详细描述

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

ZenohConf binds the zenoh:// URL scheme to Eclipse Zenoh. The VLink backend maps the six VLink node types onto Zenoh publish/subscribe, query/queryable, liveliness and matching primitives. Generic Zenoh storage, delete, scouting and admin-space APIs are intentionally not re-exposed through this transport abstraction. Optional zenoh-c 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 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`	Base key expression (URL host concatenated with path)
`event`	Optional event identity included in the derived native key
`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.valid = true;

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");

vlink::Publisher::create_unique
static UniquePtr create_unique(const std::string &url_str, InitType type=InitType::kWithInit)
Heap-allocates a Publisher and wraps it in a std::unique_ptr.
Definition: publisher-inl.h:39

vlink::Qos::Reliability::kind
Kind kind
Delivery guarantee kind.
Definition: qos.h:102

vlink::Qos::Reliability::kReliable
@ kReliable
Retransmit until acknowledged.
Definition: qos.h:99

vlink::Qos
Aggregate Quality of Service policy for a VLink communication endpoint.
Definition: qos.h:86

vlink::Qos::valid
bool valid
Must be true for the Qos to be applied by the transport.
Definition: qos.h:305

vlink::Qos::reliability
Reliability reliability
Delivery guarantee policy.
Definition: qos.h:306

注解: Compiled only when VLINK_SUPPORT_ZENOH is defined.; is_valid() returns false when address is empty, domain is negative, or depth is negative.; Zenoh consumes only the profile's reliability/congestion hint, priority, express flag and positive history depth; other Qos fields remain DDS-only.; The zenoh-pico build must enable local subscriber and local queryable support because VLink intentionally reuses compatible sessions.