Initial iceoryx integration

Author: piotrchodorowski

MODULE.bazel

@@ -98,7 +98,7 @@ bazel_dep(name = "score_crates", version = "0.0.4", repo_name = "crate_index")
 # Temporary: Use latest GitHub main with regenerated BUILD file including paste and arrayvec
 git_override(
     module_name = "score_crates",
-    commit = "636a5add5ffd53177fd0fdf70b672043ac2664c4",
+    commit = "dcbc6a4d36c9293549397893650c3a7068b0682d",
     remote = "https://github.com/eclipse-score/score-crates.git",
 )
 

score/mw/com/example/com-api-example/BUILD

@@ -16,6 +16,10 @@ load("@rules_rust//rust:defs.bzl", "rust_binary", "rust_test")
 rust_binary(
     name = "com-api-example",
     srcs = ["basic-consumer-producer.rs"],
+    crate_features = select({
+        "//score/mw/com/flags:use_iceoryx_flag": ["iceoryx"],
+        "//conditions:default": [],
+    }),
     visibility = ["//visibility:public"],
     deps = [
         "//score/mw/com/example/com-api-example/com-api-gen",

score/mw/com/example/com-api-example/basic-consumer-producer.rs

@@ -92,6 +92,14 @@ fn run_with_runtime<R: Runtime>(name: &str, runtime: &R) {
     println!("=== {} runtime completed ===\n", name);
 }
 
+#[cfg(feature = "iceoryx")]
+fn main() {
+    let iceoryx_runtime_builder = IceoryxRuntimeBuilderImpl::new();
+    let iceoryx_runtime = Builder::<IceoryxRuntimeImpl>::build(iceoryx_runtime_builder).unwrap();
+    run_with_runtime("Iceoryx", &iceoryx_runtime);
+}
+
+#[cfg(not(feature = "iceoryx"))]
 fn main() {
     let mock_runtime_builder = MockRuntimeBuilderImpl::new();
     let mock_runtime = Builder::<MockRuntimeImpl>::build(mock_runtime_builder).unwrap();

score/mw/com/example/com-api-example/com-api-gen/BUILD

@@ -16,10 +16,16 @@ rust_library(
     name = "com-api-gen",
     srcs = ["com_api_gen.rs"],
     crate_name = "com_api_gen",
+    crate_features = select({
+        "//score/mw/com/flags:use_iceoryx_flag": ["iceoryx"],
+        "//conditions:default": [],
+    }),
     visibility = [
         "//visibility:public",  # platform_only
     ],
-    deps = [
-        "//score/mw/com/impl/rust/com-api/com-api",
-    ],
+    deps = ["//score/mw/com/impl/rust/com-api/com-api",] +
+        select({
+            "//score/mw/com/flags:use_iceoryx_flag": ["@crate_index//:iceoryx2_qnx8",],
+            "//conditions:default": [],
+        }),
 )

score/mw/com/example/com-api-example/com-api-gen/com_api_gen.rs

@@ -10,6 +10,8 @@
  *
  * SPDX-License-Identifier: Apache-2.0
  ********************************************************************************/
+#[cfg(feature = "iceoryx")]
+use iceoryx2_qnx8::prelude::ZeroCopySend;
 
 use com_api::{
     Consumer, Interface, OfferedProducer, Producer, Publisher, Reloc, Runtime, Subscriber,
@@ -18,11 +20,16 @@ use com_api::{
 #[derive(Debug)]
 pub struct Tire {}
 unsafe impl Reloc for Tire {}
+#[cfg(feature = "iceoryx")]
+unsafe impl ZeroCopySend for Tire {}
 
 #[derive(Debug)]
 pub struct Exhaust {}
 unsafe impl Reloc for Exhaust {}
+#[cfg(feature = "iceoryx")]
+unsafe impl ZeroCopySend for Exhaust {}
 
+#[derive(Debug)]
 pub struct VehicleInterface {}
 
 /// Generic

score/mw/com/flags/BUILD

@@ -11,7 +11,7 @@
 # SPDX-License-Identifier: Apache-2.0
 # *******************************************************************************
 
-load("@bazel_skylib//rules:common_settings.bzl", "string_flag")
+load("@bazel_skylib//rules:common_settings.bzl", "string_flag", "bool_flag")
 
 string_flag(
     name = "tracing_library",
@@ -37,3 +37,16 @@ config_setting(
         "//score/mw/com/impl/tracing:__subpackages__",
     ],
 )
+
+bool_flag(
+    name = "use_iceoryx",
+    build_setting_default = False,
+)
+
+config_setting(
+    name = "use_iceoryx_flag",
+    flag_values = {
+        ":use_iceoryx": "True",
+    },
+    visibility = ["//visibility:public"],
+)

score/mw/com/impl/rust/com-api/com-api-concept/BUILD

@@ -22,7 +22,21 @@ rust_library(
     visibility = [
         "//visibility:public",  # platform_only
     ],
-    deps = [],
+)
+
+rust_library(
+    name = "com-api-concept-iceoryx",
+    srcs = [
+        "com_api_concept.rs",
+        "reloc.rs",
+    ],
+    crate_features = ["iceoryx"],
+    crate_name = "com_api_concept",
+    crate_root = "com_api_concept.rs",
+    visibility = [
+        "//visibility:public",  # platform_only
+    ],
+    deps = ["@crate_index//:iceoryx2_qnx8"],
 )
 
 rust_test(

score/mw/com/impl/rust/com-api/com-api-concept/com_api_concept.rs

@@ -90,9 +90,15 @@ pub trait Builder<Output> {
 /// the implementation.
 pub trait Runtime {
     /// ServiceDiscovery<I> types for Discovers available service instances of a specific interface
+    #[cfg(feature = "iceoryx")]
+    type ServiceDiscovery<I: Interface + Debug>: ServiceDiscovery<I, Self>;
+    #[cfg(not(feature = "iceoryx"))]
     type ServiceDiscovery<I: Interface>: ServiceDiscovery<I, Self>;
 
     /// Subscriber<T> types for Manages subscriptions to event notifications
+    #[cfg(feature = "iceoryx")]
+    type Subscriber<T: Reloc + Send + Debug + 'static>: Subscriber<T, Self>;
+    #[cfg(not(feature = "iceoryx"))]
     type Subscriber<T: Reloc + Send + Debug>: Subscriber<T, Self>;
 
     /// ProducerBuilder<I, P> types for Constructs producer instances for offering services
@@ -103,6 +109,9 @@ pub trait Runtime {
     >;
 
     /// Publisher<T> types for Publishes event data to subscribers
+    #[cfg(feature = "iceoryx")]
+    type Publisher<T: Reloc + Send + Debug + 'static>: Publisher<T, Self>;
+    #[cfg(not(feature = "iceoryx"))]
     type Publisher<T: Reloc + Send + Debug>: Publisher<T, Self>;
 
     /// ProviderInfo types for Configuration data for service producers instances
@@ -123,6 +132,12 @@ pub trait Runtime {
     ///
     /// # Returns
     /// Service discovery handle for querying available instances
+    #[cfg(feature = "iceoryx")]
+    fn find_service<I: Interface + Debug>(
+        &self,
+        instance_specifier: FindServiceSpecifier,
+    ) -> Self::ServiceDiscovery<I>;
+    #[cfg(not(feature = "iceoryx"))]
     fn find_service<I: Interface>(
         &self,
         instance_specifier: FindServiceSpecifier,

score/mw/com/impl/rust/com-api/com-api-concept/reloc.rs

@@ -10,7 +10,12 @@
  *
  * SPDX-License-Identifier: Apache-2.0
  ********************************************************************************/
+#[cfg(feature = "iceoryx")]
+use iceoryx2_qnx8::prelude::ZeroCopySend;
 
+#[cfg(feature = "iceoryx")]
+pub unsafe trait Reloc: ZeroCopySend {}
+#[cfg(not(feature = "iceoryx"))]
 pub unsafe trait Reloc {}
 
 unsafe impl Reloc for () {}
@@ -38,8 +43,13 @@ unsafe impl<T: Reloc, const N: usize> Reloc for [T; N] {}
 unsafe impl<T: Reloc> Reloc for core::mem::MaybeUninit<T> {}
 
 // Tuples (up to 5 elements)
+#[cfg(not(feature = "iceoryx"))]
 unsafe impl<T1: Reloc> Reloc for (T1,) {}
+#[cfg(not(feature = "iceoryx"))]
 unsafe impl<T1: Reloc, T2: Reloc> Reloc for (T1, T2) {}
+#[cfg(not(feature = "iceoryx"))]
 unsafe impl<T1: Reloc, T2: Reloc, T3: Reloc> Reloc for (T1, T2, T3) {}
+#[cfg(not(feature = "iceoryx"))]
 unsafe impl<T1: Reloc, T2: Reloc, T3: Reloc, T4: Reloc> Reloc for (T1, T2, T3, T4) {}
+#[cfg(not(feature = "iceoryx"))]
 unsafe impl<T1: Reloc, T2: Reloc, T3: Reloc, T4: Reloc, T5: Reloc> Reloc for (T1, T2, T3, T4, T5) {}

score/mw/com/impl/rust/com-api/com-api-runtime-iceoryx/BUILD

@@ -0,0 +1,30 @@
+# *******************************************************************************
+# Copyright (c) 2025 Contributors to the Eclipse Foundation
+#
+# See the NOTICE file(s) distributed with this work for additional
+# information regarding copyright ownership.
+#
+# This program and the accompanying materials are made available under the
+# terms of the Apache License Version 2.0 which is available at
+# https://www.apache.org/licenses/LICENSE-2.0
+#
+# SPDX-License-Identifier: Apache-2.0
+# *******************************************************************************
+load("@rules_rust//rust:defs.bzl", "rust_library")
+
+rust_library(
+    name = "com-api-runtime-iceoryx",
+    srcs = ["runtime.rs"],
+    crate_features = select({
+        "//score/mw/com/flags:use_iceoryx_flag": ["iceoryx"],
+        "//conditions:default": [],
+    }),
+    visibility = [
+        "//visibility:public",  # platform_only
+    ],
+    deps = [
+        "//score/mw/com/impl/rust/com-api/com-api-concept:com-api-concept-iceoryx",
+        "@crate_index//:futures",
+        "@crate_index//:iceoryx2_qnx8",
+    ],
+)