From 83a26f2d1911bbb61c786f445b3f4477e20e969b Mon Sep 17 00:00:00 2001
From: yuanyuyuan <az6980522@gmail.com>
Date: Thu, 29 Aug 2024 22:00:14 +0800
Subject: [PATCH 1/2] build: deprecate the zenohc_debug and incldue the zenohc
 dependency in the zenoh_c_vendor

---
 rmw_zenoh_cpp/CMakeLists.txt  | 4 ----
 zenoh_c_vendor/CMakeLists.txt | 2 ++
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index 4ecfe360..a8674797 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -22,10 +22,6 @@ find_package(rosidl_typesupport_fastrtps_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rmw REQUIRED)
 find_package(zenoh_c_vendor REQUIRED)
-find_package(zenohc_debug QUIET)
-if(NOT zenohc_debug_FOUND)
-  find_package(zenohc REQUIRED)
-endif()
 
 add_library(rmw_zenoh_cpp SHARED
   src/detail/attachment_helpers.cpp
diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index f1870337..8f819c1f 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -31,4 +31,6 @@ ament_vendor(zenoh_c_vendor
     "-DZENOHC_CUSTOM_TARGET=${ZENOHC_CUSTOM_TARGET}"
 )
 
+ament_export_dependencies(zenohc)
+
 ament_package()

From b6bd22600087c0c077ae06fcc42c51a10559cb31 Mon Sep 17 00:00:00 2001
From: yuanyuyuan <az6980522@gmail.com>
Date: Thu, 29 Aug 2024 22:31:18 +0800
Subject: [PATCH 2/2] build!: build rmw_zenoh_cpp with zenoh-cpp

---
 rmw_zenoh_cpp/CMakeLists.txt                        |  4 +++-
 rmw_zenoh_cpp/package.xml                           |  4 ++--
 rmw_zenoh_cpp/src/rmw_init.cpp                      |  2 +-
 {zenoh_c_vendor => zenoh_cpp_vendor}/CMakeLists.txt | 13 ++++++++++++-
 {zenoh_c_vendor => zenoh_cpp_vendor}/package.xml    |  2 +-
 5 files changed, 19 insertions(+), 6 deletions(-)
 rename {zenoh_c_vendor => zenoh_cpp_vendor}/CMakeLists.txt (85%)
 rename {zenoh_c_vendor => zenoh_cpp_vendor}/package.xml (95%)

diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index a8674797..23e53a59 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -21,7 +21,7 @@ find_package(rcutils REQUIRED)
 find_package(rosidl_typesupport_fastrtps_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rmw REQUIRED)
-find_package(zenoh_c_vendor REQUIRED)
+find_package(zenoh_cpp_vendor REQUIRED)
 
 add_library(rmw_zenoh_cpp SHARED
   src/detail/attachment_helpers.cpp
@@ -62,6 +62,7 @@ target_link_libraries(rmw_zenoh_cpp
     rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
     rmw::rmw
     zenohc::lib
+    zenohcxx::zenohc
 )
 
 configure_rmw_library(rmw_zenoh_cpp)
@@ -123,6 +124,7 @@ target_link_libraries(rmw_zenohd
     rcpputils::rcpputils
     rmw::rmw
     zenohc::lib
+    zenohcxx::zenohc
 )
 
 install(
diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
index 3da4920d..d51e82a5 100644
--- a/rmw_zenoh_cpp/package.xml
+++ b/rmw_zenoh_cpp/package.xml
@@ -14,8 +14,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>zenoh_c_vendor</build_depend>
-  <build_export_depend>zenoh_c_vendor</build_export_depend>
+  <build_depend>zenoh_cpp_vendor</build_depend>
+  <build_export_depend>zenoh_cpp_vendor</build_export_depend>
 
   <depend>ament_index_cpp</depend>
   <depend>fastcdr</depend>
diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
index 7526b7a7..892c983a 100644
--- a/rmw_zenoh_cpp/src/rmw_init.cpp
+++ b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -14,7 +14,7 @@
 
 #include <cstdio>
 #include <optional>
-#include <zenoh.h>
+#include <zenoh.hxx>
 
 #include <new>
 #include <string>
diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_cpp_vendor/CMakeLists.txt
similarity index 85%
rename from zenoh_c_vendor/CMakeLists.txt
rename to zenoh_cpp_vendor/CMakeLists.txt
index 8f819c1f..1821dfa6 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_cpp_vendor/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16)
-project(zenoh_c_vendor)
+project(zenoh_cpp_vendor)
 
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
@@ -33,4 +33,15 @@ ament_vendor(zenoh_c_vendor
 
 ament_export_dependencies(zenohc)
 
+ament_vendor(zenoh_cpp_vendor
+  VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
+  VCS_VERSION dev/1.0.0
+  CMAKE_ARGS
+    -DZENOHCXX_ZENOHC=OFF
+)
+
+externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor)
+
+ament_export_dependencies(zenohcxx)
+
 ament_package()
diff --git a/zenoh_c_vendor/package.xml b/zenoh_cpp_vendor/package.xml
similarity index 95%
rename from zenoh_c_vendor/package.xml
rename to zenoh_cpp_vendor/package.xml
index b907feff..eb2c8c20 100644
--- a/zenoh_c_vendor/package.xml
+++ b/zenoh_cpp_vendor/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>zenoh_c_vendor</name>
+  <name>zenoh_cpp_vendor</name>
   <version>0.0.1</version>
   <description>Vendor pkg to install zenoh-c</description>
   <maintainer email="yadunund@openrobotics.org">Yadunund</maintainer>