Merge branch 'rolling' into yadu/test_rclcpp

.github/workflows/build.yaml

@@ -13,16 +13,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        docker_image: ['ros:iron-ros-base', 'ros:rolling-ros-base']
+        distro: ['iron', 'jazzy', 'rolling']
     container:
-      image: ${{ matrix.docker_image }}
+      image: ros:${{ matrix.distro }}-ros-base
     timeout-minutes: 30
     steps:
     - name: Deps
       run: |
         apt update && apt install -y curl
-    - name: Setup Rust
-      uses: dtolnay/[email protected]
     - uses: actions/checkout@v2
     - name: Clone system_tests
       run: |

.github/workflows/style.yaml

@@ -12,9 +12,9 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        docker_image: ['ros:iron-ros-base', 'ros:rolling-ros-base']
+        distro: ['iron', 'jazzy', 'rolling']
     container:
-      image: ${{ matrix.docker_image }}
+      image: ros:${{ matrix.distro }}-ros-base
     timeout-minutes: 30
     steps:
     - uses: actions/checkout@v2

README.md

@@ -10,21 +10,17 @@ A ROS 2 RMW implementation based on Zenoh that is written using the zenoh-c bind
 For information about the Design please visit [design](docs/design.md) page.
 
 ## Requirements
-- [ROS 2](https://docs.ros.org): Rolling/Iron
+- [ROS 2](https://docs.ros.org): Rolling/Jazzy/Iron
 
 
 ## Setup
 
-Install latest rustc via `rustup` if building on Ubuntu Jammy.
-Skip this step if building on Ubuntu Noble as `cargo` and `rustc` will be
-installed via `rosdep`.
-```bash
-curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
-rustup install 1.75.0
-```
-
 Build `rmw_zenoh_cpp`
 
+>Note: By default, we vendor and compile `zenoh-c` with a subset of `zenoh` features.
+The `ZENOHC_CARGO_FLAGS` CMake argument may be overwritten with other features included if required.
+See [zenoh_c_vendor/CMakeLists.txt](./zenoh_c_vendor/CMakeLists.txt) for more details.
+
 ```bash
 mkdir ~/ws_rmw_zenoh/src -p && cd ~/ws_rmw_zenoh/src
 git clone https://github.com/ros2/rmw_zenoh.git

rmw_zenoh_cpp/CMakeLists.txt

@@ -23,7 +23,10 @@ find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_dds_common REQUIRED)
 find_package(zenoh_c_vendor REQUIRED)
-find_package(zenohc REQUIRED)
+find_package(zenohc_debug QUIET)
+if(NOT zenohc_debug_FOUND)
+  find_package(zenohc REQUIRED)
+endif()
 
 add_library(rmw_zenoh_cpp SHARED
   src/detail/attachment_helpers.cpp

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5

@@ -189,14 +189,7 @@
         },
         // Number of threads dedicated to transmission
         // By default, the number of threads is calculated as follows: 1 + ((#cores - 1) / 4)
-        // We limit the number of threads that the zenoh session can spin to 1.
-        // Without this limit, applications with multiple zenoh sessions can
-        // encounter system resource errors when trying to create new threads.
-        // Once zenoh migrates to relying on tokio for its async runtime,
-        // see https://github.com/eclipse-zenoh/zenoh/pull/566, we can consider
-        // removing these flags since with tokio, zenoh can better manage the threads it spins
-        // with the help of thread pools.
-        threads: 1,
+        // threads: 1,
       },
       /// Configure the zenoh RX parameters of a link
       rx: {

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

@@ -189,14 +189,7 @@
         },
         // Number of threads dedicated to transmission
         // By default, the number of threads is calculated as follows: 1 + ((#cores - 1) / 4)
-        // We limit the number of threads that the zenoh session can spin to 1.
-        // Without this limit, applications with multiple zenoh sessions can
-        // encounter system resource errors when trying to create new threads.
-        // Once zenoh migrates to relying on tokio for its async runtime,
-        // see https://github.com/eclipse-zenoh/zenoh/pull/566, we can consider
-        // removing these flags since with tokio, zenoh can better manage the threads it spins
-        // with the help of thread pools.
-        threads: 1,
+        // threads: 1,
       },
       /// Configure the zenoh RX parameters of a link
       rx: {

rmw_zenoh_cpp/src/detail/attachment_helpers.cpp

@@ -22,6 +22,8 @@
 
 #include "attachment_helpers.hpp"
 
+namespace rmw_zenoh_cpp
+{
 bool get_gid_from_attachment(
   const z_attachment_t * const attachment, uint8_t gid[RMW_GID_STORAGE_SIZE])
 {
@@ -91,3 +93,4 @@ int64_t get_int64_from_attachment(
 
   return num;
 }
+}  // namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/attachment_helpers.hpp

@@ -21,10 +21,13 @@
 
 #include "rmw/types.h"
 
+namespace rmw_zenoh_cpp
+{
 bool get_gid_from_attachment(
   const z_attachment_t * const attachment, uint8_t gid[RMW_GID_STORAGE_SIZE]);
 
 int64_t get_int64_from_attachment(
   const z_attachment_t * const attachment, const std::string & name);
+}  // namespace rmw_zenoh_cpp
 
 #endif  // DETAIL__ATTACHMENT_HELPERS_HPP_

rmw_zenoh_cpp/src/detail/cdr.cpp

@@ -18,7 +18,9 @@
 
 #include "cdr.hpp"
 
-rmw_zenoh_cpp::Cdr::Cdr(eprosima::fastcdr::FastBuffer & fastbuffer)
+namespace rmw_zenoh_cpp
+{
+Cdr::Cdr(eprosima::fastcdr::FastBuffer & fastbuffer)
 #if FASTCDR_VERSION_MAJOR == 1
 : cdr_(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR)
 #else
@@ -27,7 +29,7 @@ rmw_zenoh_cpp::Cdr::Cdr(eprosima::fastcdr::FastBuffer & fastbuffer)
 {
 }
 
-size_t rmw_zenoh_cpp::Cdr::get_serialized_data_length() const
+size_t Cdr::get_serialized_data_length() const
 {
 #if FASTCDR_VERSION_MAJOR == 1
   return cdr_.getSerializedDataLength();
@@ -36,7 +38,8 @@ size_t rmw_zenoh_cpp::Cdr::get_serialized_data_length() const
 #endif
 }
 
-eprosima::fastcdr::Cdr & rmw_zenoh_cpp::Cdr::get_cdr()
+eprosima::fastcdr::Cdr & Cdr::get_cdr()
 {
   return cdr_;
 }
+}  // namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/cdr.hpp

@@ -33,7 +33,6 @@ class Cdr final
 private:
   eprosima::fastcdr::Cdr cdr_;
 };
-
 }  // namespace rmw_zenoh_cpp
 
 #endif  // DETAIL__CDR_HPP_

rmw_zenoh_cpp/src/detail/event.cpp

@@ -20,7 +20,8 @@
 
 #include "rmw/error_handling.h"
 
-
+namespace rmw_zenoh_cpp
+{
 ///=============================================================================
 void DataCallbackManager::set_callback(
   const void * user_data, rmw_event_callback_t callback)
@@ -184,7 +185,6 @@ void EventsManager::add_new_event(
 ///=============================================================================
 void EventsManager::attach_event_condition(
   rmw_zenoh_event_type_t event_id,
-  std::mutex * condition_mutex,
   std::condition_variable * condition_variable)
 {
   if (event_id > ZENOH_EVENT_ID_MAX) {
@@ -195,8 +195,7 @@ void EventsManager::attach_event_condition(
     return;
   }
 
-  std::lock_guard<std::mutex> lock(update_event_condition_mutex_);
-  event_condition_mutexes_[event_id] = condition_mutex;
+  std::lock_guard<std::mutex> lock(event_condition_mutex_);
   event_conditions_[event_id] = condition_variable;
 }
 
@@ -211,8 +210,7 @@ void EventsManager::detach_event_condition(rmw_zenoh_event_type_t event_id)
     return;
   }
 
-  std::lock_guard<std::mutex> lock(update_event_condition_mutex_);
-  event_condition_mutexes_[event_id] = nullptr;
+  std::lock_guard<std::mutex> lock(event_condition_mutex_);
   event_conditions_[event_id] = nullptr;
 }
 
@@ -227,9 +225,9 @@ void EventsManager::notify_event(rmw_zenoh_event_type_t event_id)
     return;
   }
 
-  std::lock_guard<std::mutex> lock(update_event_condition_mutex_);
+  std::lock_guard<std::mutex> lock(event_condition_mutex_);
   if (event_conditions_[event_id] != nullptr) {
-    std::lock_guard<std::mutex> cvlk(*event_condition_mutexes_[event_id]);
     event_conditions_[event_id]->notify_one();
   }
 }
+}  // namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/event.hpp

@@ -25,7 +25,8 @@
 #include "rmw/event.h"
 #include "rmw/event_callback_type.h"
 
-
+namespace rmw_zenoh_cpp
+{
 ///=============================================================================
 // A struct that represents an event status in rmw_zenoh.
 enum rmw_zenoh_event_type_t
@@ -138,7 +139,6 @@ class EventsManager
   /// @param condition_variable to attach.
   void attach_event_condition(
     rmw_zenoh_event_type_t event_id,
-    std::mutex * condition_mutex,
     std::condition_variable * condition_variable);
 
   /// @brief Detach the condition variable provided by rmw_wait.
@@ -155,22 +155,17 @@ class EventsManager
   /// Mutex to lock when read/writing members.
   mutable std::mutex event_mutex_;
   /// Mutex to lock for event_condition.
-  mutable std::mutex update_event_condition_mutex_;
-  std::mutex * event_condition_mutexes_[ZENOH_EVENT_ID_MAX + 1]{nullptr};
+  mutable std::mutex event_condition_mutex_;
   /// Condition variable to attach for event notifications.
   std::condition_variable * event_conditions_[ZENOH_EVENT_ID_MAX + 1]{nullptr};
-  /// User callback that can be set via data_callback_mgr.set_callback().
-  rmw_event_callback_t callback_ {nullptr};
-  /// User data that should be passed to the user callback.
-  const void * user_data_ {nullptr};
-  /// Count for
-  size_t unread_count_ {0};
+
   rmw_event_callback_t event_callback_[ZENOH_EVENT_ID_MAX + 1] {nullptr};
   const void * event_data_[ZENOH_EVENT_ID_MAX + 1] {nullptr};
   size_t event_unread_count_[ZENOH_EVENT_ID_MAX + 1] {0};
   // A dequeue of events for each type of event this RMW supports.
   std::deque<std::unique_ptr<rmw_zenoh_event_status_t>> event_queues_[ZENOH_EVENT_ID_MAX + 1] {};
   const std::size_t event_queue_depth_ = 10;
 };
+}  // namespace rmw_zenoh_cpp
 
 #endif  // DETAIL__EVENT_HPP_

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -36,6 +36,8 @@
 #include "graph_cache.hpp"
 #include "rmw_data_types.hpp"
 
+namespace rmw_zenoh_cpp
+{
 ///=============================================================================
 using Entity = liveliness::Entity;
 using ConstEntityPtr = liveliness::ConstEntityPtr;
@@ -836,7 +838,8 @@ rmw_ret_t GraphCache::publisher_count_matched_subscriptions(
   *subscription_count = 0;
   GraphNode::TopicMap::const_iterator topic_it = graph_topics_.find(publisher->topic_name);
   if (topic_it != graph_topics_.end()) {
-    rmw_publisher_data_t * pub_data = static_cast<rmw_publisher_data_t *>(publisher->data);
+    rmw_publisher_data_t * pub_data =
+      static_cast<rmw_publisher_data_t *>(publisher->data);
     GraphNode::TopicTypeMap::const_iterator topic_data_it = topic_it->second.find(
       pub_data->type_support->get_name());
     if (topic_data_it != topic_it->second.end()) {
@@ -871,7 +874,8 @@ rmw_ret_t GraphCache::subscription_count_matched_publishers(
   *publisher_count = 0;
   GraphNode::TopicMap::const_iterator topic_it = graph_topics_.find(subscription->topic_name);
   if (topic_it != graph_topics_.end()) {
-    rmw_subscription_data_t * sub_data = static_cast<rmw_subscription_data_t *>(subscription->data);
+    rmw_subscription_data_t * sub_data =
+      static_cast<rmw_subscription_data_t *>(subscription->data);
     GraphNode::TopicTypeMap::const_iterator topic_data_it = topic_it->second.find(
       sub_data->type_support->get_name());
     if (topic_data_it != topic_it->second.end()) {
@@ -1297,3 +1301,4 @@ std::unique_ptr<rmw_zenoh_event_status_t> GraphCache::take_event_status(
   status_to_take.current_count_change = 0;
   return result;
 }
+}  // namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/graph_cache.hpp

@@ -35,6 +35,8 @@
 #include "rmw/names_and_types.h"
 
 
+namespace rmw_zenoh_cpp
+{
 ///=============================================================================
 // TODO(Yadunund): Consider changing this to an array of unordered_set where the index of the
 // array corresponds to the EntityType enum. This way we don't need to mix
@@ -284,5 +286,6 @@ class GraphCache final
   // Mutex to lock before modifying the members above.
   mutable std::mutex graph_mutex_;
 };
+}  // namespace rmw_zenoh_cpp
 
 #endif  // DETAIL__GRAPH_CACHE_HPP_