Implement Domain id parameter and move gid to zenoh

src/modules/zenoh/publishers/zenoh_publisher.cpp

@@ -57,10 +57,12 @@ int Zenoh_Publisher::undeclare_publisher()
 	return 0;
 }
 
-int Zenoh_Publisher::declare_publisher(z_owned_session_t s, const char *keyexpr)
+int Zenoh_Publisher::declare_publisher(z_owned_session_t s, const char *keyexpr, uint8_t *gid)
 {
 	z_view_keyexpr_t ke;
 
+	this->rmw_gid = gid;
+
 	if (z_view_keyexpr_from_str(&ke, keyexpr) < 0) {
 		printf("%s is not a valid key expression\n", keyexpr);
 		return -1;
@@ -93,11 +95,8 @@ int8_t Zenoh_Publisher::publish(const uint8_t *buf, int size)
 	ze_serializer_serialize_str(z_loan_mut(serializer), "source_timestamp");
 	ze_serializer_serialize_int64(z_loan_mut(serializer), hrt_absolute_time());
 
-	px4_guid_t px4_guid;
-	board_get_px4_guid(px4_guid);
-
 	ze_serializer_serialize_str(z_loan_mut(serializer), "source_gid");
-	ze_serializer_serialize_buf(z_loan_mut(serializer), px4_guid, 16);
+	ze_serializer_serialize_buf(z_loan_mut(serializer), rmw_gid, 16);
 
 	ze_serializer_finish(z_move(serializer), &attachment);
 	options.attachment = z_move(attachment);

src/modules/zenoh/publishers/zenoh_publisher.hpp

@@ -54,7 +54,7 @@ public:
 	Zenoh_Publisher();
 	virtual ~Zenoh_Publisher();
 
-	virtual int declare_publisher(z_owned_session_t s, const char *keyexpr);
+	virtual int declare_publisher(z_owned_session_t s, const char *keyexpr, uint8_t *gid);
 
 	virtual int undeclare_publisher();
 
@@ -68,4 +68,7 @@ protected:
 	z_owned_publisher_t _pub;
 	int64_t sequence_number;
 	z_timestamp_t ts;
+
+	/* 16 bytes DDS-Like GID */
+	uint8_t *rmw_gid;
 };

src/modules/zenoh/subscribers/uorb_subscriber.hpp

@@ -65,6 +65,8 @@ public:
 	{
 		char data[_uorb_meta->o_size];
 
+		// TODO process rmw_zenoh attachment
+
 		const z_loaned_bytes_t *payload = z_sample_payload(sample);
 		size_t len = z_bytes_len(payload);
 

src/modules/zenoh/subscribers/zenoh_subscriber.cpp

@@ -54,7 +54,6 @@ void Zenoh_Subscriber::data_handler(const z_loaned_sample_t *sample)
 	       (int)z_bytes_len(z_sample_payload(sample)));
 }
 
-
 Zenoh_Subscriber::Zenoh_Subscriber()
 {
 }

src/modules/zenoh/subscribers/zenoh_subscriber.hpp

@@ -67,7 +67,7 @@ public:
 	virtual void print();
 
 protected:
-	virtual void  print(const char *type_string, const char *topic_string);
+	virtual void print(const char *type_string, const char *topic_string);
 
 	z_owned_subscriber_t _sub;
 };

src/modules/zenoh/zenoh.cpp

@@ -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]);
 			}
 		}

src/modules/zenoh/zenoh.h

@@ -82,6 +82,9 @@ public:
 	void run() override;
 
 private:
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::ZENOH_DOMAIN_ID>) _zenoh_domain_id
+	)
 
 	Zenoh_Config _config;
 

src/modules/zenoh/zenoh_params.c

@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   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 zenoh_params.c
+ *
+ * Parameters defined by Zenoh
+ *
+ * @author Peter van der Perk <peter.vanderperk@nxp.com>
+ */
+
+/**
+ * ROS2 RMW_ZENOH_CPP Domain id
+ *
+ * @min 0
+ * @max 232
+ */
+PARAM_DEFINE_INT32(ZENOH_DOMAIN_ID, 0);