Generate default Zenoh config from dds_topics.yaml

For easy transition from uxrce to zenoh and a sane base config to begin with

src/modules/zenoh/CMakeLists.txt

@@ -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

src/modules/zenoh/default_topics.c.em

@@ -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]@
+;

src/modules/zenoh/zenoh.cpp

@@ -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);
 

src/modules/zenoh/zenoh_config.cpp

@@ -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);