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Implement Domain id parameter and move gid to zenoh

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This commit is contained in:
Peter van der Perk
2025-03-09 12:28:29 +01:00
committed by Beat Küng
parent 9d02698987
commit 796efeebe7
8 changed files with 70 additions and 16 deletions
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src/modules/zenoh/zenoh.cpp
+8 -8
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@@ -52,9 +52,6 @@
// Auto-generated header to all uORB <-> CDR conversions
#include <uorb_pubsub_factory.hpp>
// FIXME make this a parameter
const uint8_t ros_domain_id = 0;
#define Z_PUBLISH
#define Z_SUBSCRIBE
@@ -101,6 +98,9 @@ void ZENOH::run()
int8_t ret;
int i;
px4_guid_t px4_guid;
board_get_px4_guid(px4_guid);
Zenoh_Config z_config;
z_config.getNetworkConfig(mode, locator);
@@ -149,13 +149,13 @@ void ZENOH::run()
if (_zenoh_subscribers[i] != 0) {
const uint8_t *rihs_hash = getRIHS01_Hash(type);
toCamelCase(type); // Convert uORB type to camel case
snprintf(keyexpr, KEYEXPR_SIZE, "%i/%s/"
snprintf(keyexpr, KEYEXPR_SIZE, "%li/%s/"
KEYEXPR_MSG_NAME "%s_/RIHS01_"
"%02x%02x%02x%02x%02x%02x%02x%02x"
"%02x%02x%02x%02x%02x%02x%02x%02x"
"%02x%02x%02x%02x%02x%02x%02x%02x"
"%02x%02x%02x%02x%02x%02x%02x%02x",
ros_domain_id, topic, type,
_zenoh_domain_id.get(), topic, type,
rihs_hash[0], rihs_hash[1], rihs_hash[2], rihs_hash[3],
rihs_hash[4], rihs_hash[5], rihs_hash[6], rihs_hash[7],
rihs_hash[8], rihs_hash[9], rihs_hash[10], rihs_hash[11],
@@ -194,13 +194,13 @@ void ZENOH::run()
if (_zenoh_publishers[i] != 0) {
const uint8_t *rihs_hash = getRIHS01_Hash(type);
toCamelCase(type); // Convert uORB type to camel case
snprintf(keyexpr, KEYEXPR_SIZE, "%i/%s/"
snprintf(keyexpr, KEYEXPR_SIZE, "%li/%s/"
KEYEXPR_MSG_NAME "%s_/RIHS01_"
"%02x%02x%02x%02x%02x%02x%02x%02x"
"%02x%02x%02x%02x%02x%02x%02x%02x"
"%02x%02x%02x%02x%02x%02x%02x%02x"
"%02x%02x%02x%02x%02x%02x%02x%02x",
ros_domain_id, topic, type,
_zenoh_domain_id.get(), topic, type,
rihs_hash[0], rihs_hash[1], rihs_hash[2], rihs_hash[3],
rihs_hash[4], rihs_hash[5], rihs_hash[6], rihs_hash[7],
rihs_hash[8], rihs_hash[9], rihs_hash[10], rihs_hash[11],
@@ -210,7 +210,7 @@ void ZENOH::run()
rihs_hash[24], rihs_hash[25], rihs_hash[26], rihs_hash[27],
rihs_hash[28], rihs_hash[29], rihs_hash[30], rihs_hash[31]
);
_zenoh_publishers[i]->declare_publisher(s, keyexpr);
_zenoh_publishers[i]->declare_publisher(s, keyexpr, (uint8_t *)&px4_guid);
_zenoh_publishers[i]->setPollFD(&pfds[i]);
}
}