NodeData API to construct liveliness token

Signed-off-by: Yadunund <[email protected]>

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

@@ -458,55 +458,27 @@ bool rmw_context_impl_s::create_node_data(
     return false;
   }
 
+  // Check that the Zenoh session is still valid.
   if (!z_check(data_->session_)) {
+    RMW_ZENOH_LOG_ERROR_NAMED(
+      "rmw_zenoh_cpp",
+      "Unable to create NodeData as Zenoh session is invalid.");
     return false;
   }
 
-  // Create the entity.
-  z_session_t session = z_loan(data_->session_);
-  const size_t node_id = this->get_next_entity_id();
-  auto entity = rmw_zenoh_cpp::liveliness::Entity::make(
-    z_info_zid(session),
-    std::to_string(node_id),
-    std::to_string(node_id),
-    rmw_zenoh_cpp::liveliness::EntityType::Node,
-    rmw_zenoh_cpp::liveliness::NodeInfo{
+  auto node_data = rmw_zenoh_cpp::NodeData::make(
+    this->get_next_entity_id(),
+    z_loan(data_->session_),
     data_->domain_id_,
     ns,
     node_name,
-    data_->enclave_
-  }
-  );
-  if (entity == nullptr) {
-    RMW_ZENOH_LOG_ERROR_NAMED(
-      "rmw_zenoh_cpp",
-      "Unable to create node entity.");
-    return false;
-  }
-
-  // Create the liveliness token.
-  zc_owned_liveliness_token_t token = zc_liveliness_declare_token(
-    session,
-    z_keyexpr(entity->liveliness_keyexpr().c_str()),
-    NULL
-  );
-  auto free_token = rcpputils::make_scope_exit(
-    [&token]() {
-      z_drop(z_move(token));
-    });
-  if (!z_check(token)) {
-    RMW_ZENOH_LOG_ERROR_NAMED(
-      "rmw_zenoh_cpp",
-      "Unable to create liveliness token for the node.");
+    data_->enclave_);
+  if (node_data == nullptr) {
+    // Error already handled.
     return false;
   }
-  free_token.cancel();
 
-  node_insertion.first->second = std::make_shared<rmw_zenoh_cpp::NodeData>(
-    std::move(node_id),
-    std::move(entity),
-    std::move(token)
-  );
+  node_insertion.first->second = std::move(node_data);
 
   return true;
 }

rmw_zenoh_cpp/src/detail/rmw_node_data.cpp

@@ -14,6 +14,8 @@
 
 #include "rmw_node_data.hpp"
 
+#include <memory>
+#include <string>
 #include <utility>
 
 #include "logging_macros.hpp"
@@ -22,6 +24,61 @@
 
 namespace rmw_zenoh_cpp
 {
+///=============================================================================
+std::shared_ptr<NodeData> NodeData::make(
+  std::size_t id,
+  z_session_t session,
+  std::size_t domain_id,
+  const std::string & namespace_,
+  const std::string & node_name,
+  const std::string & enclave)
+{
+  // Create the entity.
+  auto entity = rmw_zenoh_cpp::liveliness::Entity::make(
+    z_info_zid(session),
+    std::to_string(id),
+    std::to_string(id),
+    rmw_zenoh_cpp::liveliness::EntityType::Node,
+    rmw_zenoh_cpp::liveliness::NodeInfo{
+      domain_id,
+      namespace_,
+      node_name,
+      enclave
+    }
+  );
+  if (entity == nullptr) {
+    RMW_ZENOH_LOG_ERROR_NAMED(
+      "rmw_zenoh_cpp",
+      "Unable to make NodeData as node entity is invalid.");
+    return nullptr;
+  }
+
+  // Create the liveliness token.
+  zc_owned_liveliness_token_t token = zc_liveliness_declare_token(
+    session,
+    z_keyexpr(entity->liveliness_keyexpr().c_str()),
+    NULL
+  );
+  auto free_token = rcpputils::make_scope_exit(
+    [&token]() {
+      z_drop(z_move(token));
+    });
+  if (!z_check(token)) {
+    RMW_ZENOH_LOG_ERROR_NAMED(
+      "rmw_zenoh_cpp",
+      "Unable to create liveliness token for the node.");
+    return nullptr;
+  }
+  free_token.cancel();
+
+  return std::shared_ptr<NodeData>(
+    new NodeData{
+      id,
+      std::move(entity),
+      std::move(token)
+    });
+}
+
 ///=============================================================================
 NodeData::NodeData(
   std::size_t id,

rmw_zenoh_cpp/src/detail/rmw_node_data.hpp

@@ -19,6 +19,7 @@
 
 #include <memory>
 #include <mutex>
+#include <string>
 
 #include "liveliness_utils.hpp"
 
@@ -29,11 +30,14 @@ namespace rmw_zenoh_cpp
 class NodeData final
 {
 public:
-  // Constructor.
-  NodeData(
+  // Make a shared_ptr of NodeData. Returns nullptr if construction fails.
+  static std::shared_ptr<NodeData> make(
     std::size_t id,
-    std::shared_ptr<liveliness::Entity> entity,
-    zc_owned_liveliness_token_t token);
+    z_session_t session,
+    std::size_t domain_id,
+    const std::string & namespace_,
+    const std::string & node_name,
+    const std::string & enclave);
 
   // Get the id of this node.
   std::size_t id() const;
@@ -42,6 +46,11 @@ class NodeData final
   ~NodeData();
 
 private:
+  // Constructor.
+  NodeData(
+    std::size_t id,
+    std::shared_ptr<liveliness::Entity> entity,
+    zc_owned_liveliness_token_t token);
   // Internal mutex.
   mutable std::mutex mutex_;
   // The entity id of this node as generated by get_next_entity_id().