Fix matching subscriptions for remote only

eclipse-zenoh · Oct 12, 2023 · bfc76dd · bfc76dd
1 parent cbd7237
commit bfc76dd
Show file tree

Hide file tree

Showing 5 changed files with 32 additions and 31 deletions.
diff --git a/Cargo.lock b/Cargo.lock
diff --git a/zenoh-plugin-ros2dds/src/route_publisher.rs b/zenoh-plugin-ros2dds/src/route_publisher.rs
@@ -199,6 +199,7 @@ impl RoutePublisher<'_> {
         let publisher: Arc<Publisher<'static>> = context
             .zsession
             .declare_publisher(zenoh_key_expr.clone())
+            .allowed_destination(Locality::Remote)
             .congestion_control(congestion_ctrl)
             .res_async()
             .await
@@ -508,7 +509,7 @@ fn deactivate_dds_reader(
 
 fn do_route_message(sample: &DDSRawSample, publisher: &Arc<Publisher>, route_id: &str) {
     if *LOG_PAYLOAD {
-        log::trace!("{route_id}: routing message - payload: {:02x?}", sample);
+        log::debug!("{route_id}: routing message - payload: {:02x?}", sample);
     } else {
         log::trace!("{route_id}: routing message - {} bytes", sample.len());
     }

diff --git a/zenoh-plugin-ros2dds/src/route_service_cli.rs b/zenoh-plugin-ros2dds/src/route_service_cli.rs
@@ -291,7 +291,7 @@ fn do_route_request(
     zenoh_req_buf.push_zslice(slice.subslice(20, slice.len()).unwrap());
 
     if *LOG_PAYLOAD {
-        log::trace!("{route_id}: routing request {request_id:02x?} to Zenoh - payload: {zenoh_req_buf:02x?}");
+        log::debug!("{route_id}: routing request {request_id:02x?} to Zenoh - payload: {zenoh_req_buf:02x?}");
     } else {
         log::trace!(
             "{route_id}: routing request {request_id:02x?} to Zenoh - {} bytes",
@@ -330,7 +330,7 @@ fn do_route_reply(route_id: String, reply: Reply, request_id: [u8; 16], rep_writ
             dds_rep_buf.extend_from_slice(&zenoh_rep_buf[4..]);
 
             if *LOG_PAYLOAD {
-                log::trace!("{route_id}: routing reply for {request_id:02x?} to Client - payload: {dds_rep_buf:02x?}");
+                log::debug!("{route_id}: routing reply for {request_id:02x?} to Client - payload: {dds_rep_buf:02x?}");
             } else {
                 log::trace!(
                     "{route_id}: routing reply for {request_id:02x?} to Client - {} bytes",

diff --git a/zenoh-plugin-ros2dds/src/route_service_srv.rs b/zenoh-plugin-ros2dds/src/route_service_srv.rs
@@ -388,7 +388,7 @@ fn do_route_request(
     };
 
     if *LOG_PAYLOAD {
-        log::trace!("{route_id}: routing request #{n} to Service - payload: {dds_req_buf:02x?}");
+        log::debug!("{route_id}: routing request #{n} to Service - payload: {dds_req_buf:02x?}");
     } else {
         log::trace!(
             "{route_id}: routing request #{n} to Service - {} bytes",
@@ -448,7 +448,7 @@ fn do_route_reply(
             zenoh_rep_buf.push_zslice(slice.subslice(20, slice.len()).unwrap());
 
             if *LOG_PAYLOAD {
-                log::trace!("{route_id}: routing reply #{seq_num} to Client - payload: {zenoh_rep_buf:02x?}");
+                log::debug!("{route_id}: routing reply #{seq_num} to Client - payload: {zenoh_rep_buf:02x?}");
             } else {
                 log::trace!(
                     "{route_id}: routing reply #{seq_num} to Client - {} bytes",

diff --git a/zenoh-plugin-ros2dds/src/route_subscriber.rs b/zenoh-plugin-ros2dds/src/route_subscriber.rs
@@ -319,7 +319,7 @@ impl RouteSubscriber<'_> {
 
 fn do_route_data(s: Sample, ros2_name: &str, data_writer: dds_entity_t) {
     if *LOG_PAYLOAD {
-        log::trace!(
+        log::debug!(
             "Route Subscriber (Zenoh:{} -> ROS:{}): routing data - payload: {:02x?}",
             s.key_expr,
             &ros2_name,