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Use z_check and z_drop instead of zc_liveliness_XX #69

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merged 6 commits into from
Nov 23, 2023
Merged

Use z_check and z_drop instead of zc_liveliness_XX #69

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a7d78f4
Use z_check and z_drop instead of zc_liveliness_XX
JEnoch Nov 20, 2023
85e6cbe
Update rmw_zenoh_cpp/src/rmw_zenoh.cpp
JEnoch Nov 20, 2023
bc3d061
Update rmw_zenoh_cpp/src/rmw_zenoh.cpp
JEnoch Nov 20, 2023
78c2ee6
Update rmw_zenoh_cpp/src/rmw_zenoh.cpp
JEnoch Nov 20, 2023
54b0b0b
Update rmw_zenoh_cpp/src/rmw_zenoh.cpp
JEnoch Nov 20, 2023
cf7f45c
Update rmw_zenoh_cpp/src/rmw_zenoh.cpp
JEnoch Nov 20, 2023
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16 changes: 8 additions & 8 deletions rmw_zenoh_cpp/src/rmw_zenoh.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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.");
Expand Down Expand Up @@ -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<rmw_node_data_t *>(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;

Expand Down Expand Up @@ -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.");
Expand Down Expand Up @@ -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);
Expand Down Expand Up @@ -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.");
Expand Down Expand Up @@ -1315,7 +1315,7 @@ rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription)
auto sub_data = static_cast<rmw_subscription_data_t *>(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);
Expand Down
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