Renaming: activate -> announce_route

eclipse-zenoh · Jan 20, 2024 · 6faf70c · 6faf70c
1 parent 42b02b8
commit 6faf70c
Show file tree

Hide file tree

Showing 6 changed files with 38 additions and 26 deletions.
diff --git a/zenoh-plugin-ros2dds/src/route_action_cli.rs b/zenoh-plugin-ros2dds/src/route_action_cli.rs
@@ -154,7 +154,8 @@ impl RouteActionCli<'_> {
         })
     }
 
-    async fn activate(&mut self) -> Result<(), String> {
+    // Announce the route over Zenoh via a LivelinessToken
+    async fn announce_route(&mut self) -> Result<(), String> {
         self.is_active = true;
 
         // create associated LivelinessToken
@@ -163,6 +164,7 @@ impl RouteActionCli<'_> {
             &self.zenoh_key_expr_prefix,
             &self.ros2_type,
         )?;
+        log::debug!("{self} announce via token {liveliness_ke}");
         let ros2_name = self.ros2_name.clone();
         self.liveliness_token = Some(self.context.zsession
             .liveliness()
@@ -178,8 +180,9 @@ impl RouteActionCli<'_> {
         Ok(())
     }
 
-    fn deactivate(&mut self) {
-        log::debug!("{self} deactivate");
+    // Retire the route over Zenoh removing the LivelinessToken
+    fn retire_route(&mut self) {
+        log::debug!("{self} retire");
         // Drop Zenoh Publisher and Liveliness token
         // The DDS Writer remains to be discovered by local ROS nodes
         self.is_active = false;
@@ -256,7 +259,7 @@ impl RouteActionCli<'_> {
         log::debug!("{self} now serving local nodes {:?}", self.local_nodes);
         // if 1st local node added, activate the route
         if self.local_nodes.len() == 1 {
-            if let Err(e) = self.activate().await {
+            if let Err(e) = self.announce_route().await {
                 log::error!("{self} activation failed: {e}");
             }
         }
@@ -274,7 +277,7 @@ impl RouteActionCli<'_> {
         log::debug!("{self} now serving local nodes {:?}", self.local_nodes);
         // if last local node removed, deactivate the route
         if self.local_nodes.is_empty() {
-            self.deactivate();
+            self.retire_route();
         }
     }
 

diff --git a/zenoh-plugin-ros2dds/src/route_action_srv.rs b/zenoh-plugin-ros2dds/src/route_action_srv.rs
@@ -140,7 +140,8 @@ impl RouteActionSrv<'_> {
         })
     }
 
-    async fn activate(&mut self) -> Result<(), String> {
+    // Announce the route over Zenoh via a LivelinessToken
+    async fn announce_route(&mut self) -> Result<(), String> {
         self.is_active = true;
 
         // create associated LivelinessToken
@@ -149,6 +150,7 @@ impl RouteActionSrv<'_> {
             &self.zenoh_key_expr_prefix,
             &self.ros2_type,
         )?;
+        log::debug!("{self} announce via token {liveliness_ke}");
         let ros2_name = self.ros2_name.clone();
         self.liveliness_token = Some(self.context.zsession
             .liveliness()
@@ -164,8 +166,9 @@ impl RouteActionSrv<'_> {
         Ok(())
     }
 
-    fn deactivate(&mut self) {
-        log::debug!("{self} deactivate");
+    // Retire the route over Zenoh removing the LivelinessToken
+    fn retire_route(&mut self) {
+        log::debug!("{self} retire");
         // Drop Zenoh Publisher and Liveliness token
         // The DDS Writer remains to be discovered by local ROS nodes
         self.is_active = false;
@@ -242,7 +245,7 @@ impl RouteActionSrv<'_> {
         log::debug!("{self} now serving local nodes {:?}", self.local_nodes);
         // if 1st local node added, activate the route
         if self.local_nodes.len() == 1 {
-            if let Err(e) = self.activate().await {
+            if let Err(e) = self.announce_route().await {
                 log::error!("{self} activation failed: {e}");
             }
         }
@@ -260,7 +263,7 @@ impl RouteActionSrv<'_> {
         log::debug!("{self} now serving local nodes {:?}", self.local_nodes);
         // if last local node removed, deactivate the route
         if self.local_nodes.is_empty() {
-            self.deactivate();
+            self.retire_route();
         }
     }
 

diff --git a/zenoh-plugin-ros2dds/src/route_publisher.rs b/zenoh-plugin-ros2dds/src/route_publisher.rs
@@ -248,8 +248,6 @@ impl RoutePublisher<'_> {
                 .map_err(|e| format!("Failed to lisetn of matchibng status changes: {e}",))?
         };
 
-        // Ok(route)
-
         Ok(RoutePublisher {
             ros2_name,
             ros2_type,

diff --git a/zenoh-plugin-ros2dds/src/route_service_cli.rs b/zenoh-plugin-ros2dds/src/route_service_cli.rs
@@ -190,7 +190,8 @@ impl RouteServiceCli<'_> {
         })
     }
 
-    async fn activate(&mut self) -> Result<(), String> {
+    // Announce the route over Zenoh via a LivelinessToken
+    async fn announce_route(&mut self) -> Result<(), String> {
         self.is_active = true;
 
         // if not for an Action (since actions declare their own liveliness)
@@ -201,6 +202,7 @@ impl RouteServiceCli<'_> {
                 &self.zenoh_key_expr,
                 &self.ros2_type,
             )?;
+            log::debug!("{self} announce via token {liveliness_ke}");
             let ros2_name = self.ros2_name.clone();
             self.liveliness_token = Some(self.context.zsession
                 .liveliness()
@@ -217,8 +219,9 @@ impl RouteServiceCli<'_> {
         Ok(())
     }
 
-    fn deactivate(&mut self) {
-        log::debug!("{self} deactivate");
+    // Retire the route over Zenoh removing the LivelinessToken
+    fn retire_route(&mut self) {
+        log::debug!("{self} retire");
         // Drop Zenoh Publisher and Liveliness token
         // The DDS Writer remains to be discovered by local ROS nodes
         self.is_active = false;
@@ -250,7 +253,7 @@ impl RouteServiceCli<'_> {
         log::debug!("{self} now serving local nodes {:?}", self.local_nodes);
         // if 1st local node added, activate the route
         if self.local_nodes.len() == 1 {
-            if let Err(e) = self.activate().await {
+            if let Err(e) = self.announce_route().await {
                 log::error!("{self} activation failed: {e}");
             }
         }
@@ -262,7 +265,7 @@ impl RouteServiceCli<'_> {
         log::debug!("{self} now serving local nodes {:?}", self.local_nodes);
         // if last local node removed, deactivate the route
         if self.local_nodes.is_empty() {
-            self.deactivate();
+            self.retire_route();
         }
     }
 

diff --git a/zenoh-plugin-ros2dds/src/route_service_srv.rs b/zenoh-plugin-ros2dds/src/route_service_srv.rs
@@ -207,7 +207,8 @@ impl RouteServiceSrv<'_> {
         })
     }
 
-    async fn activate(&mut self) -> Result<(), String> {
+    // Announce the route over Zenoh via a LivelinessToken
+    async fn announce_route(&mut self) -> Result<(), String> {
         // For lifetime issue, redeclare the zenoh key expression that can't be stored in Self
         let declared_ke = self
             .context
@@ -262,6 +263,7 @@ impl RouteServiceSrv<'_> {
                 &self.zenoh_key_expr,
                 &self.ros2_type,
             )?;
+            log::debug!("{self} announce via token {liveliness_ke}");
             let ros2_name = self.ros2_name.clone();
             self.liveliness_token = Some(self.context.zsession
                 .liveliness()
@@ -278,8 +280,9 @@ impl RouteServiceSrv<'_> {
         Ok(())
     }
 
-    fn deactivate(&mut self) {
-        log::debug!("{self} deactivate");
+    // Retire the route over Zenoh removing the LivelinessToken
+    fn retire_route(&mut self) {
+        log::debug!("{self} retire");
         // Drop Zenoh Publisher and Liveliness token
         // The DDS Writer remains to be discovered by local ROS nodes
         self.zenoh_queryable = None;
@@ -311,7 +314,7 @@ impl RouteServiceSrv<'_> {
         log::debug!("{self} now serving local nodes {:?}", self.local_nodes);
         // if 1st local node added, activate the route
         if self.local_nodes.len() == 1 {
-            if let Err(e) = self.activate().await {
+            if let Err(e) = self.announce_route().await {
                 log::error!("{self} activation failed: {e}");
             }
         }
@@ -323,7 +326,7 @@ impl RouteServiceSrv<'_> {
         log::debug!("{self} now serving local nodes {:?}", self.local_nodes);
         // if last local node removed, deactivate the route
         if self.local_nodes.is_empty() {
-            self.deactivate();
+            self.retire_route();
         }
     }
 

diff --git a/zenoh-plugin-ros2dds/src/route_subscriber.rs b/zenoh-plugin-ros2dds/src/route_subscriber.rs
@@ -160,7 +160,8 @@ impl RouteSubscriber<'_> {
         })
     }
 
-    async fn activate(&mut self, discovered_reader_qos: &Qos) -> Result<(), String> {
+    // Announce the route over Zenoh via a LivelinessToken
+    async fn announce_route(&mut self, discovered_reader_qos: &Qos) -> Result<(), String> {
         log::debug!("{self} activate");
         // Callback routing message received by Zenoh subscriber to DDS Writer (if set)
         let ros2_name = self.ros2_name.clone();
@@ -232,7 +233,8 @@ impl RouteSubscriber<'_> {
         Ok(())
     }
 
-    fn deactivate(&mut self) {
+    // Retire the route over Zenoh removing the LivelinessToken
+    fn retire_route(&mut self) {
         log::debug!("{self} deactivate");
         // Drop Zenoh Subscriber and Liveliness token
         // The DDS Writer remains to be discovered by local ROS nodes
@@ -306,7 +308,7 @@ impl RouteSubscriber<'_> {
         log::debug!("{self} now serving local nodes {:?}", self.local_nodes);
         // if 1st local node added, activate the route
         if self.local_nodes.len() == 1 {
-            if let Err(e) = self.activate(discovered_reader_qos).await {
+            if let Err(e) = self.announce_route(discovered_reader_qos).await {
                 log::error!("{self} activation failed: {e}");
             }
         }
@@ -318,7 +320,7 @@ impl RouteSubscriber<'_> {
         log::debug!("{self} now serving local nodes {:?}", self.local_nodes);
         // if last local node removed, deactivate the route
         if self.local_nodes.is_empty() {
-            self.deactivate();
+            self.retire_route();
         }
     }