Remove iceoryx dependency

We now have our own shared memory implementation.

Cargo.lock

@@ -567,8 +567,6 @@ name = "communication-layer-pub-sub"
 version = "0.1.3"
 dependencies = [
  "eyre",
- "iceoryx-rs",
- "iceoryx-sys",
  "zenoh",
  "zenoh-config",
 ]
@@ -611,56 +609,6 @@ version = "0.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5827cebf4670468b8772dd191856768aedcb1b0278a04f989f7766351917b9dc"
 
-[[package]]
-name = "cpp"
-version = "0.5.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dec5e86d4f6547f0218ad923d9508244a71ef83b763196e6698b4f70f3595185"
-dependencies = [
- "cpp_macros",
-]
-
-[[package]]
-name = "cpp_build"
-version = "0.5.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "16f4d303b8ec35fb3afd7e963e2c898117f1e49930becb703e4a7ac528ad2dd0"
-dependencies = [
- "cc",
- "cpp_common",
- "lazy_static",
- "proc-macro2",
- "regex",
- "syn",
- "unicode-xid",
-]
-
-[[package]]
-name = "cpp_common"
-version = "0.5.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76071bb9c8c4dd2b5eb209907deab7b031323cf1be3dfdc6ec5d37f4f187d8a1"
-dependencies = [
- "lazy_static",
- "proc-macro2",
- "syn",
-]
-
-[[package]]
-name = "cpp_macros"
-version = "0.5.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7fdaa01904c12a8989dbfa110b41ef27efc432ac9934f691b9732f01cb64dc01"
-dependencies = [
- "aho-corasick",
- "byteorder",
- "cpp_common",
- "lazy_static",
- "proc-macro2",
- "quote",
- "syn",
-]
-
 [[package]]
 name = "cpufeatures"
 version = "0.2.2"
@@ -1713,25 +1661,6 @@ dependencies = [
  "tokio-native-tls",
 ]
 
-[[package]]
-name = "iceoryx-rs"
-version = "0.1.0"
-source = "git+https://github.com/eclipse-iceoryx/iceoryx-rs.git#68fbd034a77c6ed98cb75a939d406429ef26b0dd"
-dependencies = [
- "iceoryx-sys",
- "thiserror",
-]
-
-[[package]]
-name = "iceoryx-sys"
-version = "0.1.0"
-source = "git+https://github.com/eclipse-iceoryx/iceoryx-rs.git#68fbd034a77c6ed98cb75a939d406429ef26b0dd"
-dependencies = [
- "cpp",
- "cpp_build",
- "thiserror",
-]
-
 [[package]]
 name = "idna"
 version = "0.2.3"

libraries/communication-layer/pub-sub/Cargo.toml

@@ -4,19 +4,14 @@ version.workspace = true
 edition = "2021"
 
 [features]
-default = ["zenoh", "iceoryx"]
+default = ["zenoh"]
 zenoh = ["dep:zenoh", "dep:zenoh-config"]
-iceoryx = ["dep:iceoryx-rs", "dep:iceoryx-sys"]
 
 [dependencies]
 eyre = "0.6.8"
 zenoh = { git = "https://github.com/eclipse-zenoh/zenoh.git", rev = "79a136e4fd90b11ff5d775ced981af53c4f1071b", optional = true }
 zenoh-config = { git = "https://github.com/eclipse-zenoh/zenoh.git", rev = "79a136e4fd90b11ff5d775ced981af53c4f1071b", optional = true }
 
-[target.'cfg(unix)'.dependencies]
-iceoryx-rs = { git = "https://github.com/eclipse-iceoryx/iceoryx-rs.git", optional = true }
-iceoryx-sys = { git = "https://github.com/eclipse-iceoryx/iceoryx-rs.git", optional = true }
-
 [package.metadata.docs.rs]
 all-features = true
 rustdoc-args = ["--cfg", "docsrs"]

libraries/communication-layer/pub-sub/src/iceoryx.rs

@@ -1,158 +0,0 @@
-//! Provides [`IceoryxCommunicationLayer`] to communicate over `iceoryx`.
-
-use super::{CommunicationLayer, Publisher, Subscriber};
-use crate::{BoxError, ReceivedSample};
-use eyre::Context;
-use std::{borrow::Cow, collections::HashMap, sync::Arc, time::Duration};
-
-/// Enables local communication based on `iceoryx`.
-pub struct IceoryxCommunicationLayer {
-    group_name: String,
-    instance_name: String,
-    publishers: HashMap<String, Arc<iceoryx_rs::Publisher<[u8]>>>,
-}
-
-impl IceoryxCommunicationLayer {
-    /// Initializes a new `iceoryx` connection with default configuration.
-    ///
-    /// The given `app_name` must be unique. The `group_name` and
-    /// `instance_name` arguments are used to create an `iceoryx`
-    /// `ServiceDescription` in combination wiith topic names given to the
-    /// [`publisher`][Self::publisher] and [`subscriber`][Self::subscribe]
-    /// methods. See the
-    /// [`iceoryx` documentation](https://iceoryx.io/v2.0.1/getting-started/overview/#creating-service-descriptions-for-topics)
-    /// for details.
-    ///
-    /// Note: In order to use iceoryx, you need to start its broker deamon called
-    /// [_RouDi_](https://iceoryx.io/v2.0.2/getting-started/overview/#roudi) first.
-    /// Its executable name is `iox-roudi`. See the
-    /// [`iceoryx` installation chapter](https://iceoryx.io/v2.0.2/getting-started/installation/)
-    /// for ways to install it.
-    pub fn init(
-        app_name: String,
-        group_name: String,
-        instance_name: String,
-    ) -> Result<Self, BoxError> {
-        iceoryx_rs::Runtime::init(&app_name);
-
-        Ok(Self {
-            group_name,
-            instance_name,
-            publishers: Default::default(),
-        })
-    }
-}
-
-impl IceoryxCommunicationLayer {
-    fn get_or_create_publisher(
-        &mut self,
-        topic: &str,
-    ) -> eyre::Result<Arc<iceoryx_rs::Publisher<[u8]>>> {
-        match self.publishers.get(topic) {
-            Some(p) => Ok(p.clone()),
-            None => {
-                let publisher =
-                    Self::create_publisher(&self.group_name, &self.instance_name, topic)
-                        .context("failed to create iceoryx publisher")?;
-
-                let publisher = Arc::new(publisher);
-                self.publishers.insert(topic.to_owned(), publisher.clone());
-                Ok(publisher)
-            }
-        }
-    }
-
-    fn create_publisher(
-        group: &str,
-        instance: &str,
-        topic: &str,
-    ) -> Result<iceoryx_rs::Publisher<[u8]>, iceoryx_rs::IceoryxError> {
-        iceoryx_rs::PublisherBuilder::new(group, instance, topic).create()
-    }
-}
-
-impl CommunicationLayer for IceoryxCommunicationLayer {
-    fn publisher(&mut self, topic: &str) -> Result<Box<dyn Publisher>, crate::BoxError> {
-        let publisher = self
-            .get_or_create_publisher(topic)
-            .map_err(BoxError::from)?;
-
-        Ok(Box::new(IceoryxPublisher { publisher }))
-    }
-
-    fn subscribe(&mut self, topic: &str) -> Result<Box<dyn Subscriber>, crate::BoxError> {
-        let (subscriber, token) =
-            iceoryx_rs::SubscriberBuilder::new(&self.group_name, &self.instance_name, topic)
-                .queue_capacity(5)
-                .create_mt()
-                .context("failed to create iceoryx subscriber")
-                .map_err(BoxError::from)?;
-        let receiver = subscriber.get_sample_receiver(token);
-
-        Ok(Box::new(IceoryxReceiver { receiver }))
-    }
-}
-
-#[derive(Clone)]
-struct IceoryxPublisher {
-    publisher: Arc<iceoryx_rs::Publisher<[u8]>>,
-}
-
-impl Publisher for IceoryxPublisher {
-    fn prepare(&self, len: usize) -> Result<Box<dyn crate::PublishSample + '_>, BoxError> {
-        let sample = self
-            .publisher
-            .loan_slice(len)
-            .context("failed to loan iceoryx slice for publishing")
-            .map_err(BoxError::from)?;
-        Ok(Box::new(IceoryxPublishSample {
-            sample,
-            publisher: self.publisher.clone(),
-        }))
-    }
-
-    fn dyn_clone(&self) -> Box<dyn Publisher> {
-        Box::new(self.clone())
-    }
-}
-
-struct IceoryxPublishSample<'a> {
-    publisher: Arc<iceoryx_rs::Publisher<[u8]>>,
-    sample: iceoryx_rs::SampleMut<'a, [u8]>,
-}
-
-impl<'a> crate::PublishSample<'a> for IceoryxPublishSample<'a> {
-    fn as_mut_slice(&mut self) -> &mut [u8] {
-        &mut self.sample
-    }
-
-    fn publish(self: Box<Self>) -> Result<(), BoxError> {
-        self.publisher.publish(self.sample);
-        Ok(())
-    }
-}
-
-struct IceoryxReceiver {
-    receiver: iceoryx_rs::mt::SampleReceiver<[u8]>,
-}
-
-impl Subscriber for IceoryxReceiver {
-    fn recv(&mut self) -> Result<Option<Box<dyn ReceivedSample>>, BoxError> {
-        self.receiver
-            .wait_for_samples(Duration::from_secs(u64::MAX));
-        match self.receiver.take() {
-            Some(sample) => Ok(Some(Box::new(IceoryxReceivedSample { sample }))),
-            None => Ok(None),
-        }
-    }
-}
-
-struct IceoryxReceivedSample {
-    sample: iceoryx_rs::Sample<[u8], iceoryx_sys::SubscriberArc>,
-}
-
-impl ReceivedSample for IceoryxReceivedSample {
-    fn get(&self) -> Cow<[u8]> {
-        Cow::Borrowed(&self.sample)
-    }
-}

libraries/communication-layer/pub-sub/src/lib.rs

@@ -9,14 +9,9 @@
 //! - **[Zenoh](https://zenoh.io/):** The zenoh project implements a distributed
 //!   publisher/subscriber system with automated routing. To use zenoh, use the
 //!   [`ZenohCommunicationLayer`][zenoh::ZenohCommunicationLayer] struct.
-//! - **[Iceoryx](https://iceoryx.io/):** The Eclipse iceoryx™ project provides an IPC middleware
-//!   based on shared memory. It is very fast, but it only supports local communication. To use
-//!   iceoryx, use the [`IceoryxCommunicationLayer`][iceoryx::IceoryxCommunicationLayer] struct.
 
 use std::borrow::Cow;
 
-#[cfg(all(unix, feature = "iceoryx"))]
-pub mod iceoryx;
 #[cfg(feature = "zenoh")]
 pub mod zenoh;
 

libraries/core/src/config.rs

@@ -257,11 +257,6 @@ pub enum CommunicationConfig {
         config: Box<zenoh_config::Config>,
         prefix: String,
     },
-    Iceoryx {
-        app_name_prefix: String,
-        #[serde(default)]
-        topic_prefix: String,
-    },
 }
 
 impl CommunicationConfig {
@@ -273,12 +268,6 @@ impl CommunicationConfig {
             } => {
                 write!(zenoh_prefix, "/{}", prefix).unwrap();
             }
-            CommunicationConfig::Iceoryx { topic_prefix, .. } => {
-                if !topic_prefix.is_empty() {
-                    topic_prefix.push('-');
-                }
-                topic_prefix.push_str(prefix);
-            }
         }
     }
 }