Fix building for Zephyr V3.6, QNX and other platforms that don't support single-source multicast and/or dynamic library loading

Signed-off-by: Patrick Masselink <patrick.masselink@zettascale.tech>

Author: PatrickM-ZS

ports/zephyr/README.md

@@ -4,34 +4,36 @@
 This directory contains some proof-of-concept applications that show how to build and use CycloneDDS on [Zephyr RTOS](https://www.zephyrproject.org) for a NXP X-S32Z27X-DC board.
 
 
-Getting Started with Zephyr information can be found [here](https://docs.zephyrproject.org/3.4.0/develop/getting_started/index.html)
-Documentation for the NXP X-S32Z27X-DC board can be found [here](https://docs.zephyrproject.org/3.4.0/boards/arm/s32z270dc2_r52/doc/index.html)
+Getting Started with Zephyr information can be found [here](https://docs.zephyrproject.org/3.6.0/develop/getting_started/index.html)
+Documentation for the NXP X-S32Z27X-DC board can be found [here](https://docs.zephyrproject.org/3.6.0/boards/arm/s32z270dc2_r52/doc/index.html)
 
 ## Usage
 The applications can be treated similarly to other Zephyr sample applications.
 The `CMakeLists.txt` is currently set up to build some of the CycloneDDS examples or ddsperf but can be easily modified or extended for other application code.
 
 :warning: While CycloneDDS can be built in-tree, it does not support multiple different builds. Therefore the CycloneDDS source directory needs to be cleaned in order to build for Zephyr and must not contain an in-tree build for eg. the host system. Alternatively, this directory with Zephyr examples can be copied outside the CycloneDDS source directory but that requires updating the `ExternalProject_Add` directive in `CMakeLists.txt` to point to the CycloneDDS source directory.
 
-:warning: When building outside the Zephyr tree, `ZEPHYR_BASE` variable must be set. See [Application Development](https://docs.zephyrproject.org/3.4.0/develop/application/index.html) for more info.
+:warning: When building outside the Zephyr tree, `ZEPHYR_BASE` variable must be set. See [Application Development](https://docs.zephyrproject.org/3.6.0/develop/application/index.html) for more info.
 
-:warning: A static IPv4/IPv6 address is defined in `prj.conf`. When running between two Zephyr nodes it is suggested to copy `prj.conf` to eg. `prj-host1.conf` and `prj-host2.conf`, updating the address as required and building with `-DCONF=prj-host1.conf` or `-DCONF=prj-host2.conf` respectively, as described in more detail [here](https://docs.zephyrproject.org/3.4.0/samples/net/eth_native_posix/README.html). A different approach is to enable DHCP client support in Zephyr (see [example](https://docs.zephyrproject.org/3.4.0/samples/net/dhcpv4_client/README.html)).
+:warning: A static IPv4/IPv6 address is defined in `prj.conf`. When running between two Zephyr nodes it is suggested to copy `prj.conf` to eg. `prj-host1.conf` and `prj-host2.conf`, updating the address as required and building with `-DCONF=prj-host1.conf` or `-DCONF=prj-host2.conf` respectively, as described in more detail [here](https://docs.zephyrproject.org/3.6.0/samples/net/eth_native_posix/README.html). A different approach is to enable DHCP client support in Zephyr (see [example](https://docs.zephyrproject.org/3.6.0/samples/net/dhcpv4_client/README.html)).
 
 The `copy_examples.sh` script can be used to (manually) update the code from CycloneDDS examples and run `idlc` to generate types.
 
-For example, to build Roundtrip Ping for the `s32z270dc2_rtu0_r52` target:
+For example, to build Roundtrip Ping for the NXP S32Z270-DC2 board:
 ```
 $ west build -b s32z270dc2_rtu0_r52 . -- -DBUILD_ROUNDTRIP_PING=1
 ```
 To build for qemu_x86, with ethernet support:
 ```
 $ west build -b qemu_x86 . -- -DOVERLAY_CONFIG=overlay-e1000.conf -DBUILD_ROUNDTRIP_PING=1
 ```
+:warning: In the current Zephyr v3.7.0 (draft) branch, board naming has been refactored and you should use `s32z2xxdc2/s32z270/rtu0`.
+
 Command-line parameters for the example can be modified in `src/rountrip_main.c`
 
 The CycloneDDS configuration in `config.xml` is automatically converted to a char array and available as environment variable to support the default behaviour of retrieving config from `CYCLONEDDS_URI`.
 Alternatively, [dds_create_domain_with_rawconfig](https://cyclonedds.io/docs/cyclonedds/latest/api/domain.html?#c.dds_create_domain_with_rawconfig) can be used without XML configuration data.
 
 ## Zephyr versions
-At the time of writing, CycloneDDS has been tested on Zephyr [v3.3.0](https://github.com/zephyrproject-rtos/zephyr/releases/tag/v3.3.0) and [v3.4.0](https://github.com/zephyrproject-rtos/zephyr/releases/tag/v3.4.0). However, for the NXP X-S32Z27X-DC board an issue exists in `v3.4.0` that can cause CycloneDDS to crash. This is fixed on the Zephyr main branch, therefore we suggest using [@143429](https://github.com/zephyrproject-rtos/zephyr/commit/14342969150a35f3c26afa513a4725bdec310799).
- 
+At the time of writing, CycloneDDS has been tested on Zephyr [v3.6.0](https://github.com/zephyrproject-rtos/zephyr/releases/tag/v3.6.0)
+To use CycloneDDS with the current (draft) V3.7.0 release, please replace `src/ddsrt/src/ifaddrs/zephyr/ifaddrs.c` with `ifaddrs-v3.7pre.c` which is compatible with the updated (IPv4) Networking APIs in Zephyr (though this code is in flux so YMMV).

ports/zephyr/prj.conf

@@ -1,6 +1,7 @@
 CONFIG_NEWLIB_LIBC=y
 CONFIG_NEWLIB_LIBC_NANO=n
 CONFIG_MAIN_STACK_SIZE=131072
+CONFIG_NET_HOSTNAME_ENABLE=y
 
 CONFIG_POSIX_API=y
 

src/core/ddsc/src/dds__sysdef_model.h

@@ -12,6 +12,7 @@
 
 #include "dds/dds.h"
 #include "dds/ddsi/ddsi_xqos.h"
+#include "dds/ddsrt/sockets.h"
 
 #if defined (__cplusplus)
 extern "C" {

src/core/ddsc/tests/waitset.c

@@ -38,7 +38,7 @@ typedef struct thread_arg_t {
 static void waiting_thread_start(struct thread_arg_t *arg, dds_entity_t expected);
 static dds_return_t waiting_thread_expect_exit(struct thread_arg_t *arg);
 
-static dds_entity_t participant, topic, writer, reader, waitset, publisher, subscriber, readcond;
+static dds_entity_t participant, topic, writer, reader, waitset, publisher, subscriber, rdcond;
 
 static void ddsc_waitset_basic_init (void)
 {
@@ -71,8 +71,8 @@ static void ddsc_waitset_init (void)
   CU_ASSERT_FATAL (reader >  0);
   writer = dds_create_writer (publisher, topic, NULL, NULL);
   CU_ASSERT_FATAL (writer >  0);
-  readcond = dds_create_readcondition (reader, mask);
-  CU_ASSERT_FATAL (readcond >  0);
+  rdcond = dds_create_readcondition (reader, mask);
+  CU_ASSERT_FATAL (rdcond >  0);
 }
 
 static void ddsc_waitset_fini (void)
@@ -140,7 +140,7 @@ CU_Theory((dds_entity_t par), ddsc_waitset_create, invalid_params, .init=ddsc_wa
 }
 
 CU_TheoryDataPoints(ddsc_waitset_create, non_participants) = {
-  CU_DataPoints(dds_entity_t*, &topic, &writer, &reader, &waitset, &publisher, &subscriber, &readcond),
+  CU_DataPoints(dds_entity_t*, &topic, &writer, &reader, &waitset, &publisher, &subscriber, &rdcond),
 };
 CU_Theory((dds_entity_t *par), ddsc_waitset_create, non_participants, .init=ddsc_waitset_init, .fini=ddsc_waitset_fini)
 {
@@ -199,8 +199,8 @@ CU_Theory((dds_entity_t ws, dds_attach_t a), ddsc_waitset_attach, invalid_waitse
 }
 
 CU_TheoryDataPoints(ddsc_waitset_attach, non_waitsets) = {
-  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader,           &publisher, &subscriber, &readcond),
-  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &waitset, &publisher, &subscriber, &readcond),
+  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader,           &publisher, &subscriber, &rdcond),
+  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &waitset, &publisher, &subscriber, &rdcond),
   CU_DataPoints(dds_attach_t,  (dds_attach_t)NULL, (dds_attach_t)&reader, (dds_attach_t)3, (dds_attach_t)0, (dds_attach_t)0, (dds_attach_t)0, (dds_attach_t)0),
 };
 CU_Theory((dds_entity_t *ws, dds_entity_t *e, dds_attach_t a), ddsc_waitset_attach, non_waitsets, .init=ddsc_waitset_init, .fini=ddsc_waitset_fini)
@@ -261,8 +261,8 @@ CU_Theory ((int owner, int ok1, int ok2, int fail), ddsc_waitset_attach, scoping
 }
 
 CU_TheoryDataPoints(ddsc_waitset_attach_detach, valid_entities) = {
-  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &waitset, &publisher, &subscriber, &readcond),
-  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &waitset, &publisher, &subscriber, &readcond),
+  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &waitset, &publisher, &subscriber, &rdcond),
+  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &waitset, &publisher, &subscriber, &rdcond),
   CU_DataPoints(dds_attach_t,  (dds_attach_t)NULL, (dds_attach_t)&reader, (dds_attach_t)3, (dds_attach_t)3, (dds_attach_t)3, (dds_attach_t)3, (dds_attach_t)3, (dds_attach_t)3),
 };
 CU_Theory((dds_entity_t *ws, dds_entity_t *e, dds_attach_t a), ddsc_waitset_attach_detach, valid_entities, .init=ddsc_waitset_init, .fini=ddsc_waitset_fini)
@@ -318,8 +318,8 @@ CU_Theory((dds_entity_t ws), ddsc_waitset_detach, invalid_waitsets, .init=ddsc_w
 }
 
 CU_TheoryDataPoints(ddsc_waitset_detach, valid_entities) = {
-  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &waitset, &publisher, &subscriber, &readcond),
-  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &waitset, &publisher, &subscriber, &readcond),
+  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &waitset, &publisher, &subscriber, &rdcond),
+  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &waitset, &publisher, &subscriber, &rdcond),
 };
 CU_Theory((dds_entity_t *ws, dds_entity_t *e), ddsc_waitset_detach, valid_entities, .init=ddsc_waitset_init, .fini=ddsc_waitset_fini)
 {
@@ -338,7 +338,7 @@ CU_Theory((dds_entity_t *ws, dds_entity_t *e), ddsc_waitset_detach, valid_entiti
 
 CU_Test(ddsc_waitset_attach_detach, various, .init=ddsc_waitset_init, .fini=ddsc_waitset_fini)
 {
-  const dds_entity_t es[] = { readcond, writer, reader, topic, publisher, subscriber, waitset, participant };
+  const dds_entity_t es[] = { rdcond, writer, reader, topic, publisher, subscriber, waitset, participant };
   dds_return_t ret;
   for (size_t i = 0; i < sizeof (es) / sizeof (es[0]); i++)
   {
@@ -354,7 +354,7 @@ CU_Test(ddsc_waitset_attach_detach, various, .init=ddsc_waitset_init, .fini=ddsc
 
 CU_Test(ddsc_waitset_attach_detach, combinations, .init=ddsc_waitset_init, .fini=ddsc_waitset_fini)
 {
-  const dds_entity_t entities[] = { readcond, writer, reader, topic, publisher, subscriber, waitset, participant };
+  const dds_entity_t entities[] = { rdcond, writer, reader, topic, publisher, subscriber, waitset, participant };
   const uint32_t count = (uint32_t) (sizeof (entities) / sizeof (entities[0]));
   dds_return_t ret;
   dds_entity_t es[MAX_ENTITIES_CNT];
@@ -447,7 +447,7 @@ CU_Test(ddsc_waitset_delete_attached, reader, .init=ddsc_waitset_init, .fini=dds
 {
   dds_entity_t es[MAX_ENTITIES_CNT];
   dds_return_t ret;
-  ret = dds_waitset_attach (waitset, readcond, 0);
+  ret = dds_waitset_attach (waitset, rdcond, 0);
   CU_ASSERT_FATAL (ret == 0);
   ret = dds_waitset_attach (waitset, reader, 1);
   CU_ASSERT_FATAL (ret == 0);
@@ -462,7 +462,7 @@ CU_Test(ddsc_waitset_delete_attached, various, .init=ddsc_waitset_init, .fini=dd
 {
   // order matters: deleting the reader will also delete readcond; deleting pub/sub will delete wr/rd
   // this order should be ok, but the number of alive entities will dwindle
-  const dds_entity_t es[] = { readcond, writer, reader, topic, publisher, subscriber };
+  const dds_entity_t es[] = { rdcond, writer, reader, topic, publisher, subscriber };
   dds_return_t ret;
   for (size_t i = 0; i < sizeof (es) / sizeof (es[0]); i++)
   {
@@ -490,7 +490,7 @@ CU_Theory((dds_entity_t ws), ddsc_waitset_set_trigger, invalid_params, .init=dds
 }
 
 CU_TheoryDataPoints(ddsc_waitset_set_trigger, non_waitsets) = {
-  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &publisher, &subscriber, &readcond),
+  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &publisher, &subscriber, &rdcond),
 };
 CU_Theory((dds_entity_t *ws), ddsc_waitset_set_trigger, non_waitsets, .init=ddsc_waitset_init, .fini=ddsc_waitset_fini)
 {
@@ -517,7 +517,7 @@ CU_Theory((dds_entity_t ws), ddsc_waitset_wait, invalid_waitsets, .init=ddsc_wai
 }
 
 CU_TheoryDataPoints(ddsc_waitset_wait, non_waitsets) = {
-  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &publisher, &subscriber, &readcond),
+  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &publisher, &subscriber, &rdcond),
 };
 CU_Theory((dds_entity_t *ws), ddsc_waitset_wait, non_waitsets, .init=ddsc_waitset_init, .fini=ddsc_waitset_fini)
 {
@@ -558,7 +558,7 @@ CU_Theory((dds_entity_t ws), ddsc_waitset_wait_until, invalid_waitsets, .init=dd
 }
 
 CU_TheoryDataPoints(ddsc_waitset_wait_until, non_waitsets) = {
-  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &publisher, &subscriber, &readcond),
+  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &publisher, &subscriber, &rdcond),
 };
 CU_Theory((dds_entity_t *ws), ddsc_waitset_wait_until, non_waitsets, .init=ddsc_waitset_init, .fini=ddsc_waitset_fini)
 {
@@ -653,7 +653,7 @@ CU_Theory((dds_entity_t ws), ddsc_waitset_get_entities, invalid_params, .init=dd
 }
 
 CU_TheoryDataPoints(ddsc_waitset_get_entities, non_waitsets) = {
-  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &publisher, &subscriber, &readcond),
+  CU_DataPoints(dds_entity_t*, &participant, &topic, &writer, &reader, &publisher, &subscriber, &rdcond),
 };
 CU_Theory((dds_entity_t *ws), ddsc_waitset_get_entities, non_waitsets, .init=ddsc_waitset_attached_init, .fini=ddsc_waitset_attached_fini)
 {
@@ -721,10 +721,10 @@ CU_Test(ddsc_waitset_triggering, on_reader, .init=ddsc_waitset_attached_init, .f
 CU_Test(ddsc_waitset_triggering, on_readcondition, .init=ddsc_waitset_attached_init, .fini=ddsc_waitset_attached_fini)
 {
   dds_return_t ret;
-  ret = dds_waitset_attach (waitset, readcond, readcond);
+  ret = dds_waitset_attach (waitset, rdcond, rdcond);
   CU_ASSERT_FATAL (ret == 0);
-  check_waitset_trigger (readcond, cw_trig_write);
-  ret = dds_waitset_detach (waitset, readcond);
+  check_waitset_trigger (rdcond, cw_trig_write);
+  ret = dds_waitset_detach (waitset, rdcond);
   CU_ASSERT_FATAL (ret == 0);
 }
 

src/core/ddsi/src/ddsi_endpoint.c

@@ -213,6 +213,7 @@ void ddsi_rebuild_writer_addrset (struct ddsi_writer *wr)
   ELOGDISC (wr, " (burst size %"PRIu32" rexmit %"PRIu32")\n", wr->init_burst_size_limit, wr->rexmit_burst_size_limit);
 }
 
+#ifdef DDS_HAS_SSM
 static bool nwpart_includes_ssm_enabled_interfaces (const struct ddsi_domaingv *gv, const struct ddsi_config_networkpartition_listelem *np)
   ddsrt_nonnull ((1));
 
@@ -241,6 +242,7 @@ static bool nwpart_includes_ssm_enabled_interfaces (const struct ddsi_domaingv *
     return false;
   }
 }
+#endif
 
 static void writer_get_alive_state_locked (struct ddsi_writer *wr, struct ddsi_alive_state *st)
 {

src/core/ddsi/src/ddsi_nwinterfaces.c

@@ -573,8 +573,10 @@ int ddsi_gather_network_interfaces (struct ddsi_domaingv *gv)
       flagpos += snprintf (flagstr + flagpos, sizeof (flagstr) - (size_t) flagpos, "%sspdp", (flagpos > 0) ? "," : "");
     if (gv->interfaces[i].allow_multicast & DDSI_AMC_ASM)
       flagpos += snprintf (flagstr + flagpos, sizeof (flagstr) - (size_t) flagpos, "%sasm", (flagpos > 0) ? "," : "");
+#ifdef DDS_HAS_SSM
     if (gv->interfaces[i].allow_multicast & DDSI_AMC_SSM)
       flagpos += snprintf (flagstr + flagpos, sizeof (flagstr) - (size_t) flagpos, "%sssm", (flagpos > 0) ? "," : "");
+#endif
     (void) flagpos;
     GVLOG (DDS_LC_CONFIG, "%s%s (index %"PRIu32" priority %"PRId32" mc {%s})",
            (i == 0) ? "" : ", ", gv->interfaces[i].name, gv->interfaces[i].if_index, gv->interfaces[i].priority,

src/core/ddsi/src/ddsi_sertype.c

@@ -222,8 +222,8 @@ uint32_t ddsi_sertype_compute_serdata_basehash (const struct ddsi_serdata_ops *o
 
 uint16_t ddsi_sertype_get_native_enc_identifier (uint32_t enc_version, uint32_t enc_format)
 {
-#define CONCAT_(a,b) (a ## b)
-#define CONCAT(id,suffix) CONCAT_(id,suffix)
+#define ENC_CONCAT_(a,b) (a ## b)
+#define ENC_CONCAT(id,suffix) ENC_CONCAT_(id,suffix)
 
 #if (DDSRT_ENDIAN == DDSRT_LITTLE_ENDIAN)
 #define SUFFIX _LE
@@ -235,20 +235,20 @@ uint16_t ddsi_sertype_get_native_enc_identifier (uint32_t enc_version, uint32_t
   {
     case DDSI_RTPS_CDR_ENC_VERSION_1:
       if (enc_format == DDSI_RTPS_CDR_ENC_FORMAT_PL)
-        return CONCAT(DDSI_RTPS_PL_CDR, SUFFIX);
-      return CONCAT(DDSI_RTPS_CDR, SUFFIX);
+        return ENC_CONCAT(DDSI_RTPS_PL_CDR, SUFFIX);
+      return ENC_CONCAT(DDSI_RTPS_CDR, SUFFIX);
     case DDSI_RTPS_CDR_ENC_VERSION_2:
       if (enc_format == DDSI_RTPS_CDR_ENC_FORMAT_PL)
-        return CONCAT(DDSI_RTPS_PL_CDR2, SUFFIX);
+        return ENC_CONCAT(DDSI_RTPS_PL_CDR2, SUFFIX);
       if (enc_format == DDSI_RTPS_CDR_ENC_FORMAT_DELIMITED)
-        return CONCAT(DDSI_RTPS_D_CDR2, SUFFIX);
-      return CONCAT(DDSI_RTPS_CDR2, SUFFIX);
+        return ENC_CONCAT(DDSI_RTPS_D_CDR2, SUFFIX);
+      return ENC_CONCAT(DDSI_RTPS_CDR2, SUFFIX);
     default:
       abort (); /* unsupported */
   }
 #undef SUFFIX
-#undef CONCAT
-#undef CONCAT_
+#undef ENC_CONCAT
+#undef ENC_CONCAT_
 }
 
 uint16_t ddsi_sertype_extensibility_enc_format (enum dds_cdr_type_extensibility type_extensibility)

src/core/ddsi/src/ddsi_udp.c

@@ -718,7 +718,11 @@ static int joinleave_asm_mcgroup (ddsrt_socket_t socket, int join, const ddsi_lo
     struct ipv6_mreq ipv6mreq;
     memset (&ipv6mreq, 0, sizeof (ipv6mreq));
     ipv6mreq.ipv6mr_multiaddr = mcip.a6.sin6_addr;
+#if __ZEPHYR__
+    ipv6mreq.ipv6mr_ifindex = interf ? interf->if_index : 0;
+#else
     ipv6mreq.ipv6mr_interface = interf ? interf->if_index : 0;
+#endif
     rc = ddsrt_setsockopt (socket, IPPROTO_IPV6, join ? IPV6_JOIN_GROUP : IPV6_LEAVE_GROUP, &ipv6mreq, sizeof (ipv6mreq));
   }
   else

src/core/ddsi/tests/wraddrset.c

@@ -220,7 +220,11 @@ static void ddsi_wraddrset_some_cases (int casenumber, int cost, bool wr_psmx, c
         // something else
         ddsi_add_xlocator_to_addrset (&gv, rd_as, &(ddsi_xlocator_t){ .conn = &fake_conn, .c = psmxloc[i] });
       }
+#if DDS_HAS_SSM
       ddsi_new_proxy_reader (&gv, &rdppguid[i][j], &rdguid, rd_as, &plist_rd, ddsrt_time_wallclock (), 1, false);
+#else
+      ddsi_new_proxy_reader (&gv, &rdppguid[i][j], &rdguid, rd_as, &plist_rd, ddsrt_time_wallclock (), 1);
+#endif
       assert (ddsi_entidx_lookup_proxy_reader_guid (gv.entity_index, &rdguid));
       ddsi_unref_addrset (rd_as);
     }

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

@@ -17,8 +17,6 @@
 #include "dds/ddsrt/retcode.h"
 #include "dds/ddsrt/attributes.h"
 
-#if DDSRT_HAVE_DYNLIB
-
 #if defined (__cplusplus)
 extern "C" {
 #endif
@@ -64,11 +62,13 @@ ddsrt_dlopen(
     bool translate,
     ddsrt_dynlib_t *handle) ddsrt_nonnull_all;
 
+#if DDSRT_HAVE_DYNLIB
 dds_return_t
 ddsrt_platform_dlopen(
     const char *name,
     bool translate,
     ddsrt_dynlib_t *handle) ddsrt_nonnull_all;
+#endif
 
 /**
  * @brief Close the library.
@@ -92,9 +92,11 @@ dds_return_t
 ddsrt_dlclose(
     ddsrt_dynlib_t handle);
 
+#if DDSRT_HAVE_DYNLIB
 dds_return_t
 ddsrt_platform_dlclose(
     ddsrt_dynlib_t handle);
+#endif
 
 /**
  * @brief Get the memory address of a symbol.
@@ -121,11 +123,13 @@ ddsrt_dlsym(
     const char *symbol,
     void **address);
 
+#if DDSRT_HAVE_DYNLIB
 dds_return_t
 ddsrt_platform_dlsym(
     ddsrt_dynlib_t handle,
     const char *symbol,
     void **address);
+#endif
 
 /**
  * @brief Get the most recent library related error.
@@ -154,15 +158,15 @@ ddsrt_dlerror(
     char *buf,
     size_t buflen);
 
+#if DDSRT_HAVE_DYNLIB
 dds_return_t
 ddsrt_platform_dlerror(
     char *buf,
     size_t buflen);
+#endif
 
 #if defined (__cplusplus)
 }
 #endif
 
-#endif /* DDSRT_HAVE_DYNLIB */
-
 #endif /* DDSRT_DYNLIB_H */