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();
}