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Move node_id to correct position in liveliness expressions. #16

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Move node_id to correct position in liveliness expressions. #16

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25 changes: 16 additions & 9 deletions src/picoros.c
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Original file line number Diff line number Diff line change
Expand Up @@ -37,30 +37,36 @@ static void rmw_zenoh_gen_attachment_gid(rmw_attachment_t* attachment) {
}
}

// @ros2_lv/<domain_id>/<session_id>/<node_id>/<node_id>/<entity_kind>/<mangled_enclave>/<mangled_namespace>/<node_name>
static int rmw_zenoh_node_liveliness_keyexpr(picoros_node_t* node, char* keyexpr) {
#if USE_NODE_GUID == 1
uint8_t* guid = node->guid;
#endif
z_id_t id = z_info_zid(z_session_loan(&s_wrapper));
return snprintf(keyexpr, KEYEXPR_SIZE,
"@ros2_lv/%" PRIu32 "/%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x/0/0/NN/%%/%%/"
"@ros2_lv/%" PRIu32 "/%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x/"
#if USE_NODE_GUID == 1
"%s_%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/%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x/"
#else
"%s",
"0/0/"
#endif
"NN/%%/%%/%s",
node->domain_id,
id.id[0], id.id[1], id.id[2], id.id[3], id.id[4], id.id[5], id.id[6],
id.id[7], id.id[8], id.id[9], id.id[10], id.id[11], id.id[12], id.id[13],
id.id[14], id.id[15],
#if USE_NODE_GUID == 1
node->name, guid[0], guid[1], guid[2], guid[3],
guid[0], guid[1], guid[2], guid[3],
guid[4], guid[5], guid[6], guid[7],
guid[8], guid[9], guid[10], guid[11],
guid[12], guid[13], guid[14], guid[15]
#else
node->name
guid[12], guid[13], guid[14], guid[15],

guid[0], guid[1], guid[2], guid[3],
guid[4], guid[5], guid[6], guid[7],
guid[8], guid[9], guid[10], guid[11],
guid[12], guid[13], guid[14], guid[15],
#endif
node->name
);
}

Expand All @@ -80,6 +86,7 @@ static int rmw_zenoh_service_keyexpr(picoros_node_t* node, rmw_topic_t* topic, c
}
}

// @ros2_lv/<domain_id>/<session_id>/<node_id>/<entity_id>/<entity_kind>/<mangled_enclave>/<mangled_namespace>/<node_name>/<mangled_qualified_name>/<type_name>/<type_hash>/<qos>
static int rmw_zenoh_topic_liveliness_keyexpr(picoros_node_t* node, rmw_topic_t* topic, char *keyexpr, const char *entity_str) {
#if USE_NODE_GUID == 1
uint8_t* guid = node->guid;
Expand Down Expand Up @@ -110,7 +117,7 @@ static int rmw_zenoh_topic_liveliness_keyexpr(picoros_node_t* node, rmw_topic_t*
"@ros2_lv/%" PRIu32 "/"
"%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x/"
#if USE_NODE_GUID == 1
"0/11/%s/%%/%%/%s_%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x/%%%s/"
"%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x%02x/11/%s/%%/%%/%s/%%%s/"
#else
"0/11/%s/%%/%%/%s/%%%s/"
#endif
Expand All @@ -120,13 +127,13 @@ static int rmw_zenoh_topic_liveliness_keyexpr(picoros_node_t* node, rmw_topic_t*
id.id[0], id.id[1], id.id[2], id.id[3], id.id[4], id.id[5], id.id[6],
id.id[7], id.id[8], id.id[9], id.id[10], id.id[11], id.id[12], id.id[13],
id.id[14], id.id[15],
entity_str, node->name,
#if USE_NODE_GUID == 1
guid[0], guid[1], guid[2], guid[3],
guid[4], guid[5], guid[6], guid[7],
guid[8], guid[9], guid[10], guid[11],
guid[12], guid[13], guid[14], guid[15],
#endif
entity_str, node->name,
topic_lv, topic->type, topic->rihs_hash
);

Expand Down
3 changes: 2 additions & 1 deletion src/picoros.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,8 +40,9 @@
/** @brief Size of RMW GID (Global Identifier) */
#define RMW_GID_SIZE 16u
/** @brief Flag to enable/disable node GUID usage @ingroup picoros*/
#ifndef USE_NODE_GUID
#define USE_NODE_GUID 0

#endif
/* Exported types ------------------------------------------------------------*/

/**
Expand Down