fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Zenoh CLI improvements

Browse Source
This commit is contained in:
Benjamin Chung 2025-06-14 06:34:06 +00:00 committed by Beat Küng
parent 01bf700f3d
commit 88c1412d25
1 changed files with 27 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
src/modules/zenoh/zenoh_config.cpp
View File

@ -234,16 +234,28 @@ int Zenoh_Config::cli(int argc, char *argv[])
{
if (argc == 1) {
dump_config();
} else if (argc == 2) {
if (strcmp(argv[1], "delete") == 0) {
printf("The type of resource to be deleted (publisher/subscriber) must be specified.\n");
} else if (strcmp(argv[1], "add") == 0) {
printf("The type of resource to be added (publisher/subscriber) must be specified.\n");
} else {
printf("Unrecognized command\n");
}
} else if (argc == 3) {
if (strcmp(argv[1], "net") == 0) {
SetNetworkConfig(argv[2], 0);
} else if (strcmp(argv[1], "delete") == 0) {
printf("The name of the resource to be deleted needs to be specified.\n");
} else if (strcmp(argv[1], "add") == 0) {
printf("The name of the Zenoh/uOrb topic pair to be linked needs to be specified.\n");
} else {
printf("Unrecognized command\n");
}
} else if (argc == 4) {
if (strcmp(argv[1], "net") == 0) {
SetNetworkConfig(argv[2], argv[3]);
} else if (strcmp(argv[1], "delete") == 0) {
if (strcmp(argv[2], "publisher") == 0) {
int res = DeletePubSub(argv[3], ZENOH_PUB_CONFIG_PATH);
@ -258,9 +270,12 @@ int Zenoh_Config::cli(int argc, char *argv[])
if (res < 0) {
printf("Could not delete subscriber topic %s\n", argv[3]);
}
} else {
printf("Unrecognized command\n");
}
} else {
printf("Unrecognized command\n");
}
} else if (argc >= 5) {
if (strcmp(argv[1], "add") == 0) {
if (strcmp(argv[2], "publisher") == 0) {
@ -297,9 +312,13 @@ int Zenoh_Config::cli(int argc, char *argv[])
} else {
printf("Could not add %s -> uORB %s to subscribers\n", argv[3], argv[4]);
}
} else {
printf("Unrecognized command\n");
}
} else {
printf("Unrecognized command\n");
}
}
} // doesn't need an else because negative argc would be... weird
//TODO make CLI to modify configuration now you would have to manually modify the files
return 0;
@ -346,13 +365,12 @@ void Zenoh_Config::getNetworkConfig(char *mode, char *locator)
const char *fields[2];
int nfields = parse_csv_line(buffer, fields, 2);
if (nfields < 2) {
PX4_ERR("Invalid Zenoh net config file (must contain the mode and locator separated by a ;).");
if (nfields < 1) {
PX4_ERR("Invalid Zenoh net config file (must contain the mode and optional locator separated by a ;).");
fclose(fp);
return;
}
const char *config_locator = fields[1];
char *config_mode = (char *)fields[0];
if (config_mode) {
@ -363,7 +381,8 @@ void Zenoh_Config::getNetworkConfig(char *mode, char *locator)
mode[0] = 0;
}
if (config_locator) {
if (nfields >= 2) {
const char *config_locator = fields[1];
strncpy(locator, config_locator, NET_LOCATOR_SIZE);
} else {