cu-zenoh-bridge

Bidirectional Copper bridge over Zenoh, with multiple typed channels per bridge.

Config

Bridge-level config:

• zenoh_config_file: path to a Zenoh config file (optional). This should be a JSON5 file following Zenoh's session configuration schema. You can start from the default config: https://github.com/eclipse-zenoh/zenoh/blob/main/DEFAULT_CONFIG.json5 See the configuration docs: https://zenoh.io/docs/manual/configuration/
• zenoh_config_json: Zenoh config as an inline JSON5 string (optional). This is useful when you want to embed a small config directly in your Copper config instead of providing a file. The schema is the same as the JSON5 file above.
• wire_format: default wire format (bincode, json, or cbor).

Per-channel config (inside channels):

• route: Zenoh key expression for the channel.
• config.wire_format: override the default wire format per channel.

Example:

bridges: [
  (
    id: "zenoh",
    type: "bridges::DemoZenohBridge",
    config: {
      "wire_format": "bincode",
      "zenoh_config_file": "/path/to/zenoh.json5",
    },
    channels: [
      Tx(id: "ping_bin", route: "demo/ping/bin"), // default to bincode as per bridge config
      Tx(id: "ping_json", route: "demo/ping/json", config: { "wire_format": "json" }),
      Rx(id: "pong_bin", route: "demo/pong/bin"),
      Rx(id: "pong_json", route: "demo/pong/json", config: { "wire_format": "json" }),
    ],
  ),
],

Inline JSON5 example:

config: {
  "zenoh_config_json": r#"
    {
      scouting: { timeout_ms: 1000 },
      transport: { unicast: { max_links: 2 } }
    }
  "#,
}

The bridge uses a single Zenoh session and declares one publisher/subscriber per configured channel.