From dce7bb8458d7f822e170acbc6cabea36ab2abec2 Mon Sep 17 00:00:00 2001
From: Yadunund <yadunund@openrobotics.org>
Date: Mon, 25 Mar 2024 13:57:03 +0800
Subject: [PATCH] Patch cargo toolchain for noble

Signed-off-by: Yadunund <yadunund@openrobotics.org>
---
 zenoh_c_vendor/CMakeLists.txt                |  1 +
 zenoh_c_vendor/package.xml                   |  3 +-
 zenoh_c_vendor/patches/cargo_toolchain.patch | 56 ++++++++++++++++++++
 3 files changed, 59 insertions(+), 1 deletion(-)
 create mode 100644 zenoh_c_vendor/patches/cargo_toolchain.patch

diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt
index 73246032..032412bf 100644
--- a/zenoh_c_vendor/CMakeLists.txt
+++ b/zenoh_c_vendor/CMakeLists.txt
@@ -31,6 +31,7 @@ ament_vendor(zenoh_c_vendor
   VCS_VERSION 10176b911096cb92b8ee46bc491b78079ee26c20
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
+  PATCHES patches
 )
 
 # set(INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-prefix/install")
diff --git a/zenoh_c_vendor/package.xml b/zenoh_c_vendor/package.xml
index 6515c1e9..3848c24a 100644
--- a/zenoh_c_vendor/package.xml
+++ b/zenoh_c_vendor/package.xml
@@ -12,7 +12,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
 
-  <!-- <build_depend>cargo</build_depend> -->
+  <!-- TODO(Yadunund) switch condition such that it checks if $ROS_DISTRO[0] > 'i' -->
+  <build_depend condition="$ROS_DISTRO == rolling">cargo</build_depend>
   <build_depend>clang</build_depend>
 
   <export>
diff --git a/zenoh_c_vendor/patches/cargo_toolchain.patch b/zenoh_c_vendor/patches/cargo_toolchain.patch
new file mode 100644
index 00000000..c5a399d8
--- /dev/null
+++ b/zenoh_c_vendor/patches/cargo_toolchain.patch
@@ -0,0 +1,56 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 00aa5ca..eacd7d6 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -27,7 +27,6 @@ declare_cache_var_true_if_vscode(ZENOHC_BUILD_IN_SOURCE_TREE "Do build inside so
+ declare_cache_var(ZENOHC_BUILD_WITH_LOGGER_AUTOINIT TRUE BOOL "Enable logger-autoinit zenoh-c feature")
+ declare_cache_var(ZENOHC_BUILD_WITH_SHARED_MEMORY TRUE BOOL "Enable shared-memory zenoh-c feature")
+ declare_cache_var(ZENOHC_CUSTOM_TARGET "" STRING "Rust target for cross compilation, 'aarch64-unknown-linux-gnu' for example")
+-declare_cache_var(ZENOHC_CARGO_CHANNEL "stable" STRING "Cargo channel selected: stable or nightly")
+ declare_cache_var(ZENOHC_CARGO_FLAGS "" STRING "Additional cargo flags")
+ declare_cache_var(ZENOHC_LIB_STATIC FALSE BOOL "Alias zenohc::lib target to zenohc::static if TRUE, to zenohc::shared if FALSE")
+ 
+@@ -47,9 +46,9 @@ status_print(project_version)
+ #
+ # There are 3 possible variants of placement generated Cargo.toml files:
+ # 1. Build in source tree (in IDE usually), using single config generator (Ninja, Makefiles)
+-#    
++#
+ #    In this case Cargo.toml is placed at the root of source tree to make it visible for rust-analyzer. When release or debug
+-#    configuration is selected, Cargo.toml is updated accordingly 
++#    configuration is selected, Cargo.toml is updated accordingly
+ #
+ # 2. Build in source tree (in IDE usually), using multi config generator (Visual Studio, Ninja Multi-Config)
+ #
+@@ -112,7 +111,7 @@ function(configure_cargo_toml cargo_toml_dir CARGO_PROJECT_VERSION CARGO_LIB_NAM
+ 			${CMAKE_CURRENT_SOURCE_DIR}/Cargo.lock
+ 			${CMAKE_CURRENT_SOURCE_DIR}/rust-toolchain.toml
+ 			DESTINATION ${cargo_toml_dir})
+-	endif()	
++	endif()
+ 	configure_file("${CMAKE_CURRENT_SOURCE_DIR}/Cargo.toml.in" "${cargo_toml_dir}/Cargo.toml" @ONLY)
+ endfunction()
+ 
+@@ -173,9 +172,9 @@ set_genexpr_condition(libs DEBUG $<CONFIG:Debug> "${libsd}" "${libsr}")
+ #
+ 
+ # Combine "--release" and "--manifest-path" options under DEBUG condition to avoid passing empty parameter to cargo command line in `add_custom_command`, causing build failure
+-# This empty item ($<IF:$<CONFIG:Debug>;,--release>) can't be filtered out by `list(FILTER ...)` because it becomes empty only on 
++# This empty item ($<IF:$<CONFIG:Debug>;,--release>) can't be filtered out by `list(FILTER ...)` because it becomes empty only on
+ # build stage when generator expressions are evaluated.
+-set_genexpr_condition(cargo_flags DEBUG $<CONFIG:Debug> 
++set_genexpr_condition(cargo_flags DEBUG $<CONFIG:Debug>
+ 	"--manifest-path=${cargo_toml_dir_debug}/Cargo.toml"
+ 	"--release;--manifest-path=${cargo_toml_dir_release}/Cargo.toml")
+ set(cargo_flags ${cargo_flags} ${ZENOHC_CARGO_FLAGS})
+@@ -198,8 +197,8 @@ file(GLOB_RECURSE rust_sources "Cargo.toml.in" "src/*.rs" "build.rs" "splitguide
+ add_custom_command(
+ 	OUTPUT ${libs}
+ 	COMMAND ${CMAKE_COMMAND} -E echo \"RUSTFLAGS = $$RUSTFLAGS\"
+-	COMMAND ${CMAKE_COMMAND} -E echo \"cargo +${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}\"
+-	COMMAND cargo +${ZENOHC_CARGO_CHANNEL} build ${cargo_flags}
++	COMMAND ${CMAKE_COMMAND} -E echo \"cargo build ${cargo_flags}\"
++	COMMAND cargo build ${cargo_flags}
+ 	VERBATIM
+ 	COMMAND_EXPAND_LISTS
+ 	DEPENDS "${rust_sources}"