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Zenoh: fix topic_name and datatype mapping

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Using substring was buggy instad we make dictionary based on datatypes and the get_topics function
This commit is contained in:
Peter van der Perk 2025-03-26 23:21:11 +01:00 committed by Beat Küng
parent e37f20e94d
commit 575923b534
2 changed files with 10 additions and 3 deletions
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7
Tools/zenoh/px_generate_zenoh_topic_files.py
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@ -155,7 +155,12 @@ def generate_topics_list_file_from_files(files, outputdir, template_filename, te
for msg_filename in files:
topics.extend(get_topics(msg_filename))
tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names, "rihs01_hashes": rihs01_hashes}
datatypes_with_topics = dict()
for msg_filename in files:
datatype = re.sub(r'(?<!^)(?=[A-Z])', '_', os.path.basename(msg_filename)).lower().replace(".msg","")
datatypes_with_topics[datatype] = get_topics(msg_filename)
tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names, "rihs01_hashes": rihs01_hashes, "datatypes_with_topics": datatypes_with_topics}
tl_template_file = os.path.join(templatedir, template_filename)
tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))

6
Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
View File

@ -74,7 +74,7 @@ full_base_names.sort()
@[for idx, topic_name in enumerate(datatypes)]@
@{
type_topic_count = len([e for e in topic_names_all if e.startswith(topic_name)])
type_topic_count = len(datatypes_with_topics[topic_name])
}@
#ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
# define CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT @(type_topic_count)
@ -105,7 +105,7 @@ uorb_id_idx = 0
@[for idx, topic_name in enumerate(datatypes)]@
#ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
@{
topic_names = [e for e in topic_names_all if e.startswith(topic_name)]
topic_names = datatypes_with_topics[topic_name]
}@
@[for topic_name_inst in topic_names]@
{
@ -160,6 +160,8 @@ Zenoh_Subscriber* genSubscriber(const char *name) {
}
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;
for (auto &sub : _topics) {
pch = strstr(name, sub.orb_meta->o_name);