From a7d78f4416c5cb7cb8b034d772972f1bac3d0afe Mon Sep 17 00:00:00 2001 From: Julien Enoch Date: Mon, 20 Nov 2023 12:59:34 +0100 Subject: [PATCH 1/6] Use z_check and z_drop instead of zc_liveliness_XX --- rmw_zenoh_cpp/src/rmw_zenoh.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp index 8e374753..0589c426 100644 --- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp +++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp @@ -206,7 +206,7 @@ rmw_create_node( z_drop(z_move(node_data->token)); } }); - if (!zc_liveliness_token_check(&node_data->token)) { + if (!z_check(node_data->token)) { RCUTILS_LOG_ERROR_NAMED( "rmw_zenoh_cpp", "Unable to create liveliness token for the node."); @@ -250,7 +250,7 @@ rmw_destroy_node(rmw_node_t * node) // Undeclare liveliness token for the node to advertise that the node has ridden // off into the sunset. rmw_node_data_t * node_data = static_cast(node->data); - zc_liveliness_undeclare_token(z_move(node_data->token)); + z_drop((z_move(node_data->token)); rcutils_allocator_t * allocator = &node->context->options.allocator; @@ -581,10 +581,10 @@ rmw_create_publisher( auto free_token = rcpputils::make_scope_exit( [publisher_data]() { if (publisher_data != nullptr) { - zc_liveliness_undeclare_token(z_move(publisher_data->token)); + z_drop((z_move(publisher_data->token)); } }); - if (!zc_liveliness_token_check(&publisher_data->token)) { + if (!z_check(publisher_data->token)) { RCUTILS_LOG_ERROR_NAMED( "rmw_zenoh_cpp", "Unable to create liveliness token for the publisher."); @@ -645,7 +645,7 @@ rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher) // // TODO(Yadunund): Should this really return an error? // return RMW_RET_ERROR; // } - zc_liveliness_undeclare_token(z_move(publisher_data->token)); + z_drop((z_move(publisher_data->token)); RMW_TRY_DESTRUCTOR(publisher_data->type_support->~MessageTypeSupport(), MessageTypeSupport, ); allocator->deallocate(publisher_data->type_support, allocator->state); @@ -1268,10 +1268,10 @@ rmw_create_subscription( auto free_token = rcpputils::make_scope_exit( [sub_data]() { if (sub_data != nullptr) { - zc_liveliness_undeclare_token(z_move(sub_data->token)); + z_drop((z_move(sub_data->token)); } }); - if (!zc_liveliness_token_check(&sub_data->token)) { + if (!z_check(sub_data->token)) { RCUTILS_LOG_ERROR_NAMED( "rmw_zenoh_cpp", "Unable to create liveliness token for the subscription."); @@ -1315,7 +1315,7 @@ rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription) auto sub_data = static_cast(subscription->data); if (sub_data != nullptr) { // Publish to the graph that a subscription has ridden off into the sunset - zc_liveliness_undeclare_token(z_move(sub_data->token)); + z_drop((z_move(sub_data->token)); RMW_TRY_DESTRUCTOR(sub_data->type_support->~MessageTypeSupport(), MessageTypeSupport, ); allocator->deallocate(sub_data->type_support, allocator->state); From 85e6cbe537d2312d5ae13149c56e9b5a2c828318 Mon Sep 17 00:00:00 2001 From: Julien Enoch Date: Mon, 20 Nov 2023 16:13:39 +0100 Subject: [PATCH 2/6] Update rmw_zenoh_cpp/src/rmw_zenoh.cpp Co-authored-by: Yadu Signed-off-by: Julien Enoch --- 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 0589c426..77e6837f 100644 --- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp +++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp @@ -250,7 +250,7 @@ rmw_destroy_node(rmw_node_t * node) // Undeclare liveliness token for the node to advertise that the node has ridden // off into the sunset. rmw_node_data_t * node_data = static_cast(node->data); - z_drop((z_move(node_data->token)); + z_drop(z_move(node_data->token)); rcutils_allocator_t * allocator = &node->context->options.allocator; From bc3d061fe4c8535ff6acb0ac52851a6e088ca2c6 Mon Sep 17 00:00:00 2001 From: Julien Enoch Date: Mon, 20 Nov 2023 16:13:47 +0100 Subject: [PATCH 3/6] Update rmw_zenoh_cpp/src/rmw_zenoh.cpp Co-authored-by: Yadu Signed-off-by: Julien Enoch --- 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 77e6837f..d2ec518c 100644 --- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp +++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp @@ -581,7 +581,7 @@ rmw_create_publisher( auto free_token = rcpputils::make_scope_exit( [publisher_data]() { if (publisher_data != nullptr) { - z_drop((z_move(publisher_data->token)); + z_drop(z_move(publisher_data->token)); } }); if (!z_check(publisher_data->token)) { From 78c2ee6039968e9683b2fe09d4f0e470aeae199e Mon Sep 17 00:00:00 2001 From: Julien Enoch Date: Mon, 20 Nov 2023 16:13:57 +0100 Subject: [PATCH 4/6] Update rmw_zenoh_cpp/src/rmw_zenoh.cpp Co-authored-by: Yadu Signed-off-by: Julien Enoch --- 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 d2ec518c..ecce7bae 100644 --- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp +++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp @@ -645,7 +645,7 @@ rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher) // // TODO(Yadunund): Should this really return an error? // return RMW_RET_ERROR; // } - z_drop((z_move(publisher_data->token)); + z_drop(z_move(publisher_data->token)); RMW_TRY_DESTRUCTOR(publisher_data->type_support->~MessageTypeSupport(), MessageTypeSupport, ); allocator->deallocate(publisher_data->type_support, allocator->state); From 54b0b0bcad6e6e66beea4e3efcef64d2f3e60243 Mon Sep 17 00:00:00 2001 From: Julien Enoch Date: Mon, 20 Nov 2023 16:14:03 +0100 Subject: [PATCH 5/6] Update rmw_zenoh_cpp/src/rmw_zenoh.cpp Co-authored-by: Yadu Signed-off-by: Julien Enoch --- 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 ecce7bae..6104fa47 100644 --- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp +++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp @@ -1268,7 +1268,7 @@ rmw_create_subscription( auto free_token = rcpputils::make_scope_exit( [sub_data]() { if (sub_data != nullptr) { - z_drop((z_move(sub_data->token)); + z_drop(z_move(sub_data->token)); } }); if (!z_check(sub_data->token)) { From cf7f45c1d5ef7e9e0ed5e0242532dc3a240d7d81 Mon Sep 17 00:00:00 2001 From: Julien Enoch Date: Mon, 20 Nov 2023 16:14:13 +0100 Subject: [PATCH 6/6] Update rmw_zenoh_cpp/src/rmw_zenoh.cpp Co-authored-by: Yadu Signed-off-by: Julien Enoch --- 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 6104fa47..4de21163 100644 --- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp +++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp @@ -1315,7 +1315,7 @@ rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription) auto sub_data = static_cast(subscription->data); if (sub_data != nullptr) { // Publish to the graph that a subscription has ridden off into the sunset - z_drop((z_move(sub_data->token)); + z_drop(z_move(sub_data->token)); RMW_TRY_DESTRUCTOR(sub_data->type_support->~MessageTypeSupport(), MessageTypeSupport, ); allocator->deallocate(sub_data->type_support, allocator->state);