zenoh_conf.h 文件参考

Transport configuration for the zenoh:// Zenoh protocol backend. 更多...

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详细描述

Transport configuration for the zenoh:// Zenoh protocol backend.

ZenohConf configures the Eclipse Zenoh transport, a protocol designed for unified data management across robots, edge nodes, and cloud infrastructure. Zenoh supports routed pub/sub and queryable patterns with optional peer-to-peer connectivity.

Supported Node Types

zenoh:// supports all six node types: kPublisher, kSubscriber, kServer, kClient, kSetter, and kGetter.

URL Format

zenoh://<address>[?event=<name>&domain=<N>&qos=<name>&depth=<N>&shm=<0|1>&shm_size=<N>][#<fragment>]

Component	Description
address	Zenoh key expression; formed from host + "/" + path
event	Optional secondary event filter (?event=)
domain	Zenoh domain/session identifier (?domain=, default from factory)
qos	Named QoS profile registered via register_qos() (?qos=)
depth	Optional Zenoh session-level TX queue size (data and real_time)
shm	Optional Zenoh shared-memory transport optimization enable (?shm=1)
shm_size	Optional SHM pool size; accepts bytes, K, M, or G suffixes
fragment	Optional transport hint or config fragment passed to the Zenoh session

QoS Registration

vlink::Qos my_qos;
my_qos.reliability = vlink::Reliability::kReliable;
vlink::ZenohConf::register_qos("my_profile", my_qos);
 
vlink::Publisher<MyMsg> pub("zenoh://vehicle/speed?qos=my_profile");

注解

This header is compiled only when VLINK_SUPPORT_ZENOH is defined.