Handle duplicate node names by including zenoh session id in liveliness tokens #87
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: Yadunund <[email protected]>
Signed-off-by: Yadunund <[email protected]>
Signed-off-by: Yadunund <[email protected]>
Signed-off-by: Yadunund <[email protected]>
clalancette
requested changes
Jan 2, 2024
| @@ -83,6 +83,18 @@ static const std::unordered_map<std::string, EntityType> str_to_entity = { | |||
| {CLI_STR, EntityType::Client} | |||
| }; | |||
|
|
|||
| std::string convert(z_id_t id) | |||
There was a problem hiding this comment.
How about:
Suggested change
| std::string convert(z_id_t id) | |
| std::string zid_to_str(z_id_t id) |
Co-authored-by: Chris Lalancette <[email protected]> Signed-off-by: Yadu <[email protected]>
Signed-off-by: Yadunund <[email protected]>
clalancette
approved these changes
Jan 2, 2024
Yadunund
added a commit
that referenced
this pull request
Jan 12, 2024
…ss tokens (#87) * Include zenoh session id in liveliness tokens * Switch to multimap for NodeMap Signed-off-by: Yadunund <[email protected]> Co-authored-by: Chris Lalancette <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR addresses #84.
It so does so by including the zenoh session id in the liveliness token.
The token is updated to:
<ADMIN_SPACE>/<domainid>/<id>/<entity>/<namespace>/<nodename>where<id>is meant to be a unique ID to identify this entity. However, until the zenoh API exposes the globally unique IDs for each participant/entity, this id is currently set to the zenoh session's id with elements concatenated into a string using '.' as separator.The
NodeMapdata structure is updated to anstd::multimapto allow storing multiple nodes with the same name in the same namespace. Codebase is updated accoridngly.Now after running two instances of
/talker, running the commandros2 node listshould correctly list two separate/talkernodes.Note: Make sure to kill all ros2 nodes and daemons before trying this.