Cleanup of bridge args and code (clippy warnings)

DEFAULT_CONFIG.json5

@@ -27,7 +27,7 @@
       //// nodename: A ROS node name to be used by this bridge.
       ////            Default: "zenoh_bridge_ros2dds"
       ////
-      // namespace: "zenoh_bridge_ros2dds",
+      // nodename: "zenoh_bridge_ros2dds",
 
       ////
       //// domain: The DDS Domain ID. By default set to 0, or to "$ROS_DOMAIN_ID" is this environment variable is defined.
@@ -76,7 +76,7 @@
       // },
 
       ////
-      //// pub_max_frequencies: Specifies a list of maximum frequency of messages routing over zenoh for a set of topics.
+      //// pub_max_frequencies: Specifies a list of maximum frequency of publications routing over zenoh for a set of Publishers.
       ////                      The strings must have the format "<regex>=<float>":
       ////                      - "regex" is a regular expression matching a Publisher interface name
       ////                      - "float" is the maximum frequency in Hertz;

zenoh-bridge-ros2dds/src/main.rs

@@ -1,4 +1,3 @@
-use async_liveliness_monitor::LivelinessMonitor;
 //
 // Copyright (c) 2022 ZettaScale Technology
 //
@@ -12,6 +11,7 @@ use async_liveliness_monitor::LivelinessMonitor;
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
 //
+use async_liveliness_monitor::LivelinessMonitor;
 use clap::{App, Arg};
 use std::time::{Duration, SystemTime};
 use zenoh::config::{Config, ModeDependentValue};
@@ -47,41 +47,41 @@ fn parse_args() -> (Config, Option<f32>) {
         // zenoh related arguments:
         //
         .arg(Arg::from_usage(
-r#"-i, --id=[HEX_STRING] \
+r"-i, --id=[HEX_STRING] \
 'The identifier (as an hexadecimal string, with odd number of chars - e.g.: 0A0B23...) that zenohd must use.
 WARNING: this identifier must be unique in the system and must be 16 bytes maximum (32 chars)!
-If not set, a random UUIDv4 will be used.'"#,
+If not set, a random UUIDv4 will be used.'"
             ))
         .arg(Arg::from_usage(
-r#"-m, --mode=[MODE]  'The zenoh session mode.'"#)
+r"-m, --mode=[MODE]  'The zenoh session mode.'")
             .possible_values(["peer", "client"])
             .default_value("peer")
         )
         .arg(Arg::from_usage(
-r#"-c, --config=[FILE] \
-'The configuration file. Currently, this file must be a valid JSON5 file.'"#,
+r"-c, --config=[FILE] \
+'The configuration file. Currently, this file must be a valid JSON5 file.'"
             ))
         .arg(Arg::from_usage(
-r#"-l, --listen=[ENDPOINT]... \
+r"-l, --listen=[ENDPOINT]... \
 'A locator on which this router will listen for incoming sessions.
-Repeat this option to open several listeners.'"#,
+Repeat this option to open several listeners.'"
                 ),
             )
         .arg(Arg::from_usage(
-r#"-e, --connect=[ENDPOINT]... \
+r"-e, --connect=[ENDPOINT]... \
 'A peer locator this router will try to connect to.
-Repeat this option to connect to several peers.'"#,
+Repeat this option to connect to several peers.'"
             ))
         .arg(Arg::from_usage(
-r#"--no-multicast-scouting \
+r"--no-multicast-scouting \
 'By default the zenoh bridge listens and replies to UDP multicast scouting messages for being discovered by peers and routers.
-This option disables this feature.'"#
+This option disables this feature.'"
         ))
         .arg(Arg::from_usage(
-r#"--rest-http-port=[PORT | IP:PORT] \
+r"--rest-http-port=[PORT | IP:PORT] \
 'Configures HTTP interface for the REST API (disabled by default, setting this option enables it). Accepted values:'
   - a port number
-  - a string with format `<local_ip>:<port_number>` (to bind the HTTP server to a specific interface)."#
+  - a string with format `<local_ip>:<port_number>` (to bind the HTTP server to a specific interface)."
         ))
         //
         // DDS related arguments:
@@ -111,35 +111,13 @@ This option is not active by default, unless the "ROS_LOCALHOST_ONLY" environmen
 
     app = app
         .arg(Arg::from_usage(
-r#"-a, --allow=[String]...   'A regular expression matching the set of 'partition/topic-name' that must be routed via zenoh. By default, all partitions and topics are allowed.
-If both '--allow' and '--deny' are set a partition and/or topic will be allowed if it matches only the 'allow' expression.
-Repeat this option to configure several topic expressions. These expressions are concatenated with '|'.
-Examples of expressions: '.*/TopicA', 'Partition-?/.*', 'cmd_vel|rosout'...'"#
-        ))
-        .arg(Arg::from_usage(
-r#"--deny=[String]...   'A regular expression matching the set of 'partition/topic-name' that must not be routed via zenoh. By default, no partitions and no topics are denied.
-If both '--allow' and '--deny' are set a partition and/or topic will be allowed if it matches only the 'allow' expression.
-Repeat this option to configure several topic expressions. These expressions are concatenated with '|'.
-Examples of expressions: '.*/TopicA', 'Partition-?/.*', 'cmd_vel|rosout'...'"#
-        ))
-        .arg(Arg::from_usage(
-r#"--max-frequency=[String]...   'Specifies a maximum frequency of data routing over zenoh for a set of topics. The string must have the format "<regex>=<float>":
-  - "regex" is a regular expression matching the set of 'partition/topic-name' (same syntax than --allow option)
-    for which the data (per DDS instance) must be routed at no higher rate than the specified max frequency.
+r#"--pub-max-frequency=[String]...   'Specifies a maximum frequency of publications routing over zenoh for a set of Publishers.
+  The string must have the format "<regex>=<float>":
+  - "regex" is a regular expression matching a Publisher interface name
   - "float" is the maximum frequency in Hertz; if publication rate is higher, downsampling will occur when routing.
 Repeat this option to configure several topics expressions with a max frequency.'"#
         ))
         .arg(Arg::from_usage(
-r#"-r, --generalise-sub=[String]...   'A list of key expression to use for generalising subscriptions (usable multiple times).'"#
-        ))
-        .arg(Arg::from_usage(
-r#"-w, --generalise-pub=[String]...   'A list of key expression to use for generalising publications (usable multiple times).'"#
-        ))
-        .arg(Arg::from_usage(
-r#"-f, --fwd-discovery   'When set, rather than creating a local route when discovering a local DDS entity, this discovery info is forwarded to the remote plugins/bridges. Those will create the routes, including a replica of the discovered entity.'"#
-            ).alias("forward-discovery")
-        )
-        .arg(Arg::from_usage(
 r#"--queries-timeout=[float]... 'A float in seconds (default: 5.0 sec) that will be used as a timeout when the bridge
 queries any other remote bridge for discovery information and for historical data for TRANSIENT_LOCAL DDS Readers it serves
 (i.e. if the query to the remote bridge exceed the timeout, some historical samples might be not routed to the Readers, but the route will not be blocked forever)."#
@@ -201,11 +179,7 @@ r#"--watchdog=[PERIOD]   'Experimental!! Run a watchdog thread that monitors the
     {
         insert_json5!(config, args, "plugins/ros2/shm_enabled", if "dds-enable-shm");
     }
-    insert_json5!(config, args, "plugins/ros2/allow", for "allow", .collect::<Vec<_>>());
-    insert_json5!(config, args, "plugins/ros2/deny", for "deny", .collect::<Vec::<_>>());
-    insert_json5!(config, args, "plugins/ros2/max_frequencies", for "max-frequency", .collect::<Vec<_>>());
-    insert_json5!(config, args, "plugins/ros2/generalise_pubs", for "generalise-pub", .collect::<Vec<_>>());
-    insert_json5!(config, args, "plugins/ros2/generalise_subs", for "generalise-sub", .collect::<Vec<_>>());
+    insert_json5!(config, args, "plugins/ros2/pub_max_frequencies", for "pub-max-frequency", .collect::<Vec<_>>());
     insert_json5!(config, args, "plugins/ros2/queries_timeout", if "queries-timeout", .parse::<f64>().unwrap());
 
     let watchdog_period = if args.is_present("watchdog") {

zenoh-plugin-ros2dds/src/dds_discovery.rs

@@ -18,7 +18,6 @@ use serde::{Deserialize, Serialize};
 use std::ffi::CStr;
 use std::fmt;
 use std::mem::MaybeUninit;
-use std::os::raw;
 use std::sync::Arc;
 
 use crate::dds_types::TypeInfo;
@@ -80,14 +79,14 @@ unsafe extern "C" fn on_data(dr: dds_entity_t, arg: *mut std::os::raw::c_void) {
     let _ = dds_get_instance_handle(dp, &mut dpih);
 
     #[allow(clippy::uninit_assumed_init)]
-    let mut si = MaybeUninit::<[dds_sample_info_t; MAX_SAMPLES as usize]>::uninit();
-    let mut samples: [*mut ::std::os::raw::c_void; MAX_SAMPLES as usize] =
-        [std::ptr::null_mut(); MAX_SAMPLES as usize];
+    let mut si = MaybeUninit::<[dds_sample_info_t; MAX_SAMPLES]>::uninit();
+    let mut samples: [*mut ::std::os::raw::c_void; MAX_SAMPLES] =
+        [std::ptr::null_mut(); MAX_SAMPLES];
     samples[0] = std::ptr::null_mut();
 
     let n = dds_take(
         dr,
-        samples.as_mut_ptr() as *mut *mut raw::c_void,
+        samples.as_mut_ptr(),
         si.as_mut_ptr() as *mut dds_sample_info_t,
         MAX_SAMPLES,
         MAX_SAMPLES as u32,
@@ -237,11 +236,7 @@ unsafe extern "C" fn on_data(dr: dds_entity_t, arg: *mut std::os::raw::c_void) {
             }
         }
     }
-    dds_return_loan(
-        dr,
-        samples.as_mut_ptr() as *mut *mut raw::c_void,
-        MAX_SAMPLES as i32,
-    );
+    dds_return_loan(dr, samples.as_mut_ptr(), MAX_SAMPLES as i32);
     Box::into_raw(btx);
 }
 

zenoh-plugin-ros2dds/src/dds_utils.rs

@@ -213,7 +213,7 @@ pub fn dds_write(data_writer: dds_entity_t, data: Vec<u8>) -> Result<(), String>
 
 unsafe extern "C" fn listener_to_callback<F>(dr: dds_entity_t, arg: *mut std::os::raw::c_void)
 where
-    F: Fn(&DDSRawSample) -> (),
+    F: Fn(&DDSRawSample),
 {
     let callback = arg as *mut F;
     let mut zp: *mut ddsi_serdata = std::ptr::null_mut();
@@ -237,6 +237,7 @@ where
     }
 }
 
+#[allow(clippy::too_many_arguments)]
 pub fn create_dds_reader<F>(
     dp: dds_entity_t,
     topic_name: String,
@@ -248,7 +249,7 @@ pub fn create_dds_reader<F>(
     callback: F,
 ) -> Result<dds_entity_t, String>
 where
-    F: Fn(&DDSRawSample) -> () + std::marker::Send + 'static,
+    F: Fn(&DDSRawSample) + std::marker::Send + 'static,
 {
     unsafe {
         let t = create_topic(dp, &topic_name, &type_name, type_info, keyless);

zenoh-plugin-ros2dds/src/discovered_entities.rs

@@ -45,26 +45,26 @@ pub struct DiscoveredEntities {
 
 impl Debug for DiscoveredEntities {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
-        write!(
+        writeln!(
             f,
-            "participants: {:?}\n",
+            "participants: {:?}",
             self.participants.keys().collect::<Vec<&Gid>>()
         )?;
-        write!(
+        writeln!(
             f,
-            "writers: {:?}\n",
+            "writers: {:?}",
             self.writers.keys().collect::<Vec<&Gid>>()
         )?;
-        write!(
+        writeln!(
             f,
-            "readers: {:?}\n",
+            "readers: {:?}",
             self.readers.keys().collect::<Vec<&Gid>>()
         )?;
-        write!(f, "ros_participant_info: {:?}\n", self.ros_participant_info)?;
-        write!(f, "nodes_info: {:?}\n", self.nodes_info)?;
-        write!(
+        writeln!(f, "ros_participant_info: {:?}", self.ros_participant_info)?;
+        writeln!(f, "nodes_info: {:?}", self.nodes_info)?;
+        writeln!(
             f,
-            "admin_space: {:?}\n",
+            "admin_space: {:?}",
             self.admin_space.keys().collect::<Vec<&OwnedKeyExpr>>()
         )
     }
@@ -126,8 +126,8 @@ impl DiscoveredEntities {
 
         // Check if this Writer is present in some NodeInfo.undiscovered_writer list
         let mut event: Option<ROS2DiscoveryEvent> = None;
-        for (_, nodes_map) in &mut self.nodes_info {
-            for (_, node) in nodes_map {
+        for nodes_map in self.nodes_info.values_mut() {
+            for node in nodes_map.values_mut() {
                 if let Some(i) = node
                     .undiscovered_writer
                     .iter()
@@ -168,8 +168,8 @@ impl DiscoveredEntities {
             );
 
             // Remove the Writer from any NodeInfo that might use it, possibly leading to a UndiscoveredX event
-            for (_, nodes_map) in &mut self.nodes_info {
-                for (_, node) in nodes_map {
+            for nodes_map in self.nodes_info.values_mut() {
+                for node in nodes_map.values_mut() {
                     if let Some(e) = node.remove_writer(gid) {
                         // A Reader can be used by only 1 Node, no need to go on with loops
                         return Some(e);
@@ -196,8 +196,8 @@ impl DiscoveredEntities {
 
         // Check if this Reader is present in some NodeInfo.undiscovered_reader list
         let mut event = None;
-        for (_, nodes_map) in &mut self.nodes_info {
-            for (_, node) in nodes_map {
+        for nodes_map in self.nodes_info.values_mut() {
+            for node in nodes_map.values_mut() {
                 if let Some(i) = node
                     .undiscovered_reader
                     .iter()
@@ -238,8 +238,8 @@ impl DiscoveredEntities {
             );
 
             // Remove the Reader from any NodeInfo that might use it, possibly leading to a UndiscoveredX event
-            for (_, nodes_map) in &mut self.nodes_info {
-                for (_, node) in nodes_map {
+            for nodes_map in self.nodes_info.values_mut() {
+                for node in nodes_map.values_mut() {
                     if let Some(e) = node.remove_reader(gid) {
                         // A Reader can be used by only 1 Node, no need to go on with loops
                         return Some(e);
@@ -337,7 +337,9 @@ impl DiscoveredEntities {
                     "ROS Node {ros_node_info} declares Reader on {}",
                     entity.topic_name
                 );
-                node.update_with_reader(entity).map(|e| events.push(e));
+                if let Some(e) = node.update_with_reader(entity) {
+                    events.push(e)
+                };
             } else {
                 log::debug!(
                     "ROS Node {ros_node_info} declares a not yet discovered DDS Reader: {rgid}"
@@ -352,7 +354,9 @@ impl DiscoveredEntities {
                     "ROS Node {ros_node_info} declares Writer on {}",
                     entity.topic_name
                 );
-                node.update_with_writer(entity).map(|e| events.push(e));
+                if let Some(e) = node.update_with_writer(entity) {
+                    events.push(e)
+                };
             } else {
                 log::debug!(
                     "ROS Node {ros_node_info} declares a not yet discovered DDS Writer: {wgid}"
@@ -389,8 +393,7 @@ impl DiscoveredEntities {
             EntityRef::Node(gid, name) => self
                 .nodes_info
                 .get(gid)
-                .map(|map| map.get(name))
-                .flatten()
+                .and_then(|map| map.get(name))
                 .map(serde_json::to_value)
                 .transpose(),
         }

zenoh-plugin-ros2dds/src/gid.rs

@@ -93,7 +93,7 @@ impl fmt::Debug for Gid {
         if self == &Gid::NOT_DISCOVERED {
             write!(f, "NOT_DISCOVERED")
         } else {
-            let s = hex::encode(&self.0);
+            let s = hex::encode(self.0);
             write!(f, "{s}")
         }
     }

zenoh-plugin-ros2dds/src/lib.rs

@@ -285,7 +285,7 @@ pub struct ROS2PluginRuntime<'a> {
     participant: dds_entity_t,
     _member: LivelinessToken<'a>,
     plugin_id: OwnedKeyExpr,
-    // admin space: index is the admin_keyexpr (relative to admin_prefix)
+    // admin space: index is the admin_keyexpr
     // value is the JSon string to return to queries.
     admin_space: HashMap<OwnedKeyExpr, AdminRef>,
 }