Static build support

.azure/templates/build-test.yml

@@ -62,7 +62,7 @@ steps:
       } else {
         Write-Host "###vso[task.setvariable variable=build_tool_options;]-j 4"
       }
-      choco install -y openssl
+      #choco install -y openssl
     condition: eq(variables['Agent.OS'], 'Windows_NT')
     name: setup_windows
   - task: Cache@2
@@ -90,12 +90,23 @@ steps:
       cd iceoryx/build
       [[ "${AGENT_OS}" == 'Darwin' ]] && BUILD_TOOL_OPTIONS="-j 4"
       cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
-            -DCMAKE_BUILD_SHARED_LIBS=on \
+            -DCMAKE_BUILD_SHARED_LIBS=${SHAREDLIBS:-on} \
             -DCMAKE_INSTALL_PREFIX=install \
             ${GENERATOR:+-G} "${GENERATOR}" -A "${PLATFORM}" -T "${TOOLSET}" ../iceoryx_meta
       cmake --build . --config ${BUILD_TYPE} --target install -- ${BUILD_TOOL_OPTIONS}
     condition: eq(variables['iceoryx'], 'on')
     name: install_iceoryx
+  - bash: |
+      set -e -x
+      mkdir build-sharedlibs
+      cd build-sharedlibs
+      cmake -DCMAKE_INSTALL_PREFIX=install \
+            -DWERROR=on \
+            ${GENERATOR:+-G} "${GENERATOR}" -A "${PLATFORM}" -T "${TOOLSET}" ..
+      ${SCAN_BUILD} cmake --build . --config ${BUILD_TYPE} --target install -- ${BUILD_TOOL_OPTIONS}
+      cmake --build . --config ${BUILD_TYPE} --target package -- ${BUILD_TOOL_OPTIONS}
+    condition: eq(variables['sharedlibs'], 'off')
+    name: nonstatic_build_script
   - bash: |
       set -e -x
       mkdir build
@@ -106,9 +117,16 @@ steps:
         # Azure sometimes adds a spurious ' to BUILD_TOOL_OPTIONS
         BUILD_TOOL_OPTIONS="-j 4"
       fi
+      crosscompiling=
+      if [[ "${SHAREDLIBS:-on}" == "off" ]] ; then
+        prefix_path="${BUILD_SOURCESDIRECTORY}/build-sharedlibs/install:${prefix_path}"
+        crosscompiling="-DCMAKE_CROSSCOMPILING=1 -DCMAKE_SYSTEM_NAME=${AGENT_OS}"
+      fi
       cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
             -DCMAKE_INSTALL_PREFIX=install \
             -DCMAKE_PREFIX_PATH="${prefix_path//:/;}" \
+            -DBUILD_SHARED_LIBS=${SHAREDLIBS:-on} \
+            ${crosscompiling} \
             -DANALYZER=${ANALYZER:-off} \
             -DSANITIZER=${SANITIZER:-none} \
             -DENABLE_SSL=${SSL:-on} \
@@ -158,6 +176,7 @@ steps:
             ${GENERATOR:+-G} "${GENERATOR}" -A "${PLATFORM}" -T "${TOOLSET}" "${INSTALLPREFIX}/share/CycloneDDS/examples/helloworld"
       cmake --build . --config ${BUILD_TYPE} -- ${BUILD_TOOL_OPTIONS}
       ${SHELL} ../../scripts/sanity_helloworld.bash
+    condition: ne(variables['sharedlibs'], 'off')
     name: sanity_hello_world
     displayName: Sanity check Hello World
   - bash: |

CMakeLists.txt

@@ -10,7 +10,8 @@
 # SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
 #
 cmake_minimum_required(VERSION 3.16)
-project(CycloneDDS VERSION 0.11.0 LANGUAGES C)
+# C++ is only for Iceoryx plugin
+project(CycloneDDS VERSION 0.11.0 LANGUAGES C CXX)
 
 # Set a default build type if none was specified
 set(default_build_type "RelWithDebInfo")
@@ -29,6 +30,28 @@ else()
   set(not_crosscompiling ON)
 endif()
 
+# By default we do shared libraries (we really prefer shared libraries because of the
+# plugins for IDLC, security, PSMX, ...)
+#
+# For static builds, we recommend doing a regular shared library build first, then
+# building the static Cyclone library with CMAKE_CROSSCOMPILING set.  This avoids the
+# dynamic linking in IDLC of something involving the static library, and that in turn
+# avoids a position-dependent/position-independent mess.
+#
+# Note that on Linux that mess can be partially resolved by defining
+#
+#  CMAKE_POSITION_INDEPENDENT_CODE=1
+#
+# resulting in a PIC static library, but that is in turn incompatible with the
+# system-provided static libraries for OpenSSL.  So much easier to avoid it for the rare
+# case where it is needed.
+#
+# It appears that on macOS, all code is position independent and it'll work regardless.
+option(BUILD_SHARED_LIBS "Build using shared libraries" ON)
+if(NOT BUILD_SHARED_LIBS AND NOT CMAKE_CROSSCOMPILING)
+  message(WARNING "It is probably best to build a static library as-if cross compiling (e.g., use -DCMAKE_CROSSCOMPILING=1 -DCMAKE_SYSTEM_NAME=${CMAKE_SYSTEM_NAME} -DCMAKE_PREFIX_PATH=<path to shared-library build>)")
+endif()
+
 # By default don't treat warnings as errors, else anyone building it with a different compiler that
 # just happens to generate a warning, as well as anyone adding or modifying something and making a
 # small mistake would run into errors.  CI builds can be configured differently.

azure-pipelines.yml

@@ -139,6 +139,12 @@ jobs:
       #  generator: 'MinGW Makefiles'
       #  cc: 'C:/msys64/mingw64/bin/gcc.exe'
       #  cxx: 'C:/msys64/mingw64/bin/g++.exe'
+      'Ubuntu 22.04 LTS with default GCC (Release, Iceoryx, Static, x86_64)':
+        image: ubuntu-22.04
+        idlc_xtests: off
+        build_type: Release
+        sharedlibs: off
+        iceoryx: on
 
   steps:
     - template: /.azure/templates/build-test.yml

src/CMakeLists.txt

@@ -113,7 +113,7 @@ if(BUILD_IDLC)
   add_subdirectory(idl)
 endif()
 add_subdirectory(security)
-add_subdirectory(core)
 if(ENABLE_ICEORYX)
   add_subdirectory(psmx_iox)
 endif()
+add_subdirectory(core)

src/core/CMakeLists.txt

@@ -11,11 +11,7 @@
 #
 include (GenerateExportHeader)
 
-if (BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
-  add_library(ddsc SHARED "")
-else()
-  add_library(ddsc)
-endif()
+add_library(ddsc)
 
 if(BUILD_TESTING)
   set_property(TARGET ddsc PROPERTY WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
@@ -66,6 +62,26 @@ include(cdr/CMakeLists.txt)
 include(ddsi/CMakeLists.txt)
 include(ddsc/CMakeLists.txt)
 
+# The not-so-elegant inclusion of all configured plug-ins for static builds.  At least it
+# keeps most of the dirty things in one place.
+if(NOT BUILD_SHARED_LIBS)
+  get_property(plugin_list GLOBAL PROPERTY cdds_plugin_list)
+  if(plugin_list)
+    list(JOIN plugin_list "," plugin_commasep)
+    target_compile_options(ddsc PRIVATE "-DPLUGINS=${plugin_commasep}")
+    target_link_libraries(ddsc PRIVATE ${plugin_list})
+    foreach(plugin ${plugin_list})
+      set(propname ${plugin}_symbols)
+      get_property(plugin_symbols GLOBAL PROPERTY ${propname})
+      list(JOIN plugin_symbols "," plugin_symbols_commasep)
+      target_compile_options(ddsc PRIVATE "-DPLUGIN_SYMBOLS_${plugin}=${plugin_symbols_commasep}")
+    endforeach()
+  endif()
+  if(ENABLE_SSL)
+    target_link_libraries(ddsc PUBLIC security_openssl)
+  endif()
+endif()
+
 add_coverage(ddsc)
 target_link_libraries(ddsc PRIVATE "$<BUILD_INTERFACE:ddsrt>")
 target_compile_definitions(

src/core/cdr/CMakeLists.txt

@@ -34,12 +34,7 @@ else()
   include(Generate)
   include(GenerateExportHeader)
 
-  if (BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
-    add_library(cdr SHARED "")
-  else()
-    add_library(cdr)
-  endif()
-
+  add_library(cdr)
   add_library(${PROJECT_NAME}::cdr ALIAS cdr)
 
   target_sources(cdr PRIVATE ${srcs_cdr} ${hdrs_private_cdr} ${CMAKE_CURRENT_LIST_DIR}/../../ddsrt/src/bswap.c)

src/core/ddsc/CMakeLists.txt

@@ -133,7 +133,6 @@ install(
   DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}"
   COMPONENT dev)
 
-# TODO: improve test inclusion.
-if((BUILD_TESTING) AND (BUILD_IDLC) AND ((NOT DEFINED MSVC_VERSION) OR (MSVC_VERSION GREATER "1800")))
+if((BUILD_TESTING) AND ((NOT DEFINED MSVC_VERSION) OR (MSVC_VERSION GREATER "1800")))
   add_subdirectory("${CMAKE_CURRENT_LIST_DIR}/tests")
 endif()

src/core/ddsc/src/dds_write.c

@@ -680,7 +680,7 @@ static dds_return_t dds_write_impl_psmxloan_serdata (struct dds_writer *wr, cons
           dds_loaned_sample_unref (loan);
           return DDS_RETCODE_BAD_PARAMETER;
         }
-        break;
+        return DDS_RETCODE_OK;
       case DDS_LOAN_ORIGIN_KIND_HEAP:
         if (wr->m_endpoint.psmx_endpoints.length == 0)
         {
@@ -718,9 +718,9 @@ static dds_return_t dds_write_impl_psmxloan_serdata (struct dds_writer *wr, cons
             return DDS_RETCODE_OUT_OF_RESOURCES;
           }
         }
-        break;
+        return DDS_RETCODE_OK;
     }
-    return DDS_RETCODE_OK;
+    return DDS_RETCODE_ERROR;
   }
   else if (use_only_psmx && sertype->is_memcpy_safe)
   {

src/core/ddsc/tests/CMakeLists.txt

@@ -10,6 +10,7 @@
 # SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
 #
 include(CUnit)
+include(Generate)
 
 idlc_generate(TARGET RoundTrip FILES RoundTrip.idl)
 idlc_generate(TARGET Space FILES Space.idl WARNINGS no-implicit-extensibility)
@@ -100,9 +101,25 @@ set(ddsc_test_sources
     "test_oneliner.h"
     "cdrstream.c"
     "serdata_keys.c"
-    "psmx.c"
   )
 
+# PSMX tests are tricky in a static build: we have a PSMX plugin that is based on Cyclone
+# so we can test the interface even when Iceoryx is not available, but supporting that
+# plugin is too complicated in a static build: it introduces a circular dependency and
+# that's too hard for me in CMake.
+#
+# On most platforms (Linux, Windows, macOS) we could still load it dynamically but that
+# fails to work because the shared library then includes its own copy of Cyclone DDS and
+# then the access to the application readers that the plugin needs is no longer possible
+# because they live in the other copy of the library.
+#
+# Fortunately, running them with Iceoryx doesn't suffer from this.  If we simply skip
+# these tests in a static build without Iceoryx and then we ensure the static build on CI
+# uses Iceoryx, we should be good.
+if(BUILD_SHARED_LIBS OR (ENABLE_ICEORYX AND NOT DEFINED ENV{COLCON}))
+  list(APPEND ddsc_test_sources "psmx.c")
+endif()
+
 if(ENABLE_LIFESPAN)
   list(APPEND ddsc_test_sources "lifespan.c")
 endif()
@@ -222,23 +239,24 @@ target_link_libraries(oneliner PRIVATE RoundTrip Space ddsc)
 
 
 # PSMX implementation with Cyclone as transport, for testing
+if (BUILD_SHARED_LIBS)
+  idlc_generate(TARGET psmx_cdds_data FILES psmx_cdds_data.idl)
+  set(psmx_cdds_sources
+    "psmx_cdds_impl.c"
+    "psmx_cdds_impl.h")
+  add_library(psmx_cdds SHARED ${psmx_cdds_sources})
+  target_include_directories(
+    psmx_cdds PRIVATE
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../ddsi/include>")
+  target_link_libraries(psmx_cdds PRIVATE ddsc psmx_cdds_data)
 
-idlc_generate(TARGET psmx_cdds_data FILES psmx_cdds_data.idl)
-set(psmx_cdds_sources
-  "psmx_cdds_impl.c"
-  "psmx_cdds_impl.h")
-add_library(psmx_cdds SHARED ${psmx_cdds_sources})
-target_include_directories(
-  psmx_cdds PRIVATE
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../ddsi/include>")
-target_link_libraries(psmx_cdds PRIVATE ddsc psmx_cdds_data)
-
-generate_export_header(psmx_cdds BASE_NAME PSMX_CDDS EXPORT_FILE_NAME "${CMAKE_CURRENT_BINARY_DIR}/include/dds/psmx_cdds/export.h")
+  generate_export_header(psmx_cdds BASE_NAME PSMX_CDDS EXPORT_FILE_NAME "${CMAKE_CURRENT_BINARY_DIR}/include/dds/psmx_cdds/export.h")
 
-install(TARGETS psmx_cdds
+  install(TARGETS psmx_cdds
     LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
     PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+endif()
 
 # If Iceoryx is available, then also run all PSMX tests using Iceoryx.  Colcon complicates
 # things too much and it doesn't affect Cyclone's CI run anyway.
@@ -285,14 +303,23 @@ kill -0 `cat ctest_fixture_iox_roudi.pid`")
   set_tests_properties(stop_roudi PROPERTIES FIXTURES_CLEANUP iox)
   set_tests_properties(start_roudi stop_roudi PROPERTIES RESOURCE_LOCK iox_lock)
 
-  # Construct Iceoryx-variants of all PSMX tests
+  # Construct Iceoryx-variants of all PSMX tests if building shared libraries, map them to
+  # Iceoryx in a static build (because I don't know how to delete tests!)
   get_property(test_names DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY TESTS)
   list(FILTER test_names INCLUDE REGEX "^CUnit_ddsc_psmx_[A-Za-z_0-9]+$")
-  foreach(fullname ${test_names})
-    string(REGEX REPLACE "^CUnit_ddsc_psmx_(.*)" "\\1" shortname "${fullname}")
-    add_test(NAME ${fullname}_iox COMMAND cunit_ddsc -s ddsc_psmx -t ${shortname})
-    set_tests_properties(${fullname}_iox PROPERTIES FIXTURES_REQUIRED iox)
-    set_tests_properties(${fullname}_iox PROPERTIES RESOURCE_LOCK iox_lock)
-    set_tests_properties(${fullname}_iox PROPERTIES ENVIRONMENT "CDDS_PSMX_NAME=iox;LD_LIBRARY_PATH=$<TARGET_FILE_DIR:psmx_iox>:$ENV{LD_LIBRARY_PATH}")
-  endforeach()
+  if(BUILD_SHARED_LIBS)
+    foreach(fullname ${test_names})
+      string(REGEX REPLACE "^CUnit_ddsc_psmx_(.*)" "\\1" shortname "${fullname}")
+      add_test(NAME ${fullname}_iox COMMAND cunit_ddsc -s ddsc_psmx -t ${shortname})
+      set_tests_properties(${fullname}_iox PROPERTIES FIXTURES_REQUIRED iox)
+      set_tests_properties(${fullname}_iox PROPERTIES RESOURCE_LOCK iox_lock)
+      set_tests_properties(${fullname}_iox PROPERTIES ENVIRONMENT "CDDS_PSMX_NAME=iox;LD_LIBRARY_PATH=$<TARGET_FILE_DIR:psmx_iox>:$ENV{LD_LIBRARY_PATH}")
+    endforeach()
+  else()
+    foreach(fullname ${test_names})
+      set_tests_properties(${fullname} PROPERTIES FIXTURES_REQUIRED iox)
+      set_tests_properties(${fullname} PROPERTIES RESOURCE_LOCK iox_lock)
+      set_tests_properties(${fullname} PROPERTIES ENVIRONMENT "CDDS_PSMX_NAME=iox")
+    endforeach()
+  endif()
 endif()

src/ddsrt/CMakeLists.txt

@@ -78,6 +78,7 @@ set(headers
 set(sources
   "${source_dir}/src/atomics.c"
   "${source_dir}/src/avl.c"
+  "${source_dir}/src/dynlib.c"
   "${source_dir}/src/bits.c"
   "${source_dir}/src/bswap.c"
   "${source_dir}/src/io.c"
@@ -318,6 +319,10 @@ if(BUILD_TESTING)
   set(DDS_ALLOW_NESTED_DOMAIN 1)
 endif()
 
+if (NOT BUILD_SHARED_LIBS)
+  set(DDS_IS_STATIC_LIBRARY 1)
+endif()
+
 configure_file(include/dds/config.h.in include/dds/config.h)
 configure_file(include/dds/features.h.in include/dds/features.h)
 configure_file(include/dds/version.h.in include/dds/version.h)

src/ddsrt/include/dds/ddsrt/countargs.h

@@ -18,9 +18,9 @@
 
 #define DDSRT_COUNT_ARGS_MSVC_WORKAROUND(x) x
 
-/** @brief Returns the number of arguments provided (at most 10) */
-#define DDSRT_COUNT_ARGS(...) DDSRT_COUNT_ARGS1 (__VA_ARGS__, 10,9,8,7,6,5,4,3,2,1,0)
+/** @brief Returns the number of arguments provided (at most 20) */
+#define DDSRT_COUNT_ARGS(...) DDSRT_COUNT_ARGS1 (__VA_ARGS__, 20,19,18,17,16,15,14,13,12,11,10,9,8,7,6,5,4,3,2,1,0)
 #define DDSRT_COUNT_ARGS1(...) DDSRT_COUNT_ARGS_MSVC_WORKAROUND (DDSRT_COUNT_ARGS_ARGN (__VA_ARGS__))
-#define DDSRT_COUNT_ARGS_ARGN(a,b,c,d,e,f,g,h,i,j,n,...) n
+#define DDSRT_COUNT_ARGS_ARGN(a,b,c,d,e,f,g,h,i,j, k,l,m,n,o,p,q,r,s,t, N,...) N
 
 #endif

src/ddsrt/include/dds/ddsrt/dynlib.h

@@ -64,6 +64,12 @@ ddsrt_dlopen(
     bool translate,
     ddsrt_dynlib_t *handle) ddsrt_nonnull_all;
 
+dds_return_t
+ddsrt_platform_dlopen(
+    const char *name,
+    bool translate,
+    ddsrt_dynlib_t *handle) ddsrt_nonnull_all;
+
 /**
  * @brief Close the library.
  *
@@ -86,6 +92,10 @@ dds_return_t
 ddsrt_dlclose(
     ddsrt_dynlib_t handle);
 
+dds_return_t
+ddsrt_platform_dlclose(
+    ddsrt_dynlib_t handle);
+
 /**
  * @brief Get the memory address of a symbol.
  *
@@ -111,6 +121,12 @@ ddsrt_dlsym(
     const char *symbol,
     void **address);
 
+dds_return_t
+ddsrt_platform_dlsym(
+    ddsrt_dynlib_t handle,
+    const char *symbol,
+    void **address);
+
 /**
  * @brief Get the most recent library related error.
  *
@@ -138,6 +154,11 @@ ddsrt_dlerror(
     char *buf,
     size_t buflen);
 
+dds_return_t
+ddsrt_platform_dlerror(
+    char *buf,
+    size_t buflen);
+
 #if defined (__cplusplus)
 }
 #endif

src/ddsrt/include/dds/features.h.in

@@ -41,4 +41,7 @@
 /* Not for general use, specificly for testing psmx Cyclone DDS plugin */
 #cmakedefine DDS_ALLOW_NESTED_DOMAIN 1
 
+/* Not intended for general use, whether building a static library, specifically testing psmx and security */
+#cmakedefine DDS_IS_STATIC_LIBRARY 1
+
 #endif