Merge remote-tracking branch 'micro-ROS/main' into fictionlab

.github/actions/platformio-env/action.yml

@@ -9,6 +9,7 @@ runs:
         apt update
         export DEBIAN_FRONTEND=noninteractive
         apt install -y git curl python3 python3-pip python3-venv git cmake
-        python3 -c "$(curl -fsSL https://raw.githubusercontent.com/platformio/platformio/master/scripts/get-platformio.py)"
+        curl -fsSL -o get-platformio.py https://raw.githubusercontent.com/platformio/platformio-core-installer/master/get-platformio.py
+        python3 get-platformio.py
         echo 'export PATH=$PATH:~/.platformio/penv/bin' >> ~/.bashrc
 

.github/workflows/ci.yml

@@ -11,43 +11,14 @@ jobs:
     runs-on: ubuntu-20.04
     container: ubuntu:20.04
 
-    strategy:
-      fail-fast: false
-      matrix:
-        pio-environment:
-          - teensy41
-          - teensy40
-          - teensy36
-          - teensy35
-          - teensy31
-          - due
-          - zero
-          - olimex_e407
-          - esp32dev
-          - nanorp2040connect
-          - portenta_h7_m7
-          - teensy41_eth
-          - nanorp2040connect_wifi
-          - portenta_h7_m7_wifi
-          - esp32dev_wifi
-          - portenta_h7_m7_galactic
-          - portenta_h7_m7_foxy
-          - portenta_h7_m7_rolling
-          - teensy41_custom
-          - pico
+    micro_ros_platformio:
+        runs-on: ubuntu-22.04
+        container: ubuntu:22.04
 
-    steps:
-      - uses: actions/checkout@v3
-        with:
-          path: repo
-      - name: Install environment
-        uses: ./repo/.github/actions/platformio-env
-      - name: Build
-        shell: bash
-        run: |
-          export PATH=$PATH:~/.platformio/penv/bin
-          cd repo/ci/arduino
-          pio run -e ${{ matrix.pio-environment }}
+        strategy:
+          fail-fast: false
+          matrix:
+            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, portenta_h7_m7_humble, portenta_h7_m7_jazzy, portenta_h7_m7_rolling, teensy41_custom, pico]
 
   micro_ros_platformio_stm32cube:
     runs-on: ubuntu-20.04

README.md

@@ -54,6 +54,17 @@ The community is encouraged to open pull request with custom use cases.
   ```bash
   apt install -y git cmake python3-pip
   ```
+
+### Platform specific requirements
+
+#### MacOS
+
+XCode command line tools are distributed with toolchain that is not fully compatible with micro-ROS build process.
+To fix this, install GNU [binutils](https://www.gnu.org/software/binutils/) using [Homebrew](https://brew.sh/):
+
+```bash
+brew install binutils
+```
 
 ## How to add to your project
 
@@ -87,7 +98,8 @@ A explanation for adding custom targets is also present
 ### ROS 2 distribution
 The target ROS 2 distribution can be configured with the `board_microros_distro = <distribution>`, supported values are:
   - `humble`
-  - `iron` *(default value)*
+  - `iron`
+  - `jazzy` *(default value)*
   - `rolling`
 
 ### Transport configuration
@@ -208,7 +220,7 @@ It is also possible to use custom transports on a `micro-XRCE Agent` instance. M
 ## Examples
 A simple publisher project using serial transport is available on the [examples](./examples) directory, this examples is meant to be modified with the user board.
 
-- More micro-ROS usage examples are available on [micro-ROS-demos/rclc](https://github.com/micro-ROS/micro-ROS-demos/tree/iron/rclc).
+- More micro-ROS usage examples are available on [micro-ROS-demos/rclc](https://github.com/micro-ROS/micro-ROS-demos/tree/jazzy/rclc).
 - For a complete micro-ROS tutorial, check [Programming with rcl and rclc](https://micro.ros.org/docs/tutorials/programming_rcl_rclc/overview/) documentation.
 
 ## Purpose of the Project

ci/arduino/platformio.ini

@@ -8,6 +8,16 @@ board_microros_distro = humble
 lib_deps =
     ../../
 
+; Jazzy test
+[env:portenta_h7_m7_jazzy]
+platform = ststm32
+board = portenta_h7_m7
+framework = arduino
+board_microros_transport = serial
+board_microros_distro = jazzy
+lib_deps =
+    ../
+
 ; Rolling test
 [env:portenta_h7_m7_rolling]
 platform = ststm32

extra_script.py

@@ -62,15 +62,29 @@ def clean_microros_callback(*args, **kwargs):
     print("micro-ROS library cleaned!")
     os._exit(0)
 
-global_env.AddCustomTarget("clean_microros", None, clean_microros_callback, title="Clean Micro-ROS", description="Clean Micro-ROS build environment")
+if "clean_microros" not in global_env.get("__PIO_TARGETS", {}):
+   global_env.AddCustomTarget("clean_microros", None, clean_microros_callback, title="Clean Micro-ROS", description="Clean Micro-ROS build environment")
+
+def clean_libmicroros_callback(*args, **kwargs):
+    library_path = main_path + '/libmicroros'
+
+    # Delete libmicroros folder
+    shutil.rmtree(library_path, ignore_errors=True)
+
+    print("libmicroros cleaned")
+    os._exit(0)
+
+if "clean_libmicroros" not in global_env.get("__PIO_TARGETS", {}):
+   global_env.AddCustomTarget("clean_libmicroros", None, clean_libmicroros_callback, title="Clean libmicroros", description="Clean libmicroros")
+
 
 def build_microros(*args, **kwargs):
     ##############################
     #### Install dependencies ####
     ##############################
 
     pip_packages = [x.split("==")[0] for x in os.popen('{} -m pip freeze'.format(env['PYTHONEXE'])).read().split('\n')]
-    required_packages = ["catkin-pkg", "lark-parser", "empy", "colcon-common-extensions", "importlib-resources", "pyyaml", "pytz", "markupsafe==2.0.1"]
+    required_packages = ["catkin-pkg", "lark-parser", "colcon-common-extensions", "importlib-resources", "pyyaml", "pytz", "markupsafe==2.0.1", "empy==3.3.4"]
     if all([x in pip_packages for x in required_packages]):
         print("All required Python pip packages are installed")
 
@@ -157,7 +171,7 @@ def update_env():
 from SCons.Script import COMMAND_LINE_TARGETS
 
 # Do not build library on clean_microros target or when IDE fetches C/C++ project metadata
-if set(["clean_microros", "__idedata", "_idedata", "idedata"]).isdisjoint(set(COMMAND_LINE_TARGETS)):
+if set(["clean_microros", "clean_libmicroros", "_idedata", "idedata"]).isdisjoint(set(COMMAND_LINE_TARGETS)):
     build_microros()
 
 update_env()

microros_utils/library_builder.py

@@ -55,7 +55,7 @@ def __init__(self, library_folder, packages_folder, distro, python_env):
         self.env = {}
 
     def run(self, meta, toolchain, user_meta = ""):
-        if os.path.exists(self.library_path):
+        if os.path.exists(self.library):
             print("micro-ROS already built")
             return
 
@@ -66,9 +66,6 @@ def run(self, meta, toolchain, user_meta = ""):
         self.build_mcu_environment(meta, toolchain, user_meta)
         self.package_mcu_library()
 
-        # Delete build folders
-        shutil.rmtree(self.build_folder, ignore_errors=True)
-
     def ignore_package(self, name):
         for p in self.mcu_packages:
             if p.name == name:
@@ -90,8 +87,7 @@ def check_env(self):
         self.env = os.environ.copy()
 
     def download_dev_environment(self):
-        shutil.rmtree(self.dev_src_folder, ignore_errors=True)
-        os.makedirs(self.dev_src_folder)
+        os.makedirs(self.dev_src_folder, exist_ok=True)
         print("Downloading micro-ROS dev dependencies")
         for repo in Sources.dev_environments[self.distro]:
             repo.clone(self.dev_src_folder)
@@ -108,8 +104,7 @@ def build_dev_environment(self):
             sys.exit(1)
 
     def download_mcu_environment(self):
-        shutil.rmtree(self.mcu_src_folder, ignore_errors=True)
-        os.makedirs(self.mcu_src_folder)
+        os.makedirs(self.mcu_src_folder, exist_ok=True)
         print("Downloading micro-ROS library")
         for repo in Sources.mcu_environments[self.distro]:
             repo.clone(self.mcu_src_folder)
@@ -183,6 +178,7 @@ def build_mcu_environment(self, meta_file, toolchain_file, user_meta = ""):
             sys.exit(1)
 
     def package_mcu_library(self):
+        binutils_path = self.resolve_binutils_path()
         aux_folder = self.build_folder + "/aux"
 
         shutil.rmtree(aux_folder, ignore_errors=True)
@@ -194,12 +190,12 @@ def package_mcu_library(self):
                 if f.endswith('.a'):
                     os.makedirs(aux_folder + "/naming", exist_ok=True)
                     os.chdir(aux_folder + "/naming")
-                    os.system("ar x {}".format(root + "/" + f))
+                    os.system("{}ar x {}".format(binutils_path, root + "/" + f))
                     for obj in [x for x in os.listdir() if x.endswith('obj')]:
                         os.rename(obj, '../' + f.split('.')[0] + "__" + obj)
 
         os.chdir(aux_folder)
-        command = "ar rc libmicroros.a $(ls *.o *.obj 2> /dev/null); rm *.o *.obj 2> /dev/null; ranlib libmicroros.a"
+        command = "{binutils}ar rc libmicroros.a $(ls *.o *.obj 2> /dev/null); rm *.o *.obj 2> /dev/null; {binutils}ranlib libmicroros.a".format(binutils=binutils_path)
         result = run_cmd(command)
 
         if 0 != result.returncode:
@@ -221,3 +217,15 @@ def package_mcu_library(self):
             if os.path.exists(repeated_path):
                 shutil.copytree(repeated_path, folder_path, copy_function=shutil.move, dirs_exist_ok=True)
                 shutil.rmtree(repeated_path)
+
+    def resolve_binutils_path(self):
+        if sys.platform == "darwin":
+            homebrew_binutils_path = "/opt/homebrew/opt/binutils/bin/"
+            if os.path.exists(homebrew_binutils_path):
+                return homebrew_binutils_path
+
+            print("ERROR: GNU binutils not found. ({}) Please install binutils with homebrew: brew install binutils"
+                  .format(homebrew_binutils_path))
+            sys.exit(1)
+
+        return ""

microros_utils/repositories.py

@@ -27,6 +27,14 @@ def __init__(self, name, url, distribution, branch=None):
     def clone(self, folder):
         self.path = folder + "/" + self.name
         # TODO(pablogs) ensure that git is installed
+        if os.path.exists(self.path):
+            command = f"cd {self.path} && git pull {self.url} {self.branch}"
+            result = run_cmd(command)
+            if 0 != result.returncode:
+                print(f"{self.name} pull failed: \n{result.stderr.decode('utf-8')}")
+                sys.exit(1)
+            return
+
         command = "git clone -b {} {} {}".format(self.branch, self.url, self.path)
         result = run_cmd(command)
 
@@ -88,6 +96,14 @@ class Sources:
             Repository("ament_cmake_ros", "https://github.com/ros2/ament_cmake_ros", "iron"),
             Repository("ament_index", "https://github.com/ament/ament_index", "iron")
         ],
+        'jazzy': [
+            Repository("ament_cmake", "https://github.com/ament/ament_cmake", "jazzy"),
+            Repository("ament_lint", "https://github.com/ament/ament_lint", "jazzy"),
+            Repository("ament_package", "https://github.com/ament/ament_package", "jazzy"),
+            Repository("googletest", "https://github.com/ament/googletest", "jazzy"),
+            Repository("ament_cmake_ros", "https://github.com/ros2/ament_cmake_ros", "jazzy"),
+            Repository("ament_index", "https://github.com/ament/ament_index", "jazzy")
+        ],
         'rolling': [
             Repository("ament_cmake", "https://github.com/ament/ament_cmake", "rolling"),
             Repository("ament_lint", "https://github.com/ament/ament_lint", "rolling"),
@@ -164,6 +180,30 @@ class Sources:
             Repository("rcl_logging", "https://github.com/ros2/rcl_logging", "iron"),
             Repository("ros2_tracing", "https://github.com/ros2/ros2_tracing", "iron"),
         ],
+        'jazzy': [
+            Repository("micro-CDR", "https://github.com/eProsima/micro-CDR", "jazzy", "ros2"),
+            Repository("Micro-XRCE-DDS-Client", "https://github.com/eProsima/Micro-XRCE-DDS-Client", "jazzy", "ros2"),
+            Repository("rcl", "https://github.com/micro-ROS/rcl", "jazzy"),
+            Repository("rclc", "https://github.com/ros2/rclc", "jazzy"),
+            Repository("micro_ros_utilities", "https://github.com/micro-ROS/micro_ros_utilities", "jazzy"),
+            Repository("rcutils", "https://github.com/micro-ROS/rcutils", "jazzy"),
+            Repository("micro_ros_msgs", "https://github.com/micro-ROS/micro_ros_msgs", "jazzy"),
+            Repository("rmw-microxrcedds", "https://github.com/micro-ROS/rmw-microxrcedds", "jazzy"),
+            Repository("rosidl_typesupport", "https://github.com/micro-ROS/rosidl_typesupport", "jazzy"),
+            Repository("rosidl_typesupport_microxrcedds", "https://github.com/micro-ROS/rosidl_typesupport_microxrcedds", "jazzy"),
+            Repository("rosidl", "https://github.com/ros2/rosidl", "jazzy"),
+            Repository("rosidl_dynamic_typesupport", "https://github.com/ros2/rosidl_dynamic_typesupport", "jazzy"),
+            Repository("rosidl_core", "https://github.com/ros2/rosidl_core", "jazzy"),
+            Repository("rmw", "https://github.com/ros2/rmw", "jazzy"),
+            Repository("rcl_interfaces", "https://github.com/ros2/rcl_interfaces", "jazzy"),
+            Repository("rosidl_defaults", "https://github.com/ros2/rosidl_defaults", "jazzy"),
+            Repository("unique_identifier_msgs", "https://github.com/ros2/unique_identifier_msgs", "jazzy"),
+            Repository("common_interfaces", "https://github.com/ros2/common_interfaces", "jazzy"),
+            Repository("test_interface_files", "https://github.com/ros2/test_interface_files", "jazzy"),
+            Repository("rmw_implementation", "https://github.com/ros2/rmw_implementation", "jazzy"),
+            Repository("rcl_logging", "https://github.com/ros2/rcl_logging", "jazzy"),
+            Repository("ros2_tracing", "https://github.com/ros2/ros2_tracing", "jazzy"),
+        ],
         'rolling': [
             Repository("micro-CDR", "https://github.com/eProsima/micro-CDR", "rolling", "ros2"),
             Repository("Micro-XRCE-DDS-Client", "https://github.com/eProsima/Micro-XRCE-DDS-Client", "rolling", "ros2"),
@@ -215,5 +255,6 @@ class Sources:
         ],
         'humble': ['rcl_logging_log4cxx', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples'],
         'iron': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples'],
-        'rolling': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples']
-    }
+        'jazzy': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples','lttngpy'],
+        'rolling': ['test_tracetools', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples','lttngpy']
+    }

platform_code/arduino/clock_gettime.cpp

@@ -3,7 +3,7 @@
 #include <sys/time.h>
 #define micro_rollover_useconds 4294967295
 
-#ifndef WITH_POSIX
+#if !defined(_POSIX_TIMERS) || !_POSIX_TIMERS
 
 extern "C" int clock_gettime(clockid_t unused, struct timespec *tp)
 {
@@ -22,4 +22,4 @@ extern "C" int clock_gettime(clockid_t unused, struct timespec *tp)
     return 0;
 }
 
-#endif  // ifndef WITH_POSIX
+#endif  // ifndef _POSIX_TIMERS