From 64e9830b2cd8fdfe8e0ad9d8a9333cf8395b0f28 Mon Sep 17 00:00:00 2001
From: Geoff Martin <geoff.martin@zettascale.tech>
Date: Thu, 3 Oct 2024 08:26:51 +0100
Subject: [PATCH] Updated Zenoh subscriber and queryable declarations to
 undeclare entities when references are dropped. (#173)

---
 zenoh-plugin-ros1/examples/ros1_pub.rs                         | 1 +
 zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_declaration.rs | 1 +
 zenoh-plugin-ros1/src/ros_to_zenoh_bridge/zenoh_client.rs      | 2 ++
 zenoh-plugin-ros1/tests/aloha_declaration_test.rs              | 1 +
 4 files changed, 5 insertions(+)

diff --git a/zenoh-plugin-ros1/examples/ros1_pub.rs b/zenoh-plugin-ros1/examples/ros1_pub.rs
index b3883d0..23357a7 100644
--- a/zenoh-plugin-ros1/examples/ros1_pub.rs
+++ b/zenoh-plugin-ros1/examples/ros1_pub.rs
@@ -60,6 +60,7 @@ async fn main() {
     let zenoh_subscriber = zenoh_session
         .declare_subscriber("some/ros/topic")
         .callback(|data| println!("Zenoh Subscriber: got data!"))
+        .undeclare_on_drop(true)
         .await
         .unwrap();
     println!(" OK!");
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_declaration.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_declaration.rs
index 05a7913..0ba7f63 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_declaration.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_declaration.rs
@@ -68,6 +68,7 @@ impl AlohaDeclaration {
             .callback(move |_| {
                 rb.fetch_add(1, std::sync::atomic::Ordering::SeqCst);
             })
+            .undeclare_on_drop(true)
             .await
             .unwrap();
 
diff --git a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/zenoh_client.rs b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/zenoh_client.rs
index 3890be9..fbfaba2 100644
--- a/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/zenoh_client.rs
+++ b/zenoh-plugin-ros1/src/ros_to_zenoh_bridge/zenoh_client.rs
@@ -48,6 +48,7 @@ impl ZenohClient {
         self.session
             .declare_subscriber(key_expr)
             .callback(callback)
+            .undeclare_on_drop(true)
             .allowed_origin(Locality::Remote)
             .await
     }
@@ -86,6 +87,7 @@ impl ZenohClient {
             .declare_queryable(key_expr)
             .allowed_origin(Locality::Remote)
             .callback(callback)
+            .undeclare_on_drop(true)
             .await
     }
 
diff --git a/zenoh-plugin-ros1/tests/aloha_declaration_test.rs b/zenoh-plugin-ros1/tests/aloha_declaration_test.rs
index 2bf6897..4dba8e0 100644
--- a/zenoh-plugin-ros1/tests/aloha_declaration_test.rs
+++ b/zenoh-plugin-ros1/tests/aloha_declaration_test.rs
@@ -110,6 +110,7 @@ impl PPCMeasurement {
             .callback(move |_val| {
                 p.fetch_add(1, std::sync::atomic::Ordering::SeqCst);
             })
+            .undeclare_on_drop(true)
             .await?;
 
         Ok(Self {