Support loading of both the ROS2 and DDS plugins on all supported pla…

…tforms (#324)

.github/workflows/ci.yml

@@ -38,6 +38,13 @@ jobs:
         if: startsWith(matrix.os,'ubuntu')
         run: sudo apt-get -y install libacl1-dev
 
+      - name: Install LLVM toolchain
+        if: startsWith(matrix.os,'macos')
+        run: |
+          brew install llvm@19
+          ls /opt/homebrew/opt/llvm@19/bin
+          echo "/opt/homebrew/opt/llvm@19/bin" >> $GITHUB_PATH
+
       - name: Install Rust toolchain
         run: |
           rustup show
@@ -46,23 +53,35 @@ jobs:
       - name: Code format check
         run: cargo fmt --check -- --config "unstable_features=true,imports_granularity=Crate,group_imports=StdExternalCrate"
       - name: Clippy
-        run: cargo clippy --workspace --all-targets --all-features -- --deny warnings
+        run: cargo clippy --workspace --all-targets --features stats,dynamic_plugin,dds_shm -- --deny warnings
 
       - name: Build zenoh-plugin-ros2dds
         run: cargo build -p zenoh-plugin-ros2dds --verbose --all-targets
 
       - name: Build zenoh-plugin-ros2dds (with dds_shm)
         run: cargo build -p zenoh-plugin-ros2dds --features dds_shm --verbose --all-targets
 
+      - name: Build zenoh-plugin-ros2dds (with prefix_symbols)
+        run: cargo build -p zenoh-plugin-ros2dds --features prefix_symbols --verbose --all-targets
+
       - name: Build zenoh-bridge-ros2dds
         run: cargo build -p zenoh-bridge-ros2dds  --verbose --all-targets
 
       - name: Build zenoh-bridge-ros2dds (with dds_shm)
         run: cargo build -p zenoh-bridge-ros2dds --features dds_shm  --verbose --all-targets
 
+      - name: Build zenoh-bridge-ros2dds (with prefix_symbols)
+        run: cargo build -p zenoh-bridge-ros2dds --features prefix_symbols  --verbose --all-targets
+
       - name: Run tests
         run: cargo test --verbose
 
+      - name: Run tests (with dds_shm)
+        run: cargo test --features dds_shm --verbose
+
+      - name: Run tests (with prefix_symbols)
+        run: cargo test --features prefix_symbols --verbose
+
   system_tests_with_ros2_humble:
     name: System tests with ROS 2 Humble
     runs-on: ubuntu-latest

Cargo.toml

@@ -29,7 +29,7 @@ async-trait = "0.1.66"
 bincode = "1.3.3"
 cdr = "0.2.4"
 clap = "4.4.11"
-cyclors = "=0.2.3"
+cyclors = "=0.2.5"
 derivative = "2.2.0"
 flume = "0.11.0"
 futures = "0.3.26"

README.md

@@ -117,6 +117,18 @@ cargo build --release
 The standalone executable binary `zenoh-bridge-ros2dds` and a plugin shared library (`*.so` on Linux, `*.dylib` on Mac OS, `*.dll` on Windows)
 to be dynamically loaded by the zenoh router `zenohd` will be generated in the `target/release` subdirectory.
 
+### DDS Library Symbol Prefixing
+
+DDS support is provided by the [cyclors crate](https://crates.io/crates/cyclors). As this crate contains C code, symbol clashes may occur when loading the plugin statically with other plugins which use a different version of the ```cyclors``` crate (e.g. the ```zenoh-plugin-dds``` plugin).
+
+To allow multiple versions of the ```cyclors``` crate to be loaded at the same time the symbols within the crate can be prefixed with the crate version. The optional ```prefix_symbols``` feature can be used to build the ROS2 plugin with prefixed DDS library symbols. e.g.
+
+```bash
+$ cargo build --features prefix_symbols
+```
+
+**Note:** The ```prefix_symbols``` feature cannot be used at the same time as the ```dds_shm``` feature.
+
 ## ROS 2 package
 
 You can also build `zenoh-bridge-ros2dds` as a ROS package running:

zenoh-bridge-ros2dds/Cargo.toml

@@ -25,6 +25,7 @@ publish = false
 
 [features]
 dds_shm = ["zenoh-plugin-ros2dds/dds_shm"]
+prefix_symbols = ["zenoh-plugin-ros2dds/prefix_symbols"]
 
 [dependencies]
 async-liveliness-monitor = { workspace = true }

zenoh-plugin-ros2dds/Cargo.toml

@@ -31,6 +31,7 @@ default = ["dynamic_plugin"]
 stats = ["zenoh/stats"]
 dynamic_plugin = []
 dds_shm = ["cyclors/iceoryx"]
+prefix_symbols = ["cyclors/prefix_symbols"]
 
 [dependencies]
 async-trait = { workspace = true }