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Fix NuttX keepalive socketoption

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This commit is contained in:
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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src/modules/zenoh/zenoh.cpp
+7 -7
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@@ -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));