编译zenoh-python 支持python 包直接加载plugin插件

了解zenoh的都应该支持zenoh 包含了几种角色，peer，client，router，这些都是在配置指定的，但是在一些语言sdk 中，zenoh 为了简单，一些模式尽管可以配置，但是实际参数是不能生效的，比如router 模式的plugin 加载

解决方法

可以参考zenohd 的方法（核心部分是plugins feature），使用上是一样的

参考构建

• Cargo.toml

[features]
default = ["zenoh/default", "zenoh-ext","zenoh/internal_config","zenoh/plugins","zenoh/runtime_plugins"]

• 构建

 maturin build

• 使用

简单示例，核心是先得安装构建的pip whl 包

config3.json5 配置

{
  "mode": "router",
  "listen": {
    "endpoints": ["tcp/0.0.0.0:7447"]
  },
  "plugins_loading": {
        "enabled": true,
        "search_dirs": ["./libs"]
    },
  "plugins": {
    "mqtt": {
      "port": 1883
    },
    "webserver": {
      "http_port": 8080
    },
    // configuration of "storage-manager" plugin:
    "storage_manager": {
      "volumes": {
        // configuration of a "fs" volume (the "zenoh_backend_fs" backend library will be loaded at startup)
        "fs": {}
      },
      "storages": {
        // configuration of a "demo" storage using the "fs" volume
        "demo": {
          // the key expression this storage will subscribes to
          "key_expr": "demo/example/**",
          // this prefix will be stripped from the received key when converting to file path
          // this argument is optional.
          "strip_prefix": "demo/example",
          "volume": {
            "id": "fs",
            // the key/values will be stored as files within this directory (relative to ${ZENOH_BACKEND_FS_ROOT})
            "dir": "example"
          },
          "replication": {
            // This field was named publication_interval.
            "interval": 10,
            // This field was named delta.
            "sub_intervals": 5,
            "propagation_delay": 250,
            // These fields did not exist before.
            "hot": 6,
            "warm": 30
          }
        },
        "demov2": {
          // the key expression this storage will subscribes to
          "key_expr": "video/capture/**",
          // this prefix will be stripped from the received key when converting to file path
          // this argument is optional.
          "strip_prefix": "video",
          "volume": {
            "id": "fs",
            // the key/values will be stored as files within this directory (relative to ${ZENOH_BACKEND_FS_ROOT})
            "dir": "examplev2"
          },
          "replication": {
            // This field was named publication_interval.
            "interval": 10,
            // This field was named delta.
            "sub_intervals": 5,
            "propagation_delay": 250,
            // These fields did not exist before.
            "hot": 6,
            "warm": 30
          }
        }
      }
    },
    // Optionally, add the REST plugin
    "rest": {
      "http_port": 8001
    },
    "remote_api": {
      "websocket_port": 10000
    }
  },
  "adminspace": {
    "permissions": {
      "read": true,
      "write": true
    }
  }
}

import zenoh
print("Opening session...") 
with zenoh.open(zenoh.Config.from_file("config3.json5")) as session:
    print("Declaring Queryable on 'demo/sensors/appv3'...")
    with session.liveliness().declare_token("demo/sensors/appv3") as token:
        print("Press CTRL-C to quit...")
        while True:
            pass

一些细节问题

注意zenoh插件以及zenoh 版本的对应，还有就是rust 版本，这个很重要，否则会有插件不能生效的问题，甚至服务出现segmentation fault，具体版本的下载可以通过release 部分

说明

rust 开发的服务启动参考如下，实际上就是zenoh::open

fn main() {
    if let Err(e) = init_logging() {
        eprintln!("{e}. Exiting...");
        std::process::exit(-1);
    }

    tracing::info!("zenohd {}", *LONG_VERSION);

    let args = Args::parse();
    let config = config_from_args(&args);
    tracing::info!("Initial conf: {}", &config);

    let _session = match zenoh::open(config).wait() {
        Ok(runtime) => runtime,
        Err(e) => {
            eprintln!("{e}. Exiting...");
            std::process::exit(-1);
        }
    };

    std::thread::park();
}

参考资料

https://github.com/eclipse-zenoh/zenoh/tree/main/zenohd

https://github.com/eclipse-zenoh/zenoh-python