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[ros2] zenoh-cpp-vendor #558

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a6377eb
[jazzy] zenoh-cpp-vendor WIP
muellerbernd Jan 10, 2025
259f44f
[jazzy] zenoh-cpp-vendor: add cargoDeps WIP
muellerbernd Jan 10, 2025
2fe8f33
[change] jazzy: overrides for zenoh-cpp-vendor
muellerbernd Feb 15, 2025
b0e9025
[fix] humble: zenoh-cpp-vendor
muellerbernd Feb 15, 2025
182b71c
[change] jazzy: overrides, remove comment line
muellerbernd Feb 15, 2025
4923a59
Merge branch 'lopsided98:develop' into fix-zenoh
muellerbernd Feb 17, 2025
0f775c2
Merge branch 'lopsided98:develop' into fix-zenoh
muellerbernd Feb 18, 2025
59320dc
[change] humble: overrides for zenoh-bridge-dds still WIP
muellerbernd Feb 18, 2025
e7ff83f
[change] cleanup CFLAGS for zenoh-bridge-dds
muellerbernd Feb 18, 2025
a731feb
Merge branch 'lopsided98:develop' into fix-zenoh
muellerbernd Feb 20, 2025
690cb91
[refactor] move zenoh-cpp-vendor overrides to ros2-overlay.nix
muellerbernd Feb 20, 2025
2959556
Merge branch 'lopsided98:develop' into fix-zenoh
muellerbernd Feb 27, 2025
2b1a9d0
[fix] zenoh-cpp-vendor for humble, jazzy and rolling
muellerbernd Feb 27, 2025
aabf0bc
[fix] zenoh-cpp-vendor for humble, jazzy and rolling, now with versio…
muellerbernd Feb 27, 2025
df1f744
Merge branch 'lopsided98:develop' into fix-zenoh
muellerbernd Mar 2, 2025
363788f
Merge branch 'lopsided98:develop' into fix-zenoh
muellerbernd Apr 7, 2025
1f0ed4c
[update][jazzy] zenoh-cpp-vendor
muellerbernd Apr 7, 2025
50493ea
[update][rolling] zenoh-cpp-vendor
muellerbernd Apr 7, 2025
8ba64dc
Merge branch 'lopsided98:develop' into fix-zenoh
muellerbernd Apr 15, 2025
62dafbd
[change] add patchAmentVendorGitZenoh function for patching zenoh Cma…
muellerbernd Apr 15, 2025
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76 changes: 76 additions & 0 deletions distros/humble/overrides.nix
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Original file line number Diff line number Diff line change
Expand Up @@ -223,4 +223,80 @@ in with lib; {
})
];
});

zenoh-bridge-dds = rosSuper.zenoh-bridge-dds.overrideAttrs ({
nativeBuildInputs ? [], pname ? "", postPatch ? "", src ? "", version ? "", ...
}: {
nativeBuildInputs = nativeBuildInputs ++ [
self.rustPlatform.cargoSetupHook
self.cargo
self.rustc
];
postPatch = postPatch + ''
ln -s zenoh-bridge-dds/Cargo.lock Cargo.lock
'';
cargoDeps = self.rustPlatform.fetchCargoVendor {
inherit pname version src;
hash = "sha256-DRMuF6DNLbMIA1CmhVZ7L//EuTCQNL5/lU6d+3DKnO4=";
prePatch = ''
cd zenoh-bridge-dds
'';
};
env.LIBCLANG_PATH = "${lib.getLib self.llvmPackages.libclang}/lib";
env.NIX_CFLAGS_COMPILE = toString [
"-Wno-conversion"
];
});

zenoh-cpp-vendor = let
zenoh-c-url = "https://github.com/eclipse-zenoh/zenoh-c.git";
zenoh-c-rev = "5fce7fb1d397e016ad02a50bde4262007d755424";
zenoh-c-hash = "sha256-jayvCq4xvvAheeSpmxwg1VA3TLPyS4QGdVhte8wk0KA=";
zenoh-cpp-url = "https://github.com/eclipse-zenoh/zenoh-cpp";
zenoh-cpp-rev = "bd4d741c6c4fa6509d8d745e22c3c50b4306bd65";
zenoh-cpp-hash = "sha256-OLNlew4pOLl1PRWrJTTfDv7LGYHGX0A7A4RW9jwCOsE=";
in (lib.patchAmentVendorGitZenoh (lib.patchAmentVendorGitZenoh rosSuper.zenoh-cpp-vendor {
url = zenoh-cpp-url;
rev = zenoh-cpp-rev;
fetchgitArgs.hash = zenoh-cpp-hash;
}) {
url = zenoh-c-url;
rev = zenoh-c-rev;
fetchgitArgs.hash = zenoh-c-hash;
}).overrideAttrs ({
nativeBuildInputs ? [], postPatch ? "", ...
}: let
zenoh-c-source = self.fetchFromGitHub {
owner = "eclipse-zenoh";
repo = "zenoh-c";
rev = zenoh-c-rev;
hash = zenoh-c-hash;
};
in {
nativeBuildInputs = nativeBuildInputs ++ [
self.rustPlatform.cargoSetupHook
self.cargo
self.rustc
];
postPatch = postPatch + ''
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@kjeremy kjeremy Aug 5, 2025

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Something like this currently works for me but to get it to cross-compile you need to set the define ZENOHC_CUSTOM_TARGET in the cmake flags. Something like this:

cmakeFlags = cmakeFlags ++
      lib.optionals (stdenv.buildPlatform != stdenv.hostPlatform)
        [ "-DZENOHC_CUSTOM_TARGET=${stdenv.hostPlatform.config}" ];

See: https://github.com/eclipse-zenoh/zenoh-c?tab=readme-ov-file#cross-compilation

ln -s ${zenoh-c-source.outPath}/Cargo.lock Cargo.lock
echo "set(ZENOH-C-VENDOR $(awk '/ament_vendor\(zenoh_c_vendor/,/VCS_VERSION/ {if (/VCS_VERSION/) print $2}' CMakeLists.txt))" >> CMakeLists.txt
echo "set(ZENOH-CPP-VENDOR $(awk '/ament_vendor\(zenoh_cpp_vendor/,/VCS_VERSION/ {if (/VCS_VERSION/) print $2}' CMakeLists.txt))" >> CMakeLists.txt

cat >> CMakeLists.txt <<'EOF'
if(NOT ''${ZENOH-CPP-VENDOR} STREQUAL "${zenoh-cpp-rev}")
message(FATAL_ERROR "Mismatch in VCS_VERSION for zenoh_cpp_vendor (Nix: ${zenoh-cpp-rev}, upstream: ''${ZENOH-CPP-VENDOR}) Fix this in overrides.nix.")
endif()
if(NOT ''${ZENOH-C-VENDOR} STREQUAL "${zenoh-c-rev}")
message(FATAL_ERROR "Mismatch in VCS_VERSION for zenoh_c_vendor (Nix: ${zenoh-c-rev}, upstream: ''${ZENOH-C-VENDOR}) Fix this in overrides.nix.")
endif()
EOF
'';
cargoDeps = self.rustPlatform.importCargoLock {
lockFile = "${zenoh-c-source.outPath}/Cargo.lock";
outputHashes = {
"zenoh-1.2.0" = "sha256-0E03X0ZjZNJr7FgqnbjXCM6gKKezSSFSC0HfAq7WhM4=";
};
};
});
}
76 changes: 76 additions & 0 deletions distros/jazzy/overrides.nix
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Original file line number Diff line number Diff line change
Expand Up @@ -226,4 +226,80 @@ in {
})
];
});

zenoh-bridge-dds = rosSuper.zenoh-bridge-dds.overrideAttrs ({
nativeBuildInputs ? [], pname ? "", postPatch ? "", src ? "", version ? "", ...
}: {
nativeBuildInputs = nativeBuildInputs ++ [
self.rustPlatform.cargoSetupHook
self.cargo
self.rustc
];
postPatch = postPatch + ''
ln -s zenoh-bridge-dds/Cargo.lock Cargo.lock
'';
cargoDeps = self.rustPlatform.fetchCargoVendor {
inherit pname version src;
hash = "sha256-DRMuF6DNLbMIA1CmhVZ7L//EuTCQNL5/lU6d+3DKnO4=";
prePatch = ''
cd zenoh-bridge-dds
'';
};
env.LIBCLANG_PATH = "${lib.getLib self.llvmPackages.libclang}/lib";
env.NIX_CFLAGS_COMPILE = toString [
"-Wno-conversion"
];
});

zenoh-cpp-vendor = let
zenoh-c-url = "https://github.com/eclipse-zenoh/zenoh-c.git";
zenoh-c-rev = "e6a1971139f405f7887bf5bb54f0efe402123032";
zenoh-c-hash = "sha256-eJbnb1UJbtuYb+dSpKqVgI1p/97bSc+KTcbO1GNg9jU=";
zenoh-cpp-url = "https://github.com/eclipse-zenoh/zenoh-cpp";
zenoh-cpp-rev = "8ad67f6c7a9031acd437c8739bbc8ddab0ca8173";
zenoh-cpp-hash = "sha256-0iRhmMtrhDdM7X0ByiICT4s7lDFcGLSR1dEImzT1mWs=";
in (lib.patchAmentVendorGitZenoh (lib.patchAmentVendorGitZenoh rosSuper.zenoh-cpp-vendor {
url = zenoh-cpp-url;
rev = zenoh-cpp-rev;
fetchgitArgs.hash = zenoh-cpp-hash;
}) {
url = zenoh-c-url;
rev = zenoh-c-rev;
fetchgitArgs.hash = zenoh-c-hash;
}).overrideAttrs ({
nativeBuildInputs ? [], postPatch ? "", ...
}: let
zenoh-c-source = self.fetchFromGitHub {
owner = "eclipse-zenoh";
repo = "zenoh-c";
rev = zenoh-c-rev;
hash = zenoh-c-hash;
};
in {
nativeBuildInputs = nativeBuildInputs ++ [
self.rustPlatform.cargoSetupHook
self.cargo
self.rustc
];
postPatch = postPatch + ''
ln -s ${zenoh-c-source.outPath}/Cargo.lock Cargo.lock
echo "set(ZENOH-C-VENDOR $(awk '/ament_vendor\(zenoh_c_vendor/,/VCS_VERSION/ {if (/VCS_VERSION/) print $2}' CMakeLists.txt))" >> CMakeLists.txt
echo "set(ZENOH-CPP-VENDOR $(awk '/ament_vendor\(zenoh_cpp_vendor/,/VCS_VERSION/ {if (/VCS_VERSION/) print $2}' CMakeLists.txt))" >> CMakeLists.txt

cat >> CMakeLists.txt <<'EOF'
if(NOT ''${ZENOH-CPP-VENDOR} STREQUAL "${zenoh-cpp-rev}")
message(FATAL_ERROR "Mismatch in VCS_VERSION for zenoh_cpp_vendor (Nix: ${zenoh-cpp-rev}, upstream: ''${ZENOH-CPP-VENDOR}) Fix this in overrides.nix.")
endif()
if(NOT ''${ZENOH-C-VENDOR} STREQUAL "${zenoh-c-rev}")
message(FATAL_ERROR "Mismatch in VCS_VERSION for zenoh_c_vendor (Nix: ${zenoh-c-rev}, upstream: ''${ZENOH-C-VENDOR}) Fix this in overrides.nix.")
endif()
EOF
'';
cargoDeps = self.rustPlatform.importCargoLock {
lockFile = "${zenoh-c-source.outPath}/Cargo.lock";
outputHashes = {
"zenoh-1.2.1" = "sha256-9oeeiS84Ymyra7yh7+GuocCsXfejlEgbQgKJlig6siY=";
};
};
});
}
52 changes: 52 additions & 0 deletions distros/rolling/overrides.nix
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Original file line number Diff line number Diff line change
Expand Up @@ -233,4 +233,56 @@ in {
})
];
});

zenoh-cpp-vendor = let
zenoh-c-url = "https://github.com/eclipse-zenoh/zenoh-c.git";
zenoh-c-rev = "e6a1971139f405f7887bf5bb54f0efe402123032";
zenoh-c-hash = "sha256-eJbnb1UJbtuYb+dSpKqVgI1p/97bSc+KTcbO1GNg9jU=";
zenoh-cpp-url = "https://github.com/eclipse-zenoh/zenoh-cpp";
zenoh-cpp-rev = "8ad67f6c7a9031acd437c8739bbc8ddab0ca8173";
zenoh-cpp-hash = "sha256-0iRhmMtrhDdM7X0ByiICT4s7lDFcGLSR1dEImzT1mWs=";
in (lib.patchAmentVendorGitZenoh (lib.patchAmentVendorGitZenoh rosSuper.zenoh-cpp-vendor {
url = zenoh-cpp-url;
rev = zenoh-cpp-rev;
fetchgitArgs.hash = zenoh-cpp-hash;
}) {
url = zenoh-c-url;
rev = zenoh-c-rev;
fetchgitArgs.hash = zenoh-c-hash;
}).overrideAttrs ({
nativeBuildInputs ? [], postPatch ? "", ...
}: let
zenoh-c-source = self.fetchFromGitHub {
owner = "eclipse-zenoh";
repo = "zenoh-c";
rev = zenoh-c-rev;
hash = zenoh-c-hash;
};
in {
nativeBuildInputs = nativeBuildInputs ++ [
self.rustPlatform.cargoSetupHook
self.cargo
self.rustc
];
postPatch = postPatch + ''
ln -s ${zenoh-c-source.outPath}/Cargo.lock Cargo.lock
echo "set(ZENOH-C-VENDOR $(awk '/ament_vendor\(zenoh_c_vendor/,/VCS_VERSION/ {if (/VCS_VERSION/) print $2}' CMakeLists.txt))" >> CMakeLists.txt
echo "set(ZENOH-CPP-VENDOR $(awk '/ament_vendor\(zenoh_cpp_vendor/,/VCS_VERSION/ {if (/VCS_VERSION/) print $2}' CMakeLists.txt))" >> CMakeLists.txt

cat >> CMakeLists.txt <<'EOF'
if(NOT ''${ZENOH-CPP-VENDOR} STREQUAL "${zenoh-cpp-rev}")
message(FATAL_ERROR "Mismatch in VCS_VERSION for zenoh_cpp_vendor (Nix: ${zenoh-cpp-rev}, upstream: ''${ZENOH-CPP-VENDOR}) Fix this in overrides.nix.")
endif()
if(NOT ''${ZENOH-C-VENDOR} STREQUAL "${zenoh-c-rev}")
message(FATAL_ERROR "Mismatch in VCS_VERSION for zenoh_c_vendor (Nix: ${zenoh-c-rev}, upstream: ''${ZENOH-C-VENDOR}) Fix this in overrides.nix.")
endif()
EOF
'';
cargoDeps = self.rustPlatform.importCargoLock {
lockFile = "${zenoh-c-source.outPath}/Cargo.lock";
outputHashes = {
"zenoh-1.2.1" = "sha256-9oeeiS84Ymyra7yh7+GuocCsXfejlEgbQgKJlig6siY=";
};
};
});
}
32 changes: 32 additions & 0 deletions lib/default.nix
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,38 @@
'' + postPatch;
});

# Patch a vendored download that uses ament_vendor() with a Git repo as the
# source.
# older version only for zenoh because of multiple ament_vendor calls
patchAmentVendorGitZenoh = pkg: {
url,
originalUrl ? url,
rev, # Must correspond to the VCS_VERSION argument
file ? "CMakeLists.txt",
fetchgitArgs ? {},
tarSourceArgs ? {}
}: pkg.overrideAttrs ({
nativeBuildInputs ? [],
postPatch ? "", ...
}: let
# ament_vendor doesn't allow patches for path inputs, so we have to pack it
# into a tar first. Additionally, vcstool only accepts tarballs with the
# version number as the root directory name.
vendor = lib.tarSource tarSourceArgs (self.fetchgit (fetchgitArgs // {
name = rev;
inherit url rev;
}));
in {
# CMake ExternalProject patches are applied with git apply
nativeBuildInputs = nativeBuildInputs ++ [ self.git ];
postPatch = ''
sed -i '\|VCS_URL\s*${originalUrl}|c\
VCS_URL "file://${vendor}"\
VCS_TYPE tar' \
${lib.escapeShellArg file}
'' + postPatch;
});

# Patch a vendored download that uses ament_vendor() with a Git repo as the
# source.
patchAmentVendorGit = pkg: {
Expand Down