Zenoh 1.0.0 Porting #276

YuanYuYuan · 2024-09-05T13:17:03Z

Notes

Remove some unused dependencies.
Use z_view_keyexpr_t rather z_owned_keyexpr_t if possible. This keeps the reference only and doesn't need to be dropped.
The attachment type has been removed. Use the plain z_bytes instead.
Attachment is nothing but z_bytes. Use an iterator to get value by key.
z_check is now internal. We check zenoh entities' health by the creation functions' return.

Signed-off-by: Luca Cominardi <luca.cominardi@gmail.com>

chore: checkout dev/1.0.0

…n the zenoh_c_vendor

…fault in test_service__rmw_zenoh_cpp

YuanYuYuan · 2024-09-27T09:25:07Z

@Yadunund The segfault in test_service_rmw_zenoh_cpp and test_get_type_description_service__rmw_zenoh_cpp is happening when rmw_send_response is returning. In particular in the destruction of the ZenohQuery.

Hi @ahcorde, this commit 6fd7e1c has resolved the issue. 😄

ahcorde · 2024-09-27T10:36:08Z

@Yadunund The segfault in test_service_rmw_zenoh_cpp and test_get_type_description_service__rmw_zenoh_cpp is happening when rmw_send_response is returning. In particular in the destruction of the ZenohQuery.

Hi @ahcorde, this commit 6fd7e1c has resolved the issue. 😄

Thank you for the fix, it's working!

Signed-off-by: Yadunund <yadunund@intrinsic.ai>

… events (ros2#287) * Fix how total_count and change are calculated Signed-off-by: Yadunund <yadunund@intrinsic.ai> * Ensure key expressions match Signed-off-by: Yadunund <yadunund@intrinsic.ai> --------- Signed-off-by: Yadunund <yadunund@intrinsic.ai>

* Make rmw_context_impl_s an RAII class Signed-off-by: Yadunund <yadunund@intrinsic.ai> * fix regression with graph_guard_condition not triggering when entity is removed Signed-off-by: Yadunund <yadunund@intrinsic.ai> * Have the context create the zenoh artifacts Signed-off-by: Yadunund <yadunund@intrinsic.ai> * Add comment for session() api Signed-off-by: Yadunund <yadunund@intrinsic.ai> * Style Signed-off-by: Yadunund <yadunund@intrinsic.ai> * Add api to register querying_sub cb in rmw_context_impl_s Signed-off-by: Yadunund <yadunund@intrinsic.ai> * Have rmw_context_impl_s return a shared_ptr to GraphCache Signed-off-by: Yadunund <yadunund@intrinsic.ai> * Add todo on thread safety Signed-off-by: Yadunund <yadunund@intrinsic.ai> * Update rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp Co-authored-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Yadu <yadunund@gmail.com> * Address feedback Signed-off-by: Yadunund <yadunund@intrinsic.ai> * Do not use allocator for creating graph_guard_condition Signed-off-by: Yadunund <yadunund@intrinsic.ai> * Address feedback Signed-off-by: Yadunund <yadunund@intrinsic.ai> --------- Signed-off-by: Yadunund <yadunund@intrinsic.ai> Signed-off-by: Yadu <yadunund@gmail.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com>

ahcorde

Do you mind to fix the conflicts?

ahcorde · 2024-09-05T13:45:12Z

rmw_zenoh_cpp/src/detail/attachment_helpers.hpp

+  {
+    sequence_number = _sequence_number;
+    source_timestamp = _source_timestamp;
+    memcpy(source_gid, _source_gid, RMW_GID_STORAGE_SIZE);


include <cstring>

YuanYuYuan · 2024-09-30T17:03:47Z

Do you mind to fix the conflicts?

Sorry. I think my previous conflict merge was unexpectedly corrupted. I have updated a new one.

ahcorde

Another thread PR was merged, do you mind to rebase? There are some conflicts

Yadunund · 2024-10-02T03:45:37Z

@YuanYuYuan on top of what Alex mentioned above we also merged a few PRs to make a few tests pass. Could you slowly incorporate those changes into this PR as well?

ahcorde

This method is defined liveliness_is_valid in the rmw_publisher_data.hpp header, but it's not implemented. Maybe it was lost in the rebase

ahcorde · 2024-10-02T13:38:31Z

The zc_liveliness_token_check was removed in this commit eclipse-zenoh/zenoh-c@79b4468#diff-1761e4ec66b6bea4d1694a4c577b7db1a4457773bc0cbc3698f168a18316aac6R129 which is still used in the code.

YuanYuYuan · 2024-10-02T17:23:13Z

@ahcorde @Yadunund I've merged the latest thread-safe PRs into this branch with the additional changes below.

Warn the users whenever a publisher fails to send the message after the session is closed. This was an error before and made us fail on the test rcl/test_publisher__rmw_zenoh_cpp.
New (de)serialization is introduced. I unified the attachment structure which could be easily integrated into a custom (de)serializer when we move to zenoh-cpp.
The liveliness check is removed hence it's removed in the new commit.

NOTE: The rolling/jazzy uncrustify seems to be incompatible with the iron one. I will review the style change manually.

clalancette · 2024-10-02T17:25:44Z

NOTE: The rolling/jazzy uncrustify seems to be incompatible with the iron one. I will review the style change manually.

Just as an FYI; it should be possible, in most cases, to update the style so that it will satisfy both. The big exception to this is in macros, where I could not find a consistent set of configuration or code that satisfies both older uncrustify and newer one. But I don't believe we use too many macros here, so hopefully this is not the issue.

YuanYuYuan · 2024-10-02T17:30:49Z

NOTE: The rolling/jazzy uncrustify seems to be incompatible with the iron one. I will review the style change manually.

Just as an FYI; it should be possible, in most cases, to update the style so that it will satisfy both. The big exception to this is in macros, where I could not find a consistent set of configuration or code that satisfies both older uncrustify and newer one. But I don't believe we use too many macros here, so hopefully this is not the issue.

Hi @clalancette, according to the logs, those are not macros. Maybe we have other issues? 🤔

https://github.com/ros2/rmw_zenoh/actions/runs/11148592945/job/30985531516?pr=276#step:4:5

ahcorde

@YuanYuYuan I merged the PR that fixed the lifecycle issue, do you mind to rebase again with rolling ?

Mallets and others added 30 commits August 9, 2024 14:32

Update style.yaml

e2fabb6

Signed-off-by: Luca Cominardi <luca.cominardi@gmail.com>

Update check_logging.yaml

6cd6dbe

Signed-off-by: Luca Cominardi <luca.cominardi@gmail.com>

Update build.yaml

dcefb68

Signed-off-by: Luca Cominardi <luca.cominardi@gmail.com>

chore: configure the compiliation

14fe58c

chore: checkout dev/1.0.0

chore: complete the 1st version

301a8ce

fix: memory leak

8ef92b5

wip

06b6fa4

fix: z_error_t -> z_result_t

71e7c5b

Fix scouting/*/autoconnect/* per eclipse-zenoh/zenoh@b31a410 (#3)

a717270

chore: checkout the local zenoh-c

cfa63d9

chore: polish z_open

12dc820

fix: segfault

d331b74

feat: z_bytes_serialize_from_slice without copy

1db4bef

chore: switch back to https://github.com/eclipse-zenoh/zenoh-c

d12f189

Initialize query_ member of ZenohQuery

909329b

refactor: use z_owned_slice_t instead

511c6f6

chore: adapt the latest change of zenoh-c dev/1.0.0

044d25b

chore: use strncmp to avoid copying

d79cf5e

refactor: use z_view_keyexpr_t to avoid copying

6637400

feat: implment the SHM feature

83334c8

chore: adpat the new changes from zenoh-c and fix the bug in liveliness

bf0da8a

fix: segmentation fault due to the unallocated query memory

dfc95ad

fix: workaround the ZID parsing issue

cd071e5

fix Zenoh Config read\check

4f842fd

adopt to recent zenoh-c API changes

af2e344

chore: sync up with the rolling branch

0225a59

chore: update to self-hosted runners

36140fd

fix: adapt the latest change of batching config

080eb15

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

f60c2a2

build: deprecate the zenohc_debug and incldue the zenohc dependency i…

83a26f2

…n the zenoh_c_vendor

fix: properly clone the pointer of query and reply to resolve the seg…

6fd7e1c

…fault in test_service__rmw_zenoh_cpp

chore: update to zenoh-c 1.0.0.9 (#23)

8d3fce9

Yadunund and others added 3 commits September 30, 2024 16:26

Sleep for 100ms between router checks (ros2#284)

73d68af

Signed-off-by: Yadunund <yadunund@intrinsic.ai>

ahcorde requested changes Sep 30, 2024

View reviewed changes

YuanYuYuan added 2 commits September 30, 2024 17:01

fix: adapt the latest changes in rolling

63530b7

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

afd7f63

Merge branch 'rolling' into wip/merge-rolling

a67b194

ahcorde requested changes Oct 1, 2024

View reviewed changes

ahcorde mentioned this pull request Oct 1, 2024

Test failures with rmw_zenoh #286

Open

YuanYuYuan added 3 commits October 2, 2024 16:00

fix: addres the conflict

c8724d2

Merge branch 'rolling' into wip/merge-rolling

979896a

chore: adapt the latest change

d022967

ahcorde requested changes Oct 2, 2024

View reviewed changes

refactor(api): align with latest serialization changes

1cfc9f6

chore(deps): bump up zenoh-c to 1.0.0.10

bb64fde

imstevenpmwork and others added 2 commits October 2, 2024 22:54

chore(api): align with latest serialization changes

4aef9e7

fix: correct the sub_ke and selector_ke in the querying_subscriber

c386a3d

ahcorde requested changes Oct 3, 2024

View reviewed changes

clalancette mentioned this pull request Oct 3, 2024

Items to get rmw_zenoh to Tier-1 status #265

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ahcorde mentioned this pull request Oct 4, 2024

Fix zenoh shutdown ros2/system_tests#550

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Zenoh 1.0.0 Porting #276

Zenoh 1.0.0 Porting #276

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Zenoh 1.0.0 Porting #276

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Zenoh 1.0.0 Porting #276

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