Support loading of both the DDS and ROS2 plugins on all supported platforms (#407)

Author: gmartin82

.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
@@ -55,16 +62,29 @@ jobs:
         if: ${{ ! startsWith(matrix.os,'windows') }}
         run: cargo build -p zenoh-plugin-dds --features dds_shm --verbose --all-targets
 
+      - name: Build zenoh-plugin-dds (with prefix_symbols)
+        run: cargo build -p zenoh-plugin-dds --features prefix_symbols --verbose --all-targets
+
       - name: Build zenoh-bridge-dds
         run: cargo build -p zenoh-bridge-dds  --verbose --all-targets
 
       - name: Build zenoh-bridge-dds (with dds_shm)
         if: ${{ ! startsWith(matrix.os,'windows') }}
         run: cargo build -p zenoh-bridge-dds --features dds_shm  --verbose --all-targets
 
+      - name: Build zenoh-bridge-dds (with prefix_symbols)
+        run: cargo build -p zenoh-bridge-dds --features prefix_symbols  --verbose --all-targets
+
       - name: Run tests
         run: cargo test --verbose
 
+      - name: Run tests (with dds_shm)
+        if: ${{ ! startsWith(matrix.os,'windows') }}
+        run: cargo test --features dds_shm --verbose
+
+      - name: Run tests (with prefix_symbols)
+        run: cargo test --features prefix_symbols --verbose
+
   # NOTE: In GitHub repository settings, the "Require status checks to pass
   # before merging" branch protection rule ensures that commits are only merged
   # from branches where specific status checks have passed. These checks are

Cargo.lock

@@ -34,7 +34,7 @@ async-trait = "0.1.66"
 bincode = "1.3.3"
 cdr = "0.2.4"
 clap = "3.2.23"
-cyclors = "=0.3.3"
+cyclors = "=0.3.4"
 derivative = "2.2.0"
 flume = "0.11.0"
 futures = "0.3.26"

Cargo.toml

@@ -146,6 +146,24 @@ The following limitations apply to Cyclone DDS shared memory support in the plug
 * When DDS shared memory is enabled the Iceoryx PSMX plugin will be instantiated with the default configuration. If additional configuration is required the Iceoryx plugin should be configured via the `CYCLONEDDS_URI` instead.
 * In forward discovery mode DDS samples will not be forwarded via Zenoh unless the DDS data type is memcpy safe. A data type is memcpy safe if it does not contain indirections.
 
+### 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-ros2dds``` 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 DDS plugin with prefixed DDS library symbols. e.g.
+
+- plugin library:
+```bash
+$ cargo build --release -p zenoh-plugin-dds --features prefix_symbols
+```
+
+- standalone executable binary:
+```bash
+$ cargo build --release -p zenoh-bridge-dds --features prefix_symbols
+```
+
+**Note:** The ```prefix_symbols``` feature cannot be used at the same time as the ```dds_shm``` feature.
+
 ## ROS 2 package
 :warning: **Please consider using [`zenoh-bridge-ros2dds`](https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds) which is dedicated to ROS 2.**
 

README.md

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

zenoh-bridge-dds/Cargo.toml

@@ -30,6 +30,7 @@ crate-type = ["cdylib", "rlib"]
 default = ["dynamic_plugin"]
 dynamic_plugin = []
 dds_shm = ["cyclors/iceoryx"]
+prefix_symbols = ["cyclors/prefix_symbols"]
 stats = ["zenoh/stats"]
 
 [dependencies]