Update cdrstream code generator including typehash

Tools/zenoh/px_generate_zenoh_topic_files.py

@@ -42,6 +42,7 @@ import os
 import argparse
 import re
 import sys
+import json
 
 try:
     import em
@@ -124,7 +125,7 @@ def generate_by_template(output_file, template_file, em_globals):
     return True
 
 
-def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
+def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir, rihs_path):
     # generate cpp file with topics list
     filenames = []
     for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
@@ -138,11 +139,23 @@ def generate_topics_list_file_from_files(files, outputdir, template_filename, te
     for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
         full_base_names.append(filename.replace(".msg",""))
 
+    rihs01_hashes = dict()
+    if rihs_path != '':
+        for topic in full_base_names:
+            with open(rihs_path + "/msg/" + topic + ".json") as f:
+                d = json.load(f)
+
+                rihs01_hash = d['type_hashes'][0]['hash_string'][7:]
+
+                byte_array = [f"0x{rihs01_hash[i:i+2]}" for i in range(0, len(rihs01_hash), 2)]
+                c_code = f"{{ {', '.join(byte_array)} }};"
+                rihs01_hashes[topic] = c_code
+
     topics = []
     for msg_filename in files:
         topics.extend(get_topics(msg_filename))
 
-    tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names}
+    tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names, "rihs01_hashes": rihs01_hashes}
     tl_template_file = os.path.join(templatedir, template_filename)
     tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
 
@@ -162,13 +175,15 @@ if __name__ == "__main__":
     parser.add_argument('-p', dest='prefix', default='',
                         help='string added as prefix to the output file '
                         ' name when converting directories')
+    parser.add_argument('-rihs', dest='rihs', default='',
+                        help='path where rihs01 json files located')
     args = parser.parse_args()
 
     if args.zenoh_config:
-        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir)
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir, args.rihs)
         exit(0)
     elif args.zenoh_pub_sub:
-        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir)
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir, args.rihs)
         exit(0)
     else:
         print('Error: either --headers or --sources must be specified')

Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em

@@ -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;
+}