Zenoh 1.0.0 Porting

[YuanYuYuan]

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.

[YuanYuYuan]

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]

@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]

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]

@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]

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]

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 ?