DEFAULT_CONFIG.json5

////
//// This file presents the default configuration used by both the `zenoh-plugin-mavlink` plugin and the `zenoh-bridge-mavlink` standalone executable.
//// The "mavlink" JSON5 object below can be used as such in the "plugins" part of a config file for the zenoh router (zenohd).
////
{
  plugins: {
    mavlink: {
      /// Specifies the capacity of the broadcast channel used for message distribution.
      /// This determines how many messages can be buffered in the channel before older messages are dropped.
      broadcast_channel_capacity: 16384,

      /// Specifies if MAVLink (outgoing) data should be distributed across Zenoh network.
      to_zenoh: true,

      /// Specifies if MAVLink (incoming) data should be accepted from Zenoh network.
      from_zenoh: false,

      /// An array of MAVLink connection configurations. Each connection specifies an endpoint and the MAVLink version to be used.
      mavlink_connections: [
        {
          /// The endpoint for the MAVLink connection.
          endpoint: "serial:/dev/ttyACM1:115200",

          /// The version of the MAVLink protocol to be used for this connection. Supported values are: '1' and '2'.
          mavlink_version: 2,
        },
        {
          endpoint: "tcpin:0.0.0.0:1337",
          mavlink_version: 2,
        },
        {
          endpoint: "udpout:0.0.0.0:1338",
          mavlink_version: 2,
        },
      ],
    },
  },

  ////
  //// zenoh related configuration (see zenoh documentation for more details)
  ////

  ////
  //// id: The identifier (as hex-string) that zenoh-bridge-mavlink must use. If not set, a random UUIDv4 will be used.
  //// WARNING: this id must be unique in your zenoh network.
  // id: "A00001",

  ////
  //// mode: The bridge's mode (peer or client)
  ////
  //mode: "client",

  ////
  //// Which endpoints to connect to. E.g. tcp/localhost:7447.
  //// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
  ////
  connect: {
    endpoints: [
      // "<proto>/<ip>:<port>"
    ],
  },

  ////
  //// Which endpoints to listen on. E.g. tcp/localhost:7447.
  //// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers,
  //// peers, or client can use to establish a zenoh session.
  ////
  listen: {
    endpoints: [
      // "<proto>/<ip>:<port>"
      "udp/0.0.0.0:6000"
    ],
  },
}