SDK update

GitOrigin-RevId: fae22520f69e21d770997501d447a130ce7edd91

Author: alitouka

intrinsic/platform/pubsub/kvstore.cc

@@ -37,15 +37,16 @@
 
 ABSL_FLAG(bool, use_replicated_kv_store, false,
           "If true, use the replicated KV store.");
+ABSL_FLAG(std::string, admin_set_proxy_endpoint,
+          "zenoh-router.app-intrinsic-base.svc.cluster.local:8081",
+          "Override the default admin set proxy URL");
 
 namespace intrinsic {
 
 using platform::proto::WorkcellInfo;
 
 namespace {
 constexpr static absl::Duration kHighConsistencyTimeout = absl::Seconds(30);
-constexpr static absl::string_view kAdminSetProxyEndpoint =
-    "zenoh-router.app-intrinsic-base.svc.cluster.local:8081";
 constexpr static absl::string_view kWorkcellInfoKey = "workcell_info";
 }  // namespace
 
@@ -324,7 +325,7 @@ absl::Status KeyValueStore::AdminCloudCopy(absl::string_view source_key,
                         GetAny(source_key, timeout));
 
   std::shared_ptr<::grpc::Channel> channel = ::grpc::CreateCustomChannel(
-      std::string(kAdminSetProxyEndpoint),
+      absl::GetFlag(FLAGS_admin_set_proxy_endpoint),
       ::grpc::                       // NOLINTNEXTLINE
       InsecureChannelCredentials(),  // NO_LINT(grpc_insecure_credential_linter)
       ::grpc::ChannelArguments());

intrinsic/platform/pubsub/kvstore.h

@@ -28,6 +28,7 @@
 #include "intrinsic/util/status/status_macros.h"
 
 ABSL_DECLARE_FLAG(bool, use_replicated_kv_store);
+ABSL_DECLARE_FLAG(std::string, admin_set_proxy_endpoint);
 
 namespace intrinsic {
 

intrinsic/platform/pubsub/python/BUILD

@@ -16,6 +16,7 @@ pybind_extension(
         "//intrinsic/platform/pubsub:publisher",
         "//intrinsic/platform/pubsub:subscription",
         "@abseil-cpp//absl/container:flat_hash_map",
+        "@abseil-cpp//absl/flags:parse",
         "@abseil-cpp//absl/status",
         "@abseil-cpp//absl/status:statusor",
         "@abseil-cpp//absl/strings",

intrinsic/platform/pubsub/python/pubsub.cc

@@ -15,6 +15,7 @@
 #include <vector>
 
 #include "absl/container/flat_hash_map.h"
+#include "absl/flags/parse.h"
 #include "absl/log/log.h"
 #include "absl/status/status.h"
 #include "absl/status/statusor.h"
@@ -267,6 +268,17 @@ std::string MakeKey(pybind11::args args) {
   return KeyValueStore::MakeKeyFromVector(parts);
 }
 
+void ParseCommandLine(const std::vector<std::string>& args) {
+  std::vector<char*> argv_c;
+  for (const auto& arg : args) {
+    argv_c.push_back(const_cast<char*>(arg.c_str()));
+  }
+  int argc_c = argv_c.size();
+  char** argv_c_ptr = argv_c.data();
+
+  absl::ParseCommandLine(argc_c, argv_c_ptr);
+}
+
 struct PySubscriptionDeleter {
   void operator()(Subscription* s) {
     // To avoid deadlock, the call to Zenoh.imw_destroy_subscription() needs
@@ -377,6 +389,11 @@ PYBIND11_MODULE(pubsub, m) {
       m, "Subscription")
       .def("TopicName", &Subscription::TopicName)
       .def("Unsubscribe", &Subscription::Unsubscribe);
+
+  // Helper function for passing command line flags from Python code
+  // to C++. Can be used in Python tests which start their own Zenoh routers,
+  // and need to pass their URLs to C++ code.
+  m.def("parse_command_line", &ParseCommandLine);
 }
 
 }  // namespace pubsub