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Generate default Zenoh config from dds_topics.yaml

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For easy transition from uxrce to zenoh and a sane base config to begin with
This commit is contained in:
Peter van der Perk 2025-05-05 13:39:19 +02:00 committed by Beat Küng
parent bac009c2b8
commit 0763bbe2cf
4 changed files with 53 additions and 6 deletions
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15
src/modules/zenoh/CMakeLists.txt
View File

@ -74,6 +74,19 @@ if(CONFIG_ZENOH_SERIAL)
target_compile_options(zenohpico_static PRIVATE -DZ_LINK_SERIAL)
endif()
add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/default_topics.c
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/../uxrce_dds_client/generate_dds_topics.py
--client-outdir ${CMAKE_CURRENT_BINARY_DIR}
--dds-topics-file ${CMAKE_CURRENT_SOURCE_DIR}/../uxrce_dds_client/dds_topics.yaml
--template_file ${CMAKE_CURRENT_SOURCE_DIR}/default_topics.c.em
DEPENDS
${CMAKE_CURRENT_SOURCE_DIR}/../uxrce_dds_client/generate_dds_topics.py
${CMAKE_CURRENT_SOURCE_DIR}/../uxrce_dds_client/dds_topics.yaml
${CMAKE_CURRENT_SOURCE_DIR}/default_topics.c.em
COMMENT "Generating Default config"
)
add_custom_target(default_topics_config DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/default_topics.c)
px4_add_module(
MODULE modules__zenoh
@ -83,6 +96,7 @@ px4_add_module(
zenoh_config.cpp
publishers/zenoh_publisher.cpp
subscribers/zenoh_subscriber.cpp
${CMAKE_CURRENT_BINARY_DIR}/default_topics.c
MODULE_CONFIG
module.yaml
DEPENDS
@ -92,6 +106,7 @@ px4_add_module(
zenohpico_static
zenoh_topics
git_zenoh-pico
default_topics_config
INCLUDES
${PX4_BINARY_DIR}/msg
zenoh-pico/include

32
src/modules/zenoh/default_topics.c.em Normal file
View File

@ -0,0 +1,32 @@
@###############################################
@#
@# EmPy template
@#
@###############################################
@# Generates default config fore Zenoh
@#
@# Context:
@# - msgs (List) list of all RTPS messages
@# - topics (List) list of all topic names
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
@###############################################
@{
import os
}@
const char* default_pub_config =
@[ for pub in publications]@
"@(pub['topic']);@(pub['simple_base_type'])\n"
@[ end for]@
;
const char* default_sub_config =
@[ for sub in subscriptions]@
"@(sub['topic']);@(sub['simple_base_type'])\n"
@[ end for]@
@[ for sub in subscriptions_multi]@
"@(sub['topic']);@(sub['simple_base_type'])\n"
@[ end for]@
;

5
src/modules/zenoh/zenoh.cpp
View File

@ -113,7 +113,7 @@ int ZENOH::generate_rmw_zenoh_topic_keyexpr(const char *topic, const uint8_t *ri
if (type_name) {
strcpy(type, type_name);
toCamelCase(type); // Convert uORB type to camel case
return snprintf(keyexpr, KEYEXPR_SIZE, "%" PRId32 "/%s/"
return snprintf(keyexpr, KEYEXPR_SIZE, "%" PRId32 "%s/"
KEYEXPR_MSG_NAME "%s_/RIHS01_"
"%02x%02x%02x%02x%02x%02x%02x%02x"
"%02x%02x%02x%02x%02x%02x%02x%02x"
@ -156,7 +156,7 @@ int ZENOH::generate_rmw_zenoh_topic_liveliness_keyexpr(const z_id_t *id, const c
return snprintf(keyexpr, KEYEXPR_SIZE,
"@ros2_lv/%" PRId32 "/"
"%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x/"
"0/11/%s/%%/%%/px4_%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x/%%%s/"
"0/11/%s/%%/%%/px4_%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x/%s/"
KEYEXPR_MSG_NAME "%s_/RIHS01_"
"%02x%02x%02x%02x%02x%02x%02x%02x"
"%02x%02x%02x%02x%02x%02x%02x%02x"
@ -330,7 +330,6 @@ int ZENOH::setupTopics(px4_pollfd_struct_t *pfds)
for (i = 0; i < _pub_count; i++) {
if (_config.getPublisherMapping(topic, type)) {
printf("Index %i ret %i Topic %s Type %s", i, ret, topic, type);
_zenoh_publishers[i] = genPublisher(type);
const uint8_t *rihs_hash = getRIHS01_Hash(type);

7
src/modules/zenoh/zenoh_config.cpp
View File

@ -51,8 +51,10 @@
const char *default_net_config = Z_CONFIG_MODE_DEFAULT ";" CONFIG_ZENOH_DEFAULT_LOCATOR;
const char *default_pub_config = "";
const char *default_sub_config = ""; //TODO maybe use YAML
// Default config generated from default_topics.c.em and dds_topics.yaml
extern const char *default_pub_config;
extern const char *default_sub_config;
Zenoh_Config::Zenoh_Config()
@ -285,7 +287,6 @@ int Zenoh_Config::getPubSubMapping(char *topic, char *type, const char *filename
if (fp_mapping) {
while (fgets(buffer, MAX_LINE_SIZE, fp_mapping) != NULL) {
printf("getPubSubMapping %s", buffer);
if (buffer[0] != '\n') {
const char *config_type = get_csv_field(buffer, 2);