gossip scouting configuration.
+    /// The gossip scouting configuration. Note that instances in "client" mode do not participate in gossip.
     gossip: {
       /// Whether gossip scouting is enabled or not
       enabled: true,
@@ -154,10 +154,17 @@
       /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have
       /// direct connectivity with each other.
       multihop: false,
+      /// Which type of Zenoh instances to send gossip messages to.
+      /// Accepts a single value (e.g. target: ["router", "peer"]) which applies whatever the configured "mode" is,
+      /// or different values for router or peer mode (e.g. target: { router: ["router", "peer"], peer: ["router"] }).
+      /// Each value is a list of "peer" and/or "router".
+      /// ROS setting: by default all peers rely on the router to discover each other. Thus configuring the peer to send gossip
+      ///               messages only to the router is sufficient and avoids unecessary traffic between Nodes at launch time.
+      target: { router: ["router", "peer"], peer: ["router"]},
       /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
       /// Accepts a single value (e.g. autoconnect: ["router", "peer"])
-      /// or different values for router, peer and client (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
-      /// Each value is a list of: "peer", "router" and/or "client".
+      /// or different values for router or peer mode (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
+      /// Each value is a list of: "peer" and/or "router".
       autoconnect: { router: [], peer: ["router", "peer"] },
     },
   },
@@ -194,6 +201,14 @@
       /// The routing strategy to use in peers. ("peer_to_peer" or "linkstate").
       mode: "peer_to_peer",
     },
+    /// The interests-based routing configuration.
+    /// This configuration applies regardless of the mode (router, peer or client).
+    interests: {
+      /// The timeout to wait for incoming interests declarations in milliseconds.
+      /// The expiration of this timeout implies that the discovery protocol might be incomplete,
+      /// leading to potential loss of messages, queries or liveliness tokens.
+      timeout: 10000,
+    },
   },
 
   //  /// Overwrite QoS options for Zenoh messages by key expression (ignores Zenoh API QoS config for overwritten values)
@@ -346,11 +361,11 @@
       open_timeout: 10000,
       /// Timeout in milliseconds when accepting a link
       accept_timeout: 10000,
-      /// Maximum number of zenoh session in pending state while accepting
+      /// Maximum number of links in pending state while performing the handshake for accepting it
       accept_pending: 100,
-      /// Maximum number of sessions that can be simultaneously alive
+      /// Maximum number of transports that can be simultaneously alive for a single zenoh sessions
       max_sessions: 1000,
-      /// Maximum number of incoming links that are admitted per session
+      /// Maximum number of incoming links that are admitted per transport
       max_links: 1,
       /// Enables the LowLatency transport
       /// This option does not make LowLatency transport mandatory, the actual implementation of transport
@@ -432,14 +447,14 @@
           /// then amount of memory being allocated for each queue is SIZE_XXX * LINK_MTU.
           /// If qos is false, then only the DATA priority will be allocated.
           size: {
-            control: 1,
-            real_time: 1,
-            interactive_high: 1,
-            interactive_low: 1,
+            control: 2,
+            real_time: 2,
+            interactive_high: 2,
+            interactive_low: 2,
             data_high: 2,
-            data: 4,
-            data_low: 4,
-            background: 4,
+            data: 2,
+            data_low: 2,
+            background: 2,
           },
           /// Congestion occurs when the queue is empty (no available batch).
           congestion_control: {
@@ -467,6 +482,12 @@
             /// The maximum time limit (in ms) a message should be retained for batching when back-pressure happens.
             time_limit: 1,
           },
+          allocation: {
+            /// Mode for memory allocation of batches in the priority queues. 
+            /// - "init": batches are allocated at queue initialization time. 
+            /// - "lazy": batches are allocated when needed up to the maximum number of batches configured in the size configuration parameter.
+            mode: "lazy",
+          },
         },
       },
       /// Configure the zenoh RX parameters of a link

diff --git a/zenoh_cpp_vendor/CMakeLists.txt b/zenoh_cpp_vendor/CMakeLists.txt
@@ -17,14 +17,14 @@ find_package(ament_cmake_vendor_package REQUIRED)
 # when expanded.
 set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls")
 
-# Set VCS_VERSION to include latest changes from zenoh/zenoh-c to benefit from :
-# - https://github.com/eclipse-zenoh/zenoh/pull/1685 (Fix deadlock in advanced subscription undeclaration)
-# - https://github.com/eclipse-zenoh/zenoh/pull/1696 (Fix SHM Garbage Collection (GC) policy)
-# - https://github.com/eclipse-zenoh/zenoh/pull/1708 (Fix gossip with TLS endpoints)
-# - https://github.com/eclipse-zenoh/zenoh/pull/1717 (Improve performance of a large number of peers)
+# Set VCS_VERSION to include latest changes from zenoh/zenoh-c/zenoh-cpp to benefit from :
+# - https://github.com/eclipse-zenoh/zenoh/pull/173 (Improve config to support priorities range in locators)
+# - https://github.com/eclipse-zenoh/zenoh/pull/1736, https://github.com/eclipse-zenoh/zenoh/pull/1735,
+#   https://github.com/eclipse-zenoh/zenoh/pull/1744, https://github.com/eclipse-zenoh/zenoh/pull/1749,
+#   https://github.com/eclipse-zenoh/zenoh/pull/1751 (Improve performance of a large number of peers)
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION 328736fe9bb9b654b1d9f47eecfc6d52f0d7d587
+  VCS_VERSION 5fce7fb1d397e016ad02a50bde4262007d755424
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
     "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"
@@ -33,12 +33,9 @@ ament_vendor(zenoh_c_vendor
 
 ament_export_dependencies(zenohc)
 
-# Set VCS_VERSION to include latest changes from zenoh-cpp to benefit from :
-# - https://github.com/eclipse-zenoh/zenoh-cpp/pull/342 (Fix include what you use)
-# - https://github.com/eclipse-zenoh/zenoh-cpp/pull/363 (Fix memory leak in string deserialization)
 ament_vendor(zenoh_cpp_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
-  VCS_VERSION bbfef04e843289aae70b5aa060a925e8ee5b1b6f
+  VCS_VERSION bd4d741c6c4fa6509d8d745e22c3c50b4306bd65
   CMAKE_ARGS
     -DZENOHCXX_ZENOHC=OFF
 )