Zenohc fix cargo version (#38)

# Description
See
[discord](https://discord.com/channels/914168414178779197/940584045287460885/1220421516219388025)
conversation.
zenoh doesn't support cargo 1.77 so we need to fix the zenoh version

## Type of change
Please delete options that are not relevant.
- Bug fix (non-breaking change which fixes an issue)

cmake/03_compiler_config.cmake

@@ -105,8 +105,8 @@ if(LIST_OF_SANITIZERS)
   endif()
 endif()
 
-# Set whether to enable inter-procedural optimisation
-option(ENABLE_IPO "Enable interprocedural optimization" ON)
+# Set whether to enable inter-procedural optimisation TODO: This is working with latest release of Clang.
+option(ENABLE_IPO "Enable interprocedural optimization" OFF)
 if(ENABLE_IPO)
   include(CheckIPOSupported)
   check_ipo_supported(RESULT ipo_result OUTPUT output)

docker/Dockerfile

@@ -6,10 +6,10 @@ ENV DEBIAN_FRONTEND=noninteractive
 
 RUN apt update && \
     apt install -y --no-install-recommends x11-apps g++ mesa-utils make cmake-curses-gui ninja-build git gdb vim htop \
-        curl zlib1g-dev libffi-dev libssl-dev libbz2-dev libsqlite3-dev iproute2 tk-dev texlive-latex-extra texlive-fonts-recommended dvipng cm-super libnotify-bin \
-        pkg-config gpg wget ca-certificates git-lfs curl ccache ninja-build doxygen graphviz linux-generic python3-dev python3-pip iproute2 python-is-python3 \
-        net-tools iftop htop lsb-release software-properties-common gnupg bash-completion psmisc less tree && \
-        rm -rf /var/lib/apt/lists/*
+    curl zlib1g-dev libffi-dev libssl-dev libbz2-dev libsqlite3-dev iproute2 tk-dev texlive-latex-extra texlive-fonts-recommended dvipng cm-super libnotify-bin \
+    pkg-config gpg wget ca-certificates git-lfs curl ccache ninja-build doxygen graphviz linux-generic python3-dev python3-pip iproute2 python-is-python3 \
+    net-tools iftop htop lsb-release software-properties-common gnupg bash-completion psmisc less tree && \
+    rm -rf /var/lib/apt/lists/*
 RUN python3 -m pip install cmakelang
 
 RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null && \
@@ -39,7 +39,9 @@ RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" |
     apt-get update && apt-get install -y systemctl zenoh && \
     rm -rf /var/lib/apt/lists/*
 
-RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs > rust_installer.sh && chmod +x rust_installer.sh && ./rust_installer.sh -y
+ENV RUST_VERSION=1.76.0
+RUN wget -q -O rust_installer.sh https://sh.rustup.rs && chmod +x rust_installer.sh && ./rust_installer.sh -y && \
+    . "$HOME/.cargo/env" && rustup install "$RUST_VERSION" && rustup default "$RUST_VERSION"
 RUN . "$HOME/.cargo/env" && cargo install sccache --locked
 RUN echo "export RUSTC_WRAPPER=sccache" >> $HOME/.bashrc
 

docker/version.sh

@@ -1,6 +1,6 @@
 HOST=ghcr.io/olympus-robotics
-VERSION=1.0.5
+VERSION=1.0.7
 IMAGE=hephaestus-dev
 
 # This is the version of the dep image. Increase this number everytime you change `external/CMakeLists.txt`
-DEPS_VERSION=1.0.9
+DEPS_VERSION=1.0.10

external/CMakeLists.txt

@@ -29,10 +29,13 @@ endif()
 # --------------------------------------------------------------------------------------------------
 # zenoh
 
-set(GIT_TAG "10176b911096cb92b8ee46bc491b78079ee26c20")
-add_cmake_dependency(NAME zenohc URL "https://github.com/eclipse-zenoh/zenoh-c/archive/${GIT_TAG}.zip")
+set(GIT_TAG "0d0a6d8d1488a71224c3bf6929714036945e7947")
+add_cmake_dependency(
+  NAME zenohc URL "https://github.com/eclipse-zenoh/zenoh-c/archive/${GIT_TAG}.zip"
+  CMAKE_ARGS -DZENOHC_CARGO_CHANNEL=1.76.0
+)
 
-set(GIT_TAG "c0b7adb077cbf0b7b0cd04addb6de741b338fc49")
+set(GIT_TAG "2013df93ee771ed691e0bf85f55c61d9cb85119d")
 add_cmake_dependency(
   NAME zenohcxx
   DEPENDS zenohc URL "https://github.com/eclipse-zenoh/zenoh-cpp/archive/${GIT_TAG}.zip"

modules/bag/CMakeLists.txt

@@ -25,7 +25,7 @@ set(SOURCES
 # library target
 define_module_library(
   NAME bag
-  PUBLIC_LINK_LIBS absl::base hephaestus::containers hephaestus::ipc mcap
+  PUBLIC_LINK_LIBS absl::base absl::log hephaestus::containers hephaestus::ipc mcap
   PRIVATE_LINK_LIBS ""
   SOURCES ${SOURCES}
   PUBLIC_INCLUDE_PATHS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>

modules/examples/CMakeLists.txt

@@ -18,7 +18,7 @@ set(TYPES_SOURCES src/types/pose.cpp README.md include/hephaestus/examples/types
 # library target
 define_module_library(
   NAME examples_types
-  PUBLIC_LINK_LIBS absl::base Eigen3::Eigen hephaestus::bag fmt::fmt mcap
+  PUBLIC_LINK_LIBS absl::base absl::status Eigen3::Eigen hephaestus::bag fmt::fmt mcap
   PRIVATE_LINK_LIBS ""
   SOURCES ${TYPES_SOURCES}
   PUBLIC_INCLUDE_PATHS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>

modules/serdes/CMakeLists.txt

@@ -5,9 +5,10 @@
 declare_module(
   NAME serdes
   DEPENDS_ON_MODULES base
-  DEPENDS_ON_EXTERNAL_PROJECTS magic_enum Protobuf
+  DEPENDS_ON_EXTERNAL_PROJECTS absl magic_enum Protobuf
 )
 
+find_package(absl REQUIRED)
 find_package(magic_enum REQUIRED)
 find_package(Protobuf REQUIRED)
 
@@ -34,7 +35,7 @@ set(SOURCES
 # library target
 define_module_library(
   NAME serdes
-  PUBLIC_LINK_LIBS hephaestus::base magic_enum::magic_enum protobuf::libprotobuf
+  PUBLIC_LINK_LIBS absl::status hephaestus::base magic_enum::magic_enum protobuf::libprotobuf
   PRIVATE_LINK_LIBS ""
   SOURCES ${SOURCES}
   PUBLIC_INCLUDE_PATHS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>

modules/utils/src/version_impl.h

@@ -17,8 +17,8 @@ static constexpr std::uint8_t VERSION_MAJOR = 0;
 static constexpr std::uint8_t VERSION_MINOR = 0;
 static constexpr std::uint16_t VERSION_PATCH = 1;
 
-static constexpr std::string_view REPO_BRANCH = "devel/ament";
-static constexpr std::string_view BUILD_PROFILE = "RelWithDebInfo";
-static constexpr std::string_view REPO_HASH = "65db096";
+static constexpr std::string_view REPO_BRANCH = "zenohc_fix_carg_version";
+static constexpr std::string_view BUILD_PROFILE = "Release";
+static constexpr std::string_view REPO_HASH = "5f5c307";
 
 } // namespace heph::utils

toolchains/toolchain_clang.cmake

@@ -10,5 +10,6 @@ else()
   set(CMAKE_CXX_COMPILER clang++)
 endif()
 set(CMAKE_CXX_FLAGS "-stdlib=libc++")
-set(CMAKE_EXE_LINKER_FLAGS "-stdlib=libc++ -lc++abi")
+set(CMAKE_EXE_LINKER_FLAGS "-stdlib=libc++ -lc++abi -fuse-ld=lld")
+set(CMAKE_EXE_LINKER_FLAGS "-stdlib=libc++ -lc++abi -fuse-ld=lld")
 set(CMAKE_CROSSCOMPILING FALSE)