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fix(config): set connect/timeout_ms and connect/exit_on_failure #357

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Merged
YuanYuYuan merged 2 commits into from
Sep 23, 2026
Merged

fix(config): set connect/timeout_ms and connect/exit_on_failure #357

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57d98f4
fix(config): set connect/timeout_ms and connect/exit_on_failure
YuanYuYuan Sep 23, 2026
798b7c9
fix(config): drop narrative comment, keep per-key reason
YuanYuYuan Sep 23, 2026
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14 changes: 12 additions & 2 deletions crates/hiroz/src/config.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
//! # Architecture
//! - Common overrides: 10 settings shared between router and session
//! - Router-specific: 5 settings unique to router mode
//! - Session-specific: 6 settings unique to peer mode
//! - Session-specific: 8 settings unique to peer mode
//!
//! # Example
//! ```no_run
Expand Down Expand Up @@ -230,7 +230,7 @@ fn router_specific_overrides() -> &'static [ConfigOverride] {
&ROUTER_SPECIFIC
}

/// Session-specific overrides (6 settings)
/// Session-specific overrides (8 settings)
fn session_specific_overrides() -> &'static [ConfigOverride] {
static SESSION_SPECIFIC: LazyLock<Vec<ConfigOverride>> = LazyLock::new(|| {
vec![
Expand All @@ -244,6 +244,16 @@ fn session_specific_overrides() -> &'static [ConfigOverride] {
value: serde_json::json!(["tcp/localhost:7447"]),
reason: "Connect to Zenoh router on localhost at standard ROS 2 port 7447",
},
ConfigOverride {
key: "connect/timeout_ms",
value: serde_json::json!({"router": -1, "peer": -1, "client": 0}),
reason: "Matches rmw_zenoh_cpp's default: -1 for peer and router means the connect does not block session start, not that it waits forever",
},
ConfigOverride {
key: "connect/exit_on_failure",
value: serde_json::json!({"router": false, "peer": false, "client": true}),
reason: "Matches rmw_zenoh_cpp's default: a peer with no reachable router must not fail session creation; only a client, which needs one, does",
},
ConfigOverride {
key: "listen/endpoints",
value: serde_json::json!(["tcp/localhost:0"]),
Expand Down
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