Added feedback

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Author: ahcorde

rmw_zenoh_cpp/src/detail/attachment_helpers.cpp

@@ -31,14 +31,14 @@ namespace rmw_zenoh_cpp
 {
 
 AttachmentData::AttachmentData(
-  const int64_t _sequence_number,
-  const int64_t _source_timestamp,
-  const std::vector<uint8_t> _source_gid)
+  const int64_t sequence_number,
+  const int64_t source_timestamp,
+  const std::vector<uint8_t> source_gid)
+: sequence_number_(sequence_number),
+  source_timestamp_(source_timestamp),
+  source_gid_(source_gid),
+  gid_hash_(hash_gid(source_gid))
 {
-  sequence_number_ = _sequence_number;
-  source_timestamp_ = _source_timestamp;
-  source_gid_ = _source_gid;
-  gid_hash_ = hash_gid(source_gid_);
 }
 
 AttachmentData::AttachmentData(AttachmentData && data)
@@ -85,9 +85,9 @@ zenoh::Bytes AttachmentData::serialize_to_zbytes()
   return std::move(serializer).finish();
 }
 
-AttachmentData::AttachmentData(const zenoh::Bytes & attachment)
+AttachmentData::AttachmentData(const zenoh::Bytes & bytes)
 {
-  zenoh::ext::Deserializer deserializer(std::move(attachment));
+  zenoh::ext::Deserializer deserializer(std::move(bytes));
   const auto sequence_number_str = deserializer.deserialize<std::string>();
   if (sequence_number_str != "sequence_number") {
     throw std::runtime_error("sequence_number is not found in the attachment.");

rmw_zenoh_cpp/src/detail/attachment_helpers.hpp

@@ -24,13 +24,14 @@
 
 namespace rmw_zenoh_cpp
 {
+///=============================================================================
 class AttachmentData final
 {
 public:
-  explicit AttachmentData(
-    const int64_t _sequence_number,
-    const int64_t _source_timestamp,
-    const std::vector<uint8_t> _source_gid);
+  AttachmentData(
+    const int64_t sequence_number,
+    const int64_t source_timestamp,
+    const std::vector<uint8_t> source_gid);
 
   explicit AttachmentData(const zenoh::Bytes & bytes);
   explicit AttachmentData(AttachmentData && data);

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -69,8 +69,8 @@ TopicData::TopicData(ConstEntityPtr entity)
 }
 
 ///=============================================================================
-GraphCache::GraphCache(const std::string & zid)
-: zid_str_(zid)
+GraphCache::GraphCache(const zenoh::Id & zid)
+: zid_str_(zid.to_string())
 {
   // Do nothing.
 }

rmw_zenoh_cpp/src/detail/graph_cache.hpp

@@ -36,6 +36,7 @@
 #include "rmw/get_topic_endpoint_info.h"
 #include "rmw/names_and_types.h"
 
+#include <zenoh/api/id.hxx>
 
 namespace rmw_zenoh_cpp
 {
@@ -110,7 +111,7 @@ class GraphCache final
   /// @param id The id of the zenoh session that is building the graph cache.
   ///   This is used to infer which entities originated from the current session
   ///   so that appropriate event callbacks may be triggered.
-  explicit GraphCache(const std::string & zid);
+  explicit GraphCache(const zenoh::Id & zid);
 
   // Parse a PUT message over a token's key-expression and update the graph.
   void parse_put(const std::string & keyexpr, bool ignore_from_current_session = false);

rmw_zenoh_cpp/src/detail/rmw_client_data.cpp

@@ -182,12 +182,12 @@ bool ClientData::init(const std::shared_ptr<zenoh::Session> session)
   keyexpr_ = zenoh::KeyExpr(topic_keyexpr);
   // TODO(ahcorde) check KeyExpr
   std::string liveliness_keyexpr = this->entity_->liveliness_keyexpr();
-  zenoh::ZResult err;
+  zenoh::ZResult result;
   this->token_ = session->liveliness_declare_token(
     zenoh::KeyExpr(liveliness_keyexpr),
     zenoh::Session::LivelinessDeclarationOptions::create_default(),
-    &err);
-  if (err != Z_OK) {
+    &result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the client.");
@@ -280,14 +280,10 @@ rmw_ret_t ClientData::take_response(
   const zenoh::Sample & sample = reply.get_ok();
 
   // Object that manages the raw buffer
-  auto & payload = sample.get_payload();
-  auto slice = payload.slice_iter().next();
-  if (slice.has_value()) {
-    const uint8_t * payload = slice.value().data;
-    const size_t payload_len = slice.value().len;
-
+  auto payload = sample.get_payload().as_vector();
+  if (payload.size() > 0) {
     eprosima::fastcdr::FastBuffer fastbuffer(
-      reinterpret_cast<char *>(const_cast<uint8_t *>(payload)), payload_len);
+      reinterpret_cast<char *>(const_cast<uint8_t *>(payload.data())), payload.size());
 
     // Object that serializes the data
     rmw_zenoh_cpp::Cdr deser(fastbuffer);
@@ -401,10 +397,10 @@ rmw_ret_t ClientData::send_request(
   std::vector<uint8_t> raw_bytes(
     reinterpret_cast<const uint8_t *>(request_bytes),
     reinterpret_cast<const uint8_t *>(request_bytes) + data_length);
-  opts.payload = zenoh::Bytes(raw_bytes);
+  opts.payload = zenoh::Bytes(std::move(raw_bytes));
 
   std::weak_ptr<rmw_zenoh_cpp::ClientData> client_data = shared_from_this();
-  zenoh::ZResult err;
+  zenoh::ZResult result;
   std::string parameters;
   context_impl->session()->get(
     keyexpr_.value(),
@@ -448,7 +444,13 @@ rmw_ret_t ClientData::send_request(
       }
     },
     std::move(opts),
-    &err);
+    &result);
+  if (result != Z_OK) {
+    RMW_ZENOH_LOG_DEBUG_NAMED(
+      "rmw_zenoh_cpp",
+      "ClientData unable to call get");
+    return RMW_RET_ERROR;
+  }
   return RMW_RET_OK;
 }
 
@@ -506,9 +508,9 @@ rmw_ret_t ClientData::shutdown()
 
   // Unregister this node from the ROS graph.
   if (initialized_) {
-    zenoh::ZResult err;
-    std::move(token_).value().undeclare(&err);
-    if (err != Z_OK) {
+    zenoh::ZResult result;
+    std::move(token_).value().undeclare(&result);
+    if (result != Z_OK) {
       RMW_ZENOH_LOG_ERROR_NAMED(
         "rmw_zenoh_cpp",
         "Unable to undeclare liveliness token");

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

@@ -111,9 +111,9 @@ class rmw_context_impl_s::Data final
             "Unable to connect to a Zenoh router. "
             "Have you started a router with `ros2 run rmw_zenoh_cpp rmw_zenohd`?");
         }
-        zenoh::ZResult err;
-        this->session_->get_routers_z_id(&err);
-        if (err != Z_OK) {
+        zenoh::ZResult result;
+        this->session_->get_routers_z_id(&result);
+        if (result != Z_OK) {
           ++connection_attempts;
         } else {
           ret = RMW_RET_OK;
@@ -127,7 +127,7 @@ class rmw_context_impl_s::Data final
 
     // Initialize the graph cache.
     graph_cache_ =
-      std::make_shared<rmw_zenoh_cpp::GraphCache>(this->session_->get_zid().to_string());
+      std::make_shared<rmw_zenoh_cpp::GraphCache>(this->session_->get_zid());
     // Setup liveliness subscriptions for discovery.
     std::string liveliness_str = rmw_zenoh_cpp::liveliness::subscription_token(domain_id);
 
@@ -155,14 +155,13 @@ class rmw_context_impl_s::Data final
     options.target = zenoh::QueryTarget::Z_QUERY_TARGET_ALL;
     options.payload = "";
 
-    zenoh::ZResult err;
     auto replies = session_->liveliness_get(
       keyexpr,
       zenoh::channels::FifoChannel(SIZE_MAX - 1),
       zenoh::Session::LivelinessGetOptions::create_default(),
-      &err);
+      &result);
 
-    if (err != Z_OK) {
+    if (result != Z_OK) {
       throw std::runtime_error("Error getting liveliness. ");
     }
 
@@ -223,9 +222,9 @@ class rmw_context_impl_s::Data final
       },
       zenoh::closures::none,
       std::move(sub_options),
-      &err);
+      &result);
 
-    if (err != Z_OK) {
+    if (result != Z_OK) {
       RMW_SET_ERROR_MSG("unable to create zenoh subscription");
       throw std::runtime_error("Unable to subscribe to ROS graph updates.");
     }
@@ -241,22 +240,9 @@ class rmw_context_impl_s::Data final
         return ret;
       }
 
-      // TODO(ahcorde): review this
-      // // Shutdown all the nodes in this context.
-      // for (auto node_it = nodes_.begin(); node_it != nodes_.end(); ++node_it) {
-      //   ret = node_it->second->shutdown();
-      //   if (ret != RMW_RET_OK) {
-      //     RMW_ZENOH_LOG_ERROR_NAMED(
-      //       "rmw_zenoh_cpp",
-      //       "Unable to shutdown node with id %zu. rmw_ret_t code: %zu.",
-      //       node_it->second->id(),
-      //       ret
-      //     );
-      //   }
-
-      zenoh::ZResult err;
-      std::move(graph_subscriber_cpp_).value().undeclare(&err);
-      if (err != Z_OK) {
+      zenoh::ZResult result;
+      std::move(graph_subscriber_cpp_).value().undeclare(&result);
+      if (result != Z_OK) {
         RMW_ZENOH_LOG_ERROR_NAMED(
           "rmw_zenoh_cpp",
           "Unable to undeclare liveliness token");

rmw_zenoh_cpp/src/detail/rmw_node_data.cpp

@@ -58,12 +58,12 @@ std::shared_ptr<NodeData> NodeData::make(
 
   // Create the liveliness token.
   std::string liveliness_keyexpr = entity->liveliness_keyexpr();
-  zenoh::ZResult err;
+  zenoh::ZResult result;
   auto token = session->liveliness_declare_token(
     zenoh::KeyExpr(liveliness_keyexpr),
     zenoh::Session::LivelinessDeclarationOptions::create_default(),
-    &err);
-  if (err != Z_OK) {
+    &result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the node.");
@@ -393,9 +393,9 @@ rmw_ret_t NodeData::shutdown()
   }
 
   // Unregister this node from the ROS graph.
-  zenoh::ZResult err;
-  std::move(token_).value().undeclare(&err);
-  if (err != Z_OK) {
+  zenoh::ZResult result;
+  std::move(token_).value().undeclare(&result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to undeclare liveliness token");

rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp

@@ -103,7 +103,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
     return nullptr;
   }
 
-  zenoh::ZResult err;
+  zenoh::ZResult result;
   std::optional<zenoh::ext::PublicationCache> pub_cache;
   zenoh::KeyExpr pub_ke(entity->topic_info()->topic_keyexpr_);
   // Create a Publication Cache if durability is transient_local.
@@ -117,9 +117,9 @@ std::shared_ptr<PublisherData> PublisherData::make(
     std::string queryable_prefix = entity->zid();
     pub_cache_opts.queryable_prefix = zenoh::KeyExpr(queryable_prefix);
 
-    pub_cache = session->declare_publication_cache(pub_ke, std::move(pub_cache_opts), &err);
+    pub_cache = session->declare_publication_cache(pub_ke, std::move(pub_cache_opts), &result);
 
-    if (err != Z_OK) {
+    if (result != Z_OK) {
       RMW_SET_ERROR_MSG("unable to create zenoh publisher cache");
       return nullptr;
     }
@@ -135,9 +135,9 @@ std::shared_ptr<PublisherData> PublisherData::make(
       opts.congestion_control = Z_CONGESTION_CONTROL_BLOCK;
     }
   }
-  auto pub = session->declare_publisher(pub_ke, std::move(opts), &err);
+  auto pub = session->declare_publisher(pub_ke, std::move(opts), &result);
 
-  if (err != Z_OK) {
+  if (result != Z_OK) {
     RMW_SET_ERROR_MSG("Unable to create Zenoh publisher.");
     return nullptr;
   }
@@ -146,8 +146,8 @@ std::shared_ptr<PublisherData> PublisherData::make(
   auto token = session->liveliness_declare_token(
     zenoh::KeyExpr(liveliness_keyexpr),
     zenoh::Session::LivelinessDeclarationOptions::create_default(),
-    &err);
-  if (err != Z_OK) {
+    &result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to create liveliness token for the publisher.");
@@ -273,7 +273,7 @@ rmw_ret_t PublisherData::publish(
   // The encoding is simply forwarded and is useful when key expressions in the
   // session use different encoding formats. In our case, all key expressions
   // will be encoded with CDR so it does not really matter.
-  zenoh::ZResult err;
+  zenoh::ZResult result;
   auto options = zenoh::Publisher::PutOptions::create_default();
   options.attachment = create_map_and_set_sequence_num(
     sequence_number_++,
@@ -285,9 +285,9 @@ rmw_ret_t PublisherData::publish(
     reinterpret_cast<const uint8_t *>(msg_bytes) + data_length);
   zenoh::Bytes payload(raw_image);
 
-  pub_.put(std::move(payload), std::move(options), &err);
-  if (err != Z_OK) {
-    if (err == Z_ESESSION_CLOSED) {
+  pub_.put(std::move(payload), std::move(options), &result);
+  if (result != Z_OK) {
+    if (result == Z_ESESSION_CLOSED) {
       RMW_ZENOH_LOG_WARN_NAMED(
         "rmw_zenoh_cpp",
         "unable to publish message since the zenoh session is closed");
@@ -319,7 +319,7 @@ rmw_ret_t PublisherData::publish_serialized_message(
   // The encoding is simply forwarded and is useful when key expressions in the
   // session use different encoding formats. In our case, all key expressions
   // will be encoded with CDR so it does not really matter.
-  zenoh::ZResult err;
+  zenoh::ZResult result;
   auto options = zenoh::Publisher::PutOptions::create_default();
   options.attachment = create_map_and_set_sequence_num(sequence_number_++, entity_->copy_gid());
 
@@ -328,9 +328,9 @@ rmw_ret_t PublisherData::publish_serialized_message(
     serialized_message->buffer + data_length);
   zenoh::Bytes payload(raw_image);
 
-  pub_.put(std::move(payload), std::move(options), &err);
-  if (err != Z_OK) {
-    if (err == Z_ESESSION_CLOSED) {
+  pub_.put(std::move(payload), std::move(options), &result);
+  if (result != Z_OK) {
+    if (result == Z_ESESSION_CLOSED) {
       RMW_ZENOH_LOG_WARN_NAMED(
         "rmw_zenoh_cpp",
         "unable to publish message since the zenoh session is closed");
@@ -408,16 +408,16 @@ rmw_ret_t PublisherData::shutdown()
   }
 
   // Unregister this publisher from the ROS graph.
-  zenoh::ZResult err;
-  std::move(token_).value().undeclare(&err);
-  if (err != Z_OK) {
+  zenoh::ZResult result;
+  std::move(token_).value().undeclare(&result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to undeclare liveliness token");
     return RMW_RET_ERROR;
   }
-  std::move(pub_).undeclare(&err);
-  if (err != Z_OK) {
+  std::move(pub_).undeclare(&result);
+  if (result != Z_OK) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Unable to undeclare publisher");

rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp

@@ -71,6 +71,8 @@ class PublisherData final
 
   // Copy the GID of this PublisherData into an rmw_gid_t.
   void copy_gid(uint8_t out_gid[RMW_GID_STORAGE_SIZE]) const;
+
+  // Return a copy of the GID of this publisher.
   std::vector<uint8_t> copy_gid() const;
 
   // Returns true if liveliness token is still valid.