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Add an explicatory comment to Zenoh publisher's handling of the uOrb topic number (or lack thereof)

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This commit is contained in:
Benjamin Chung 2025-06-14 06:34:37 +00:00 committed by Beat Küng
parent 88c1412d25
commit c41216376a
2 changed files with 14 additions and 1 deletions
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2
src/modules/zenoh/publishers/uorb_publisher.hpp
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@ -56,7 +56,7 @@ public:
_cdr_ops(ops)
{
if (instance <= 0) { // default (<0) or =0
_uorb_sub = orb_subscribe(meta);
_uorb_sub = orb_subscribe(meta); // orb_subscribe subscribes to the 0th/first instance by default
} else { // otherwise
_uorb_sub = orb_subscribe_multi(meta, instance);

13
src/modules/zenoh/zenoh_config.cpp
View File

@ -234,21 +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");
}
@ -256,6 +263,7 @@ int Zenoh_Config::cli(int argc, char *argv[])
} 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);
@ -270,12 +278,15 @@ 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) {
@ -312,9 +323,11 @@ 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");
}