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Add TLS and compression features by default #180

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merged 5 commits into from
May 24, 2024
Merged

Add TLS and compression features by default #180

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caa96f1
Add zenoh/transport_tls feature
JEnoch May 24, 2024
6e2d09b
Add zenoh/transport_compression feature
JEnoch May 24, 2024
dfbc1e2
Remove obsolete comment wrt. threading and Tokio
JEnoch May 24, 2024
2da2869
Cleanup and update README
Yadunund May 24, 2024
8247709
Pass features alphabetically
Yadunund May 24, 2024
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4 changes: 4 additions & 0 deletions README.md
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Expand Up @@ -17,6 +17,10 @@ For information about the Design please visit [design](docs/design.md) page.

Build `rmw_zenoh_cpp`

>Note: By default, we vendor and compile `zenoh-c` with a subset of `zenoh` features.
The `ZENOHC_CARGO_FLAGS` CMake argument may be overwritten with other features included if required.
See [zenoh_c_vendor/CMakeLists.txt](./zenoh_c_vendor/CMakeLists.txt) for more details.

```bash
mkdir ~/ws_rmw_zenoh/src -p && cd ~/ws_rmw_zenoh/src
git clone https://github.com/ros2/rmw_zenoh.git
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20 changes: 4 additions & 16 deletions zenoh_c_vendor/CMakeLists.txt
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Expand Up @@ -10,19 +10,12 @@ endif()
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_vendor_package REQUIRED)

# Disable default features and only enable tcp transport for zenoh. This reduces
# build time but more importantly allows us to limit the number of threads that
# the zenoh session can spin via the session config as well as the ASYNC_STD_THREAD_COUNT
# environment variable. Without this limit, applications with multiple zenoh sessions can
# encounter system resource errors when trying to create new threads.
# Once zenoh migrates to relying on tokio for its async runtime,
# see https://github.com/eclipse-zenoh/zenoh/pull/566, we can consider
# removing these flags since with tokio, zenoh can better manage the threads it spins
# with the help of thread pools.
# Disable default features and enable only the most useful ones. This reduces build time and footprint.
# For a complete list of features see: https://github.com/eclipse-zenoh/zenoh/blob/main/zenoh/Cargo.toml
# Note: We separate the two args needed for cargo with "$<SEMICOLON>" and not ";" as the
# latter is a list separater in cmake and hence the string will be split into two
# when expanded.
set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transport_tcp zenoh/shared-memory")
set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/transport_tcp zenoh/transport_compression zenoh/transport_tls zenoh/shared-memory")

# Set VCS_VERSION to include latest changes from zenoh-c to benefit from :
# - https://github.com/eclipse-zenoh/zenoh-c/pull/340 (fix build issue)
Expand All @@ -35,10 +28,5 @@ ament_vendor(zenoh_c_vendor
CMAKE_ARGS
"-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
)
# set(INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-prefix/install")
# install(
# DIRECTORY "${INSTALL_DIR}/lib/"
# DESTINATION "lib/${PROJECT_NAME}"
# USE_SOURCE_PERMISSIONS
# )

ament_package()
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