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zenoh: pubsub factory fix datatype naming convention

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This commit is contained in:
Peter van der Perk
2025-08-22 08:22:59 +02:00
committed by Beat Küng
parent 575923b534
commit 5211d9c92e
3 changed files with 91 additions and 83 deletions
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Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
+48 -28
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@@ -92,10 +92,24 @@ type_topic_count = len(datatypes_with_topics[topic_name])
const uint8_t @(topic_name)_hash[32] = @(rihs01_hash)
@[end for]
@[for idx, topic_name in enumerate(datatypes)]@
#ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
@{
topic_names = datatypes_with_topics[topic_name]
}@
const orb_metadata* @(topic_name)_topic_meta[@(len(topic_names))] = {
@[for topic_name_inst in topic_names]@
ORB_ID(@(topic_name_inst)),
@[end for]};
#endif
@[end for]
typedef struct {
const char *data_type_name;
const uint32_t *ops;
const orb_metadata* orb_meta;
const uint8_t *hash;
const orb_metadata** orb_topic;
const uint8_t orb_topics_size;
} UorbPubSubTopicBinder;
const UorbPubSubTopicBinder _topics[ZENOH_PUBSUB_COUNT] {
@@ -107,23 +121,23 @@ uorb_id_idx = 0
@{
topic_names = datatypes_with_topics[topic_name]
}@
@[for topic_name_inst in topic_names]@
{
"@(topic_name)",
px4_msgs_msg_@(topic_dict[topic_name])_cdrstream_desc.ops.ops,
ORB_ID(@(topic_name_inst)),
@(topic_dict[topic_name])_hash
@(topic_dict[topic_name])_hash,
@(topic_name)_topic_meta,
@(len(topic_names)),
},
@{
uorb_id_idx += 1
}@
@[end for]#endif
#endif
@[end for]
};
uORB_Zenoh_Publisher* genPublisher(const orb_metadata *meta) {
for (auto &pub : _topics) {
if(pub.orb_meta->o_id == meta->o_id) {
return new uORB_Zenoh_Publisher(meta, pub.ops);
for(int i = 0; i < pub.orb_topics_size; i++) {
if(pub.orb_topic[i]->o_id == meta->o_id) {
return new uORB_Zenoh_Publisher(meta, pub.ops);
}
}
}
return NULL;
@@ -132,8 +146,10 @@ uORB_Zenoh_Publisher* genPublisher(const orb_metadata *meta) {
uORB_Zenoh_Publisher* genPublisher(const char *name) {
for (auto &pub : _topics) {
if(strcmp(pub.orb_meta->o_name, name) == 0) {
return new uORB_Zenoh_Publisher(pub.orb_meta, pub.ops);
for(int i = 0; i < pub.orb_topics_size; i++) {
if(strcmp(pub.orb_topic[i]->o_name, name) == 0) {
return new uORB_Zenoh_Publisher(pub.orb_topic[i], pub.ops);
}
}
}
return NULL;
@@ -142,8 +158,10 @@ uORB_Zenoh_Publisher* genPublisher(const char *name) {
Zenoh_Subscriber* genSubscriber(const orb_metadata *meta) {
for (auto &sub : _topics) {
if(sub.orb_meta->o_id == meta->o_id) {
return new uORB_Zenoh_Subscriber(meta, sub.ops);
for(int i = 0; i < sub.orb_topics_size; i++) {
if(sub.orb_topic[i]->o_id == meta->o_id) {
return new uORB_Zenoh_Subscriber(meta, sub.ops);
}
}
}
return NULL;
@@ -152,22 +170,20 @@ Zenoh_Subscriber* genSubscriber(const orb_metadata *meta) {
Zenoh_Subscriber* genSubscriber(const char *name) {
for (auto &sub : _topics) {
if(strcmp(sub.orb_meta->o_name, name) == 0) {
return new uORB_Zenoh_Subscriber(sub.orb_meta, sub.ops);
for(int i = 0; i < sub.orb_topics_size; i++) {
if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
return new uORB_Zenoh_Subscriber(sub.orb_topic[i], sub.ops);
}
}
}
return NULL;
}
const char* genTypeName(const char *name, const uint8_t* hash) {
//FIXME this isn't fully clean because we've got topics that never matches datatype name
// i.e. ESTIMATOR_AID_SOURCE2D however storing all strings in flash isn't ideal either
const char *pch;
const char* getTypeName(const char *name) {
for (auto &sub : _topics) {
pch = strstr(name, sub.orb_meta->o_name);
if(pch) {
if(hash == sub.hash) {
return sub.orb_meta->o_name;
for(int i = 0; i < sub.orb_topics_size; i++) {
if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
return sub.data_type_name;
}
}
}
@@ -177,8 +193,10 @@ const char* genTypeName(const char *name, const uint8_t* hash) {
const uint8_t* getRIHS01_Hash(const orb_metadata *meta) {
for (auto &sub : _topics) {
if(sub.orb_meta->o_id == meta->o_id) {
return sub.hash;
for(int i = 0; i < sub.orb_topics_size; i++) {
if(sub.orb_topic[i]->o_id == meta->o_id) {
return sub.hash;
}
}
}
return NULL;
@@ -186,8 +204,10 @@ const uint8_t* getRIHS01_Hash(const orb_metadata *meta) {
const uint8_t* getRIHS01_Hash(const char *name) {
for (auto &sub : _topics) {
if(strcmp(sub.orb_meta->o_name, name) == 0) {
return sub.hash;
for(int i = 0; i < sub.orb_topics_size; i++) {
if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
return sub.hash;
}
}
}
return NULL;