From 50a3ba2a0dae05a89d2be5e969df76ebcea73baf Mon Sep 17 00:00:00 2001
From: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Date: Wed, 28 Aug 2024 13:52:41 +0200
Subject: [PATCH 1/7] Added Windows support

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
---
 README.md                                     |  5 ++++
 .../src/detail/zenoh_router_check.cpp         |  7 +++++-
 rmw_zenoh_cpp/src/rmw_init.cpp                |  9 +++++--
 rmw_zenoh_cpp/src/rmw_zenoh.cpp               | 24 ++++++++++++++-----
 rmw_zenoh_cpp/src/zenohd/main.cpp             |  3 ++-
 zenoh_c_vendor/CMakeLists.txt                 |  4 ++--
 6 files changed, 40 insertions(+), 12 deletions(-)

diff --git a/README.md b/README.md
index 9a4097eb..ba6fafe5 100644
--- a/README.md
+++ b/README.md
@@ -12,6 +12,11 @@ For information about the Design please visit [design](docs/design.md) page.
 ## Requirements
 - [ROS 2](https://docs.ros.org): Rolling/Jazzy/Iron
 
+### Windows
+
+```bash
+choco install -y rust mingw
+```
 
 ## Setup
 
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp b/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
index ead5ca5a..361b6f13 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
@@ -43,7 +43,12 @@ rmw_ret_t zenoh_router_check(z_session_t session)
     };
 
   rmw_ret_t ret = RMW_RET_OK;
-  z_owned_closure_zid_t router_callback = z_closure(callback, nullptr /* drop */, &context);
+  // z_owned_closure_zid_t router_callback = z_closure(callback, nullptr /* drop */, &context);
+  z_owned_closure_zid_t router_callback;
+  router_callback.context = (void*)&context;
+  router_callback.call = callback;
+  router_callback.drop = nullptr;
+
   if (z_info_routers_zid(session, z_move(router_callback))) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
index 99c6f3ad..23af9da3 100644
--- a/rmw_zenoh_cpp/src/rmw_init.cpp
+++ b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -171,7 +171,7 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   // If not already defined, set the logging environment variable for Zenoh sessions
   // to warning level by default.
   // TODO(Yadunund): Switch to rcutils_get_env once it supports not overwriting values.
-  if (setenv(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_WARN_LEVEL_STR, 0) != 0) {
+  if (rcutils_set_env_overwrite(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_WARN_LEVEL_STR, 0) != 0) {
     RMW_SET_ERROR_MSG("Error configuring Zenoh logging.");
     return RMW_RET_ERROR;
   }
@@ -359,7 +359,12 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   //   z_move(callback),
   //   &sub_options);
   auto sub_options = zc_liveliness_subscriber_options_null();
-  z_owned_closure_sample_t callback = z_closure(graph_sub_data_handler, nullptr, context->impl);
+  // z_owned_closure_sample_t callback = z_closure(graph_sub_data_handler, nullptr, context->impl); 
+  z_owned_closure_sample_t callback;
+  callback.context = (void*)context->impl;
+  callback.call = graph_sub_data_handler;
+  callback.drop = nullptr;
+
   context->impl->graph_subscriber = zc_liveliness_declare_subscriber(
     z_loan(context->impl->session),
     z_keyexpr(liveliness_str.c_str()),
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 3de285a5..2b60a57b 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -1447,7 +1447,11 @@ rmw_create_subscription(
 
   // Everything above succeeded and is setup properly.  Now declare a subscriber
   // with Zenoh; after this, callbacks may come in at any time.
-  z_owned_closure_sample_t callback = z_closure(rmw_zenoh_cpp::sub_data_handler, nullptr, sub_data);
+  // z_owned_closure_sample_t callback = z_closure(rmw_zenoh_cpp::sub_data_handler, nullptr, sub_data);
+  z_owned_closure_sample_t callback;
+  callback.context = (void*)sub_data;
+  callback.call = rmw_zenoh_cpp::sub_data_handler;
+  callback.drop = nullptr;
   z_owned_keyexpr_t keyexpr = ros_topic_name_to_zenoh_key(
     node->context->actual_domain_id,
     topic_name,
@@ -2494,8 +2498,12 @@ rmw_send_request(
   // and any number.
   opts.consolidation = z_query_consolidation_latest();
   opts.value.payload = z_bytes_t{data_length, reinterpret_cast<const uint8_t *>(request_bytes)};
-  z_owned_closure_reply_t zn_closure_reply =
-    z_closure(rmw_zenoh_cpp::client_data_handler, rmw_zenoh_cpp::client_data_drop, client_data);
+  // z_owned_closure_reply_t zn_closure_reply =
+  //   z_closure(rmw_zenoh_cpp::client_data_handler, rmw_zenoh_cpp::client_data_drop, client_data);
+  z_owned_closure_reply_t zn_closure_reply;
+  zn_closure_reply.context = (void*)client_data;
+  zn_closure_reply.call = rmw_zenoh_cpp::client_data_handler;
+  zn_closure_reply.drop = rmw_zenoh_cpp::client_data_drop;
   z_get(
     z_loan(context_impl->session),
     z_loan(client_data->keyexpr), "",
@@ -2865,9 +2873,13 @@ rmw_create_service(
     return nullptr;
   }
 
-  z_owned_closure_query_t callback = z_closure(
-    rmw_zenoh_cpp::service_data_handler, nullptr,
-    service_data);
+  // z_owned_closure_query_t callback = z_closure(
+  //   rmw_zenoh_cpp::service_data_handler, nullptr,
+  //   service_data);
+  z_owned_closure_query_t callback;
+  callback.context = (void*)service_data;
+  callback.call = rmw_zenoh_cpp::service_data_handler;
+  callback.drop = nullptr;
   // Configure the queryable to process complete queries.
   z_queryable_options_t qable_options = z_queryable_options_default();
   qable_options.complete = true;
diff --git a/rmw_zenoh_cpp/src/zenohd/main.cpp b/rmw_zenoh_cpp/src/zenohd/main.cpp
index 8ae25809..d41574d5 100644
--- a/rmw_zenoh_cpp/src/zenohd/main.cpp
+++ b/rmw_zenoh_cpp/src/zenohd/main.cpp
@@ -30,6 +30,7 @@
 #include "../detail/zenoh_config.hpp"
 #include "../detail/liveliness_utils.hpp"
 
+#include "rcutils/env.h"
 #include "rmw/error_handling.h"
 
 #include "rcpputils/scope_exit.hpp"
@@ -63,7 +64,7 @@ int main(int argc, char ** argv)
   // If not already defined, set the logging environment variable for Zenoh router
   // to info level by default.
   // TODO(Yadunund): Switch to rcutils_get_env once it supports not overwriting values.
-  if (setenv(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_INFO_LEVEL_STR, 0) != 0) {
+  if (rcutils_set_env_overwrite(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_INFO_LEVEL_STR, 0) != 0) {
     RMW_SET_ERROR_MSG("Error configuring Zenoh logging.");
     return 1;
   }
diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 7903e1e8..224957d3 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -25,9 +25,9 @@ set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/shared
 # - https://github.com/eclipse-zenoh/zenoh/pull/1150 (fix deadlock issue https://github.com/ros2/rmw_zenoh/issues/182)
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION 548ee8dde0f53a58c06e68a2949949b31140c36c
+  VCS_VERSION 134dbfa06ca212def5fb51dd8e816734dfd8dff6
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
 )
-
+ 
 ament_package()

From 16325a48de1b7a17e1edc04b5a3006aeda20f6c6 Mon Sep 17 00:00:00 2001
From: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Date: Wed, 28 Aug 2024 13:53:47 +0200
Subject: [PATCH 2/7] make linters happy

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
---
 zenoh_c_vendor/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 224957d3..52cd4f4d 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -29,5 +29,5 @@ ament_vendor(zenoh_c_vendor
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
 )
- 
+
 ament_package()

From 78a36c2c10e7ee9bd748bd4fcba2a5610872eddb Mon Sep 17 00:00:00 2001
From: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Date: Wed, 28 Aug 2024 14:01:13 +0200
Subject: [PATCH 3/7] make linters happy

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
---
 rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp | 2 +-
 rmw_zenoh_cpp/src/rmw_init.cpp                  | 4 ++--
 rmw_zenoh_cpp/src/rmw_zenoh.cpp                 | 6 +++---
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp b/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
index 361b6f13..d0d5f58b 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
@@ -45,7 +45,7 @@ rmw_ret_t zenoh_router_check(z_session_t session)
   rmw_ret_t ret = RMW_RET_OK;
   // z_owned_closure_zid_t router_callback = z_closure(callback, nullptr /* drop */, &context);
   z_owned_closure_zid_t router_callback;
-  router_callback.context = (void*)&context;
+  router_callback.context = (void *)&context;
   router_callback.call = callback;
   router_callback.drop = nullptr;
 
diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
index 23af9da3..6195d2d5 100644
--- a/rmw_zenoh_cpp/src/rmw_init.cpp
+++ b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -359,9 +359,9 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   //   z_move(callback),
   //   &sub_options);
   auto sub_options = zc_liveliness_subscriber_options_null();
-  // z_owned_closure_sample_t callback = z_closure(graph_sub_data_handler, nullptr, context->impl); 
+  // z_owned_closure_sample_t callback = z_closure(graph_sub_data_handler, nullptr, context->impl);
   z_owned_closure_sample_t callback;
-  callback.context = (void*)context->impl;
+  callback.context = (void *)context->impl;
   callback.call = graph_sub_data_handler;
   callback.drop = nullptr;
 
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 2b60a57b..99391867 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -1449,7 +1449,7 @@ rmw_create_subscription(
   // with Zenoh; after this, callbacks may come in at any time.
   // z_owned_closure_sample_t callback = z_closure(rmw_zenoh_cpp::sub_data_handler, nullptr, sub_data);
   z_owned_closure_sample_t callback;
-  callback.context = (void*)sub_data;
+  callback.context = (void *)sub_data;
   callback.call = rmw_zenoh_cpp::sub_data_handler;
   callback.drop = nullptr;
   z_owned_keyexpr_t keyexpr = ros_topic_name_to_zenoh_key(
@@ -2501,7 +2501,7 @@ rmw_send_request(
   // z_owned_closure_reply_t zn_closure_reply =
   //   z_closure(rmw_zenoh_cpp::client_data_handler, rmw_zenoh_cpp::client_data_drop, client_data);
   z_owned_closure_reply_t zn_closure_reply;
-  zn_closure_reply.context = (void*)client_data;
+  zn_closure_reply.context = (void *)client_data;
   zn_closure_reply.call = rmw_zenoh_cpp::client_data_handler;
   zn_closure_reply.drop = rmw_zenoh_cpp::client_data_drop;
   z_get(
@@ -2877,7 +2877,7 @@ rmw_create_service(
   //   rmw_zenoh_cpp::service_data_handler, nullptr,
   //   service_data);
   z_owned_closure_query_t callback;
-  callback.context = (void*)service_data;
+  callback.context = (void *)service_data;
   callback.call = rmw_zenoh_cpp::service_data_handler;
   callback.drop = nullptr;
   // Configure the queryable to process complete queries.

From 31b712eaa1c6772f2ec4ccb1dba5a7e8783197a9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= <ahcorde@gmail.com>
Date: Fri, 30 Aug 2024 11:27:35 +0200
Subject: [PATCH 4/7] make linters happy
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp |  2 +-
 rmw_zenoh_cpp/src/rmw_init.cpp                  |  2 +-
 rmw_zenoh_cpp/src/rmw_zenoh.cpp                 | 11 ++++++-----
 3 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp b/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
index d0d5f58b..c5587455 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
@@ -45,7 +45,7 @@ rmw_ret_t zenoh_router_check(z_session_t session)
   rmw_ret_t ret = RMW_RET_OK;
   // z_owned_closure_zid_t router_callback = z_closure(callback, nullptr /* drop */, &context);
   z_owned_closure_zid_t router_callback;
-  router_callback.context = (void *)&context;
+  router_callback.context = static_cast<void *>(&context);
   router_callback.call = callback;
   router_callback.drop = nullptr;
 
diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
index 6195d2d5..c4226efa 100644
--- a/rmw_zenoh_cpp/src/rmw_init.cpp
+++ b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -361,7 +361,7 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   auto sub_options = zc_liveliness_subscriber_options_null();
   // z_owned_closure_sample_t callback = z_closure(graph_sub_data_handler, nullptr, context->impl);
   z_owned_closure_sample_t callback;
-  callback.context = (void *)context->impl;
+  callback.context = static_cast<void *>(context->impl);
   callback.call = graph_sub_data_handler;
   callback.drop = nullptr;
 
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 99391867..4161877a 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -1445,11 +1445,12 @@ rmw_create_subscription(
       allocator->deallocate(type_hash_c_str, allocator->state);
     });
 
-  // Everything above succeeded and is setup properly.  Now declare a subscriber
+  // Everything above succeeded and is setup properly. Now declare a subscriber
   // with Zenoh; after this, callbacks may come in at any time.
-  // z_owned_closure_sample_t callback = z_closure(rmw_zenoh_cpp::sub_data_handler, nullptr, sub_data);
+  // z_owned_closure_sample_t callback = z_closure(
+  //   rmw_zenoh_cpp::sub_data_handler, nullptr, sub_data);
   z_owned_closure_sample_t callback;
-  callback.context = (void *)sub_data;
+  callback.context = static_cast<void *>(sub_data);
   callback.call = rmw_zenoh_cpp::sub_data_handler;
   callback.drop = nullptr;
   z_owned_keyexpr_t keyexpr = ros_topic_name_to_zenoh_key(
@@ -2501,7 +2502,7 @@ rmw_send_request(
   // z_owned_closure_reply_t zn_closure_reply =
   //   z_closure(rmw_zenoh_cpp::client_data_handler, rmw_zenoh_cpp::client_data_drop, client_data);
   z_owned_closure_reply_t zn_closure_reply;
-  zn_closure_reply.context = (void *)client_data;
+  zn_closure_reply.context = static_cast<void *>(client_data);
   zn_closure_reply.call = rmw_zenoh_cpp::client_data_handler;
   zn_closure_reply.drop = rmw_zenoh_cpp::client_data_drop;
   z_get(
@@ -2877,7 +2878,7 @@ rmw_create_service(
   //   rmw_zenoh_cpp::service_data_handler, nullptr,
   //   service_data);
   z_owned_closure_query_t callback;
-  callback.context = (void *)service_data;
+  callback.context = static_cast<void *>(service_data);
   callback.call = rmw_zenoh_cpp::service_data_handler;
   callback.drop = nullptr;
   // Configure the queryable to process complete queries.

From ebc41f27213bb6270077c8f97fb636d23bdb4a8f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= <ahcorde@gmail.com>
Date: Wed, 4 Sep 2024 13:53:31 +0200
Subject: [PATCH 5/7] Added feedback
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 .../src/detail/zenoh_router_check.cpp         |  2 ++
 rmw_zenoh_cpp/src/rmw_init.cpp                | 19 ++++++++++++++++--
 rmw_zenoh_cpp/src/rmw_zenoh.cpp               | 10 +++++-----
 rmw_zenoh_cpp/src/zenohd/main.cpp             | 20 ++++++++++++++++---
 4 files changed, 41 insertions(+), 10 deletions(-)

diff --git a/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp b/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
index c5587455..616218dd 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
@@ -43,6 +43,8 @@ rmw_ret_t zenoh_router_check(z_session_t session)
     };
 
   rmw_ret_t ret = RMW_RET_OK;
+
+  // TODO(ahcorde): This sintax is not support on Windows yet
   // z_owned_closure_zid_t router_callback = z_closure(callback, nullptr /* drop */, &context);
   z_owned_closure_zid_t router_callback;
   router_callback.context = static_cast<void *>(&context);
diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
index c4226efa..c32a4613 100644
--- a/rmw_zenoh_cpp/src/rmw_init.cpp
+++ b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -171,10 +171,24 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   // If not already defined, set the logging environment variable for Zenoh sessions
   // to warning level by default.
   // TODO(Yadunund): Switch to rcutils_get_env once it supports not overwriting values.
-  if (rcutils_set_env_overwrite(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_WARN_LEVEL_STR, 0) != 0) {
-    RMW_SET_ERROR_MSG("Error configuring Zenoh logging.");
+
+  const char * value;
+  const char * error_message = rcutils_get_env(ZENOH_LOG_ENV_VAR_STR, &value);
+  if (error_message != NULL) {
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
+      "Error configuring Zenoh logging. Unable to get %s environment variable: %s",
+      ZENOH_LOG_ENV_VAR_STR,
+      error_message);
     return RMW_RET_ERROR;
   }
+  if (value == nullptr) {
+    if (!rcutils_set_env(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_WARN_LEVEL_STR)) {
+      RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
+        "Error configuring Zenoh logging. Unable to set %s environment variable.",
+        ZENOH_LOG_ENV_VAR_STR);
+      return RMW_RET_ERROR;
+    }
+  }
 
   // Initialize the zenoh configuration.
   z_owned_config_t config;
@@ -359,6 +373,7 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   //   z_move(callback),
   //   &sub_options);
   auto sub_options = zc_liveliness_subscriber_options_null();
+  // TODO(ahcorde): This sintax is not support on Windows yet
   // z_owned_closure_sample_t callback = z_closure(graph_sub_data_handler, nullptr, context->impl);
   z_owned_closure_sample_t callback;
   callback.context = static_cast<void *>(context->impl);
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 484d2176..b2cbb9ec 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -1439,17 +1439,14 @@ rmw_create_subscription(
       rmw_subscription->topic_name);
     return nullptr;
   }
+
+  // TODO(ahcorde): This sintax is not support on Windows yet
   // z_owned_closure_sample_t callback =
   //   z_closure(rmw_zenoh_cpp::sub_data_handler, nullptr, sub_data);
   z_owned_closure_sample_t callback;
   callback.context = static_cast<void *>(sub_data);
   callback.call = rmw_zenoh_cpp::sub_data_handler;
   callback.drop = nullptr;
-  z_owned_keyexpr_t keyexpr = ros_topic_name_to_zenoh_key(
-    node->context->actual_domain_id,
-    topic_name,
-    sub_data->type_support->get_name(),
-    type_hash_c_str);
 
   z_owned_keyexpr_t keyexpr = z_keyexpr_new(sub_data->entity->topic_info()->topic_keyexpr_.c_str());
   auto always_free_ros_keyexpr = rcpputils::make_scope_exit(
@@ -2510,6 +2507,8 @@ rmw_send_request(
   // and any number.
   opts.consolidation = z_query_consolidation_latest();
   opts.value.payload = z_bytes_t{data_length, reinterpret_cast<const uint8_t *>(request_bytes)};
+
+  // TODO(ahcorde): This sintax is not support on Windows yet
   // z_owned_closure_reply_t zn_closure_reply =
   //   z_closure(rmw_zenoh_cpp::client_data_handler, rmw_zenoh_cpp::client_data_drop, client_data);
   z_owned_closure_reply_t zn_closure_reply;
@@ -2903,6 +2902,7 @@ rmw_create_service(
     return nullptr;
   }
 
+  // TODO(ahcorde): This sintax is not support on Windows yet
   // z_owned_closure_query_t callback = z_closure(
   //   rmw_zenoh_cpp::service_data_handler, nullptr,
   //   service_data);
diff --git a/rmw_zenoh_cpp/src/zenohd/main.cpp b/rmw_zenoh_cpp/src/zenohd/main.cpp
index d41574d5..c5812a96 100644
--- a/rmw_zenoh_cpp/src/zenohd/main.cpp
+++ b/rmw_zenoh_cpp/src/zenohd/main.cpp
@@ -64,9 +64,23 @@ int main(int argc, char ** argv)
   // If not already defined, set the logging environment variable for Zenoh router
   // to info level by default.
   // TODO(Yadunund): Switch to rcutils_get_env once it supports not overwriting values.
-  if (rcutils_set_env_overwrite(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_INFO_LEVEL_STR, 0) != 0) {
-    RMW_SET_ERROR_MSG("Error configuring Zenoh logging.");
-    return 1;
+
+  const char * value;
+  const char * error_message = rcutils_get_env(ZENOH_LOG_ENV_VAR_STR, &value);
+  if (error_message != NULL) {
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
+      "Error configuring Zenoh logging. Unable to get %s environment variable: %s",
+      ZENOH_LOG_ENV_VAR_STR,
+      error_message);
+    return RMW_RET_ERROR;
+  }
+  if (value == nullptr) {
+    if (!rcutils_set_env(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_INFO_LEVEL_STR)) {
+      RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
+        "Error configuring Zenoh logging. Unable to set %s environment variable.",
+        ZENOH_LOG_ENV_VAR_STR);
+      return RMW_RET_ERROR;
+    }
   }
 
   // Initialize the zenoh configuration for the router.

From d89b1f4b9992f86fdc2609cc15c62606bd64fb6d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= <ahcorde@gmail.com>
Date: Fri, 6 Sep 2024 13:33:19 +0200
Subject: [PATCH 6/7] Added feedback
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 rmw_zenoh_cpp/src/detail/rmw_data_types.hpp   | 11 ++++++
 .../src/detail/zenoh_router_check.cpp         | 34 ++++++++---------
 rmw_zenoh_cpp/src/rmw_init.cpp                | 10 ++---
 rmw_zenoh_cpp/src/rmw_zenoh.cpp               | 37 ++++++++-----------
 4 files changed, 47 insertions(+), 45 deletions(-)

diff --git a/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp b/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
index 60e4bd01..281af2c1 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
@@ -374,6 +374,17 @@ class rmw_client_data_t final
   bool is_shutdown_{false};
   size_t num_in_flight_{0};
 };
+
+///=============================================================================
+template<typename T, typename H>
+T make_z_closure(void * context, void (*call)(H *, void *), void (*drop)(void *))
+{
+  T closure;
+  closure.context = context;
+  closure.call = call;
+  closure.drop = drop;
+  return closure;
+}
 }  // namespace rmw_zenoh_cpp
 
 #endif  // DETAIL__RMW_DATA_TYPES_HPP_
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp b/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
index 616218dd..8f675098 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp
@@ -22,34 +22,34 @@
 
 #include "logging_macros.hpp"
 #include "liveliness_utils.hpp"
+#include "rmw_data_types.hpp"
 
 namespace rmw_zenoh_cpp
 {
+// Define callback
+void callback_id(const struct z_id_t * id, void * ctx)
+{
+  const std::string id_str = liveliness::zid_to_str(*id);
+  RMW_ZENOH_LOG_INFO_NAMED(
+    "rmw_zenoh_cpp",
+    "Successfully connected to a Zenoh router with id %s.", id_str.c_str());
+  // Note: Callback is guaranteed to never be called
+  // concurrently according to z_info_routers_zid docstring
+  (*(static_cast<int *>(ctx)))++;
+}
 ///=============================================================================
 rmw_ret_t zenoh_router_check(z_session_t session)
 {
   // Initialize context for callback
   int context = 0;
 
-  // Define callback
-  auto callback = [](const struct z_id_t * id, void * ctx) {
-      const std::string id_str = liveliness::zid_to_str(*id);
-      RMW_ZENOH_LOG_INFO_NAMED(
-        "rmw_zenoh_cpp",
-        "Successfully connected to a Zenoh router with id %s.", id_str.c_str());
-      // Note: Callback is guaranteed to never be called
-      // concurrently according to z_info_routers_zid docstring
-      (*(static_cast<int *>(ctx)))++;
-    };
-
   rmw_ret_t ret = RMW_RET_OK;
 
-  // TODO(ahcorde): This sintax is not support on Windows yet
-  // z_owned_closure_zid_t router_callback = z_closure(callback, nullptr /* drop */, &context);
-  z_owned_closure_zid_t router_callback;
-  router_callback.context = static_cast<void *>(&context);
-  router_callback.call = callback;
-  router_callback.drop = nullptr;
+  z_owned_closure_zid_t router_callback =
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_zid_t, const z_id_t>(
+      static_cast<void *>(&context),
+      &callback_id,
+      nullptr);
 
   if (z_info_routers_zid(session, z_move(router_callback))) {
     RMW_ZENOH_LOG_ERROR_NAMED(
diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
index c32a4613..83a8e493 100644
--- a/rmw_zenoh_cpp/src/rmw_init.cpp
+++ b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -373,12 +373,10 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   //   z_move(callback),
   //   &sub_options);
   auto sub_options = zc_liveliness_subscriber_options_null();
-  // TODO(ahcorde): This sintax is not support on Windows yet
-  // z_owned_closure_sample_t callback = z_closure(graph_sub_data_handler, nullptr, context->impl);
-  z_owned_closure_sample_t callback;
-  callback.context = static_cast<void *>(context->impl);
-  callback.call = graph_sub_data_handler;
-  callback.drop = nullptr;
+  z_owned_closure_sample_t callback =
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_sample_t, const z_sample_t>(
+      static_cast<void *>(context->impl), graph_sub_data_handler, nullptr
+    );
 
   context->impl->graph_subscriber = zc_liveliness_declare_subscriber(
     z_loan(context->impl->session),
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index b2cbb9ec..51158d4e 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -1440,13 +1440,11 @@ rmw_create_subscription(
     return nullptr;
   }
 
-  // TODO(ahcorde): This sintax is not support on Windows yet
-  // z_owned_closure_sample_t callback =
-  //   z_closure(rmw_zenoh_cpp::sub_data_handler, nullptr, sub_data);
-  z_owned_closure_sample_t callback;
-  callback.context = static_cast<void *>(sub_data);
-  callback.call = rmw_zenoh_cpp::sub_data_handler;
-  callback.drop = nullptr;
+  z_owned_closure_sample_t callback =
+    make_z_closure<z_owned_closure_sample_t, const z_sample_t>(
+      static_cast<void *>(sub_data),
+      rmw_zenoh_cpp::sub_data_handler,
+      nullptr);
 
   z_owned_keyexpr_t keyexpr = z_keyexpr_new(sub_data->entity->topic_info()->topic_keyexpr_.c_str());
   auto always_free_ros_keyexpr = rcpputils::make_scope_exit(
@@ -2508,13 +2506,11 @@ rmw_send_request(
   opts.consolidation = z_query_consolidation_latest();
   opts.value.payload = z_bytes_t{data_length, reinterpret_cast<const uint8_t *>(request_bytes)};
 
-  // TODO(ahcorde): This sintax is not support on Windows yet
-  // z_owned_closure_reply_t zn_closure_reply =
-  //   z_closure(rmw_zenoh_cpp::client_data_handler, rmw_zenoh_cpp::client_data_drop, client_data);
-  z_owned_closure_reply_t zn_closure_reply;
-  zn_closure_reply.context = static_cast<void *>(client_data);
-  zn_closure_reply.call = rmw_zenoh_cpp::client_data_handler;
-  zn_closure_reply.drop = rmw_zenoh_cpp::client_data_drop;
+  z_owned_closure_reply_t zn_closure_reply =
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_reply_t, z_owned_reply_t>(
+      static_cast<void *>(client_data),
+      &rmw_zenoh_cpp::client_data_handler,
+      rmw_zenoh_cpp::client_data_drop);
   z_get(
     z_loan(context_impl->session),
     z_loan(client_data->keyexpr), "",
@@ -2902,14 +2898,11 @@ rmw_create_service(
     return nullptr;
   }
 
-  // TODO(ahcorde): This sintax is not support on Windows yet
-  // z_owned_closure_query_t callback = z_closure(
-  //   rmw_zenoh_cpp::service_data_handler, nullptr,
-  //   service_data);
-  z_owned_closure_query_t callback;
-  callback.context = static_cast<void *>(service_data);
-  callback.call = rmw_zenoh_cpp::service_data_handler;
-  callback.drop = nullptr;
+  z_owned_closure_query_t callback =
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_query_t, const z_query_t>(
+      static_cast<void *>(service_data),
+      &rmw_zenoh_cpp::service_data_handler,
+      nullptr);
   // Configure the queryable to process complete queries.
   z_queryable_options_t qable_options = z_queryable_options_default();
   qable_options.complete = true;

From ce1d2fb4543a983033527657b3a06e172575dbf4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= <ahcorde@gmail.com>
Date: Fri, 6 Sep 2024 13:46:48 +0200
Subject: [PATCH 7/7] Fix compilation
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 rmw_zenoh_cpp/src/rmw_zenoh.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 51158d4e..d31d7665 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -1441,7 +1441,7 @@ rmw_create_subscription(
   }
 
   z_owned_closure_sample_t callback =
-    make_z_closure<z_owned_closure_sample_t, const z_sample_t>(
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_sample_t, const z_sample_t>(
       static_cast<void *>(sub_data),
       rmw_zenoh_cpp::sub_data_handler,
       nullptr);