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Fix ZENOH_ROUTER_CHECK_ATTEMPTS which was not respected (backport #427) #428

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Jan 17, 2025
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Fix ZENOH_ROUTER_CHECK_ATTEMPTS which was not respected (backport #427) #428

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12 changes: 8 additions & 4 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -83,11 +83,15 @@ The `ZENOH_ROUTER_CHECK_ATTEMPTS` environment variable can be used to configure
The behavior is explained in the table below.


| ZENOH_ROUTER_CHECK_ATTEMPTS | Session behavior |
|:---------------------------:|:----------------------------------------------------------------------------------------------------------------:|
| unset or 0 | Indefinitely waits for connection to a Zenoh router. |
| < 0 | Skips Zenoh router check. |
| ZENOH_ROUTER_CHECK_ATTEMPTS | Session behavior |
|:---------------------------:|:------------------------------------------------------------------------------------------------------------------:|
| 0 | Indefinitely waits for connection to a Zenoh router. |
| < 0 | Skips Zenoh router check. |
| > 0 | Attempts to connect to a Zenoh router in `ZENOH_ROUTER_CHECK_ATTEMPTS` attempts with 1 second wait between checks. |
| unset | Equivalent to `1`: the check is made only once. |

If after the configured number of attempts the Node is still not connected to a `Zenoh router`, the initialisation goes on anyway.
If a `Zenoh router` is started after initialization phase, the Node will automatically connect to it, and autoconnect to other Nodes if gossip scouting is enabled (true with default configuratiuon).

### Session and Router configs
`rmw_zenoh` relies on separate configurations files to configure the `Zenoh router` and `Zenoh session` respectively.
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4 changes: 2 additions & 2 deletions rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
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Expand Up @@ -100,8 +100,8 @@ class rmw_context_impl_s::Data final : public std::enable_shared_from_this<Data>
constexpr int64_t ticks_between_print(std::chrono::milliseconds(1000) / sleep_time);
do {
zenoh::ZResult result;
this->session_->get_routers_z_id(&result);
if (result == Z_OK) {
const auto zids = this->session_->get_routers_z_id(&result);
if (result == Z_OK && !zids.empty()) {
break;
}
if ((connection_attempts % ticks_between_print) == 0) {
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