zenoh_conf.h File Reference

Transport configuration for the zenoh:// Eclipse Zenoh transport. More...

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Detailed Description

Transport configuration for the zenoh:// Eclipse Zenoh transport.

ZenohConf binds the zenoh:// URL scheme to Eclipse Zenoh, a unified data protocol that combines publish/subscribe, queryable storage, and computed query patterns under a single key-expression namespace. Zenoh scales from constrained micro-controllers to cloud-side routers and is well suited to multi-site fleet and edge deployments. Optional shared-memory acceleration lowers latency for large payloads exchanged between processes on the same host.

Supported Node Types

Publisher	Subscriber	Server	Client	Getter	Setter
yes	yes	yes	yes	yes	yes

Routing Modes

Mode	Topology	Typical use case
peer	Fully meshed P2P between participants	LAN with no router
client	Connects to a router as a leaf node	Fleet edge connecting to cloud
router	Forwards and stores data for connected clients	Gateway / aggregation point

URL Format

zenoh://<address>[?event=<name>&domain=<N>&qos=<profile>&depth=<N>&shm=<bool>
                 &shm_mode=<lazy|init>&shm_size=<N>&shm_threshold=<N>
                 &shm_loan_threshold=<N>&shm_blocking=<bool>][#<fragment>]

Component	Description
address	Zenoh key expression (URL host concatenated with path)
event	Optional secondary event filter (?event=)
domain	Zenoh session/domain identifier (?domain=); factory default applied
qos	Named QoS profile registered via register_qos()
depth	TX queue override; 0 uses the QoS-selected history depth
shm	Enable Zenoh shared-memory acceleration (boolean)
shm_mode	Pool init strategy; lazy or init
shm_size	SHM pool size; accepts bytes, K, M, or G suffixes
shm_threshold	Minimum payload size to switch the SHM path on
shm_loan_threshold	Minimum size for VLink SHM loan buffers
shm_blocking	Whether loan() blocks when the pool is exhausted
fragment	Optional transport hint or session-config fragment

QoS Registration

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

Note

Compiled only when VLINK_SUPPORT_ZENOH is defined.

is_valid() returns false when address is empty or domain is negative.