add zenoh-c/zenoh-pico backend

.github/workflows/ci.yml

@@ -49,8 +49,8 @@ jobs:
       - name: Build zenohcpp conan package
         shell: bash
         run: |
-          conan create --version 1.2.1 up-conan-recipes/zenohc-tmp/prebuilt
-          conan create --version 1.2.1 up-conan-recipes/zenohcpp-tmp/from-source
+          conan create --version 1.5.0 up-conan-recipes/zenohc-tmp/prebuilt
+          conan create --version 1.5.0 up-conan-recipes/zenohcpp-tmp/from-source
 
       - name: Build up-transport-zenoh-cpp with tests
         shell: bash

CMakeLists.txt

@@ -16,7 +16,20 @@ find_package(protobuf REQUIRED)
 find_package(spdlog REQUIRED)
 find_package(up-core-api REQUIRED)
 find_package(up-cpp REQUIRED)
-find_package(zenohcpp REQUIRED)
+
+option(WITH_ZENOH_PICO "Build based on zenoh-pico backend" OFF)
+option(WITH_ZENOH_C "Build based on zenoh-c backend" OFF)
+
+if(WITH_ZENOH_PICO)
+	find_package(zenohpico REQUIRED)
+	find_package(zenohcxx REQUIRED)
+elseif(WITH_ZENOH_C)
+	find_package(zenohc REQUIRED)
+	find_package(zenohcxx REQUIRED)
+else()
+	find_package(zenohcpp REQUIRED)
+	add_compile_definitions(ZENOHCXX_ZENOHC)
+endif()
 
 message("* Adding build types...")
 list(APPEND CMAKE_CONFIGURATION_TYPES Release Coverage)
@@ -51,12 +64,28 @@ target_include_directories(${PROJECT_NAME}
 	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
 	$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
 	$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
-	${zenohcpp_INCLUDE_DIR}
 	${up-cpp_INCLUDE_DIR}
 	${up-core-api_INCLUDE_DIR}
 	${protobuf_INCLUDE_DIR}
 	${spdlog_INCLUDE_DIR})
 
+if(WITH_ZENOH_PICO)
+	target_include_directories(${PROJECT_NAME}
+		PUBLIC
+		${zenohpico_INCLUDE_DIR}
+		${zenohcxx_zenohpico_INCLUDE_DIR})
+elseif(WITH_ZENOH_C)
+	target_include_directories(${PROJECT_NAME}
+		PUBLIC
+		${zenohc_INCLUDE_DIR}
+		${zenohcxx_zenohc_INCLUDE_DIR})
+else()
+	target_include_directories(${PROJECT_NAME}
+		PUBLIC
+		${zenohcpp_INCLUDE_DIR})
+endif()
+
+
 set_property(TARGET ${PROJECT_NAME} PROPERTY POSITION_INDEPENDENT_CODE ON)
 
 target_compile_options(${PROJECT_NAME} PUBLIC
@@ -71,13 +100,28 @@ target_compile_options(${PROJECT_NAME} PUBLIC
 
 target_link_libraries(${PROJECT_NAME}
 	PRIVATE
-	zenohcpp::lib
 	up-cpp::up-cpp
 	up-core-api::up-core-api
 	protobuf::libprotobuf
 	spdlog::spdlog
 	)
 
+if(WITH_ZENOH_PICO)
+	target_link_libraries(${PROJECT_NAME}
+		PRIVATE
+		zenohpico::lib
+		zenohcxx::zenohpico)
+elseif(WITH_ZENOH_C)
+	target_link_libraries(${PROJECT_NAME}
+		PRIVATE
+		zenohc::lib
+		zenohcxx::zenohc)
+else()
+	target_link_libraries(${PROJECT_NAME}
+		PRIVATE
+		zenohcpp::lib)
+endif()
+
 enable_testing()
 add_subdirectory(test)
 

README.md

@@ -16,18 +16,35 @@ from [up-cpp][cpp-api-repo].
 - Compiler: GCC/G++ 11 or Clang 13
 - Conan : 1.59 or latest 2.X
 
-#### Conan packages
+#### Basic Conan packages
 
 Using the recipes found in [up-conan-recipes][conan-recipe-repo], build these
 Conan packages:
 
 1. [up-core-api][spec-repo] -
    `conan create --version 1.6.0-alpha4 --build=missing up-core-api/release`
 2. [up-cpp][cpp-api-repo] -
-   `conan create --version 1.0.1 --build=missing up-cpp/release`
-3. [zenoh-c][zenoh-repo] - `conan create --version 1.2.1 zenohc-tmp/prebuilt`
-4. [zenoh-c][zenoh-repo] -
-   `conan create --version 1.2.1 zenohcpp-tmp/from-source`
+   `conan create --version 1.0.1-dev --build=missing up-cpp/developer -o commitish=af55b7899fb8d2e30de1b11f975750e9d1135bbd -o fork=qnx-ports/up-cpp`
+
+#### Zenoh Conan packages
+
+We support two basic zenoh backend (zenoh-c/zenoh-pico),
+also to have backward compatibility support temporary zenoh-c packaging.
+
+Building (Temporary) Zenoh Packages
+1. [zenoh-c][zenoh-repo] - `conan create --version 1.5.0 zenohc-tmp/prebuilt`
+2. [zenoh-cpp][zenoh-repo] -
+   `conan create --version 1.5.0 zenohcpp-tmp/from-source`
+
+Building Zenoh Packages - with proper zenoh-c backend
+1. [zenoh-c][zenoh-repo] - `conan create --version 1.5.0 zenoh-c/prebuilt`
+2. [zenoh-cpp][zenoh-repo] -
+   `conan create --version 1.5.0 zenoh-cpp -o backend=zenoh-c`
+
+Building Zenoh Packages - with proper zenoh-pico backend
+1. [zenoh-pico][zenoh-repo] - `conan create --version 1.5.0 zenoh-pico`
+2. [zenoh-cpp][zenoh-repo] -
+   `conan create --version 1.5.0 zenoh-cpp -o backend=zenoh-pico`
 
 **NOTE:** all `conan` commands in this document use Conan 2.x syntax. Please
 adjust accordingly when using Conan 1.x.
@@ -64,14 +81,46 @@ up-transport-zenoh-cpp, follow the steps in the
 
 ```bash
 cd up-transport-zenoh-cpp
+
+# Default is (Temporary) Zenoh Packages
 conan install . --build=missing
+# OR explicite zenoh-c backend
+conan install . --build=missing -o backend=zenoh-c
+# OR explicite zenoh-pico backend
+conan install . --build=missing -o backend=zenoh-pico
+
 cmake --preset conan-release
 cd build/Release
 cmake --build . -- -j
 ```
 
 Once the build completes, tests can be run with `ctest`.
 
+**NOTE:** If you want to test with zenoh-pico backend you have to run
+zenoh-router. Please look at [up-conan-readme][conan-recipe-docs]
+
+### QNX build with conan
+```bash
+cd up-conan-recipes
+conan create --version=3.21.12 --build=missing protobuf
+conan config install tools/qnx-8.0-extension/settings_user.yml
+conan create -pr:h=tools/profiles/nto-8.0-x86_64 --version=3.21.12 --build=missing protobuf
+conan create -pr:h=tools/profiles/nto-8.0-x86_64 --version=1.6.0-alpha4 up-core-api/release/
+conan create -pr:h=tools/profiles/nto-8.0-x86_64 --version=1.14.0 gtest
+
+conan create -pr:h=tools/profiles/nto-8.0-x86_64 --version=1.0.1-dev --build=missing up-cpp/developer -o commitish=af55b7899fb8d2e30de1b11f975750e9d1135bbd -o fork=qnx-ports/up-cpp
+
+conan create -pr:h=tools/profiles/nto-8.0-x86_64 --version=1.5.0 zenoh-pico
+conan create -pr:h=tools/profiles/nto-8.0-x86_64 --version=1.5.0 -o backend=zenoh-pico zenoh-cpp
+
+cd ../up-transport-zenoh-cpp
+conan install -pr:h=../up-conan-recipes/tools/profiles/nto-8.0-x86_64 --build=missing -o backend=zenoh-pico .
+cmake --preset conan-release
+cd build/Release
+cmake --build . -- -j
+```
+
+
 ### With dependencies installed as system libraries
 
 **TODO** Verify steps for pure cmake build without Conan.
@@ -106,3 +155,4 @@ Give a ⭐️ if this project helped you!
 [cpp-api-repo]: https://github.com/eclipse-uprotocol/up-cpp
 [zenoh-repo]: https://github.com/eclipse-zenoh/zenoh-cpp
 [conan-abi-docs]: https://docs.conan.io/en/1.60/howtos/manage_gcc_abi.html
+[conan-recipe-docs]: https://github.com/eclipse-uprotocol/up-conan-recipes/blob/main/README.md

conanfile.py

@@ -0,0 +1,60 @@
+from conan import ConanFile
+from conan.tools.cmake import CMakeToolchain, cmake_layout, CMakeDeps
+from conan.errors import ConanInvalidConfiguration
+
+class upZenohTransportRecipe(ConanFile):
+    name = "up-transport-zenoh-cpp"
+
+    # Optional metadata
+    license = "Apache-2.0"
+    author = "Contributors to the Eclipse Foundation <[email protected]>"
+    url = "https://github.com/eclipse-uprotocol/up-transport-zenoh-cpp"
+    description = "This library provides a Zenoh-based uProtocol transport for C++ uEntities"
+    topics = ("automotive", "iot", "uprotocol", "messaging")
+
+    # Binary configuration
+    settings = "os", "compiler", "build_type", "arch"
+    options = {
+        "backend": ["zenoh-c", "zenoh-pico", "zenoh-tmp"],
+    }
+
+    default_options = {
+        "backend": "zenoh-tmp",
+    }
+
+    def requirements(self):
+        if "zenoh-tmp" == self.options.backend:
+            self.requires("zenohcpp/1.5.0")
+        elif "zenoh-c" == self.options.backend:
+            self.requires("zenoh-cpp/1.5.0", options={"backend":"zenoh-c"})
+            self.requires("zenoh-c/1.5.0")
+        elif "zenoh-pico" == self.options.backend:
+            self.requires("zenoh-cpp/1.5.0", options={"backend":"zenoh-pico"})
+            self.requires("zenoh-pico/1.5.0")
+        else:
+            raise ConanInvalidConfiguration(f"Zenoh backend: {self.options.backend} is not supported")
+        self.requires("up-core-api/[~1.6, include_prerelease]")
+        self.requires("up-cpp/[^1.0, include_prerelease]")
+        self.requires("spdlog/1.13.0")
+        self.requires("protobuf/3.21.12")
+        self.test_requires("gtest/1.14.0")
+
+    def layout(self):
+        cmake_layout(self)
+
+    def generate(self):
+        deps = CMakeDeps(self)
+        deps.generate()
+        tc = CMakeToolchain(self)
+        if "zenoh-tmp" == self.options.backend:
+            tc.cache_variables["WITH_ZENOH_PICO"] = False
+            tc.cache_variables["WITH_ZENOH_C"] = False
+        elif "zenoh-c" == self.options.backend:
+            tc.cache_variables["WITH_ZENOH_PICO"] = False
+            tc.cache_variables["WITH_ZENOH_C"] = True
+        elif "zenoh-pico" == self.options.backend:
+            tc.cache_variables["WITH_ZENOH_PICO"] = True
+            tc.cache_variables["WITH_ZENOH_C"] = False
+        else:
+            raise ConanInvalidConfiguration(f"Zenoh backend: {self.options.backend} is not supported")
+        tc.generate()

include/up-transport-zenoh-cpp/ZenohUTransport.h

@@ -16,8 +16,8 @@
 
 #include <filesystem>
 #include <optional>
+#include <sstream>
 
-#define ZENOHCXX_ZENOHC
 #include <zenoh.hxx>
 
 #include "ThreadSafeMap.h"
@@ -42,6 +42,13 @@ namespace uprotocol::transport {
 /// * [MUST] Throw an exception if the transport fails to initialize or the
 ///          configuration is invalid.
 struct ZenohUTransport : public UTransport {
+#ifdef ZENOHCXX_ZENOHPICO
+	/// @brief Constructor
+	///
+	/// @param default_uri Default Authority and Entity (as a UUri) for
+	///                   clients using this transport instance.
+	explicit ZenohUTransport(const v1::UUri& default_uri);
+#else
 	/// @brief Constructor
 	///
 	/// @param default_uri Default Authority and Entity (as a UUri) for
@@ -51,6 +58,7 @@ struct ZenohUTransport : public UTransport {
 	ZenohUTransport(const v1::UUri& default_uri,
 	                const std::filesystem::path& config_file);
 
+#endif
 	~ZenohUTransport() override = default;
 
 protected:

src/ZenohUTransport.cpp

@@ -211,6 +211,17 @@ std::optional<v1::UMessage> ZenohUTransport::queryToUMessage(
 	return message;
 }
 
+#ifdef ZENOHCXX_ZENOHPICO
+ZenohUTransport::ZenohUTransport(const v1::UUri& default_uri)
+    : UTransport(default_uri),
+      session_(zenoh::Session::open(
+          zenoh::Config::create_default())) {
+	// TODO(unknown) add to setup or remove
+	spdlog::set_level(spdlog::level::debug);
+
+	spdlog::info("ZenohUTransport init");
+}
+#else
 ZenohUTransport::ZenohUTransport(const v1::UUri& default_uri,
                                  const std::filesystem::path& config_file)
     : UTransport(default_uri),
@@ -221,6 +232,7 @@ ZenohUTransport::ZenohUTransport(const v1::UUri& default_uri,
 
 	spdlog::info("ZenohUTransport init");
 }
+#endif
 
 v1::UStatus ZenohUTransport::registerPublishNotificationListener_(
     const std::string& zenoh_key, CallableConn listener) {

test/CMakeLists.txt

@@ -26,16 +26,45 @@ function(add_coverage_test Name)
         up-core-api::up-core-api
         up-cpp::up-cpp
         up-cpp::up-transport-zenoh-cpp
-        zenohcpp::lib
         spdlog::spdlog
         protobuf::protobuf
         PRIVATE
         GTest::gtest_main
         GTest::gmock
-        pthread
     )
+
+    if(CMAKE_SYSTEM_NAME MATCHES "QNX")
+        target_link_libraries(${Name} PRIVATE socket)
+    else()
+        target_link_libraries(${Name} PRIVATE pthread)
+    endif()
+
+    if(WITH_ZENOH_PICO)
+        target_link_libraries(${Name}
+            PUBLIC
+            zenohpico::lib
+            zenohcxx::zenohpico
+        )
+    elseif(WITH_ZENOH_C)
+        target_link_libraries(${Name}
+            PUBLIC
+            zenohc::lib
+            zenohcxx::zenohc
+        )
+    else()
+        target_link_libraries(${Name}
+            PUBLIC
+            zenohcpp::lib
+        )
+    endif()
+
     target_include_directories(${Name} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
-    gtest_discover_tests(${Name} XML_OUTPUT_DIR results)
+    if(CMAKE_CROSSCOMPILING)
+        ## Workaround for legacy "gtest" tests setup in case of cross-build
+        gtest_add_tests(TARGET ${Name} SOURCES ${ARGN})
+    else()
+        gtest_discover_tests(${Name} XML_OUTPUT_DIR results)
+    endif()
 endfunction()
 
 # NOTE: This is temporarily just a call to add_coverage_test. When coverage

test/coverage/ZenohUTransportTest.cpp

@@ -67,12 +67,17 @@ v1::UUri create_uuri(std::string_view serialized) {
 
 // TODO(sashacmc): config generation
 TEST_F(TestZenohUTransport, ConstructDestroy) {  // NOLINT
+#ifdef ZENOHCXX_ZENOHPICO
+	auto transport = std::make_shared<transport::ZenohUTransport>(
+	    create_uuri(ENTITY_URI_STR));
+#else
 	std::cout << ZENOH_CONFIG_FILE << std::endl;
 
 	zenoh::init_log_from_env_or("error");
 
 	auto transport = std::make_shared<transport::ZenohUTransport>(
 	    create_uuri(ENTITY_URI_STR), ZENOH_CONFIG_FILE);
+#endif
 }
 
 struct ExposeKeyString : public transport::ZenohUTransport {