Port zenoh_c to zenoh_cpp #327

ahcorde · 2024-12-04T09:40:38Z

For visibility reason I created a branch called dev/1.0.0 in this repository, otherwise I can't open the PR

The goal of this PR is to port the zenoh_c API to zenoh_cpp.

I added a hack in the zenoh_cpp API to be able to make the transition easier. Edit the following file:

nano +83 install/opt/zenoh_cpp_vendor/include/zenoh/api/base.hxx

And add this change:

public:
    OwnedType _0;
protected:

zenohd is ported to zenoh_cpp

ahcorde · 2024-12-06T18:07:50Z

Pacakge	Test	Reason
rcl	None
rcl_action	None
rcl_lifecycle	None
rcl_yaml	None
rcl_yaml_param_parser	None
rclcpp	test_executors
rclcpp_components	test_executors
rclcpp_action	None
rclcpp_lifecycle	None
rclcpp_components	None

rclcpp

test_executors

95: /home/ahcorde/ros2_rolling/src/ros2/rclcpp/rclcpp/test/rclcpp/executors/test_executors.cpp:759: Failure
95: Expected equality of these values:
95:   sub2_msg_count
95:     Which is: 1
95:   1u
95:     Which is: 1

Yadunund · 2024-12-09T11:21:19Z

@ahcorde would it be possible to rebase this branch such that it only includes the newly introduced commits?

ahcorde · 2024-12-09T11:24:06Z

@ahcorde would it be possible to rebase this branch such that it only includes the newly introduced commits?

@Yadunund It's already done

ahcorde · 2024-12-10T13:33:32Z

This last commit from #333 makes test_services__rmw_zenoh_cpp flaky

clalancette · 2024-12-10T13:45:06Z

This last commit from #333 makes test_services__rmw_zenoh_cpp flaky

I think we actually need a different fix for that. I'm going to finish reviewing #333 today, and then I'll open a follow-up PR which should fix that particular problem.

Yadunund

Left some comments to address from this first pass.

zenoh_cpp_vendor/CMakeLists.txt

rmw_zenoh_cpp/src/zenohd/main.cpp

rmw_zenoh_cpp/src/detail/attachment_helpers.hpp

rmw_zenoh_cpp/src/detail/rmw_service_data.hpp

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

rmw_zenoh_cpp/src/detail/rmw_client_data.cpp

Signed-off-by: Alejandro Hernández Cordero <[email protected]> Fixed CI Signed-off-by: Alejandro Hernández Cordero <[email protected]> tokens Signed-off-by: Alejandro Hernández Cordero <[email protected]> removed zenoh_router_check Signed-off-by: Alejandro Hernández Cordero <[email protected]> removed rmw_init_options_impl.hpp Signed-off-by: Alejandro Hernández Cordero <[email protected]> Publisher Signed-off-by: Alejandro Hernández Cordero <[email protected]> Added subscribers Signed-off-by: Alejandro Hernández Cordero <[email protected]> Removed zid_to_str Signed-off-by: Alejandro Hernández Cordero <[email protected]> use zenoh::KeyExpr Signed-off-by: Alejandro Hernández Cordero <[email protected]> service data Signed-off-by: Alejandro Hernández Cordero <[email protected]> client data Signed-off-by: Alejandro Hernández Cordero <[email protected]> Removed unused signature Signed-off-by: Alejandro Hernández Cordero <[email protected]> cleanups and shm Signed-off-by: Alejandro Hernández Cordero <[email protected]> make linters happy Signed-off-by: Alejandro Hernández Cordero <[email protected]> make linters happy Signed-off-by: Alejandro Hernández Cordero <[email protected]> make linters happy Signed-off-by: Alejandro Hernández Cordero <[email protected]> make linters happy Signed-off-by: Alejandro Hernández Cordero <[email protected]> make linters happy Signed-off-by: Alejandro Hernández Cordero <[email protected]> make linters happy Signed-off-by: Alejandro Hernández Cordero <[email protected]> more changes Signed-off-by: Alejandro Hernández Cordero <[email protected]> Fixed segfault Signed-off-by: Alejandro Hernández Cordero <[email protected]> make linters happy Signed-off-by: Alejandro Hernández Cordero <[email protected]> make linters happy Signed-off-by: Alejandro Hernández Cordero <[email protected]> removed zenohc from CMakeLists.txt and warning Signed-off-by: Alejandro Hernández Cordero <[email protected]> Restored one method Signed-off-by: Alejandro Hernández Cordero <[email protected]> wrap the zenoh session with a shared pointer Signed-off-by: Alejandro Hernández Cordero <[email protected]> Changes missed Signed-off-by: Yadunund <[email protected]>

rmw_zenoh_cpp/src/detail/rmw_client_data.cpp

rmw_zenoh_cpp/src/detail/rmw_node_data.cpp

rmw_zenoh_cpp/src/detail/rmw_service_data.cpp

rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp

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

ahcorde · 2024-12-11T11:57:48Z

Pacakge	Test	Reason
rcl	None
rcl_action	None
rcl_lifecycle	None
rcl_yaml	None
rcl_yaml_param_parser	None
rclcpp	test_executors
rclcpp_components	None
rclcpp_action	None
rclcpp_lifecycle	None
rclcpp_components	None
test_rclcpp	test_n_nodes__rmw_zenoh_cpp
test_quality_of_service	test_deadline__rmw_zenoh_cpp
test_quality_of_service	test_liveliness__rmw_zenoh_cpp
test_quality_of_service	test_best_available__rmw_zenoh_cpp

test_rclcpp

104: [INFO] [node_with_name_9-10]: sending signal 'SIGINT' to process[node_with_name_9-10]
104: [INFO] [node_with_name_8-9]: sending signal 'SIGINT' to process[node_with_name_8-9]
104: [INFO] [node_with_name_7-8]: sending signal 'SIGINT' to process[node_with_name_7-8]
104: [INFO] [node_with_name_6-7]: sending signal 'SIGINT' to process[node_with_name_6-7]
104: [INFO] [node_with_name_5-6]: sending signal 'SIGINT' to process[node_with_name_5-6]
104: [INFO] [node_with_name_4-5]: sending signal 'SIGINT' to process[node_with_name_4-5]
104: [ERROR] [node_with_name_9-10]: process has died [pid 1107646, exit code -2, cmd '/home/ahcorde/ros2_rolling/build/test_rclcpp/node_with_name'].
104: [INFO] [node_with_name_3-4]: sending signal 'SIGINT' to process[node_with_name_3-4]
104: [ERROR] [node_with_name_7-8]: process has died [pid 1107529, exit code -2, cmd '/home/ahcorde/ros2_rolling/build/test_rclcpp/node_with_name'].
104: [ERROR] [node_with_name_8-9]: process has died [pid 1107531, exit code -2, cmd '/home/ahcorde/ros2_rolling/build/test_rclcpp/node_with_name'].
104: [INFO] [node_with_name_2-3]: sending signal 'SIGINT' to process[node_with_name_2-3]
104: [INFO] [node_with_name_1-2]: sending signal 'SIGINT' to process[node_with_name_1-2]
104: [ERROR] [node_with_name_4-5]: process has died [pid 1107523, exit code -2, cmd '/home/ahcorde/ros2_rolling/build/test_rclcpp/node_with_name'].
104: [INFO] [node_with_name_0-1]: sending signal 'SIGINT' to process[node_with_name_0-1]
104: [node_with_name_6-7] [INFO] [1733918455.912256023] [rclcpp]: signal_handler(signum=2)
104: [node_with_name_5-6] [INFO] [1733918455.912922935] [rclcpp]: signal_handler(signum=2)
104: [node_with_name_3-4] [INFO] [1733918455.916087796] [rclcpp]: signal_handler(signum=2)
104: [node_with_name_2-3] [INFO] [1733918455.917436101] [rclcpp]: signal_handler(signum=2)
104: [node_with_name_1-2] [INFO] [1733918455.918144495] [rclcpp]: signal_handler(signum=2)
104: [ERROR] [node_with_name_0-1]: process has died [pid 1107515, exit code -2, cmd '/home/ahcorde/ros2_rolling/build/test_rclcpp/node_with_name'].
104: [INFO] [node_with_name_5-6]: process has finished cleanly [pid 1107525]
104: [INFO] [node_with_name_2-3]: process has finished cleanly [pid 1107519]
104: [INFO] [node_with_name_3-4]: process has finished cleanly [pid 1107521]
104: [INFO] [node_with_name_6-7]: process has finished cleanly [pid 1107527]
104: [INFO] [node_with_name_1-2]: process has finished cleanly [pid 1107517]
104: test_10_nodes (test_rclcpp.TestNNodesAfterShutdown) ... FAIL

ahcorde · 2024-12-11T12:34:30Z

Fixed test_quality_of_service tests ros2/system_tests#555

YuanYuYuan · 2024-12-11T12:36:22Z

test_executors

This matches what we have observed so far. I'm still investigating the flaky test_executors.
Note that if you encounter a failure on test_executors and you don't restart the zenohd, it could affect the other tests. That's one of the possible flakiness.

The test_n_nodes__rmw_zenoh_cpp has been identified #329.

rmw_zenoh_cpp/src/detail/zenoh_utils.cpp

YuanYuYuan · 2024-12-11T16:13:45Z

@ahcorde I made a suggested change here.

diff --git a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
index bae0fe9..3cad22c 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
@@ -233,14 +233,13 @@ void ClientData::add_new_reply(std::unique_ptr<ZenohReply> reply)
     reply_queue_.size() >= adapted_qos_profile.depth)
   {
     // Log warning if message is discarded due to hitting the queue depth
-    std::string keystr = std::string(keyexpr_.value().as_string_view());
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
       "Query queue depth of %ld reached, discarding oldest Query "
-      "for client for %.*s",
+      "for client for %s",
       adapted_qos_profile.depth,
-      keystr.size(),
-      keystr.c_str());
+      keyexpr_.value().as_string_view());
     reply_queue_.pop_front();
   }
   reply_queue_.emplace_back(std::move(reply));
@@ -407,10 +406,11 @@ rmw_ret_t ClientData::send_request(
     parameters,
     [client_data](const zenoh::Reply & reply) {
       if (!reply.is_ok()) {
+        auto reply_err_str = reply.get_err().get_payload().as_string();
         RMW_ZENOH_LOG_ERROR_NAMED(
           "rmw_zenoh_cpp",
           "z_reply_is_ok returned False Reason: %s",
-          reply.get_err().get_payload().as_string())
+          reply_err_str.c_str())
         return;
       }
       const zenoh::Sample & sample = reply.get_ok();
@@ -420,7 +420,7 @@ rmw_ret_t ClientData::send_request(
         RMW_ZENOH_LOG_ERROR_NAMED(
           "rmw_zenoh_cpp",
           "Unable to obtain ClientData from data for %s.",
-          std::string(sample.get_keyexpr().as_string_view()));
+          sample.get_keyexpr().as_string_view());
         return;
       }
 
diff --git a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
index 5696e81..d24c965 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
@@ -156,7 +156,7 @@ std::shared_ptr<ServiceData> ServiceData::make(
         RMW_ZENOH_LOG_ERROR_NAMED(
           "rmw_zenoh_cpp",
           "Unable to obtain ServiceData from data for %s.",
-          std::string(query.get_keyexpr().as_string_view()));
+          query.get_keyexpr().as_string_view());
         return;
       }
 
diff --git a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
index 45ef1bf..a6d0114 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
@@ -212,7 +212,7 @@ bool SubscriptionData::init()
           RMW_ZENOH_LOG_ERROR_NAMED(
             "rmw_zenoh_cpp",
             "Unable to obtain SubscriptionData from data for %s.",
-            std::string(sample.get_keyexpr().as_string_view()));
+            sample.get_keyexpr().as_string_view());
           return;
         }
 
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp b/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
index 795c4dc..3e0f6a4 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
@@ -49,7 +49,7 @@ zenoh::Bytes create_map_and_set_sequence_num(
   int64_t source_timestamp = now_ns.count();
 
   rmw_zenoh_cpp::AttachmentData data(sequence_number, source_timestamp, gid);
-  return std::move(data.serialize_to_zbytes());
+  return data.serialize_to_zbytes();
 }
 
 ///=============================================================================

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

ahcorde · 2024-12-11T16:18:29Z

Thank you @YuanYuYuan, included here 6877a48

rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp

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

clalancette

I've left quite a few changes inline here, but this is looking pretty good.

rmw_zenoh_cpp/src/detail/attachment_helpers.hpp

rmw_zenoh_cpp/src/detail/attachment_helpers.cpp

rmw_zenoh_cpp/src/detail/liveliness_utils.cpp

rmw_zenoh_cpp/src/detail/rmw_client_data.hpp

rmw_zenoh_cpp/src/detail/rmw_client_data.cpp

rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp

rmw_zenoh_cpp/src/detail/zenoh_utils.hpp

clalancette · 2024-12-11T19:48:32Z

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -2451,7 +2451,7 @@ rmw_get_gid_for_publisher(const rmw_publisher_t * publisher, rmw_gid_t * gid)
  RMW_CHECK_ARGUMENT_FOR_NULL(pub_data, RMW_RET_INVALID_ARGUMENT);

  gid->implementation_identifier = rmw_zenoh_cpp::rmw_zenoh_identifier;
-  pub_data->copy_gid(gid->data);
+  memcpy(gid->data, pub_data->copy_gid().data(), RMW_GID_STORAGE_SIZE);


I think this change is OK, because copy_gid is now returning a copy.

rmw_zenoh_cpp/src/rmw_zenoh.cpp

zenoh_cpp_vendor/CMakeLists.txt

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

ahcorde · 2024-12-12T17:01:04Z

@YuanYuYuan related to the string_view

I need to use in rmw_zenoh_cpp/src/detail/rmw_client_data.cpp:239

      std::string(keyexpr_.value().as_string_view()).c_str());

Otherwise I got a segfault in rclcpp/test_client_common. Any idea why ?

clalancette

All right, I did another pass on this. This is looking pretty close to me, with a few more relatively minor things to fix. The only remaining major issue is to see if we can reduce the latency with this vs. the rolling branch.

rmw_zenoh_cpp/src/detail/liveliness_utils.cpp

rmw_zenoh_cpp/src/detail/rmw_client_data.cpp

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

rmw_zenoh_cpp/src/detail/rmw_client_data.hpp

clalancette · 2024-12-13T15:05:59Z

rmw_zenoh_cpp/src/detail/rmw_client_data.cpp

-    RMW_SET_ERROR_MSG("Failed to get source_timestamp from client call attachment");
+  // Object that manages the raw buffer
+  auto payload = sample.get_payload().as_vector();
+  if (payload.size() > 0) {


We can save an indentation level here by doing:

if (payload.size() == 0) { RMW_ZENOH_LOG_DEBUG_NAMED( "rmw_zenoh_cpp", "ClientData not able to get slice data"); return RMW_RET_ERROR; }

(and then unindenting the rest of the code)

rmw_zenoh_cpp/src/detail/zenoh_utils.hpp

clalancette · 2024-12-13T15:26:34Z

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -2451,7 +2451,7 @@ rmw_get_gid_for_publisher(const rmw_publisher_t * publisher, rmw_gid_t * gid)
  RMW_CHECK_ARGUMENT_FOR_NULL(pub_data, RMW_RET_INVALID_ARGUMENT);

  gid->implementation_identifier = rmw_zenoh_cpp::rmw_zenoh_identifier;
-  pub_data->copy_gid(gid->data);
+  memcpy(gid->data, pub_data->copy_gid().data(), RMW_GID_STORAGE_SIZE);


Oh, that's a good point.

I'm actually not in favor of having both overloads for copy_gid; I think that is just confusing. I'll add a comment in the rmw_publisher_data.cpp class.

rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp

zenoh_cpp_vendor/CMakeLists.txt

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

YuanYuYuan · 2024-12-16T10:27:03Z

test_client_common

I see. I observed similar issues before. Maybe the macro doesn't work well with the lifetime of the keyexpr. In this case, we need to store the string additionally.

Fix the high latency on the subscriber due to zenoh bytes conversion

rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp

ahcorde · 2024-12-16T14:50:08Z

When compiling on Windows I'm getting this error just include the zenoh.hxx header

Windows compile error

C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\protocol_implementations\posix\../../provider/shm_provider.hxx(36,1): error C2236: token inesperado 'struct'. Compruebe si olvid� un ';' [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\protocol_implementations\posix\../../provider/shm_provider.hxx(36,1): error C2332: 'struct': falta el nombre de etiqueta [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\protocol_implementations\posix\../../provider/shm_provider.hxx(36,24): error C2513: '': no hay ninguna variable declarada antes de '=' [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\protocol_implementations\posix\../../provider/shm_provider.hxx(37,1): error C2332: 'struct': falta el nombre de etiqueta [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\protocol_implementations\posix\../../provider/shm_provider.hxx(37,25): error C2226: error de sintaxis: tipo 'zenoh::ShmProviderAsyncInterface::drop::' inesperado [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\protocol_implementations\posix\../../provider/shm_provider.hxx(41,1): error C2236: token inesperado 'struct'. Compruebe si olvid� un ';' [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\protocol_implementations\posix\../../provider/shm_provider.hxx(41,1): error C2332: 'struct': falta el nombre de etiqueta [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\protocol_implementations\posix\../../provider/shm_provider.hxx(41,24): error C2513: '': no hay ninguna variable declarada antes de '=' [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\protocol_implementations\posix\../../provider/shm_provider.hxx(42,1): error C2332: 'struct': falta el nombre de etiqueta [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\protocol_implementations\posix\../../provider/shm_provider.hxx(42,18): error C2059: error de sintaxis: '->' [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\provider\alloc_layout.hxx(38,10): error C2236: token inesperado 'struct'. Compruebe si olvid� un ';' [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\provider\alloc_layout.hxx(38,20): error C2332: 'struct': falta el nombre de etiqueta [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\provider\alloc_layout.hxx(38,20): error C2513: '': no hay ninguna variable declarada antes de '=' [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\provider\alloc_layout.hxx(39,14): error C2332: 'struct': falta el nombre de etiqueta [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\provider\alloc_layout.hxx(39,14): error C2059: error de sintaxis: '->' [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\provider\alloc_layout.hxx(43,10): error C2236: token inesperado 'struct'. Compruebe si olvid� un ';' [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\provider\alloc_layout.hxx(43,20): error C2332: 'struct': falta el nombre de etiqueta [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\provider\alloc_layout.hxx(43,20): error C2513: '': no hay ninguna variable declarada antes de '=' [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\provider\alloc_layout.hxx(44,21): error C2332: 'struct': falta el nombre de etiqueta [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] C:\ros2_ws\install\opt\zenoh_cpp_vendor\include\zenoh\api\shm\provider\alloc_layout.hxx(44,21): error C2226: error de sintaxis: tipo 'zenoh::shm::provider::closures::_z_alloc_layout_async_interface_drop_fn::' inesperado [C:\ros2_ws\build\rmw_zenoh_cpp\rmw_zenohd.vcxproj] Failed <<< rmw_zenoh_cpp [4.02s, exited with code 1]

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

ahcorde · 2024-12-17T16:47:17Z

@clalancette windows issue fixed here ec42c81

They are a fixed size, so should use the fixed-size data structure. Signed-off-by: Chris Lalancette <[email protected]>

Since we aren't calling shared_from_this() in it anymore, we can do all of the work in the constructor. Signed-off-by: Chris Lalancette <[email protected]>

Signed-off-by: Chris Lalancette <[email protected]>

This simplifies the code, and makes it less noisy. Signed-off-by: Chris Lalancette <[email protected]>

clalancette

This now looks good to me, so I'm going to go ahead and merge it. Thanks for all of the hard work here @ahcorde

ahcorde self-assigned this Dec 4, 2024

ahcorde changed the base branch from dev/1.0.0 to rolling December 7, 2024 04:13

Yadunund requested changes Dec 10, 2024

View reviewed changes

Yadunund force-pushed the ahcorde/dev/1.0.0-cpp branch from f8e85b1 to 196f30d Compare December 10, 2024 17:56

YuanYuYuan suggested changes Dec 10, 2024

View reviewed changes

clalancette mentioned this pull request Dec 10, 2024

Another fix for ClientData. #336

Merged

ahcorde added 2 commits December 11, 2024 11:01

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

ahcorde requested review from Yadunund and YuanYuYuan December 11, 2024 11:41

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

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ahcorde added 2 commits December 11, 2024 18:09

Removed annoying message

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

Merge remote-tracking branch 'origin/rolling' into ahcorde/dev/1.0.0-cpp

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ahcorde requested review from YuanYuYuan and clalancette December 12, 2024 10:03

Removed shm and small fix

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

ahcorde force-pushed the ahcorde/dev/1.0.0-cpp branch from 0999f2d to 6128468 Compare December 12, 2024 16:58

Merge remote-tracking branch 'origin/rolling' into ahcorde/dev/1.0.0-cpp

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

Merge pull request #340 from ZettaScaleLabs/fix/sub-high-latency

b62a6e2

Fix the high latency on the subscriber due to zenoh bytes conversion

ahcorde requested a review from clalancette December 16, 2024 10:58

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clalancette mentioned this pull request Dec 16, 2024

Don't copy contiguous bytes on reception #343

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Fixed windows

ec42c81

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

clalancette mentioned this pull request Dec 17, 2024

Updates to the C++ code #344

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clalancette added 5 commits December 17, 2024 16:19

Switch to storing GIDs with a std::array.

12df30d

They are a fixed size, so should use the fixed-size data structure. Signed-off-by: Chris Lalancette <[email protected]>

Remove unnecessary ClientData init() method.

d50697f

Since we aren't calling shared_from_this() in it anymore, we can do all of the work in the constructor. Signed-off-by: Chris Lalancette <[email protected]>

Small refactorings.

d4ca8c6

Signed-off-by: Chris Lalancette <[email protected]>

Fix bad string print.

894005d

Signed-off-by: Chris Lalancette <[email protected]>

Rewrite connecting to the router to only print when it fails.

b2b76e0

This simplifies the code, and makes it less noisy. Signed-off-by: Chris Lalancette <[email protected]>

clalancette approved these changes Dec 17, 2024

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clalancette merged commit 271da8d into rolling Dec 17, 2024
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clalancette deleted the ahcorde/dev/1.0.0-cpp branch December 17, 2024 21:36

ahcorde mentioned this pull request Dec 17, 2024

Towards Windows support #268

Closed

This was referenced Dec 17, 2024

Recycle serialization buffers on transmission #342

Draft

Don't close Zenoh session while the process is terminating. #339

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Port zenoh_c to zenoh_cpp #327

Port zenoh_c to zenoh_cpp #327

ahcorde commented Dec 4, 2024

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ahcorde commented Dec 11, 2024 •

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Port zenoh_c to zenoh_cpp #327

Port zenoh_c to zenoh_cpp #327

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ahcorde commented Dec 4, 2024

ahcorde commented Dec 6, 2024

rclcpp

test_executors

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ahcorde commented Dec 11, 2024 • edited Loading

test_rclcpp

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