- working on the CI

- by-the-way improve tests

CONTRIBUTING.md

@@ -0,0 +1,51 @@
+# Contributing to Eclipse zenoh
+
+Thanks for your interest in this project.
+
+## Project description
+
+Eclipse zenoh provides is a stack  designed to 
+  1. minimize network overhead, 
+  2. support extremely constrained devices, 
+  3. supports devices with low duty-cycle by allowing the negotiation of data exchange modes and schedules, 
+  4. provide a rich set of abstraction for distributing, querying and storing data along the entire system, and 
+  5. provide extremely low latency and high throughput.
+
+* https://projects.eclipse.org/projects/iot.zenoh
+
+## Developer resources
+
+Information regarding source code management, builds, coding standards, and
+more.
+
+* https://projects.eclipse.org/projects/iot.zenoh/developer
+
+The project maintains the following source code repositories
+
+* https://github.com/eclipse-zenoh
+
+## Eclipse Contributor Agreement
+
+Before your contribution can be accepted by the project team contributors must
+electronically sign the Eclipse Contributor Agreement (ECA).
+
+* http://www.eclipse.org/legal/ECA.php
+
+Commits that are provided by non-committers must have a Signed-off-by field in
+the footer indicating that the author is aware of the terms by which the
+contribution has been provided to the project. The non-committer must
+additionally have an Eclipse Foundation account and must have a signed Eclipse
+Contributor Agreement (ECA) on file.
+
+For more information, please see the Eclipse Committer Handbook:
+https://www.eclipse.org/projects/handbook/#resources-commit
+
+## Contact
+
+Contact the project developers via the project's "dev" list.
+
+* https://accounts.eclipse.org/mailing-list/zenoh-dev
+
+Or via the Gitter channel.
+
+* https://gitter.im/atolab/zenoh

CONTRIBUTORS.md

@@ -0,0 +1,7 @@
+# Contributors to Eclipse zenoh-plugin-ros1
+
+These are the contributors to Eclipse zenoh (the initial contributors and the contributors listed in the Git log).
+
+
+| GitHub username | Name                         |
+| --------------- | -----------------------------|

Cargo.toml

@@ -34,6 +34,7 @@ categories = ["network-programming"]
 [workspace.dependencies]
 atoi = "2.0.0"
 async-std = "=1.12.0"
+async-trait = "0.1"
 clap = "3.2.23"
 ctrlc = "3.2.5"
 env_logger = "0.9.1"

Cross.toml

@@ -0,0 +1,18 @@
+[target.x86_64-unknown-linux-musl]
+image = "jenoch/rust-cross:x86_64-unknown-linux-musl"
+
+[target.arm-unknown-linux-gnueabi]
+image = "jenoch/rust-cross:arm-unknown-linux-gnueabi"
+
+[target.arm-unknown-linux-gnueabihf]
+image = "jenoch/rust-cross:arm-unknown-linux-gnueabihf"
+
+[target.armv7-unknown-linux-gnueabihf]
+image = "jenoch/rust-cross:armv7-unknown-linux-gnueabihf"
+
+[target.aarch64-unknown-linux-gnu]
+image = "jenoch/rust-cross:aarch64-unknown-linux-gnu"
+
+[target.aarch64-unknown-linux-musl]
+image = "jenoch/rust-cross:aarch64-unknown-linux-musl"
+

Dockerfile

@@ -0,0 +1,55 @@
+#
+# Copyright (c) 2022 ZettaScale Technology
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+# which is available at https://www.apache.org/licenses/LICENSE-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+#
+# Contributors:
+#   ZettaScale Zenoh Team, <[email protected]>
+#
+
+
+###
+### Build part
+###
+FROM rust:slim-buster as builder
+
+WORKDIR /usr/src/zenoh-plugin-ros1
+
+# List of installed tools:
+#  * for zenoh-plugin-ros1
+#     - git
+#     - clang
+RUN apt-get update && apt-get -y install git clang build-essential
+
+COPY . .
+# if exists, copy .git directory to be used by git-version crate to determine the version
+COPY .gi? .git/
+
+RUN cargo install --locked --path zenoh-bridge-ros1
+
+
+###
+### Run part
+###
+FROM debian:buster-slim
+
+COPY --from=builder /usr/local/cargo/bin/zenoh-bridge-ros1 /usr/local/bin/zenoh-bridge-ros1
+RUN ldconfig -v
+
+RUN echo '#!/bin/bash' > /entrypoint.sh
+RUN echo 'echo " * Starting: zenoh-bridge-ros1 $*"' >> /entrypoint.sh
+RUN echo 'exec zenoh-bridge-ros1 $*' >> /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+EXPOSE 7446/udp
+EXPOSE 7447/tcp
+EXPOSE 8000/tcp
+
+ENV RUST_LOG info
+
+ENTRYPOINT ["/entrypoint.sh"]

NOTICE.md

@@ -0,0 +1,41 @@
+# Notices for Eclipse zenoh-plugin-ros1
+
+This content is produced and maintained by the Eclipse zenoh project.
+
+ * Project home: https://projects.eclipse.org/projects/iot.zenoh
+
+## Trademarks
+
+Eclipse zenoh is trademark of the Eclipse Foundation. 
+Eclipse, and the Eclipse Logo are registered trademarks of the Eclipse Foundation.
+
+## Copyright
+
+All content is the property of the respective authors or their employers.
+For more information regarding authorship of content, please consult the
+listed source code repository logs.
+
+## Declared Project Licenses
+
+This program and the accompanying materials are made available under the
+terms of the Eclipse Public License 2.0 which is available at
+http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+which is available at https://www.apache.org/licenses/LICENSE-2.0.
+
+SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+
+## Source Code
+
+The project maintains the following source code repositories:
+
+ * https://github.com/eclipse-zenoh/zenoh.git
+ * https://github.com/eclipse-zenoh/zenoh-c.git
+ * https://github.com/eclipse-zenoh/zenoh-java.git
+ * https://github.com/eclipse-zenoh/zenoh-go.git
+ * https://github.com/eclipse-zenoh/zenoh-python.git
+ * https://github.com/eclipse-zenoh/zenoh-plugin-dds.git
+
+## Third-party Content
+
+ *To be completed...*
+

zenoh-plugin-ros1/Cargo.toml

@@ -42,6 +42,7 @@ log = { workspace = true }
 serde = { workspace = true }
 serde_json = { workspace = true }
 async-global-executor = { workspace = true }
+async-trait = { workspace = true }
 rand = { workspace = true }
 strum = { workspace = true }
 strum_macros = { workspace = true }

zenoh-plugin-ros1/src/ros_to_zenoh_bridge/rosclient_test_helpers.rs

@@ -16,25 +16,22 @@ use std::time::Duration;
 
 use rosrust::{Publisher, RawMessage, Subscriber};
 
-use super::{ros1_client::Ros1Client, test_helpers::wait};
+use super::{ros1_client::Ros1Client, test_helpers::wait_sync};
 
 pub fn wait_for_rosclient_to_connect(rosclient: &Ros1Client) -> bool {
-    async_std::task::block_on(wait(
-        || rosclient.topic_types().is_ok(),
-        Duration::from_secs(10),
-    ))
+    wait_sync(|| rosclient.topic_types().is_ok(), Duration::from_secs(10))
 }
 
 pub fn wait_for_publishers(subscriber: &Subscriber, count: usize) -> bool {
-    async_std::task::block_on(wait(
+    wait_sync(
         || subscriber.publisher_count() == count,
         Duration::from_secs(10),
-    ))
+    )
 }
 
 pub fn wait_for_subscribers(publisher: &Publisher<RawMessage>, count: usize) -> bool {
-    async_std::task::block_on(wait(
+    wait_sync(
         || publisher.subscriber_count() == count,
         Duration::from_secs(10),
-    ))
+    )
 }