From c41216376a0488c9d6a6f55af2b53ba06541d4b4 Mon Sep 17 00:00:00 2001
From: Benjamin Chung <ckfinite@gmail.com>
Date: Sat, 14 Jun 2025 06:34:37 +0000
Subject: [PATCH] Add an explicatory comment to Zenoh publisher's handling of
 the uOrb topic number (or lack thereof)

---
 src/modules/zenoh/publishers/uorb_publisher.hpp |  2 +-
 src/modules/zenoh/zenoh_config.cpp              | 13 +++++++++++++
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/src/modules/zenoh/publishers/uorb_publisher.hpp b/src/modules/zenoh/publishers/uorb_publisher.hpp
index 6a90d435d5..110cbea8eb 100644
--- a/src/modules/zenoh/publishers/uorb_publisher.hpp
+++ b/src/modules/zenoh/publishers/uorb_publisher.hpp
@@ -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);
diff --git a/src/modules/zenoh/zenoh_config.cpp b/src/modules/zenoh/zenoh_config.cpp
index 8a0d3913e7..1a88194348 100644
--- a/src/modules/zenoh/zenoh_config.cpp
+++ b/src/modules/zenoh/zenoh_config.cpp
@@ -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");
 		}