update

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

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

@@ -24,6 +24,7 @@
 #include "identifier.hpp"
 #include "liveliness_utils.hpp"
 #include "logging_macros.hpp"
+#include "rmw_data_types.hpp"
 #include "zenoh_config.hpp"
 #include "zenoh_router_check.hpp"
 
@@ -123,8 +124,12 @@ rmw_ret_t rmw_context_impl_s::Data::subscribe_to_ros_graph()
   // rmw_context_fini() to destroy rmw_context_impl_s, the locked
   // shared_ptr<Data> would live on until the graph_sub_data_handler callback.
   auto sub_options = zc_liveliness_subscriber_options_null();
-  z_owned_closure_sample_t callback = z_closure(
-    rmw_context_impl_s::graph_sub_data_handler, nullptr, this);
+  z_owned_closure_sample_t callback =
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_sample_t, const z_sample_t>(
+      static_cast<void *>(this), 
+      rmw_context_impl_s::graph_sub_data_handler, 
+      nullptr
+    );
   graph_subscriber_ = zc_liveliness_declare_subscriber(
     z_loan(session_),
     z_keyexpr(liveliness_str_.c_str()),
@@ -205,11 +210,11 @@ rmw_context_impl_s::rmw_context_impl_s(
   }
 
   // Check if shm is enabled.
-  z_owned_str_t shm_enabled = zc_config_get(z_loan(config), "transport/shared_memory/enabled");
-  auto always_free_shm_enabled = rcpputils::make_scope_exit(
-    [&shm_enabled]() {
-      z_drop(z_move(shm_enabled));
-    });
+  // z_owned_str_t shm_enabled = zc_config_get(z_loan(config), "transport/shared_memory/enabled");
+  // auto always_free_shm_enabled = rcpputils::make_scope_exit(
+  //   [&shm_enabled]() {
+  //     z_drop(z_move(shm_enabled));
+  //   });
 
   // Initialize the zenoh session.
   z_owned_session_t session = z_open(z_move(config));
@@ -293,28 +298,28 @@ rmw_context_impl_s::rmw_context_impl_s(
 
   // Initialize the shm manager if shared_memory is enabled in the config.
   std::optional<zc_owned_shm_manager_t> shm_manager = std::nullopt;
-  if (shm_enabled._cstr != nullptr &&
-    strcmp(shm_enabled._cstr, "true") == 0)
-  {
-    char idstr[sizeof(zid.id) * 2 + 1];  // 2 bytes for each byte of the id, plus the trailing \0
-    static constexpr size_t max_size_of_each = 3;  // 2 for each byte, plus the trailing \0
-    for (size_t i = 0; i < sizeof(zid.id); ++i) {
-      snprintf(idstr + 2 * i, max_size_of_each, "%02x", zid.id[i]);
-    }
-    idstr[sizeof(zid.id) * 2] = '\0';
-    // TODO(yadunund): Can we get the size of the shm from the config even though it's not
-    // a standard parameter?
-    shm_manager =
-      zc_shm_manager_new(
-      z_loan(session),
-      idstr,
-      SHM_BUFFER_SIZE_MB * 1024 * 1024);
-    if (!shm_manager.has_value() ||
-      !zc_shm_manager_check(&shm_manager.value()))
-    {
-      throw std::runtime_error("Unable to create shm manager.");
-    }
-  }
+  // if (shm_enabled._cstr != nullptr &&
+  //   strcmp(shm_enabled._cstr, "true") == 0)
+  // {
+  //   char idstr[sizeof(zid.id) * 2 + 1];  // 2 bytes for each byte of the id, plus the trailing \0
+  //   static constexpr size_t max_size_of_each = 3;  // 2 for each byte, plus the trailing \0
+  //   for (size_t i = 0; i < sizeof(zid.id); ++i) {
+  //     snprintf(idstr + 2 * i, max_size_of_each, "%02x", zid.id[i]);
+  //   }
+  //   idstr[sizeof(zid.id) * 2] = '\0';
+  //   // TODO(yadunund): Can we get the size of the shm from the config even though it's not
+  //   // a standard parameter?
+  //   shm_manager =
+  //     zc_shm_manager_new(
+  //     z_loan(session),
+  //     idstr,
+  //     SHM_BUFFER_SIZE_MB * 1024 * 1024);
+  //   if (!shm_manager.has_value() ||
+  //     !zc_shm_manager_check(&shm_manager.value()))
+  //   {
+  //     throw std::runtime_error("Unable to create shm manager.");
+  //   }
+  // }
   auto free_shm_manager = rcpputils::make_scope_exit(
     [&shm_manager]() {
       if (shm_manager.has_value()) {

rmw_zenoh_cpp/src/detail/rmw_data_types.cpp

@@ -217,5 +217,4 @@ void client_data_drop(void * data)
     }
   }
 }
-
 }  // namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/rmw_service_data.cpp

@@ -26,6 +26,7 @@
 #include "attachment_helpers.hpp"
 #include "cdr.hpp"
 #include "rmw_context_impl_s.hpp"
+#include "rmw_data_types.hpp"
 #include "message_type_support.hpp"
 #include "logging_macros.hpp"
 #include "qos.hpp"
@@ -157,7 +158,11 @@ std::shared_ptr<ServiceData> ServiceData::make(
 
   // TODO(Yadunund): Instead of passing a rawptr, rely on capturing weak_ptr<ServiceData>
   // in the closure callback once we switch to zenoh-cpp.
-  z_owned_closure_query_t callback = z_closure(service_data_handler, nullptr, service_data.get());
+  z_owned_closure_query_t callback =
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_query_t, const z_query_t>(
+      static_cast<void *>(service_data.get()),
+      &rmw_zenoh_cpp::service_data_handler,
+      nullptr);
   service_data->keyexpr_ =
     z_keyexpr_new(service_data->entity_->topic_info().value().topic_keyexpr_.c_str());
   auto free_ros_keyexpr = rcpputils::make_scope_exit(

rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp

@@ -28,6 +28,7 @@
 #include "cdr.hpp"
 #include "identifier.hpp"
 #include "rmw_context_impl_s.hpp"
+#include "rmw_data_types.hpp"
 #include "message_type_support.hpp"
 #include "logging_macros.hpp"
 #include "qos.hpp"
@@ -224,7 +225,10 @@ bool SubscriptionData::init()
 {
   // TODO(Yadunund): Instead of passing a rawptr, rely on capturing weak_ptr<SubscriptionData>
   // in the closure callback once we switch to zenoh-cpp.
-  z_owned_closure_sample_t callback = z_closure(sub_data_handler, nullptr, this);
+  z_owned_closure_sample_t callback =
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_sample_t, const z_sample_t>(
+      static_cast<void *>(this), sub_data_handler, nullptr
+    );
   z_owned_keyexpr_t keyexpr =
     z_keyexpr_new(entity_->topic_info()->topic_keyexpr_.c_str());
   auto always_free_ros_keyexpr = rcpputils::make_scope_exit(