JEnoch

use std::path::Path;

fn main() {
    use git2::Repository;

    let url = "https://github.com/not-an-aardvark/every-git-commit-shorthash.git";
    let repo_dir = Path::new("./target/every-git-commit-shorthash");

    let repo = if repo_dir.exists() {
        if repo_dir.is_dir() {

JEnoch

#
# A Zenoh Python script that queries a time-series Storage (typically InfluxDB)
# for past publications and replay them
#

import sys
import time, datetime
import argparse
import json
import zenoh

JEnoch

# This script is an example of ROS2 + Zigbee/MQTT integration thanks to Zenoh.
#
# By default, it assumes that:
#  - a zenoh-bridge-dds is deployed and routes the ROS2 traffic to zenoh. It's configured to use "simu" as a scope.
#  - a zenoh-bridge-mqtt is deployed and routes the MQTT traffic coming from zigbee2mqtt software
#
# This script can connect to any Zenoh endpoint using the "-e" option (a Zenoh router, the zenoh-bridge-dds or the zenoh-bridge-mqtt).
# Then it performs the following:
#
#  - It subscribes in Zenoh to "zigbee2mqtt/device/button" to receive JSON messages from zigbee2mqtt when a Zigbee push button named "device/button" is pressed.

JEnoch

import sys
from datetime import datetime
import argparse
import curses
import zenoh
import json
from dataclasses import dataclass
from cyclonedds.idl import IdlStruct
from cyclonedds.idl.types import int8, int32, uint32, float64

JEnoch

Turtlebot3 simulation demo

Setup

On a Ubuntu VM in your prefered cloud:

• zenohd:
  • wget https://download.eclipse.org/zenoh/zenoh/0.6.0-beta.1/x86_64-unknown-linux-gnu/zenoh-0.6.0-beta.1-x86_64-unknown-linux-gnu.zip
  • unzip zenoh-0.6.0-beta.1-x86_64-unknown-linux-gnu.zip
• Optional (to serve the HTML page):
• sudo apt install apache2

JEnoch

Bridging the DDS traffic over a constrained connectivity (in throughput and/or number of message per second) might require to perform downsampling of some periodic DDS publications.

A new option for this purpose have been introduced in the new IAC2 branch of the zenoh bridge for DDS: --periodic-topics <topics_regex>=<period_in_ms>

Example of usage

Assuming you need to bridge the following topics over UDP, and want to ensure a minimal period between each re-publication (period values here are just examples and might not be relevant):

JEnoch

// NOTE: modified version of 
// https://github.com/eclipse-cyclonedds/cyclonedds/tree/c261053186c455abc63ca5ac7d56c0808a59c364/examples/helloworld

#include "dds/dds.h"
#include "HelloWorldData.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

int main(int argc, char **argv)

JEnoch

<dl>
    <dd>
        <p>
            Chat via zenoh!<br>
        <form id="connect-form">
            URL of zenoh router's REST API:
            <input id="router_url" type="text" required value="http://localhost:8000">
            <input type="submit" value="connect"
                class="w3-button w3-round w3-border w3-padding-small w3-theme-d1 w3-right w3-section"
                onclick="return subscribeChatroom();"><br>