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Move support to v2.7.x and v3.1.0 #64

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merged 9 commits into from
Aug 9, 2022
Merged

Move support to v2.7.x and v3.1.0 #64

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64370f1
Add v2.7.0 and v3.1.0
pablogs9 Aug 9, 2022
aa6bfba
Revert "Add v2.7.0 and v3.1.0"
pablogs9 Aug 9, 2022
d4a8906
Initial
pablogs9 Aug 9, 2022
e26f2b8
Update
pablogs9 Aug 9, 2022
c4ad35e
Update
pablogs9 Aug 9, 2022
6ac3764
Fix
pablogs9 Aug 9, 2022
a046961
Move 2.7.2 to new ci
pablogs9 Aug 9, 2022
57000a2
Deprecate <v2.7
pablogs9 Aug 9, 2022
b8fb233
Readme
pablogs9 Aug 9, 2022
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35 changes: 16 additions & 19 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,21 +9,18 @@ jobs:

micro_ros_zephyr_module:
runs-on: ubuntu-latest
container: ubuntu:20.04
container: ubuntu:22.04
strategy:
fail-fast: false
matrix:
zephyr_version: ["zephyr-v2.4.0", "zephyr-v2.5.0", "zephyr-v2.6.0"]
zephyr_version: ["zephyr-v3.1.0", "zephyr-v2.7.2"]
include:
- zephyr_version: zephyr-v2.4.0
zephyr_sdk: 0.11.4
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
- zephyr_version: zephyr-v2.5.0
zephyr_sdk: 0.11.4
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
- zephyr_version: zephyr-v2.6.0
zephyr_sdk: 0.12.4
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-x86_64-linux-setup.run
- zephyr_version: zephyr-v2.7.2
zephyr_sdk: 0.14.2
sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
- zephyr_version: zephyr-v3.1.0
zephyr_sdk: 0.14.2
sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
steps:
- uses: actions/checkout@v2
with:
Expand All @@ -34,8 +31,8 @@ jobs:
run: |
apt update
export DEBIAN_FRONTEND=noninteractive
apt install -y --no-install-recommends git cmake ninja-build gperf \
ccache dfu-util device-tree-compiler wget curl gnupg2 \
apt install -y --no-install-recommends wget git cmake ninja-build gperf \
ccache dfu-util device-tree-compiler wget \
python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
make gcc gcc-multilib g++-multilib libsdl2-dev
pip3 install --user -U west
Expand All @@ -52,15 +49,15 @@ jobs:
export TOOLCHAIN_VERSION=${{ matrix.zephyr_sdk }}
export TOOLCHAIN_FILE_NAME=${{ matrix.sdk_filename }}
wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v$TOOLCHAIN_VERSION/$TOOLCHAIN_FILE_NAME
chmod +x $TOOLCHAIN_FILE_NAME
yes | ./$TOOLCHAIN_FILE_NAME -- -rc -y -d $(pwd)/zephyr-sdk || :
rm -rf $TOOLCHAIN_FILE_NAME
tar xvf $TOOLCHAIN_FILE_NAME
cd zephyr-sdk-$TOOLCHAIN_VERSION
./setup.sh -h -t arm-zephyr-eabi -c
cd ..
source zephyr-sdk-$TOOLCHAIN_VERSION/environment-setup-x86_64-pokysdk-linux
export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk
export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk-$TOOLCHAIN_VERSION
source zephyrproject/zephyr/zephyr-env.sh
# Installing micro-ROS prerequisites
pip3 install catkin_pkg lark-parser empy colcon-common-extensions
# Workaround. Remove when https://github.com/sphinx-doc/sphinx/issues/10291 and https://github.com/micro-ROS/micro_ros_zephyr_module/runs/5714546662?check_suite_focus=true
pip3 install --upgrade Sphinx
# Building the app
west build -b disco_l475_iot1 micro_ros_zephyr_module
41 changes: 20 additions & 21 deletions .github/workflows/nightly.yml
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Expand Up @@ -12,38 +12,37 @@ jobs:

micro_ros_zephyr_module:
runs-on: ubuntu-latest
container: ubuntu:20.04
container: ubuntu:22.04
strategy:
fail-fast: false
matrix:
zephyr_version: ["zephyr-v2.4.0", "zephyr-v2.5.0", "zephyr-v2.6.0"]
distro: ["foxy", "rolling"]
zephyr_version: ["zephyr-v3.1.0", "zephyr-v2.7.2"]
distro: ["foxy", "humble", "rolling"]
include:
- distro: foxy
branch: foxy
- distro: rolling
branch: main
- zephyr_version: zephyr-v2.4.0
zephyr_sdk: 0.11.4
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
- zephyr_version: zephyr-v2.5.0
zephyr_sdk: 0.11.4
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
- zephyr_version: zephyr-v2.6.0
zephyr_sdk: 0.12.4
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-x86_64-linux-setup.run
- distro: humble
branch: humble
- zephyr_version: zephyr-v2.7.2
zephyr_sdk: 0.14.2
sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
- zephyr_version: zephyr-v3.1.0
zephyr_sdk: 0.14.2
sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION_linux-x86_64_minimal.tar.gz
steps:
- uses: actions/checkout@v2
with:
path: micro_ros_zephyr_module
ref: ${{ matrix.branch }}

- name: Dependencies
shell: bash
run: |
apt update
export DEBIAN_FRONTEND=noninteractive
apt install -y --no-install-recommends git cmake ninja-build gperf \
ccache dfu-util device-tree-compiler wget curl gnupg2 \
apt install -y --no-install-recommends wget git cmake ninja-build gperf \
ccache dfu-util device-tree-compiler wget \
python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
make gcc gcc-multilib g++-multilib libsdl2-dev
pip3 install --user -U west
Expand All @@ -60,15 +59,15 @@ jobs:
export TOOLCHAIN_VERSION=${{ matrix.zephyr_sdk }}
export TOOLCHAIN_FILE_NAME=${{ matrix.sdk_filename }}
wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v$TOOLCHAIN_VERSION/$TOOLCHAIN_FILE_NAME
chmod +x $TOOLCHAIN_FILE_NAME
yes | ./$TOOLCHAIN_FILE_NAME -- -rc -y -d $(pwd)/zephyr-sdk || :
rm -rf $TOOLCHAIN_FILE_NAME
tar xvf $TOOLCHAIN_FILE_NAME
cd zephyr-sdk-$TOOLCHAIN_VERSION
./setup.sh -h -t arm-zephyr-eabi -c
cd ..
source zephyr-sdk-$TOOLCHAIN_VERSION/environment-setup-x86_64-pokysdk-linux
export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk
export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk-$TOOLCHAIN_VERSION
source zephyrproject/zephyr/zephyr-env.sh
# Installing micro-ROS prerequisites
pip3 install catkin_pkg lark-parser empy colcon-common-extensions
# Workaround. Remove when https://github.com/sphinx-doc/sphinx/issues/10291 and https://github.com/micro-ROS/micro_ros_zephyr_module/runs/5714546662?check_suite_focus=true
pip3 install --upgrade Sphinx
# Building the app
west build -b disco_l475_iot1 micro_ros_zephyr_module
2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -3,7 +3,7 @@

# micro-ROS module for Zephyr

This module has been tested in Zephyr RTOS v2.4.0 (SDK 0.11.4), v2.5.0 (SDK 0.11.4) and v2.6.0 (SDK 0.12.4).
This module has been tested in Zephyr RTOS v2.7.0 (SDK 0.14.2) and v3.1.0 (SDK 0.14.2).

## Dependencies

Expand Down
12 changes: 7 additions & 5 deletions modules/libmicroros/microros_transports/serial-usb/microros_transports.c
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Expand Up @@ -22,7 +22,7 @@ char uart_out_buffer[RING_BUF_SIZE];

struct ring_buf out_ringbuf, in_ringbuf;

static void uart_fifo_callback(struct device *dev){
static void uart_fifo_callback(const struct device *dev, void * user_data){
while (uart_irq_update(dev) && uart_irq_is_pending(dev)) {
if (uart_irq_rx_ready(dev)) {
int recv_len;
Expand All @@ -36,7 +36,7 @@ static void uart_fifo_callback(struct device *dev){

}

if (uart_irq_tx_ready(dev)) {
if (uart_irq_tx_ready(dev)) {
char buffer[64];
int rb_len;

Expand All @@ -58,6 +58,7 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
int ret;
uint32_t baudrate, dtr = 0U;


params->uart_dev = device_get_binding("CDC_ACM_0");
if (!params->uart_dev) {
printk("CDC ACM device not found\n");
Expand Down Expand Up @@ -116,6 +117,7 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){

bool zephyr_transport_close(struct uxrCustomTransport * transport){
zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
(void) params;

return true;
}
Expand All @@ -124,15 +126,15 @@ size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_
zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;

size_t wrote;

wrote = ring_buf_put(&out_ringbuf, buf, len);

uart_irq_tx_enable(params->uart_dev);

while (!ring_buf_is_empty(&out_ringbuf)){
k_sleep(K_MSEC(5));
}

return wrote;
}

Expand Down
2 changes: 1 addition & 1 deletion modules/libmicroros/microros_transports/serial-usb/microros_transports.h
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Expand Up @@ -26,7 +26,7 @@ extern "C"

typedef struct {
size_t fd;
struct device *uart_dev;
const struct device *uart_dev;
} zephyr_transport_params_t;

#define MICRO_ROS_FRAMING_REQUIRED true
Expand Down
2 changes: 0 additions & 2 deletions prj.conf
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Expand Up @@ -9,12 +9,10 @@ CONFIG_NEWLIB_LIBC_NANO=n
CONFIG_PTHREAD_IPC=n

CONFIG_POSIX_API=y
CONFIG_NATIVE_POSIX_TIMER=y
CONFIG_APP_LINK_WITH_POSIX_SUBSYS=y
CONFIG_POSIX_CLOCK=y

CONFIG_STDOUT_CONSOLE=y
CONFIG_USB=y
CONFIG_USB_DEVICE_STACK=y
CONFIG_USB_DEVICE_PRODUCT="Zephyr micro-ROS"
CONFIG_LOG=y
Expand Down
6 changes: 1 addition & 5 deletions src/main.c
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Expand Up @@ -43,12 +43,8 @@ void main(void)
rcl_allocator_t allocator = rcl_get_default_allocator();
rclc_support_t support;

rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
RCCHECK(rcl_init_options_init(&init_options, allocator));
rmw_init_options_t* rmw_options = rcl_init_options_get_rmw_init_options(&init_options);

// create init_options
RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

// create node
rcl_node_t node;
Expand Down