eclipse-zenoh · yellowhatter · Sep 18, 2024 · Sep 17, 2024 · Sep 17, 2024 · Sep 18, 2024
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -26,9 +26,9 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-latest, macOS-latest]
-        shm: [false, true]
-        unstable: [false, true]
+        os: [ubuntu-latest, macOS-latest, windows-latest]
+        shm: [FALSE, TRUE]
+        unstable: [FALSE, TRUE]
 
     steps:
       - name: Clone this repository
@@ -37,14 +37,14 @@ jobs:
       - name: install zenoh-cpp
         shell: bash
         run: |
-          ./scripts/install_from_git.sh ~/local
+          ./scripts/install_from_git.sh ~/local ${{ matrix.unstable }} ${{ matrix.shm }}
 
       - name: make examples
         shell: bash
         run: |
           cd build
           cmake .. -DCMAKE_INSTALL_PREFIX=~/local -DZENOHC_BUILD_WITH_SHARED_MEMORY=${{ matrix.shm }} -DZENOHC_BUILD_WITH_UNSTABLE_API=${{ matrix.unstable }}
-          cmake --build . --target examples
+          cmake --build . --target examples --config Release
 
       - name: make stand-alone examples
         shell: bash
@@ -55,13 +55,13 @@ jobs:
         shell: bash
         run: |
           cd build
-          cmake --build . --target tests
+          cmake --build . --target tests --config Release
 
       - name: run tests
         shell: bash
         run: |
           cd build
-          ctest --output-on-failure
+          ctest -C Release --output-on-failure
 
       - name: Upload artifact
         uses: actions/upload-artifact@v4

diff --git a/cmake/helpers.cmake b/cmake/helpers.cmake
@@ -94,12 +94,16 @@ endfunction()
 # Copy necessary dlls to target runtime directory
 #
 function(copy_dlls target)
-	if(WIN32)
-		add_custom_command(TARGET ${target} POST_BUILD
-			COMMAND ${CMAKE_COMMAND} -E copy_if_different $<TARGET_RUNTIME_DLLS:${target}> $<TARGET_FILE_DIR:${target}>
-			COMMAND_EXPAND_LISTS
-		)
-	endif()   
+    set(have_runtime_dlls $<BOOL:$<TARGET_RUNTIME_DLLS:${target}>>)
+    set(command
+        ${CMAKE_COMMAND} -E copy_if_different
+        $<TARGET_RUNTIME_DLLS:${target}>
+       $<TARGET_FILE_DIR:${target}>
+    )
+    add_custom_command(TARGET ${target} POST_BUILD
+        COMMAND "$<${have_runtime_dlls}:${command}>"
+        COMMAND_EXPAND_LISTS
+    )
 endfunction()
 
 #
@@ -158,18 +162,6 @@ function(get_required_static_libs variable)
     message(STATUS "${variable} = ${native_static_libs}")
 endfunction()
 
-#
-# Copy necessary dlls to target runtime directory
-#
-function(copy_dlls target)
-	if(WIN32)
-		add_custom_command(TARGET ${target} POST_BUILD
-			COMMAND ${CMAKE_COMMAND} -E copy_if_different $<TARGET_RUNTIME_DLLS:${target}> $<TARGET_FILE_DIR:${target}>
-			COMMAND_EXPAND_LISTS
-		)
-	endif()   
-endfunction()
-
 # 
 # get property value avoiding CMake behavior - setting variable to <VAR>-NOTFOUND for undefined property
 #

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -22,6 +22,7 @@ function(add_example file mode lib)
     target_link_libraries(${target} PUBLIC ${lib})
 	set_property(TARGET ${target} PROPERTY LANGUAGE CXX)
 	set_property(TARGET ${target} PROPERTY CXX_STANDARD 17)
+	copy_dlls(${target})
 endfunction()
 
 function(add_examples glob mode lib)

diff --git a/examples/simple/universal/CMakeLists.txt b/examples/simple/universal/CMakeLists.txt
@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(zenohcxx_examples LANGUAGES C CXX)
 
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../../cmake" ${CMAKE_MODULE_PATH})
+include(helpers)
+
 if(CMAKE_BUILD_TYPE STREQUAL "")
     set(CMAKE_BUILD_TYPE Release)
 endif()
@@ -13,8 +16,10 @@ add_executable(zp_simple z_simple.cxx)
 target_link_libraries(zp_simple PRIVATE zenohcxx::zenohpico)
 set_property(TARGET zp_simple PROPERTY LANGUAGE CXX)
 set_property(TARGET zp_simple PROPERTY CXX_STANDARD 17)
+copy_dlls(zp_simple)
 
 add_executable(zc_simple z_simple.cxx)
 target_link_libraries(zc_simple PRIVATE zenohcxx::zenohc)
 set_property(TARGET zc_simple PROPERTY LANGUAGE CXX)
-set_property(TARGET zc_simple PROPERTY CXX_STANDARD 17)
+set_property(TARGET zc_simple PROPERTY CXX_STANDARD 17)
+copy_dlls(zc_simple)
diff --git a/examples/simple/zenohc/CMakeLists.txt b/examples/simple/zenohc/CMakeLists.txt
@@ -1,5 +1,7 @@
 cmake_minimum_required(VERSION 3.16)
 project(zenohcxx_examples LANGUAGES C CXX)
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../../cmake" ${CMAKE_MODULE_PATH})
+include(helpers)
 
 if(CMAKE_BUILD_TYPE STREQUAL "")
     set(CMAKE_BUILD_TYPE Release)
@@ -11,4 +13,5 @@ find_package(zenohcxx REQUIRED)
 add_executable(zc_simple zc_simple.cxx)
 target_link_libraries(zc_simple PRIVATE zenohcxx::zenohc)
 set_property(TARGET zc_simple PROPERTY LANGUAGE CXX)
-set_property(TARGET zc_simple PROPERTY CXX_STANDARD 17)
+set_property(TARGET zc_simple PROPERTY CXX_STANDARD 17)
+copy_dlls(zc_simple)
diff --git a/examples/simple/zenohpico/CMakeLists.txt b/examples/simple/zenohpico/CMakeLists.txt
@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 3.16)
 project(zenohcxx_examples LANGUAGES C CXX)
 
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../../cmake" ${CMAKE_MODULE_PATH})
+include(helpers)
+
 if(CMAKE_BUILD_TYPE STREQUAL "")
     set(CMAKE_BUILD_TYPE Release)
 endif()
@@ -12,3 +15,4 @@ add_executable(zp_simple zp_simple.cxx)
 target_link_libraries(zp_simple PRIVATE zenohcxx::zenohpico)
 set_property(TARGET zp_simple PROPERTY LANGUAGE CXX)
 set_property(TARGET zp_simple PROPERTY CXX_STANDARD 17)
+copy_dlls(zp_simple)
diff --git a/examples/zenohc/z_get_shm.cxx b/examples/zenohc/z_get_shm.cxx
@@ -83,8 +83,15 @@ int _main(int argc, char **argv) {
     memcpy(buf.data(), value, len);
 
     std::cout << "Sending Query '" << expr << "'...\n";
+#if __cpp_designated_initializers >= 201707L
     session.get(keyexpr, "", on_reply, on_done,
                 {.target = Z_QUERY_TARGET_ALL, .payload = Bytes::serialize(std::move(buf))});
+#else
+    Session::GetOptions options;
+    options.target = Z_QUERY_TARGET_ALL;
+    options.payload = Bytes::serialize(std::move(buf));
+    session.get(keyexpr, "", on_reply, on_done, std::move(options));
+#endif
 
     std::unique_lock lock(m);
     done_signal.wait(lock, [&done] { return done; });

diff --git a/examples/zenohc/z_pub_shm.cxx b/examples/zenohc/z_pub_shm.cxx
@@ -80,7 +80,13 @@ int _main(int argc, char **argv) {
         ZShmMut &&buf = std::get<ZShmMut>(std::move(alloc_result));
         memcpy(buf.data(), s.data(), len);
 
+#if __cpp_designated_initializers >= 201707L
         pub.put(Bytes::serialize(std::move(buf)), {.encoding = Encoding("text/plain")});
+#else
+        Publisher::PutOptions options;
+        options.encoding = Encoding("text/plain");
+        pub.put(Bytes::serialize(std::move(buf)), std::move(options));
+#endif
     }
     return 0;
 }

diff --git a/examples/zenohc/z_pub_shm_thr.cxx b/examples/zenohc/z_pub_shm_thr.cxx
@@ -51,8 +51,14 @@ int _main(int argc, char **argv) {
     auto session = Session::open(std::move(config));
 
     std::cout << "Declaring Publisher on " << keyexpr << "...\n";
-    auto pub = session.declare_publisher(KeyExpr(keyexpr), {.congestion_control = Z_CONGESTION_CONTROL_BLOCK});
 
+#if __cpp_designated_initializers >= 201707L
+    auto pub = session.declare_publisher(KeyExpr(keyexpr), {.congestion_control = Z_CONGESTION_CONTROL_BLOCK});
+#else
+    Session::PublisherOptions options;
+    options.congestion_control = Z_CONGESTION_CONTROL_BLOCK;
+    auto pub = session.declare_publisher(keyexpr, std::move(options));
+#endif
     std::cout << "Preparing SHM Provider...\n";
     constexpr auto buffers_count = 4;
     PosixShmProvider provider(MemoryLayout(buffers_count * len, AllocAlignment({2})));

diff --git a/examples/zenohc/z_queryable_shm.cxx b/examples/zenohc/z_queryable_shm.cxx
@@ -88,7 +88,13 @@ int _main(int argc, char **argv) {
         ZShmMut &&buf = std::get<ZShmMut>(std::move(alloc_result));
         memcpy(buf.data(), value, len);
 
+#if __cpp_designated_initializers >= 201707L
         query.reply(KeyExpr(expr), Bytes::serialize(std::move(buf)), {.encoding = Encoding("text/plain")});
+#else
+        Query::ReplyOptions options;
+        options.encoding = Encoding("text/plain");
+        query.reply(KeyExpr(expr), Bytes::serialize(std::move(buf)), std::move(options));
+#endif
     };
 
     auto on_drop_queryable = []() { std::cout << "Destroying queryable\n"; };

diff --git a/include/zenoh/api/bytes.hxx b/include/zenoh/api/bytes.hxx
@@ -22,6 +22,7 @@
 #include "shm/buffer/buffer.hxx"
 #endif
 
+#include <array>
 #include <cstddef>
 #include <cstdint>
 #include <deque>

diff --git a/include/zenoh/api/interop.hxx b/include/zenoh/api/interop.hxx
@@ -82,8 +82,9 @@ const OwnedType* as_owned_c_ptr(const Owned<OwnedType>& cpp_obj) {
 template <
     class OwnedType,
     class Loaned = typename ::z_owned_to_loaned_type_t<OwnedType>::type,  // SFINAE here if no loaned type declared
-    class LoanAvailable = std::enable_if_t<detail::is_loan_available_v<OwnedType>, Loaned>  // SFINAE here if immutable
-                                                                                            // loan is not available
+    class LoanAvailable = std::enable_if_t<zenoh::detail::is_loan_available_v<OwnedType>, Loaned>  // SFINAE here if
+                                                                                                   // immutable loan is
+                                                                                                   // not available
     >
 const Loaned* as_loaned_c_ptr(const Owned<OwnedType>& cpp_obj) {
     return ::z_loan(*as_owned_c_ptr(cpp_obj));
@@ -93,8 +94,8 @@ const Loaned* as_loaned_c_ptr(const Owned<OwnedType>& cpp_obj) {
 template <class OwnedType,
           class Loaned = typename ::z_owned_to_loaned_type_t<OwnedType>::type,  // SFINAE here if no loaned type
                                                                                 // declared
-          class LoanAvailable = std::enable_if_t<detail::is_loan_mut_available_v<OwnedType>,
-                                                 Loaned>  // SFINAE here if immutable loan is not available
+          class LoanAvailable = std::enable_if_t<zenoh::detail::is_loan_mut_available_v<OwnedType>,
+                                                 Loaned>  // SFINAE here if mutable loan is not available
           >
 Loaned* as_loaned_c_ptr(Owned<OwnedType>& cpp_obj) {
     return ::z_loan_mut(*as_owned_c_ptr(cpp_obj));

diff --git a/scripts/build_local.sh b/scripts/build_local.sh
@@ -16,5 +16,5 @@ cd "$project_folder"
 rm -rf ./build
 mkdir ./build
 cd ./build
-cmake .. "${@:3}" --install-prefix "$absolute_install_location"
-make
+cmake .. "${@:3}" -DCMAKE_BUILD_TYPE=Release --install-prefix "$absolute_install_location"
+cmake --build . --config Release
diff --git a/scripts/build_standalone_examples.sh b/scripts/build_standalone_examples.sh
@@ -3,12 +3,21 @@ set -e
 SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 
 if [ "$#" -eq 0 ]; then
-    echo "Usage: build_standalone_examples INSTALL_PATH"
+    echo "Usage: build_standalone_examples INSTALL_PATH [BUILD_PICO]"
     exit
 fi
+BUILD_PICO="ON"
+if [ "$#" -ge 2 ]; then
+    BUILD_PICO=$2
+fi
 
 absolute_install_location=$(cd $1; pwd)
 
-bash $SCRIPT_DIR/build_local.sh $SCRIPT_DIR/../examples/simple/universal $absolute_install_location
 bash $SCRIPT_DIR/build_local.sh $SCRIPT_DIR/../examples/simple/zenohc $absolute_install_location
-bash $SCRIPT_DIR/build_local.sh $SCRIPT_DIR/../examples/simple/zenohpico $absolute_install_location
+
+if [ "$BUILD_PICO" == "ON" ]; then
+    #build examples requiring zenoh-pico
+    bash $SCRIPT_DIR/build_local.sh $SCRIPT_DIR/../examples/simple/universal $absolute_install_location
+    bash $SCRIPT_DIR/build_local.sh $SCRIPT_DIR/../examples/simple/zenohpico $absolute_install_location
+fi
+
diff --git a/scripts/install_from_git.sh b/scripts/install_from_git.sh
@@ -3,23 +3,46 @@ set -e
 SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 
 if [ "$#" -eq 0 ]; then
-    echo "Usage: install_from_git INSTALL_PATH"
+    echo "Usage: install_from_git INSTALL_PATH [BUILD_WITH_UNSTABLE_API] [BUILD_WITH_SHARED_MEMORY] [BUILD_PICO]"
     exit
 fi
 
+USE_UNSTABLE="TRUE"
+USE_SHARED_MEMORY="TRUE"
+USE_UNSTABLE_PICO="0"
+BUILD_PICO="ON"
+
+if [ "$#" -ge 2 ]; then
+    USE_UNSTABLE=$2
+fi
+
+if [ "$#" -ge 3 ]; then
+    USE_SHARED_MEMORY=$3
+fi
+
+if ("$USE_UNSTABLE" == "TRUE"); then
+    USE_UNSTABLE_PICO="1"
+fi
+
+if [ "$#" -ge 4 ]; then
+    BUILD_PICO=$4
+fi
+
+
 git submodule init
 git submodule update
 
 mkdir -p $1
 absolute_install_location=$(cd $1; pwd)
 #build zenoh-c
-bash $SCRIPT_DIR/install_local.sh $SCRIPT_DIR/../zenoh-c $absolute_install_location -DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE -DZENOHC_BUILD_WITH_SHARED_MEMORY=TRUE
-#build zenoh-pico
-bash $SCRIPT_DIR/install_local.sh $SCRIPT_DIR/../zenoh-pico $absolute_install_location -DZ_FEATURE_UNSTABLE_API=1
+bash $SCRIPT_DIR/install_local.sh $SCRIPT_DIR/../zenoh-c $absolute_install_location -DZENOHC_BUILD_WITH_UNSTABLE_API=$USE_UNSTABLE -DZENOHC_BUILD_WITH_SHARED_MEMORY=$USE_SHARED_MEMORY
+if [ "$BUILD_PICO" == "ON" ]; then
+    #build zenoh-pico
+    bash $SCRIPT_DIR/install_local.sh $SCRIPT_DIR/../zenoh-pico $absolute_install_location -DZ_FEATURE_UNSTABLE_API=$USE_UNSTABLE_PICO
+fi
 
 rm -rf ./build
 mkdir ./build
 cd ./build
-cmake .. -DZENOHCXX_ZENOHPICO=ON  --install-prefix "$absolute_install_location"
-make
-make install
+cmake .. -DCMAKE_BUILD_TYPE=Release -DZENOHCXX_ZENOHPICO=$BUILD_PICO  --install-prefix "$absolute_install_location"
+cmake --build . --target install --config Release
diff --git a/scripts/install_from_local.sh b/scripts/install_from_local.sh
@@ -17,6 +17,5 @@ bash $SCRIPT_DIR/install_local.sh $SCRIPT_DIR/../../zenoh-pico $absolute_install
 rm -rf ./build
 mkdir ./build
 cd ./build
-cmake .. -DZENOHCXX_ZENOHPICO=ON --install-prefix "$absolute_install_location"
-make
-make install
+cmake .. -DCMAKE_BUILD_TYPE=Release -DZENOHCXX_ZENOHPICO=ON --install-prefix "$absolute_install_location"
+cmake --build . --target install --config Release
diff --git a/scripts/install_local.sh b/scripts/install_local.sh
@@ -17,5 +17,4 @@ rm -rf ./build
 mkdir ./build
 cd ./build
 cmake .. "${@:3}" --install-prefix "$absolute_install_location"
-make
-make install
+cmake --build . --target install --config Release
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -32,10 +32,11 @@ function(add_test_instance file mode lib option)
 	set_property(TARGET ${target} PROPERTY LANGUAGE CXX)
 	set_property(TARGET ${target} PROPERTY CXX_STANDARD 17)
 	if (option STREQUAL "Router")
-		add_test(NAME "test_${target}" COMMAND bash ${CMAKE_CURRENT_BINARY_DIR}/run_with_router.sh ${target} ${zenoh_router_branch})
+		add_test(NAME "test_${target}" COMMAND bash ${CMAKE_CURRENT_BINARY_DIR}/run_with_router.sh $<TARGET_FILE:${target}> ${zenoh_router_branch})
 	else()
 		add_test(NAME "test_${target}" COMMAND ${target})
 	endif()
+	copy_dlls(${target})
 endfunction()
 
 file(GLOB files "${CMAKE_CURRENT_SOURCE_DIR}/universal/*.cxx")