From 6ee5f03d0f7410d42f2e805c2aac37584d4d2427 Mon Sep 17 00:00:00 2001 From: Yadunund Date: Wed, 28 Aug 2024 10:22:28 +0800 Subject: [PATCH] Switch to latest commit on zenoh-c and revert to z_get_options_t Signed-off-by: Yadunund --- rmw_zenoh_cpp/src/rmw_zenoh.cpp | 8 ++++---- zenoh_c_vendor/CMakeLists.txt | 5 +++-- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp index ed16898e..c3c14523 100644 --- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp +++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp @@ -1499,10 +1499,10 @@ rmw_create_subscription( "QueryingSubscriberCallback triggered over %s.", selector.c_str() ); - ze_querying_subscriber_options_t opts = ze_querying_subscriber_options_default(); - opts.query_timeout_ms = std::numeric_limits::max(); - opts.query_consolidation = z_query_consolidation_latest(); - opts.query_accept_replies = ZCU_REPLY_KEYEXPR_ANY; + z_get_options_t opts = z_get_options_default(); + opts.timeout_ms = std::numeric_limits::max(); + opts.consolidation = z_query_consolidation_latest(); + opts.accept_replies = ZCU_REPLY_KEYEXPR_ANY; ze_querying_subscriber_get( z_loan(std::get(sub_data->sub)), z_keyexpr(selector.c_str()), diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt index cbc60901..e08bd202 100644 --- a/zenoh_c_vendor/CMakeLists.txt +++ b/zenoh_c_vendor/CMakeLists.txt @@ -23,9 +23,10 @@ set(ZENOHC_CARGO_FLAGS "--no-default-features$--features=zenoh/shared # - https://github.com/eclipse-zenoh/zenoh/pull/1022 (fix empty messages received if payload >btach size) # - https://github.com/eclipse-zenoh/zenoh-c/pull/358 (fix debian packaging issue: https://github.com/jspricke/ros-deb-builder-action/issues/49) # - https://github.com/eclipse-zenoh/zenoh/pull/1150 (fix deadlock issue https://github.com/ros2/rmw_zenoh/issues/182) +# - https://github.com/eclipse-zenoh/zenoh-c/pull/620 (fix ze_querying_subscriber_get API to query newly discovered publishers) ament_vendor(zenoh_c_vendor - VCS_URL https://github.com/ZettaScaleLabs/zenoh-c - VCS_VERSION d4df47382482b1bc7a5b64ca6879ff800779df7b + VCS_URL https://github.com/eclipse-zenoh/zenoh-c + VCS_VERSION 134dbfa06ca212def5fb51dd8e816734dfd8dff6 CMAKE_ARGS "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}" )