Switch to std::map for TopicTypeMap

.github/workflows/style.yaml

@@ -19,6 +19,6 @@ jobs:
     steps:
     - uses: actions/checkout@v4
     - name: uncrustify
-      run: /ros_entrypoint.sh ament_uncrustify rmw_zenoh_cpp/ --exclude rmw_zenoh_cpp/src/detail/ordered_hash.hpp rmw_zenoh_cpp/src/detail/ordered_map.hpp
+      run: /ros_entrypoint.sh ament_uncrustify rmw_zenoh_cpp/
     - name: cpplint
-      run: /ros_entrypoint.sh ament_cpplint rmw_zenoh_cpp/ --exclude rmw_zenoh_cpp/src/detail/ordered_hash.hpp rmw_zenoh_cpp/src/detail/ordered_map.hpp
+      run: /ros_entrypoint.sh ament_cpplint rmw_zenoh_cpp/

rmw_zenoh_cpp/CMakeLists.txt

@@ -94,12 +94,10 @@ if(BUILD_TESTING)
   find_package(ament_cmake_uncrustify REQUIRED)
   find_package(ament_cmake_xmllint REQUIRED)
 
-  set(_linter_excludes src/detail/ordered_hash.hpp src/detail/ordered_map.hpp)
-
   ament_copyright(EXCLUDE src/detail/simplified_xxhash3.cpp src/detail/simplified_xxhash3.hpp)
-  ament_cpplint(EXCLUDE ${_linter_excludes})
+  ament_cpplint()
   ament_lint_cmake()
-  ament_uncrustify(EXCLUDE ${_linter_excludes})
+  ament_uncrustify()
   ament_xmllint()
 endif()
 

rmw_zenoh_cpp/package.xml

@@ -7,7 +7,6 @@
   <maintainer email="[email protected]">Yadunund</maintainer>
 
   <license>Apache License 2.0</license>
-  <license>MIT</license>  <!-- for ordered_{map,hash}.hpp -->
   <license>BSD</license>  <!-- for simplified_xxhash3.{cpp,hpp} -->
 
   <author email="[email protected]">Chris Lalancette</author>

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -157,11 +157,11 @@ void GraphCache::update_topic_map_for_put(
     return;
   }
   // The topic exists in the topic_map so we check if the type also exists.
-  GraphNode::TopicTypeMap::iterator topic_type_map_it = topic_map_it.value().find(
+  GraphNode::TopicTypeMap::iterator topic_type_map_it = topic_map_it->second.find(
     graph_topic_data->info_.type_);
   if (topic_type_map_it == topic_map_it->second.end()) {
     // First time this topic type is added.
-    topic_map_it.value().insert(
+    topic_map_it->second.insert(
       std::make_pair(
         graph_topic_data->info_.type_,
         std::move(topic_qos_map)));
@@ -445,7 +445,7 @@ void GraphCache::update_topic_map_for_del(
   }
 
   GraphNode::TopicTypeMap::iterator cache_topic_type_it =
-    cache_topic_it.value().find(topic_info.type_);
+    cache_topic_it->second.find(topic_info.type_);
   if (cache_topic_type_it == cache_topic_it->second.end()) {
     // If an entity is short-lived, it is possible to receive the liveliness token
     // for its deletion before the one for its creation given that Zenoh does not
@@ -490,7 +490,7 @@ void GraphCache::update_topic_map_for_del(
   }
   // If the type does not have any qos entries, erase it from the type map.
   if (cache_topic_type_it->second.empty()) {
-    cache_topic_it.value().erase(cache_topic_type_it);
+    cache_topic_it->second.erase(cache_topic_type_it);
   }
   // If the topic does not have any TopicData entries, erase the topic from the map.
   if (cache_topic_it->second.empty()) {
@@ -770,7 +770,7 @@ rmw_ret_t fill_names_and_types(
     });
   // Fill topic names and types.
   std::size_t index = 0;
-  for (const std::pair<std::string, GraphNode::TopicTypeMap> & item : entity_map) {
+  for (const std::pair<const std::string, GraphNode::TopicTypeMap> & item : entity_map) {
     names_and_types->names.data[index] = rcutils_strdup(item.first.c_str(), *allocator);
     if (!names_and_types->names.data[index]) {
       return RMW_RET_BAD_ALLOC;

rmw_zenoh_cpp/src/detail/graph_cache.hpp

@@ -27,7 +27,6 @@
 
 #include "event.hpp"
 #include "liveliness_utils.hpp"
-#include "ordered_map.hpp"
 
 #include "rcutils/allocator.h"
 #include "rcutils/types.h"
@@ -83,9 +82,9 @@ struct GraphNode
   // Map topic type to QoSMap
   using TopicTypeMap = std::unordered_map<std::string, TopicQoSMap>;
   // Map topic name to TopicTypeMap
-  // This uses a map that remembers insertion order because some parts of the client libraries
-  // expect that these are returned in the order that they were created.
-  using TopicMap = tsl::ordered_map<std::string, TopicTypeMap>;
+  // This uses a map that sort element by name because some parts of the client libraries
+  // expect that these are returned in alphabetical order.
+  using TopicMap = std::map<std::string, TopicTypeMap>;
 
   // Entries for pub/sub.
   TopicMap pubs_ = {};