From 2fa3040eaef653b19f20e84cef7f33b0a0350bbe Mon Sep 17 00:00:00 2001
From: Franco Cipollone <franco.c@ekumenlabs.com>
Date: Fri, 17 Nov 2023 17:40:53 -0300
Subject: [PATCH] Use a zenoh session to run the router.

This eliminates the need for zenohd_vendor,
which we also remove here.

Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>
---
 rmw_zenoh_cpp/CMakeLists.txt                 |  1 +
 rmw_zenoh_cpp/apps/init_rmw_zenoh_router.cpp | 34 +++++++++++---------
 rmw_zenoh_cpp/package.xml                    |  1 -
 zenohd_vendor/CMakeLists.txt                 | 33 -------------------
 zenohd_vendor/package.xml                    | 17 ----------
 5 files changed, 20 insertions(+), 66 deletions(-)
 delete mode 100644 zenohd_vendor/CMakeLists.txt
 delete mode 100644 zenohd_vendor/package.xml

diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index 24b70723..a625bd84 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -98,6 +98,7 @@ add_executable(init_rmw_zenoh_router apps/init_rmw_zenoh_router.cpp)
 target_link_libraries(init_rmw_zenoh_router
   PRIVATE
     ament_index_cpp::ament_index_cpp
+    zenohc::lib
 )
 
 install(
diff --git a/rmw_zenoh_cpp/apps/init_rmw_zenoh_router.cpp b/rmw_zenoh_cpp/apps/init_rmw_zenoh_router.cpp
index b664e423..672a8e80 100644
--- a/rmw_zenoh_cpp/apps/init_rmw_zenoh_router.cpp
+++ b/rmw_zenoh_cpp/apps/init_rmw_zenoh_router.cpp
@@ -12,11 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <stdlib.h>
-#include <sys/wait.h>
-
-#include <iostream>
+#include <chrono>
+#include <cstdio>
 #include <string>
+#include <thread>
+
+#include <zenoh.h>
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 
@@ -31,19 +32,22 @@ int Main(int, char **)
     ament_index_cpp::get_package_share_directory(RMW_ZENOH_IDENTIFIER) +
     "/config/" + std::string(ZENOH_ROUTER_CONFIG_NAME);
 
-  // Execute zenohd command
-  const std::string zenohd_cmd = "zenohd -c " + zenoh_router_config_path;
-  const int ret = system(zenohd_cmd.c_str());
-  if (ret < 0) {
-    std::cerr << "Error running zenoh router via command: " << zenohd_cmd << std::endl;
-    return ret;
-  } else {
-    if (WIFEXITED(ret)) {
-      std::cout << "Zenoh router exited normally." << std::endl;
-    } else {
-      std::cout << "Zenoh router exited abnormally with error code [" << ret << "]" << std::endl;
+  z_owned_config_t config = zc_config_from_file(zenoh_router_config_path.c_str());
+  z_owned_session_t s = z_open(z_move(config));
+  if (!z_check(s)) {
+    printf("Unable to open router session!\n");
+    return 1;
+  }
+
+  printf("Enter 'q' to quit...\n");
+  char c = 0;
+  while (c != 'q') {
+    c = getchar();
+    if (c == -1) {
+      std::this_thread::sleep_for(std::chrono::seconds(1));
     }
   }
+  z_close(z_move(s));
   return 0;
 }
 
diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
index 02abec46..a53ba6cc 100644
--- a/rmw_zenoh_cpp/package.xml
+++ b/rmw_zenoh_cpp/package.xml
@@ -10,7 +10,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>zenoh_c_vendor</build_depend>
-  <build_depend>zenohd_vendor</build_depend>
 
   <depend>ament_index_cpp</depend>
   <depend>fastcdr</depend>
diff --git a/zenohd_vendor/CMakeLists.txt b/zenohd_vendor/CMakeLists.txt
deleted file mode 100644
index c748c7ab..00000000
--- a/zenohd_vendor/CMakeLists.txt
+++ /dev/null
@@ -1,33 +0,0 @@
-cmake_minimum_required(VERSION 3.16)
-project(zenohd_vendor)
-
-# Default to C++17
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-endif()
-
-find_package(ament_cmake REQUIRED)
-
-include(ExternalProject)
-
-ExternalProject_Add(
-    zenoh
-    PREFIX ${CMAKE_BINARY_DIR}/_cargo_deps
-    GIT_REPOSITORY https://github.com/eclipse-zenoh/zenoh.git
-    GIT_TAG 0.10.1-rc
-    BUILD_COMMAND cargo build --package zenohd --release
-    CONFIGURE_COMMAND "" # Disable the configure step
-    INSTALL_COMMAND ""
-    BUILD_IN_SOURCE 1
-)
-
-# Install the zenohd executable from the rust crate
-install(
-    PROGRAMS ${CMAKE_BINARY_DIR}/_cargo_deps/src/zenoh/target/release/zenohd
-    DESTINATION bin
-)
-
-# TODO(francocipollone): Install zenoh router plugins
-
-ament_package()
diff --git a/zenohd_vendor/package.xml b/zenohd_vendor/package.xml
deleted file mode 100644
index 8a4b1966..00000000
--- a/zenohd_vendor/package.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<?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>zenohd_vendor</name>
-  <version>0.0.1</version>
-  <description>Vendor pkg to install zenoh router</description>
-  <maintainer email="franco.c@ekumenlabs.com">FrancoCipollone</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <!-- <build_depend>cargo</build_depend> -->
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>