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zenoh: Move ROS2 Rmw attachment code to rmw_attachment.h

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Allows for re-use for later ROS2 Service / Zenoh queryable
This commit is contained in:
Peter van der Perk 2025-06-15 19:38:18 +02:00 committed by Beat Küng
parent c41216376a
commit 747bcc9db5
2 changed files with 56 additions and 10 deletions
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12
src/modules/zenoh/publishers/zenoh_publisher.hpp
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@ -41,6 +41,8 @@
#pragma once
#include "../rmw_attachment.h"
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
@ -48,16 +50,6 @@
#include <containers/List.hpp>
#include <zenoh-pico.h>
#define RMW_GID_STORAGE_SIZE 16u
#define RMW_ATTACHEMENT_SIZE (8u + 8u + 1u + RMW_GID_STORAGE_SIZE)
typedef struct __attribute__((__packed__)) RmwAttachment {
int64_t sequence_number;
int64_t time;
uint8_t rmw_gid_size;
uint8_t rmw_gid[RMW_GID_STORAGE_SIZE];
} RmwAttachment;
class Zenoh_Publisher : public ListNode<Zenoh_Publisher *>
{
public:

54
src/modules/zenoh/rmw_attachment.h Normal file
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@ -0,0 +1,54 @@
/****************************************************************************
*
* Copyright (c) 2025 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file rmw_attachment.h
*
* ROS2 RMW Attachment helper
*
* @author Peter van der Perk <peter.vanderperk@nxp.com>
*/
#include <zenoh-pico.h>
#pragma once
#define RMW_GID_STORAGE_SIZE 16u
#define RMW_ATTACHEMENT_SIZE (8u + 8u + 1u + RMW_GID_STORAGE_SIZE)
typedef struct __attribute__((__packed__)) RmwAttachment {
int64_t sequence_number;
int64_t time;
uint8_t rmw_gid_size;
uint8_t rmw_gid[RMW_GID_STORAGE_SIZE];
} RmwAttachment;