From c77e94a76cd502f608e23ff9fc6ea8d880541642 Mon Sep 17 00:00:00 2001
From: Filippo Brizzi <filippobrizzi@gmail.com>
Date: Thu, 24 Oct 2024 16:33:18 +0200
Subject: [PATCH] Update to Zenoh version 1.0.0 (#191)

# Description
Finally, zenoh released a stable v1.0.0. We are upgrading to that
---
 docker/Dockerfile                        |  2 +-
 docker/version.sh                        |  2 +-
 external/CMakeLists.txt                  | 13 +++++++++----
 modules/ipc/src/zenoh/raw_publisher.cpp  | 10 ++++------
 modules/ipc/src/zenoh/raw_subscriber.cpp |  6 +++---
 5 files changed, 18 insertions(+), 15 deletions(-)

diff --git a/docker/Dockerfile b/docker/Dockerfile
index ae64defc..02650c34 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -35,7 +35,7 @@ RUN  update-alternatives --install /usr/bin/clang clang /usr/bin/clang-$CLANG_VE
 
 RUN ln -s /usr/bin/clangd-${CLANG_VERSION} /usr/bin/clangd
 
-RUN export ZENOH_VERSION="1.0.0~beta.4-1" && \
+RUN export ZENOH_VERSION="1.0.0" && \
     echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | tee /etc/apt/sources.list.d/zenoh.list >/dev/null && \
     (apt-get update && apt-get install --no-install-recommends -y --allow-downgrades zenohd=${ZENOH_VERSION} zenoh-plugin-rest=${ZENOH_VERSION} || true) && \
     sed -i 's/systemctl /# remove if fixed by zenoh: systemctl /' /var/lib/dpkg/info/zenohd.postinst && \
diff --git a/docker/version.sh b/docker/version.sh
index 14bfd5e9..b6572cde 100644
--- a/docker/version.sh
+++ b/docker/version.sh
@@ -1,3 +1,3 @@
 HOST=ghcr.io/olympus-robotics
-VERSION=1.0.15
+VERSION=1.0.16
 IMAGE=hephaestus-dev
diff --git a/external/CMakeLists.txt b/external/CMakeLists.txt
index 3708d041..fe3485b2 100644
--- a/external/CMakeLists.txt
+++ b/external/CMakeLists.txt
@@ -43,18 +43,23 @@ set(ZENOHC_CMAKE_ARGS -DZENOHC_CARGO_CHANNEL=+stable -DZENOHC_BUILD_WITH_SHARED_
                       -DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE
 )
 if(NOT BUILD_SHARED_LIBS)
-  list(APPEND ZENOHC_CMAKE_ARGS "-DZENOHC_LIB_STATIC=TRUE" "-DZENOHC_INSTALL_STATIC_LIBRARY=TRUE")
+  list(APPEND ZENOHC_CMAKE_ARGS "-DZENOHC_INSTALL_STATIC_LIBRARY=TRUE")
 endif()
-set(ZENOH_VERSION "1.0.0.10")
+set(ZENOH_VERSION "release/1.0.0")
 add_cmake_dependency(
-  NAME zenohc URL https://github.com/eclipse-zenoh/zenoh-c/archive/${ZENOH_VERSION}.zip CMAKE_ARGS ${ZENOHC_CMAKE_ARGS}
+  NAME zenohc
+  GIT_REPOSITORY https://github.com/eclipse-zenoh/zenoh-c
+  GIT_TAG ${ZENOH_VERSION}
+  CMAKE_ARGS ${ZENOHC_CMAKE_ARGS}
 )
 
 set(ZENOHCXX_VERSION ${ZENOH_VERSION})
 set(ZENOHCXX_CMAKE_ARGS -DZ_FEATURE_UNSTABLE_API=1 -DZENOHCXX_EXAMPLES_PROTOBUF=OFF)
 add_cmake_dependency(
   NAME zenohcxx
-  DEPENDS ${ZENOHCXX_DEPENDS} URL https://github.com/eclipse-zenoh/zenoh-cpp/archive/${ZENOHCXX_VERSION}.zip
+  DEPENDS ${ZENOHCXX_DEPENDS}
+  GIT_REPOSITORY https://github.com/eclipse-zenoh/zenoh-cpp
+  GIT_TAG ${ZENOHCXX_VERSION}
   CMAKE_ARGS ${ZENOHCXX_CMAKE_ARGS}
 )
 
diff --git a/modules/ipc/src/zenoh/raw_publisher.cpp b/modules/ipc/src/zenoh/raw_publisher.cpp
index c343a176..3aecf7c9 100644
--- a/modules/ipc/src/zenoh/raw_publisher.cpp
+++ b/modules/ipc/src/zenoh/raw_publisher.cpp
@@ -114,9 +114,8 @@ void RawPublisher::enableCache() {
   z_view_keyexpr_t keyexpr;
   z_view_keyexpr_from_str(&keyexpr, topic_config_.name.data());
 
-  const auto result = ze_declare_publication_cache(&cache_publisher_,
-                                                   ::zenoh::interop::as_loaned_c_ptr(session_->zenoh_session),
-                                                   z_loan(keyexpr), &cache_publisher_opts);
+  const auto result = ze_declare_publication_cache(::zenoh::interop::as_loaned_c_ptr(session_->zenoh_session),
+                                                   &cache_publisher_, z_loan(keyexpr), &cache_publisher_opts);
   throwExceptionIf<FailedZenohOperation>(
       result != Z_OK,
       fmt::format("[Publisher {}] failed to enable cache, result {}", topic_config_.name, result));
@@ -140,9 +139,8 @@ void RawPublisher::enableMatchingListener() {
         this->match_cb_(status);
       },
       []() {});
-
-  zc_publisher_matching_listener_declare(&subscriers_listener_,
-                                         ::zenoh::interop::as_loaned_c_ptr(*publisher_), z_move(closure));
+  zc_publisher_declare_matching_listener(::zenoh::interop::as_loaned_c_ptr(*publisher_),
+                                         &subscriers_listener_, z_move(closure));
 }
 
 void RawPublisher::createTypeInfoService() {
diff --git a/modules/ipc/src/zenoh/raw_subscriber.cpp b/modules/ipc/src/zenoh/raw_subscriber.cpp
index 9f8211dd..473c1add 100644
--- a/modules/ipc/src/zenoh/raw_subscriber.cpp
+++ b/modules/ipc/src/zenoh/raw_subscriber.cpp
@@ -76,9 +76,9 @@ RawSubscriber::RawSubscriber(SessionPtr session, TopicConfig topic_config, DataC
 
     auto c_closure = createZenohcClosure(cb, ::zenoh::closures::none);
 
-    const auto result = ze_declare_querying_subscriber(
-        &cache_subscriber_, ::zenoh::interop::as_loaned_c_ptr(session_->zenoh_session), z_loan(keyexpr),
-        z_move(c_closure), &sub_opts);
+    const auto result =
+        ze_declare_querying_subscriber(::zenoh::interop::as_loaned_c_ptr(session_->zenoh_session),
+                                       &cache_subscriber_, z_loan(keyexpr), z_move(c_closure), &sub_opts);
 
     heph::throwExceptionIf<heph::FailedZenohOperation>(
         result != Z_OK,