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Fix NuttX keepalive socketoption

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Peter van der Perk 2025-04-13 12:33:58 +02:00 committed by Beat Küng
parent e052f35664
commit 3d30eaae5f
2 changed files with 11 additions and 12 deletions
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9
src/modules/zenoh/CMakeLists.txt
View File

@ -42,12 +42,11 @@ set(BUILD_SHARED_LIBS OFF)
set(BUILD_TESTING OFF)
set(CHECK_THREADS NO)
set(MESSAGE_QUIET ON)
set(ZENOH_DEBUG ${CONFIG_ZENOH_DEBUG})
set(ZENOH_DEBUG ${CONFIG_ZENOH_DEBUG} CACHE STRING "Debug print level" FORCE)
set(PICO_STATIC ON)
set(Z_FEATURE_TCP_NODELAY 0)
set(Z_FEATURE_MATCHING 0)
#set(Z_FEATURE_BATCHING 0)
#set(Z_FEATURE_INTEREST 0)
if(NOT DEFINED CONFIG_NET_TCPPROTO_OPTIONS AND CONFIG_PLATFORM_NUTTX)
set(Z_FEATURE_TCP_NODELAY 0 CACHE STRING "Toggle TCP_NODELAY")
endif()
px4_add_git_submodule(TARGET git_zenoh-pico PATH "zenoh-pico")
add_subdirectory(zenoh-pico)

14
src/modules/zenoh/zenoh.cpp
View File

@ -207,6 +207,13 @@ int ZENOH::setupSession()
return ret;
}
// Start read and lease tasks for zenoh-pico
if (zp_start_read_task(z_loan_mut(s), NULL) < 0 || zp_start_lease_task(z_loan_mut(s), NULL) < 0) {
PX4_ERR("Unable to start read and lease tasks");
z_drop(z_move(s));
ret = -EINVAL;
}
return ret;
}
@ -225,13 +232,6 @@ int ZENOH::setupTopics(px4_pollfd_struct_t *pfds)
px4_guid[2] = 0xCC;
#endif
// Start read and lease tasks for zenoh-pico
if (zp_start_read_task(z_loan_mut(s), NULL) < 0 || zp_start_lease_task(z_loan_mut(s), NULL) < 0) {
PX4_ERR("Unable to start read and lease tasks");
z_drop(z_move(s));
return -EINVAL;
}
#ifdef CONFIG_ZENOH_RMW_LIVELINESS
z_id_t self_id = z_info_zid(z_loan(s));