Zenoh - Load session configuration

conf/CMakeLists.txt

@@ -25,3 +25,8 @@ configure_file(
 # Install the yaml configuration files in an unversioned location.
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml
   DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/gz/)
+
+# Install default Zenoh config files.
+install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+  DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/gz-${GZ_DESIGNATION}
+  FILES_MATCHING PATTERN "*.json5")

include/gz/transport/Helpers.hh

@@ -30,6 +30,12 @@
 
 namespace gz::transport
 {
+#ifdef _WIN32
+# define GZ_HOMEDIR "USERPROFILE"
+#else
+# define GZ_HOMEDIR "HOME"
+#endif
+
   // Inline bracket to help doxygen filtering.
   inline namespace GZ_TRANSPORT_VERSION_NAMESPACE {
   //

include/gz/transport/config.hh.in

@@ -32,6 +32,9 @@
 
 #define GZ_TRANSPORT_VERSION_HEADER "Gazebo Transport, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2017 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
 
+#define GZ_TRANSPORT_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}"
+#define GZ_TRANSPORT_INSTALL_SHARE_PATH "${CMAKE_INSTALL_DATAROOTDIR}"
+
 #cmakedefine HAVE_IFADDRS 1
 #cmakedefine UBUNTU_FOCAL 1
 #cmakedefine HAVE_ZENOH 1

src/NodeShared.cc

@@ -19,6 +19,7 @@
 
 #include <chrono>
 #include <cstring>
+#include <filesystem>
 #include <iostream>
 #include <map>
 #include <mutex>
@@ -35,17 +36,20 @@
 #include <zmq.hpp>
 
 #include "gz/transport/AdvertiseOptions.hh"
+#include "gz/transport/config.hh"
 #include "gz/transport/Helpers.hh"
 #include "gz/transport/NodeShared.hh"
 #include "gz/transport/RepHandler.hh"
 #include "gz/transport/ReqHandler.hh"
 #include "gz/transport/SubscriptionHandler.hh"
 #include "gz/transport/TransportTypes.hh"
 #include "gz/transport/Uuid.hh"
+#include <gz/utils/Environment.hh>
 
 #include "Discovery.hh"
 #include "NodeSharedPrivate.hh"
 
+namespace fs = std::filesystem;
 using namespace std::chrono_literals;
 
 const char kGzAuthDomain[] = "gz-auth";
@@ -187,13 +191,6 @@ NodeShared *NodeShared::Instance()
 NodeShared::NodeShared()
   : dataPtr(new NodeSharedPrivate)
 {
-  // If GZ_VERBOSE=1 enable the verbose mode.
-  std::string gzVerbose;
-  if (env("GZ_VERBOSE", gzVerbose) && !gzVerbose.empty())
-  {
-    this->dataPtr->verbose = (gzVerbose == "1");
-  }
-
   // Set the multicast IP used for discovery.
   std::string envDiscoveryIp;
   if (env("GZ_DISCOVERY_MULTICAST_IP", envDiscoveryIp) &&
@@ -1823,6 +1820,106 @@ int NodeSharedPrivate::NonNegativeEnvVar(const std::string &_envVar,
   return numVal;
 }
 
+#ifdef HAVE_ZENOH
+/////////////////////////////////////////////////
+zenoh::Config NodeSharedPrivate::ZenohConfig()
+{
+  // Check if the ZENOH_CONFIG env variable exists.
+  try
+  {
+    zenoh::ZResult result;
+    zenoh::Config config = zenoh::Config::from_env(&result);
+    if (result == Z_OK)
+    {
+      if (this->verbose)
+      {
+        std::cout << "Zenoh config file loaded from ZENOH_CONFIG env"
+                  << std::endl;
+      }
+      return config;
+    }
+  } catch (zenoh::ZException &_e)
+  {
+    std::cerr << "Error parsing Zenoh config file: " << _e.what() << "\n";
+  }
+
+  // Check if the default user config file exists.
+  std::string userConfigDir;
+  if (gz::utils::env(GZ_HOMEDIR, userConfigDir) && !userConfigDir.empty())
+  {
+    fs::path userConfigDirPath = fs::path(userConfigDir) / ".gz" / "transport";
+    fs::path userConfigFilePath =
+      userConfigDirPath / fs::path("gz_zenoh_session_config.json5");
+    if (!fs::exists(userConfigFilePath))
+    {
+      // Let's create default user config files.
+      fs::path installedConfigDir =
+        fs::path(GZ_TRANSPORT_INSTALL_PREFIX) /
+        fs::path(GZ_TRANSPORT_INSTALL_SHARE_PATH) /
+        "gz-transport" / "conf";
+
+      // Create directories if needed.
+      std::error_code ec;
+      fs::create_directories(userConfigDirPath, ec);
+
+      if (fs::exists(userConfigDirPath) && fs::is_directory(userConfigDirPath))
+      {
+        for (auto name : {"gz_zenoh_router_config.json5",
+                          "gz_zenoh_session_config.json5"})
+        {
+          const auto copyOptions = fs::copy_options::skip_existing;
+          fs::path installedConfigFilePath = installedConfigDir / name;
+          fs::path newUserConfigFilePath = userConfigDirPath / name;
+
+          auto ret = fs::copy_file(installedConfigFilePath,
+            newUserConfigFilePath, copyOptions, ec);
+          if (ret)
+          {
+            std::cout << "New user config file created ["
+                      << newUserConfigFilePath << "]" << std::endl;
+          }
+          else
+          {
+            std::cerr << "Unable to create user config file ["
+                      << newUserConfigFilePath << "]. Reason: "
+                      << ec.message() << std::endl;
+          }
+        }
+      }
+    }
+
+    if (fs::exists(userConfigFilePath) &&
+        fs::is_regular_file(userConfigFilePath))
+    {
+      try
+      {
+        zenoh::ZResult result;
+        zenoh::Config config = zenoh::Config::from_file(
+          userConfigFilePath.c_str(), &result);
+        if (result == Z_OK)
+        {
+          if (this->verbose)
+          {
+            std::cout << "Zenoh config file loaded from [" << userConfigFilePath
+                      << "]" << std::endl;
+          }
+          return config;
+        }
+      } catch (zenoh::ZException &_e)
+      {
+        std::cerr << "Error parsing Zenoh config file:" << _e.what() << "\n";
+      }
+    }
+  }
+
+  // Configuration file not found.
+  if (this->verbose)
+    std::cout << "Zenoh default config loaded" << std::endl;
+
+  return zenoh::Config::create_default();
+}
+#endif
+
 /////////////////////////////////////////////////
 void NodeShared::AddGlobalRelay(const std::string& _relayAddress)
 {

src/NodeSharedPrivate.hh

@@ -26,6 +26,7 @@
 #include <string>
 #include <unordered_map>
 #include <unordered_set>
+#include <utility>
 #include <vector>
 
 #include <zmq.hpp>
@@ -66,6 +67,13 @@ namespace gz::transport
               responseReceiver(new zmq::socket_t(*context, ZMQ_ROUTER)),
               replier(new zmq::socket_t(*context, ZMQ_ROUTER))
     {
+      // If GZ_VERBOSE=1 enable the verbose mode.
+      std::string gzVerbose;
+      if (env("GZ_VERBOSE", gzVerbose) && !gzVerbose.empty())
+      {
+        this->verbose = (gzVerbose == "1");
+      }
+
       // Set the Gz Transport implementation (ZeroMQ, Zenoh, ...).
       std::string gzImpl;
       if (env("GZ_TRANSPORT_IMPLEMENTATION", gzImpl) && !gzImpl.empty())
@@ -83,8 +91,9 @@ namespace gz::transport
 #ifdef HAVE_ZENOH
       if (this->gzImplementation == "zenoh")
       {
+        auto config = ZenohConfig();
         this->session = std::make_shared<zenoh::Session>(
-          zenoh::Session::open(zenoh::Config::create_default()));
+          zenoh::Session::open(std::move(config)));
       }
 #endif
     }
@@ -110,6 +119,16 @@ namespace gz::transport
                                   int _defaultValue) const;
 
 #ifdef HAVE_ZENOH
+    /// \brief Get the path to the Zenoh config file.
+    /// We check a few different options from higher to lower priority:
+    /// 1. If the environment variable GZ_ZENOH_CONFIG_PATH is set.
+    /// 2. If the default configuration file exists at:
+    ///     $HOME / .gz / transport / gz_zenoh_session/json5
+    /// If none of the previous options succeed, no configuration file is used.
+    /// \return The path to the Zenoh configuration file or empty string if
+    /// no config file was found.
+    public: zenoh::Config ZenohConfig();
+
     /// \Pointer to the Zenoh session.
     public: std::shared_ptr<zenoh::Session> session;
 #endif