From 1caf7f1c55e7f5f04c3511b19d172571e732f42e Mon Sep 17 00:00:00 2001
From: Bernd Pfrommer <bernd.pfrommer@gmail.com>
Date: Thu, 6 Jun 2024 16:04:15 -0400
Subject: [PATCH] print router id on startup (#189)

* print router id on startup

* Update rmw_zenoh_cpp/src/zenohd/main.cpp

Signed-off-by: Yadu <yadunund@gmail.com>

* Nit

Signed-off-by: Yadunund <yadunund@intrinsic.ai>

---------

Signed-off-by: Yadu <yadunund@gmail.com>
Signed-off-by: Yadunund <yadunund@intrinsic.ai>
Co-authored-by: Yadu <yadunund@gmail.com>
Co-authored-by: Yadunund <yadunund@intrinsic.ai>
---
 rmw_zenoh_cpp/CMakeLists.txt      | 2 ++
 rmw_zenoh_cpp/src/zenohd/main.cpp | 5 ++++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index cc8c6944..1e4c77db 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -104,12 +104,14 @@ install(
 add_executable(rmw_zenohd
   src/zenohd/main.cpp
   src/detail/zenoh_config.cpp
+  src/detail/liveliness_utils.cpp
 )
 
 target_link_libraries(rmw_zenohd
   PRIVATE
     ament_index_cpp::ament_index_cpp
     rcutils::rcutils
+    rcpputils::rcpputils
     rmw::rmw
     zenohc::lib
 )
diff --git a/rmw_zenoh_cpp/src/zenohd/main.cpp b/rmw_zenoh_cpp/src/zenohd/main.cpp
index 785e9664..fbd00210 100644
--- a/rmw_zenoh_cpp/src/zenohd/main.cpp
+++ b/rmw_zenoh_cpp/src/zenohd/main.cpp
@@ -32,6 +32,7 @@
 #include <ament_index_cpp/get_package_share_directory.hpp>
 
 #include "../detail/zenoh_config.hpp"
+#include "../detail/liveliness_utils.hpp"
 
 #include "rmw/error_handling.h"
 
@@ -188,7 +189,9 @@ int main(int argc, char ** argv)
     printf("Unable to open router session!\n");
     return 1;
   }
-
+  printf(
+    "Started Zenoh router with id %s.\n",
+    rmw_zenoh_cpp::liveliness::zid_to_str(z_info_zid(z_session_loan(&s))).c_str());
 #ifdef _WIN32
   SetConsoleCtrlHandler(quit, TRUE);
 #else