Add support for DDS Security. (#626)

* Add support for DDS Security.

* Upgraded Cyclors version to 0.3.10.

Includes support for DDS Security on Linux and macOS.

Author: gmartin82

.github/workflows/ci.yml

@@ -71,6 +71,10 @@ jobs:
       - name: Build zenoh-plugin-dds (with prefix_symbols)
         run: cargo build -p zenoh-plugin-dds --features prefix_symbols --verbose --all-targets
 
+      - name: Build zenoh-plugin-dds (with dds_security)
+        if: ${{ ! startsWith(matrix.os,'windows') }}
+        run: cargo build -p zenoh-plugin-dds --features dds_security --verbose --all-targets
+
       - name: Build zenoh-bridge-dds
         run: cargo build -p zenoh-bridge-dds  --verbose --all-targets
 
@@ -81,6 +85,10 @@ jobs:
       - name: Build zenoh-bridge-dds (with prefix_symbols)
         run: cargo build -p zenoh-bridge-dds --features prefix_symbols  --verbose --all-targets
 
+      - name: Build zenoh-bridge-dds (with dds_security)
+        if: ${{ ! startsWith(matrix.os,'windows') }}
+        run: cargo build -p zenoh-bridge-dds --features dds_security  --verbose --all-targets
+
       - name: Run tests
         run: cargo test --verbose
 
@@ -91,6 +99,10 @@ jobs:
       - name: Run tests (with prefix_symbols)
         run: cargo test --features prefix_symbols --verbose
 
+      - name: Run tests (with dds_security)
+        if: ${{ ! startsWith(matrix.os,'windows') }}
+        run: cargo test --features dds_security --verbose
+
   markdown_lint:
     runs-on: ubuntu-latest
     steps:

Cargo.lock

@@ -34,7 +34,7 @@ async-trait = "0.1.66"
 bincode = "1.3.3"
 cdr = "0.2.4"
 clap = "3.2.23"
-cyclors = "=0.3.9"
+cyclors = "=0.3.10"
 derivative = "2.2.0"
 flume = "0.11.0"
 futures = "0.3.26"

Cargo.toml

@@ -175,6 +175,26 @@ 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.
 
+### Enabling DDS Security Support
+
+To build the zenoh bridge for DDS with support for DDS Security the `dds_security` optional feature must be enabled during the build process as follows:
+
+- plugin library:
+
+```bash
+cargo build --release -p zenoh-plugin-dds --features dds_security
+```
+
+- standalone executable binary:
+
+```bash
+cargo build --release -p zenoh-bridge-dds --features dds_security
+```
+
+**Note:** DDS Security is only supported on Linux and macOS.
+
+See [here](https://cyclonedds.io/docs/cyclonedds/latest/security/dds_security.html) for more information on DDS Security support in Cyclone DDS.
+
 ## 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

@@ -24,6 +24,7 @@ description = "Zenoh bridge for ROS2 and DDS in general"
 publish = false
 
 [features]
+dds_security = ["zenoh-plugin-dds/dds_security"]
 dds_shm = ["zenoh-plugin-dds/dds_shm"]
 prefix_symbols = ["zenoh-plugin-dds/prefix_symbols"]
 

zenoh-bridge-dds/Cargo.toml

@@ -29,6 +29,7 @@ crate-type = ["cdylib", "rlib"]
 [features]
 default = ["dynamic_plugin"]
 dynamic_plugin = []
+dds_security = ["cyclors/dds_security"]
 dds_shm = ["cyclors/iceoryx"]
 prefix_symbols = ["cyclors/prefix_symbols"]
 stats = ["zenoh/stats"]