Honor ignore_local_publications in subscription options (#508) (#513)

make linters happy

Add comment on ZC_LOCALITY_REMOTE

Signed-off-by: Yadunund <[email protected]>
(cherry picked from commit f6a4fde)

Co-authored-by: Alejandro Hernández Cordero <[email protected]>

Author: mergify[bot]

rmw_zenoh_cpp/src/detail/rmw_node_data.cpp

@@ -190,7 +190,8 @@ bool NodeData::create_sub_data(
   std::size_t id,
   const std::string & topic_name,
   const rosidl_message_type_support_t * type_support,
-  const rmw_qos_profile_t * qos_profile)
+  const rmw_qos_profile_t * qos_profile,
+  const rmw_subscription_options_t & sub_options)
 {
   std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
   if (is_shutdown_) {
@@ -216,7 +217,8 @@ bool NodeData::create_sub_data(
     std::move(id),
     std::move(topic_name),
     type_support,
-    qos_profile);
+    qos_profile,
+    sub_options);
   if (sub_data == nullptr) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",

rmw_zenoh_cpp/src/detail/rmw_node_data.hpp

@@ -75,7 +75,8 @@ class NodeData final
     std::size_t id,
     const std::string & topic_name,
     const rosidl_message_type_support_t * type_support,
-    const rmw_qos_profile_t * qos_profile);
+    const rmw_qos_profile_t * qos_profile,
+    const rmw_subscription_options_t & sub_options);
 
   // Retrieve the SubscriptionData for a given rmw_subscription_t if present.
   SubscriptionDataPtr get_sub_data(const rmw_subscription_t * const subscription);

rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp

@@ -59,7 +59,8 @@ std::shared_ptr<SubscriptionData> SubscriptionData::make(
   std::size_t subscription_id,
   const std::string & topic_name,
   const rosidl_message_type_support_t * type_support,
-  const rmw_qos_profile_t * qos_profile)
+  const rmw_qos_profile_t * qos_profile,
+  const rmw_subscription_options_t & sub_options)
 {
   rmw_qos_profile_t adapted_qos_profile = *qos_profile;
   rmw_ret_t ret = QoS::get().best_available_qos(
@@ -120,7 +121,8 @@ std::shared_ptr<SubscriptionData> SubscriptionData::make(
       std::move(entity),
       std::move(session),
       type_support->data,
-      std::move(message_type_support)
+      std::move(message_type_support),
+      sub_options
     });
 
   if (!sub_data->init()) {
@@ -138,13 +140,15 @@ SubscriptionData::SubscriptionData(
   std::shared_ptr<liveliness::Entity> entity,
   std::shared_ptr<zenoh::Session> session,
   const void * type_support_impl,
-  std::unique_ptr<MessageTypeSupport> type_support)
+  std::unique_ptr<MessageTypeSupport> type_support,
+  rmw_subscription_options_t sub_options)
 : rmw_node_(rmw_node),
   graph_cache_(std::move(graph_cache)),
   entity_(std::move(entity)),
   sess_(std::move(session)),
   type_support_impl_(type_support_impl),
   type_support_(std::move(type_support)),
+  sub_options_(std::move(sub_options)),
   last_known_published_msg_({}),
   wait_set_data_(nullptr),
   is_shutdown_(false),
@@ -153,6 +157,7 @@ SubscriptionData::SubscriptionData(
   events_mgr_ = std::make_shared<EventsManager>();
 }
 
+///=============================================================================
 // We have to use an "init" function here, rather than do this in the constructor, because we use
 // enable_shared_from_this, which is not available in constructors.
 bool SubscriptionData::init()
@@ -171,6 +176,14 @@ bool SubscriptionData::init()
   using AdvancedSubscriberOptions = zenoh::ext::SessionExt::AdvancedSubscriberOptions;
   auto adv_sub_opts = AdvancedSubscriberOptions::create_default();
 
+  // By default, this subscription will receive publications from publishers within and outside of
+  // the same Zenoh session as this subscription.
+  // If ignore_local_publications is true, we restrict this subscription to only receive samples
+  // from publishers in remote sessions.
+  if (sub_options_.ignore_local_publications) {
+    adv_sub_opts.subscriber_options.allowed_origin = ZC_LOCALITY_REMOTE;
+  }
+
   // Instantiate the subscription with suitable options depending on the
   // adapted_qos_profile.
   if (entity_->topic_info()->qos_.durability == RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL) {

rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp

@@ -71,7 +71,8 @@ class SubscriptionData final : public std::enable_shared_from_this<SubscriptionD
     std::size_t Subscription_id,
     const std::string & topic_name,
     const rosidl_message_type_support_t * type_support,
-    const rmw_qos_profile_t * qos_profile);
+    const rmw_qos_profile_t * qos_profile,
+    const rmw_subscription_options_t & sub_options);
 
   // Get a copy of the keyexpr_hash of this SubscriptionData's liveliness::Entity.
   std::size_t keyexpr_hash() const;
@@ -124,7 +125,8 @@ class SubscriptionData final : public std::enable_shared_from_this<SubscriptionD
     std::shared_ptr<liveliness::Entity> entity,
     std::shared_ptr<zenoh::Session> session,
     const void * type_support_impl,
-    std::unique_ptr<MessageTypeSupport> type_support);
+    std::unique_ptr<MessageTypeSupport> type_support,
+    rmw_subscription_options_t sub_options);
 
   bool init();
 
@@ -145,6 +147,8 @@ class SubscriptionData final : public std::enable_shared_from_this<SubscriptionD
   // Type support fields
   const void * type_support_impl_;
   std::unique_ptr<MessageTypeSupport> type_support_;
+  // Subscription options.
+  rmw_subscription_options_t sub_options_;
   std::deque<std::unique_ptr<Message>> message_queue_;
   // Map GID of a subscription to the sequence number of the message it published.
   std::unordered_map<size_t, int64_t> last_known_published_msg_;

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -985,7 +985,8 @@ rmw_create_subscription(
       context_impl->get_next_entity_id(),
       topic_name,
       type_support,
-      qos_profile))
+      qos_profile,
+      *subscription_options))
   {
     // Error already handled.
     return nullptr;