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Update cdrstream code generator including typehash

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This commit is contained in:
Peter van der Perk
2025-08-22 08:22:59 +02:00
committed by Beat Küng
parent a87456b38b
commit e1a7fbce71
6 changed files with 166 additions and 10 deletions
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Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
+26 -2
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@@ -88,9 +88,14 @@ type_topic_count = len([e for e in topic_names_all if e.startswith(topic_name)])
CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT + \
@[end for] 0
@[for topic_name, rihs01_hash in rihs01_hashes.items()]@
const uint8_t @(topic_name)_hash[32] = @(rihs01_hash)
@[end for]
typedef struct {
const uint32_t *ops;
const orb_metadata* orb_meta;
const uint8_t *hash;
} UorbPubSubTopicBinder;
const UorbPubSubTopicBinder _topics[ZENOH_PUBSUB_COUNT] {
@@ -104,8 +109,9 @@ topic_names = [e for e in topic_names_all if e.startswith(topic_name)]
}@
@[for topic_name_inst in topic_names]@
{
px4_msg_@(topic_dict[topic_name])_cdrstream_desc.ops.ops,
ORB_ID(@(topic_name_inst))
px4_msgs_msg_@(topic_dict[topic_name])_cdrstream_desc.ops.ops,
ORB_ID(@(topic_name_inst)),
@(topic_dict[topic_name])_hash
},
@{
uorb_id_idx += 1
@@ -152,3 +158,21 @@ Zenoh_Subscriber* genSubscriber(const char *name) {
}
return NULL;
}
const uint8_t* getRIHS01_Hash(const orb_metadata *meta) {
for (auto &sub : _topics) {
if(sub.orb_meta->o_id == meta->o_id) {
return sub.hash;
}
}
return NULL;
}
const uint8_t* getRIHS01_Hash(const char *name) {
for (auto &sub : _topics) {
if(strcmp(sub.orb_meta->o_name, name) == 0) {
return sub.hash;
}
}
return NULL;
}