Add cross-compile tests to ci and fix library names

.cargo/config.toml

@@ -1,5 +1,25 @@
 [target.x86_64-unknown-linux-musl]
 rustflags = "-Ctarget-feature=-crt-static"
+linker = "x86_64-linux-musl-gcc"
 
 [target.aarch64-unknown-linux-musl]
 rustflags = "-Ctarget-feature=-crt-static"
+linker = "aarch64-linux-musl-gcc"
+
+[target.arm-unknown-linux-gnueabihf]
+linker = "arm-linux-gnueabihf-gcc"
+
+[target.arm-unknown-linux-gnueabi]
+linker = "arm-linux-gnueabi-gcc"
+
+[target.armv7-unknown-linux-gnueabihf]
+linker = "armv7-linux-gnueabihf-gcc"
+
+[target.aarch64-unknown-linux-gnu]
+linker = "aarch64-linux-gnu-gcc"
+
+[target.x86_64-unknown-linux-gnu]
+linker = "x86_64-linux-gnu-gcc"
+
+[target.x86_64-pc-windows-gnu]
+linker = "x86_64-w64-mingw32-gcc"

.github/workflows/ci.yml

@@ -121,6 +121,114 @@ jobs:
             !target/release/.*
             !target/release/*.d
 
+  cross-compile-mac-os:
+    name: Cross compile on macOS-latest
+    runs-on: macOS-latest
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: |
+          brew tap messense/macos-cross-toolchains
+          brew install armv7-unknown-linux-gnueabihf
+          brew install mingw-w64
+          brew install x86_64-unknown-linux-gnu
+
+      - name: Install rust toolchains
+        run: |
+          rustup target add armv7-unknown-linux-gnueabihf
+          rustup target add x86_64-pc-windows-gnu
+          rustup target add x86_64-unknown-linux-gnu
+
+      - name: Cross compile for armv7-unknown-linux-gnueabihf
+        run: |
+          rm -rf ./build
+          mkdir -p ./build && cd ./build
+          cmake -DCMAKE_TOOLCHAIN_FILE="../ci/toolchains/TC-armv7-unknown-linux-gnueabihf.cmake" -DZENOHC_BUILD_WITH_SHARED_MEMORY=ON -DZENOHC_BUILD_WITH_UNSTABLE_API=ON ..
+          cmake --build . --target examples
+
+      - name: Cross compile for x86_64-unknown-linux-gnu
+        run: |
+          rm -rf ./build
+          mkdir -p ./build && cd ./build
+          cmake -DCMAKE_TOOLCHAIN_FILE="../ci/toolchains/TC-x86_64-unknown-linux-gnu.cmake" -DZENOHC_BUILD_WITH_SHARED_MEMORY=ON -DZENOHC_BUILD_WITH_UNSTABLE_API=ON ..
+          cmake --build . --target examples
+
+      - name: Cross compile for x86_64-pc-windows-gnu
+        run: |
+          rm -rf ./build
+          mkdir -p ./build && cd ./build
+          cmake -DCMAKE_TOOLCHAIN_FILE="../ci/toolchains/TC-x86_64-pc-windows-gnu.cmake" -DZENOHC_BUILD_WITH_SHARED_MEMORY=ON -DZENOHC_BUILD_WITH_UNSTABLE_API=ON ..
+          cmake --build . --target examples
+
+  cross-compile-ubuntu:
+    name: Cross compile on ubuntu-latest
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get install -y musl-tools
+          sudo apt-get install -y gcc-arm-linux-gnueabi
+          sudo apt-get install -y g++-arm-linux-gnueabi
+          sudo apt-get install -y mingw-w64
+          sudo apt-get install -y gcc-aarch64-linux-gnu
+          sudo apt-get install -y g++-aarch64-linux-gnu
+          wget https://musl.cc/aarch64-linux-musl-cross.tgz
+          tar xvfz aarch64-linux-musl-cross.tgz
+          echo "$(readlink -f aarch64-linux-musl-cross)/bin" >> "$GITHUB_PATH"
+          wget https://musl.cc/x86_64-linux-musl-cross.tgz
+          tar xvfz x86_64-linux-musl-cross.tgz
+          echo "$(readlink -f x86_64-linux-musl-cross)/bin" >> "$GITHUB_PATH"
+
+      - name: Install rust toolchains
+        run: |
+          rustup target add arm-unknown-linux-gnueabi
+          rustup target add x86_64-pc-windows-gnu
+          rustup target add aarch64-unknown-linux-gnu
+          rustup target add aarch64-unknown-linux-musl
+          rustup target add x86_64-unknown-linux-musl
+
+      - name: Cross compile for arm-unknown-linux-gnueabi
+        run: |
+          rm -rf ./build
+          mkdir -p ./build && cd ./build
+          cmake -DCMAKE_TOOLCHAIN_FILE="../ci/toolchains/TC-arm-unknown-linux-gnueabi.cmake" -DZENOHC_BUILD_WITH_SHARED_MEMORY=ON -DZENOHC_BUILD_WITH_UNSTABLE_API=ON ..
+          cmake --build . --target examples
+
+      - name: Cross compile for aarch64-unknown-linux-gnu
+        run: |
+          rm -rf ./build
+          mkdir -p ./build && cd ./build
+          cmake -DCMAKE_TOOLCHAIN_FILE="../ci/toolchains/TC-aarch64-unknown-linux-gnu.cmake" -DZENOHC_BUILD_WITH_SHARED_MEMORY=ON -DZENOHC_BUILD_WITH_UNSTABLE_API=ON ..
+          cmake --build . --target examples
+
+      - name: Cross compile for aarch64-unknown-linux-musl
+        run: |
+          rm -rf ./build
+          mkdir -p ./build && cd ./build
+          cmake -DCMAKE_TOOLCHAIN_FILE="../ci/toolchains/TC-aarch64-unknown-linux-musl.cmake" -DZENOHC_BUILD_WITH_SHARED_MEMORY=ON -DZENOHC_BUILD_WITH_UNSTABLE_API=ON ..
+          cmake --build . --target examples
+
+      - name: Cross compile for x86_64-unknown-linux-musl
+        run: |
+          rm -rf ./build
+          mkdir -p ./build && cd ./build
+          cmake -DCMAKE_TOOLCHAIN_FILE="../ci/toolchains/TC-x86_64-unknown-linux-musl.cmake" -DZENOHC_BUILD_WITH_SHARED_MEMORY=ON -DZENOHC_BUILD_WITH_UNSTABLE_API=ON ..
+          cmake --build . --target examples
+
+      - name: Cross compile for x86_64-pc-windows-gnu
+        run: |
+          rm -rf ./build
+          mkdir -p ./build && cd ./build
+          cmake -DCMAKE_TOOLCHAIN_FILE="../ci/toolchains/TC-x86_64-pc-windows-gnu.cmake" -DZENOHC_BUILD_WITH_SHARED_MEMORY=ON -DZENOHC_BUILD_WITH_UNSTABLE_API=ON ..
+          cmake --build . --target examples
+
   # NOTE: In GitHub repository settings, the "Require status checks to pass
   # before merging" branch protection rule ensures that commits are only merged
   # from branches where specific status checks have passed. These checks are

CMakeLists.txt

@@ -168,16 +168,35 @@ endmacro()
 # dylib[r|d] - dymamic library (.so, .dll, .dylib)
 # staticlib[r|d] - static library (.a, .lib)
 # implib[r|d] - import library for windows dynamic library (DLL) - .lib
-# dylibs[r|d] - list of files required for use dynamic libraty
-# staticlibs[r|d] - list of files required for use static libraty
-set_lib(dylibsr dylibr ${CMAKE_SHARED_LIBRARY_PREFIX}zenohc${CMAKE_SHARED_LIBRARY_SUFFIX})
-set_lib(dylibsd dylibd ${CMAKE_SHARED_LIBRARY_PREFIX}zenohcd${CMAKE_SHARED_LIBRARY_SUFFIX})
-set_lib(staticlibsr staticlibr ${CMAKE_STATIC_LIBRARY_PREFIX}zenohc${CMAKE_STATIC_LIBRARY_SUFFIX})
-set_lib(staticlibsd staticlibd ${CMAKE_STATIC_LIBRARY_PREFIX}zenohcd${CMAKE_STATIC_LIBRARY_SUFFIX})
+# dylibs[r|d] - list of files required for use dynamic library
+# staticlibs[r|d] - list of files required for use static library
+# get rust output library names from https://github.com/corrosion-rs/corrosion/blob/1c6974c2473765449e7c4649f9f96f1b751420c3/cmake/Corrosion.cmake#L331
 if(WIN32)
-	set_lib(dylibsr implibr ${CMAKE_IMPORT_LIBRARY_PREFIX}zenohc${CMAKE_SHARED_LIBRARY_SUFFIX}${CMAKE_IMPORT_LIBRARY_SUFFIX})
-	set_lib(dylibsd implibd ${CMAKE_IMPORT_LIBRARY_PREFIX}zenohcd${CMAKE_SHARED_LIBRARY_SUFFIX}${CMAKE_IMPORT_LIBRARY_SUFFIX})
+	set_lib(dylibsr dylibr zenohc.dll)
+	set_lib(dylibsd dylibd zenohcd.dll)
+	if(MSVC)
+		set_lib(staticlibsr staticlibr zenohc.lib)
+		set_lib(staticlibsd staticlibd zenohcd.lib)
+		set_lib(dylibsr implibr zenohc.dll.lib)
+		set_lib(dylibsd implibd zenohcd.dll.lib)
+	else() #gnu/mingw/msys ?
+		set_lib(staticlibsr staticlibr libzenohc.a)
+		set_lib(staticlibsd staticlibd libzenohcd.a)
+		set_lib(dylibsr implibr libzenohc.dll.a)
+		set_lib(dylibsd implibd libzenohcd.dll.a)
+	endif()
+elseif(APPLE)
+	set_lib(dylibsr dylibr libzenohc.dylib)
+	set_lib(dylibsd dylibd libzenohcd.dylib)
+	set_lib(staticlibsr staticlibr libzenohc.a)
+	set_lib(staticlibsd staticlibd libzenohcd.a)
+else() #UNIX
+	set_lib(dylibsr dylibr libzenohc.so)
+	set_lib(dylibsd dylibd libzenohcd.so)
+	set_lib(staticlibsr staticlibr libzenohc.a)
+	set_lib(staticlibsd staticlibd libzenohcd.a)
 endif()
+
 list(APPEND libsr ${dylibsr})
 list(APPEND libsr ${staticlibsr})
 list(APPEND libsd ${dylibsd})
@@ -262,39 +281,40 @@ endfunction()
 # *IMPORTANT* any options in this section should be repeated in install/PackageConfig.cmake.in
 # to achieve correct behavior of find_package(zenohc)
 #
+add_library(zenohc_shared SHARED IMPORTED GLOBAL)
+add_library(zenohc::shared ALIAS zenohc_shared)
+add_dependencies(zenohc_shared cargo)
+target_compile_definitions(zenohc_shared INTERFACE ZENOHC_DYN_LIB)
+# Workaroud for https://github.com/rust-lang/cargo/issues/5045
+# mentioned in https://github.com/eclipse-zenoh/zenoh-c/issues/138
+# If it's fixed, do not forget to correct PackageConfig.cmake.in also
+set_target_properties(zenohc_shared PROPERTIES IMPORTED_NO_SONAME TRUE)
+set_target_imported_locations(zenohc_shared ${dylibr} ${dylibd})
+add_library(zenohc_static STATIC IMPORTED GLOBAL)
+add_library(zenohc::static ALIAS zenohc_static)
+add_dependencies(zenohc_static cargo)
+get_required_static_libs(NATIVE_STATIC_LIBS)
+target_link_libraries(zenohc_static INTERFACE ${NATIVE_STATIC_LIBS})
+set_target_imported_locations(zenohc_static ${staticlibr} ${staticlibd})
+target_include_directories(zenohc_static INTERFACE ${cargo_generated_include_dir})
+set_target_properties(zenohc_static PROPERTIES IMPORTED_GLOBAL TRUE)
+
+if(DEFINED implibr)
+	set_target_imported_implib(zenohc_shared ${implibr} ${implibd})
+endif()
+target_include_directories(zenohc_shared INTERFACE ${cargo_generated_include_dir})
+set_target_properties(zenohc_shared PROPERTIES IMPORTED_GLOBAL TRUE)
 if (BUILD_SHARED_LIBS)
-	add_library(zenohc_shared SHARED IMPORTED GLOBAL)
 	add_library(zenohc::lib ALIAS zenohc_shared)
-	add_dependencies(zenohc_shared cargo)
-	target_compile_definitions(zenohc_shared INTERFACE ZENOHC_DYN_LIB)
-	# Workaroud for https://github.com/rust-lang/cargo/issues/5045
-	# mentioned in https://github.com/eclipse-zenoh/zenoh-c/issues/138
-	# If it's fixed, do not forget to correct PackageConfig.cmake.in also
-	set_target_properties(zenohc_shared PROPERTIES IMPORTED_NO_SONAME TRUE)
-	set_target_imported_locations(zenohc_shared ${dylibr} ${dylibd})
-	if(DEFINED implibr)
-		set_target_imported_implib(zenohc_shared ${implibr} ${implibd})
-	endif()
-	target_include_directories(zenohc_shared INTERFACE ${cargo_generated_include_dir})
-	set_target_properties(zenohc_shared PROPERTIES IMPORTED_GLOBAL TRUE)
 else()
-	add_library(zenohc_static STATIC IMPORTED GLOBAL)
 	add_library(zenohc::lib ALIAS zenohc_static)
-	add_library(zenohc::static ALIAS zenohc_static)
-	add_dependencies(zenohc_static cargo)
-	get_required_static_libs(NATIVE_STATIC_LIBS)
-	target_link_libraries(zenohc_static INTERFACE ${NATIVE_STATIC_LIBS})
-	set_target_imported_locations(zenohc_static ${staticlibr} ${staticlibd})
-	target_include_directories(zenohc_static INTERFACE ${cargo_generated_include_dir})
-	set_target_properties(zenohc_static PROPERTIES IMPORTED_GLOBAL TRUE)
 endif()
 
 
 #
 # Components included only if project is the root project
 #
 if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_CURRENT_SOURCE_DIR})
-	include(cmake/cross_build_check.cmake)
 	add_subdirectory(install)
 	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${cargo_binary_dir}/tests)
 	add_subdirectory(tests)

ci/toolchains/TC-aarch64-unknown-linux-gnu.cmake

@@ -0,0 +1,5 @@
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR aarch64)
+set(ZENOHC_CUSTOM_TARGET aarch64-unknown-linux-gnu)
+set(CMAKE_C_COMPILER aarch64-linux-gnu-gcc)
+set(CMAKE_CXX_COMPILER aarch64-linux-gnu-g++)

ci/toolchains/TC-aarch64-unknown-linux-musl.cmake

@@ -0,0 +1,5 @@
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR aarch64)
+set(ZENOHC_CUSTOM_TARGET aarch64-unknown-linux-musl)
+set(CMAKE_C_COMPILER aarch64-linux-musl-gcc)
+set(CMAKE_CXX_COMPILER aarch64-linux-musl-g++)

ci/toolchains/TC-arm-unknown-linux-gnueabi.cmake

@@ -0,0 +1,5 @@
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR arm)
+set(ZENOHC_CUSTOM_TARGET arm-unknown-linux-gnueabi)
+set(CMAKE_C_COMPILER arm-linux-gnueabi-gcc)
+set(CMAKE_CXX_COMPILER arm-linux-gnueabi-g++)

ci/toolchains/TC-armv7-unknown-linux-gnueabihf.cmake

@@ -0,0 +1,5 @@
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR armv7)
+set(ZENOHC_CUSTOM_TARGET armv7-unknown-linux-gnueabihf)
+set(CMAKE_C_COMPILER armv7-linux-gnueabihf-gcc)
+set(CMAKE_CXX_COMPILER armv7-linux-gnueabihf-g++)

ci/toolchains/TC-x86_64-pc-windows-gnu.cmake

@@ -0,0 +1,5 @@
+set(CMAKE_SYSTEM_NAME Windows)
+set(CMAKE_SYSTEM_PROCESSOR x86_64)
+set(ZENOHC_CUSTOM_TARGET x86_64-pc-windows-gnu)
+set(CMAKE_C_COMPILER x86_64-w64-mingw32-gcc)
+set(CMAKE_CXX_COMPILER x86_64-w64-mingw32-g++)

ci/toolchains/TC-x86_64-unknown-linux-gnu.cmake

@@ -0,0 +1,5 @@
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR x86_64)
+set(ZENOHC_CUSTOM_TARGET x86_64-unknown-linux-gnu)
+set(CMAKE_C_COMPILER x86_64-unknown-linux-gnu-gcc)
+set(CMAKE_CXX_COMPILER x86_64-unknown-linux-gnu-g++)

ci/toolchains/TC-x86_64-unknown-linux-musl.cmake

@@ -0,0 +1,5 @@
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR x86_64)
+set(ZENOHC_CUSTOM_TARGET x86_64-unknown-linux-musl)
+set(CMAKE_C_COMPILER x86_64-linux-musl-gcc)
+set(CMAKE_CXX_COMPILER x86_64-linux-musl-g++)

examples/CMakeLists.txt

@@ -33,11 +33,6 @@ foreach(file ${files})
         endif()
     endif()
 
-    # FIXME: remove once zenoh time primitives are available and examples updated
-    if(NOT(UNIX) AND(${target} STREQUAL "z_ping" OR ${target} STREQUAL "z_pong" OR ${target} STREQUAL "z_sub_thr"))
-        continue()
-    endif()
-
     add_executable(${target} EXCLUDE_FROM_ALL ${file})
     add_dependencies(examples ${target})