Bump zenoh to 1.8.0 - 2nd attempt (#964)

* chore(zenoh_cpp_vendor): bump to latest zenoh-c and zenoh-cpp

- zenoh-c main: 102df1a3 (2026-04-10)
- zenoh-c ROS/rust-1.75: 0193595c (2026-04-07)
- zenoh-cpp main: af381b42 (2026-04-10)

* fix: close session explicitly in shutdown() to prevent hang on Windows

zenoh commit e5db0ce changed session.close() to call wait_callbacks(),
which blocks until all in-flight callbacks finish. With the older
teardown order, session_.reset() was called while node-level entities
(publishers, subscriptions, etc.) still held shared_ptr<Session> refs,
so the session wasn't actually destroyed until ~Data() called
nodes_.clear() — at which point wait_callbacks() would deadlock against
callbacks being concurrently destroyed on Windows.

Fix: call session_->close() explicitly in shutdown() before
session_.reset(). At shutdown time the spin loop has already exited,
so no callbacks are in-flight and wait_callbacks() returns immediately.
The session is then marked closed; when the shared_ptr refcount
eventually drops to zero during normal rcl teardown, the session
destructor finds is_closed()==true and skips the blocking close().

* chore(zenoh_cpp_vendor): restore get_cargo_version.cmake from #945

Extract cargo version detection into a reusable CMake function instead
of inlining execute_process, matching the approach from PR #945.

* fix: disable ANSI color codes in Zenoh log output (#951)

Set RUST_LOG_STYLE=never before initializing the Zenoh logger so that
color escape sequences do not leak into captured command output. This
fixes YAML parsing failures in ros2param tests where the ESC character
was treated as an unacceptable character.

The env var is set with overwrite=0 so callers can still override it.

* Use zenoh-c commits for Zenoh 1.8.0 + #2493

* Fix synchronization due to changes in undeclare in zenoh 1.8.0

This commit re-applies changes made in #935 , while keeping the explicit call to session_.close() added in rmw_context_impl_s::shutdown()

* Use zenoh 2687c5135

eclipse-zenoh/zenoh@2687c51

from branch https://github.com/eclipse-zenoh/zenoh/tree/suppress-admin-err-message-on-session-close

based on 1.8.0 plus few fixes, including removal of a error log at closure causing failure of a ros2cli test

* revert disable ANSI color codes in Zenoh log output

---------

Co-authored-by: Julien Enoch <julien.e@zettascale.tech>

Author: YuanYuYuan

rmw_zenoh_cpp/src/detail/rmw_client_data.cpp

@@ -210,18 +210,16 @@ ClientData::ClientData(
 ///=============================================================================
 liveliness::TopicInfo ClientData::topic_info() const
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
   return entity_->topic_info().value();
 }
 
 ///=============================================================================
 bool ClientData::liveliness_is_valid() const
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
   // The z_check function is now internal in zenoh-1.0.0 so we assume
   // the liveliness token is still initialized as long as this entity has
   // not been shutdown.
-  return !is_shutdown_;
+  return !is_shutdown_.load(std::memory_order_acquire);
 }
 
 ///=============================================================================
@@ -233,7 +231,7 @@ std::array<uint8_t, RMW_GID_STORAGE_SIZE> ClientData::copy_gid() const
 ///=============================================================================
 void ClientData::add_new_reply(std::unique_ptr<ZenohReply> reply)
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   const rmw_qos_profile_t adapted_qos_profile =
     entity_->topic_info().value().qos_;
   if (adapted_qos_profile.history != RMW_QOS_POLICY_HISTORY_KEEP_ALL &&
@@ -265,10 +263,10 @@ rmw_ret_t ClientData::take_response(
   void * ros_response,
   bool * taken)
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   *taken = false;
 
-  if (is_shutdown_ || reply_queue_.empty()) {
+  if (this->is_shutdown() || reply_queue_.empty()) {
     // This tells rcl that the check for a new message was done, but no messages have come in yet.
     return RMW_RET_OK;
   }
@@ -342,8 +340,8 @@ rmw_ret_t ClientData::send_request(
   const void * ros_request,
   int64_t * sequence_id)
 {
-  std::unique_lock<std::recursive_mutex> lock(mutex_);
-  if (is_shutdown_) {
+  std::unique_lock<std::mutex> lock(mutex_);
+  if (this->is_shutdown()) {
     return RMW_RET_OK;
   }
 
@@ -482,15 +480,15 @@ void ClientData::set_on_new_response_callback(
   rmw_event_callback_t callback,
   const void * user_data)
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   data_callback_mgr_.set_callback(user_data, std::move(callback));
 }
 
 ///=============================================================================
 bool ClientData::queue_has_data_and_attach_condition_if_not(
   rmw_wait_set_data_t * wait_set_data)
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   if (!reply_queue_.empty()) {
     return true;
   }
@@ -502,7 +500,7 @@ bool ClientData::queue_has_data_and_attach_condition_if_not(
 ///=============================================================================
 bool ClientData::detach_condition_and_queue_is_empty()
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
+  std::lock_guard<std::mutex> lock(mutex_);
   wait_set_data_ = nullptr;
 
   return reply_queue_.empty();
@@ -511,8 +509,10 @@ bool ClientData::detach_condition_and_queue_is_empty()
 ///=============================================================================
 rmw_ret_t ClientData::shutdown()
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
-  if (is_shutdown_) {
+  bool expected = false;
+  if (!is_shutdown_.compare_exchange_strong(expected, true, std::memory_order_acq_rel,
+      std::memory_order_relaxed))
+  {
     return RMW_RET_OK;
   }
 
@@ -536,16 +536,12 @@ rmw_ret_t ClientData::shutdown()
     return RMW_RET_ERROR;
   }
 
-  sess_.reset();
-  is_shutdown_ = true;
-
   return RMW_RET_OK;
 }
 
 ///=============================================================================
 bool ClientData::is_shutdown() const
 {
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
-  return is_shutdown_;
+  return is_shutdown_.load(std::memory_order_acquire);
 }
 }  // namespace rmw_zenoh_cpp

rmw_zenoh_cpp/src/detail/rmw_client_data.hpp

@@ -16,6 +16,7 @@
 #define DETAIL__RMW_CLIENT_DATA_HPP_
 
 #include <array>
+#include <atomic>
 #include <cstddef>
 #include <cstdint>
 #include <deque>
@@ -93,9 +94,6 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
   // Detach any attached wait set condition variable, and return whether there is data in the queue.
   bool detach_condition_and_queue_is_empty();
 
-  // Shutdown this ClientData.
-  rmw_ret_t shutdown();
-
   // Check if this ClientData is shutdown.
   bool is_shutdown() const;
 
@@ -115,8 +113,11 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
     std::shared_ptr<RequestTypeSupport> request_type_support,
     std::shared_ptr<ResponseTypeSupport> response_type_support);
 
+  // Shutdown this ClientData.
+  rmw_ret_t shutdown();
+
   // Internal mutex.
-  mutable std::recursive_mutex mutex_;
+  mutable std::mutex mutex_;
   // The parent node.
   const rmw_node_t * rmw_node_;
   // The rmw client.
@@ -143,7 +144,7 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
   // Sequence number for queries.
   size_t sequence_number_;
   // Shutdown flag.
-  bool is_shutdown_;
+  std::atomic<bool> is_shutdown_;
   // Whether the object has ever successfully been initialized.
   bool initialized_;
 };