Include zenoh session id in liveliness tokens

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

rmw_zenoh_cpp/src/detail/liveliness_utils.cpp

@@ -83,6 +83,17 @@ static const std::unordered_map<std::string, EntityType> str_to_entity = {
   {CLI_STR, EntityType::Client}
 };
 
+std::string convert(z_id_t id) {
+  std::stringstream ss;
+  ss << std::hex;
+  size_t i = 0;
+  for (; i < (sizeof(id.id) - 1); i++) {
+    ss << static_cast<int>(id.id[i]) << ".";
+  }
+  ss << static_cast<int>(id.id[i]) << std::dec;
+  return ss.str();
+}
+
 }  // namespace
 
 ///=============================================================================
@@ -94,6 +105,7 @@ std::string subscription_token(size_t domain_id)
 
 ///=============================================================================
 Entity::Entity(
+  std::string id,
   EntityType type,
   NodeInfo node_info,
   std::optional<TopicInfo> topic_info)
@@ -120,7 +132,7 @@ Entity::Entity(
    */
   std::stringstream token_ss;
   const std::string & ns = node_info_.ns_;
-  token_ss << ADMIN_SPACE << "/" << node_info_.domain_id_ << "/" << entity_to_str.at(type_) << ns;
+  token_ss << ADMIN_SPACE << "/" << node_info_.domain_id_ << "/" << id << "/" << entity_to_str.at(type_) << ns;
   // An empty namespace from rcl will contain "/" but zenoh does not allow keys with "//".
   // Hence we add an "_" to denote an empty namespace such that splitting the key
   // will always result in 5 parts.
@@ -143,6 +155,7 @@ Entity::Entity(
 
 ///=============================================================================
 std::optional<Entity> Entity::make(
+  z_id_t id,
   EntityType type,
   NodeInfo node_info,
   std::optional<TopicInfo> topic_info)
@@ -160,7 +173,7 @@ std::optional<Entity> Entity::make(
     return std::nullopt;
   }
 
-  Entity entity{std::move(type), std::move(node_info), std::move(topic_info)};
+  Entity entity{convert(id), std::move(type), std::move(node_info), std::move(topic_info)};
   return entity;
 }
 
@@ -206,7 +219,7 @@ std::optional<Entity> Entity::make(const std::string & keyexpr)
   // A token will contain at least 5 parts:
   // (ADMIN_SPACE, domain_id, entity_str, namespace, node_name).
   // Basic validation.
-  if (parts.size() < 5) {
+  if (parts.size() < 6) {
     RCUTILS_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Received invalid liveliness token");
@@ -229,7 +242,7 @@ std::optional<Entity> Entity::make(const std::string & keyexpr)
   }
 
   // Get the entity, ie NN, MP, MS, SS, SC.
-  std::string & entity_str = parts[2];
+  std::string & entity_str = parts[3];
   std::unordered_map<std::string, EntityType>::const_iterator entity_it =
     str_to_entity.find(entity_str);
   if (entity_it == str_to_entity.end()) {
@@ -241,25 +254,27 @@ std::optional<Entity> Entity::make(const std::string & keyexpr)
 
   EntityType entity_type = entity_it->second;
   std::size_t domain_id = std::stoul(parts[1]);
-  std::string ns = parts[3] == "_" ? "/" : "/" + std::move(parts[3]);
-  std::string node_name = std::move(parts[4]);
+  std::string& id = parts[2];
+  std::string ns = parts[4] == "_" ? "/" : "/" + std::move(parts[4]);
+  std::string node_name = std::move(parts[5]);
   std::optional<TopicInfo> topic_info = std::nullopt;
 
   // Populate topic_info if we have a token for an entity other than a node.
   if (entity_type != EntityType::Node) {
-    if (parts.size() < 8) {
+    if (parts.size() < 9) {
       RCUTILS_LOG_ERROR_NAMED(
         "rmw_zenoh_cpp",
         "Received liveliness token for non-node entity without required parameters.");
       return std::nullopt;
     }
     topic_info = TopicInfo{
-      "/" + std::move(parts[5]),
-      std::move(parts[6]),
-      std::move(parts[7])};
+      "/" + std::move(parts[6]),
+      std::move(parts[7]),
+      std::move(parts[8])};
   }
 
   return Entity{
+    std::move(id),
     std::move(entity_type),
     NodeInfo{std::move(domain_id), std::move(ns), std::move(node_name), ""},
     std::move(topic_info)};

rmw_zenoh_cpp/src/detail/liveliness_utils.hpp

@@ -79,13 +79,16 @@ class Entity
   /// fields are not present for the EntityType.
   // TODO(Yadunund): Find a way to better bundle the type and the associated data.
   static std::optional<Entity> make(
+    z_id_t id,
     EntityType type,
     NodeInfo node_info,
     std::optional<TopicInfo> topic_info = std::nullopt);
 
   /// Make an Entity from a liveliness keyexpr.
   static std::optional<Entity> make(const std::string & keyexpr);
 
+  std::string id() const;
+
   /// Get the entity type.
   EntityType type() const;
 
@@ -103,6 +106,7 @@ class Entity
 
 private:
   Entity(
+    std::string id,
     EntityType type,
     NodeInfo node_info,
     std::optional<TopicInfo> topic_info);

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -196,6 +196,7 @@ rmw_create_node(
   // Initialize liveliness token for the node to advertise that a new node is in town.
   rmw_node_data_t * node_data = static_cast<rmw_node_data_t *>(node->data);
   const auto liveliness_entity = liveliness::Entity::make(
+    z_info_zid(z_loan(context->impl->session)),
     liveliness::EntityType::Node,
     liveliness::NodeInfo{context->actual_domain_id, namespace_, name, ""});
   if (!liveliness_entity.has_value()) {
@@ -578,6 +579,7 @@ rmw_create_publisher(
   //   return nullptr;
   // }
   const auto liveliness_entity = liveliness::Entity::make(
+    z_info_zid(z_loan(node->context->impl->session)),
     liveliness::EntityType::Publisher,
     liveliness::NodeInfo{node->context->actual_domain_id, node->namespace_, node->name, ""},
     liveliness::TopicInfo{rmw_publisher->topic_name,
@@ -1270,6 +1272,7 @@ rmw_create_subscription(
 
   // Publish to the graph that a new subscription is in town
   const auto liveliness_entity = liveliness::Entity::make(
+    z_info_zid(z_loan(node->context->impl->session)),
     liveliness::EntityType::Subscription,
     liveliness::NodeInfo{node->context->actual_domain_id, node->namespace_, node->name, ""},
     liveliness::TopicInfo{rmw_subscription->topic_name,