zenoh_c to zenoh_cpp

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

rmw_zenoh_cpp/CMakeLists.txt

@@ -21,7 +21,7 @@ find_package(rcutils REQUIRED)
 find_package(rosidl_typesupport_fastrtps_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rmw REQUIRED)
-find_package(zenoh_c_vendor REQUIRED)
+find_package(zenoh_cpp_vendor REQUIRED)
 
 add_library(rmw_zenoh_cpp SHARED
   src/detail/attachment_helpers.cpp
@@ -69,6 +69,7 @@ target_link_libraries(rmw_zenoh_cpp
     rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
     rmw::rmw
     zenohc::lib
+    zenohcxx::zenohc
 )
 
 configure_rmw_library(rmw_zenoh_cpp)
@@ -131,6 +132,7 @@ target_link_libraries(rmw_zenohd
     rcpputils::rcpputils
     rmw::rmw
     zenohc::lib
+    zenohcxx::zenohc
 )
 
 install(

rmw_zenoh_cpp/package.xml

@@ -15,8 +15,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>zenoh_c_vendor</build_depend>
-  <build_export_depend>zenoh_c_vendor</build_export_depend>
+  <build_depend>zenoh_cpp_vendor</build_depend>
+  <build_export_depend>zenoh_cpp_vendor</build_export_depend>
 
   <depend>ament_index_cpp</depend>
   <depend>fastcdr</depend>

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -68,8 +68,8 @@ TopicData::TopicData(ConstEntityPtr entity)
 }
 
 ///=============================================================================
-GraphCache::GraphCache(const z_id_t & zid)
-: zid_str_(liveliness::zid_to_str(zid))
+GraphCache::GraphCache(const std::string & zid)
+: zid_str_(zid)
 {
   // Do nothing.
 }
@@ -364,6 +364,7 @@ void GraphCache::parse_put(
       {entity->node_name(), node}};
     graph_.emplace(std::make_pair(entity->node_namespace(), std::move(node_map)));
     update_topic_maps_for_put(node, entity);
+
     total_nodes_in_graph_ += 1;
     return;
   }

rmw_zenoh_cpp/src/detail/graph_cache.hpp

@@ -107,7 +107,7 @@ 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 z_id_t & zid);
+  explicit GraphCache(const std::string & 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/liveliness_utils.cpp

@@ -452,6 +452,41 @@ Entity::Entity(
 }
 
 ///=============================================================================
+std::shared_ptr<Entity> Entity::make(
+  zenoh::Id zid,
+  const std::string & nid,
+  const std::string & id,
+  EntityType type,
+  NodeInfo node_info,
+  std::optional<TopicInfo> topic_info)
+{
+  if (id.empty()) {
+    RCUTILS_SET_ERROR_MSG("Invalid id.");
+    return nullptr;
+  }
+  if (entity_to_str.find(type) == entity_to_str.end()) {
+    RCUTILS_SET_ERROR_MSG("Invalid entity type.");
+    return nullptr;
+  }
+  if (node_info.ns_.empty() || node_info.name_.empty()) {
+    RCUTILS_SET_ERROR_MSG("Invalid node_info for entity.");
+    return nullptr;
+  }
+  if (type != EntityType::Node && !topic_info.has_value()) {
+    RCUTILS_SET_ERROR_MSG("Invalid topic_info for entity.");
+    return nullptr;
+  }
+
+  return std::make_shared<Entity>(
+    Entity{
+        std::string(zid.to_string()),
+        nid,
+        id,
+        std::move(type),
+        std::move(node_info),
+        std::move(topic_info)});
+}
+
 std::shared_ptr<Entity> Entity::make(
   z_id_t zid,
   const std::string & nid,

rmw_zenoh_cpp/src/detail/liveliness_utils.hpp

@@ -15,7 +15,7 @@
 #ifndef DETAIL__LIVELINESS_UTILS_HPP_
 #define DETAIL__LIVELINESS_UTILS_HPP_
 
-#include <zenoh.h>
+#include <zenoh.hxx>
 
 #include <cstddef>
 #include <cstdint>
@@ -125,6 +125,14 @@ class Entity
   /// @param node_info The node information that is required for all entities.
   /// @param topic_info An optional topic information for relevant entities.
   /// @return An entity if all inputs are valid. This way no invalid entities can be created.
+  static EntityPtr make(
+    zenoh::Id zid,
+    const std::string & nid,
+    const std::string & id,
+    EntityType type,
+    NodeInfo node_info,
+    std::optional<TopicInfo> topic_info = std::nullopt);
+
   static EntityPtr make(
     z_id_t zid,
     const std::string & nid,

rmw_zenoh_cpp/src/detail/rmw_client_data.cpp

@@ -100,7 +100,7 @@ namespace rmw_zenoh_cpp
 {
 ///=============================================================================
 std::shared_ptr<ClientData> ClientData::make(
-  const z_loaned_session_t * session,
+  const std::shared_ptr<zenoh::Session> & session,
   const rmw_node_t * const node,
   const rmw_client_t * client,
   liveliness::NodeInfo node_info,
@@ -162,7 +162,7 @@ std::shared_ptr<ClientData> ClientData::make(
 
   std::size_t domain_id = node_info.domain_id_;
   auto entity = liveliness::Entity::make(
-    z_info_zid(session),
+    session->get_zid(),
     std::to_string(node_id),
     std::to_string(service_id),
     liveliness::EntityType::Client,
@@ -193,7 +193,7 @@ std::shared_ptr<ClientData> ClientData::make(
       response_type_support
     });
 
-  if (!client_data->init(session)) {
+  if (!client_data->init(z_loan(session->_0))) {
     // init() already set the error.
     return nullptr;
   }

rmw_zenoh_cpp/src/detail/rmw_client_data.hpp

@@ -40,7 +40,7 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
 public:
   // Make a shared_ptr of ClientData.
   static std::shared_ptr<ClientData> make(
-    const z_loaned_session_t * session,
+    const std::shared_ptr<zenoh::Session> & session,
     const rmw_node_t * const node,
     const rmw_client_t * client,
     liveliness::NodeInfo node_info,