Update zenoh and enable shared memory

AGENTS.md

@@ -64,7 +64,7 @@ Before adding ANY dependency, check all `pyproject.toml` files. Use exact versio
 
 ```toml
 aiohttp>=3.7.4,<=3.13.2
-eclipse-zenoh==1.4.0
+eclipse-zenoh==1.9.0
 fastapi-versioning==0.9.1
 fastapi==0.105.0
 loguru==0.5.3

core/frontend/package.json

@@ -16,7 +16,7 @@
     "lint:css:fix": "stylelint 'src/**/*.{vue,css,scss}' --fix"
   },
   "dependencies": {
-    "@eclipse-zenoh/zenoh-ts": "1.3.4",
+    "@eclipse-zenoh/zenoh-ts": "1.9.0",
     "@ffmpeg/ffmpeg": "^0.12.15",
     "@ffmpeg/util": "^0.12.2",
     "@foxglove/rosmsg": "^5.0.4",

core/frontend/src/components/cloud/CloudTrayMenu.vue

@@ -174,7 +174,7 @@
 
 <script lang="ts">
 import {
-  QueryTarget, Receiver, RecvErr, ReplyError, Sample, Session, Subscriber,
+  QueryTarget, ReplyError, Sample, Session, Subscriber,
 } from '@eclipse-zenoh/zenoh-ts'
 import axios from 'axios'
 import { StatusCodes } from 'http-status-codes'
@@ -191,7 +191,7 @@ import {
 import SpinningLogo from '@/components/common/SpinningLogo.vue'
 import PullProgress from '@/components/utils/PullProgress.vue'
 import filebrowser from '@/libs/filebrowser'
-import zenoh from '@/libs/zenoh'
+import zenoh, { receiveQueryReply, RecvErr } from '@/libs/zenoh'
 import bag from '@/store/bag'
 import { FilebrowserFile } from '@/types/filebrowser'
 import { InstalledExtensionData, RunningContainer } from '@/types/kraken'
@@ -447,30 +447,26 @@ export default Vue.extend({
       }
 
       try {
-        const receiver: void | Receiver = this.file_sync_session.get(topic, {
+        const receiver = await this.file_sync_session.get(topic, {
           target: QueryTarget.BestMatching,
         })
 
-        if (!(receiver instanceof Receiver)) {
+        if (!receiver) {
           console.warn(`[CloudTrayMenu] Query for ${topic} returned void receiver.`)
           return null
         }
 
-        let reply = await receiver.receive()
+        let reply = await receiveQueryReply(receiver)
         while (reply !== RecvErr.Disconnected) {
-          if (reply === RecvErr.MalformedReply) {
-            console.warn(`[CloudTrayMenu] Malformed reply while querying ${topic}.`)
-          } else {
-            const response = reply.result()
-            if (response instanceof Sample) {
-              const payload = response.payload().to_string()
-              return this.parseFileSyncQueue(payload)
-            }
-            const errorResponse: ReplyError = response
-            console.warn(`[CloudTrayMenu] Query error for ${topic}:`, errorResponse.payload().to_string())
+          const response = reply.result()
+          if (response instanceof Sample) {
+            const payload = response.payload().toString()
+            return this.parseFileSyncQueue(payload)
           }
+          const errorResponse: ReplyError = response
+          console.warn(`[CloudTrayMenu] Query error for ${topic}:`, errorResponse.payload().toString())
 
-          reply = await receiver.receive()
+          reply = await receiveQueryReply(receiver)
         }
       } catch (error) {
         console.error(`[CloudTrayMenu] Failed to query ${topic}:`, error)
@@ -518,13 +514,12 @@ export default Vue.extend({
       }
 
       try {
-        this.uploading_subscriber = await this.file_sync_session.declare_subscriber(
+        this.uploading_subscriber = await this.file_sync_session.declareSubscriber(
           MAJOR_TOM_FILE_SYNC_UPLOADING_TOPIC,
           {
             handler: (sample: Sample) => {
               this.handleUploadingSample(sample)
             },
-            history: true,
           },
         )
       } catch (error) {
@@ -533,7 +528,7 @@ export default Vue.extend({
     },
     handleUploadingSample(sample: Sample): void {
       try {
-        const payload = sample.payload().to_string()
+        const payload = sample.payload().toString()
         const event = JSON.parse(payload) as FileSyncUploadingEvent
         const transfer = this.normalizeUploadingEvent(event)
         if (!transfer) {

core/frontend/src/components/kraken/modals/ExtensionLogsModal.vue

@@ -214,7 +214,7 @@ export default Vue.extend({
       this.modal_subscriber = await kraken.createExtensionLogsSubscriber(topic, this.handleSubscriber)
     },
     async handleSubscriber(sample: Sample) {
-      const payloadString = sample.payload().to_string()
+      const payloadString = sample.payload().toString()
 
       let message = payloadString
       try {

core/frontend/src/components/zenoh-inspector/ZenohInspector.vue

@@ -182,7 +182,7 @@ export default Vue.extend({
       if (!this.current_message?.payload || !this.video_reader) {
         return null
       }
-      const msg: { data: Uint8Array } = this.video_reader.readMessage(this.current_message.payload.to_bytes())
+      const msg: { data: Uint8Array } = this.video_reader.readMessage(this.current_message.payload.toBytes())
       return msg.data
     },
   },
@@ -215,12 +215,17 @@ export default Vue.extend({
       }
 
       if (message.encoding === Encoding.TEXT_PLAIN.toString()) {
-        formattedMessage.payload = message.payload.to_string()
+        formattedMessage.payload = message.payload.toString()
       } else if (message.encoding === Encoding.APPLICATION_JSON.toString()) {
-        formattedMessage.payload = JSON.parse(message.payload.to_string())
+        try {
+          formattedMessage.payload = JSON.parse(message.payload.toString())
+        } catch (exception) {
+          // Keep the raw payload if it's not valid JSON
+          formattedMessage.payload = message.payload.toString()
+        }
       } else if (message.encoding === Encoding.ZENOH_BYTES.toString()) {
         try {
-          formattedMessage.payload = JSON.parse(message.payload.to_string())
+          formattedMessage.payload = JSON.parse(message.payload.toString())
         } catch (exception) {
           // Keep the raw payload if it's not valid JSON
           formattedMessage.payload = message.payload.toString()
@@ -234,7 +239,7 @@ export default Vue.extend({
         this.session = await zenoh.getSession()
 
         // Setup regular message subscriber
-        this.subscriber = await this.session.declare_subscriber('**', {
+        this.subscriber = await this.session.declareSubscriber('**', {
           handler: async (sample: Sample) => {
             const topic = sample.keyexpr().toString()
             const payload = sample.payload()
@@ -261,7 +266,7 @@ export default Vue.extend({
         // Setup liveliness subscriber
         const lv_ke = '@/**/@ros2_lv/**'
 
-        this.liveliness_subscriber = await this.session.liveliness().declare_subscriber(lv_ke, {
+        this.liveliness_subscriber = await this.session.liveliness().declareSubscriber(lv_ke, {
           handler: (sample: Sample) => {
             // Parse the liveliness token using regex
             // eslint-disable-next-line max-len