Add multithread to CI (backport #238) (#239)

* Add multithread to CI (#238)

* Add multithread to CI

Signed-off-by: Pablo Garrido <[email protected]>

* Fix multithread example

* Override esp_macros fro micro-ROS build

---------

Signed-off-by: Pablo Garrido <[email protected]>
(cherry picked from commit 8d6b8d4)

* Fix

---------

Co-authored-by: Pablo Garrido <[email protected]>

Author: mergify[bot]

.github/workflows/ci.yml

@@ -80,6 +80,17 @@ jobs:
           idf.py set-target ${{ matrix.idf_target }}
           idf.py build
 
+      - name: Build sample - multithread_publisher
+        shell: bash
+        run: |
+          . $IDF_PATH/export.sh
+          cd micro_ros_espidf_component
+          make -f libmicroros.mk clean
+          sed -i 's/DRMW_UXRCE_TRANSPORT=udp/DRMW_UXRCE_TRANSPORT=custom/' colcon.meta
+          cd examples/multithread_publisher
+          idf.py set-target ${{ matrix.idf_target }}
+          idf.py build
+
       - name: EmbeddedRTPS
         shell: bash
         run: |

.github/workflows/nightly.yml

@@ -65,6 +65,14 @@ jobs:
           idf.py set-target ${{ matrix.idf_target }}
           idf.py build
 
+      - name: Build sample - handle_static_types
+        shell: bash
+        run: |
+          . $IDF_PATH/export.sh
+          cd micro_ros_espidf_component/examples/handle_static_types
+          idf.py set-target ${{ matrix.idf_target }}
+          idf.py build
+
       - name: Build sample - int32_publisher_custom_transport
         shell: bash
         run: |
@@ -76,6 +84,17 @@ jobs:
           idf.py set-target ${{ matrix.idf_target }}
           idf.py build
 
+      - name: Build sample - multithread_publisher
+        shell: bash
+        run: |
+          . $IDF_PATH/export.sh
+          cd micro_ros_espidf_component
+          make -f libmicroros.mk clean
+          sed -i 's/DRMW_UXRCE_TRANSPORT=udp/DRMW_UXRCE_TRANSPORT=custom/' colcon.meta
+          cd examples/multithread_publisher
+          idf.py set-target ${{ matrix.idf_target }}
+          idf.py build
+
       - name: EmbeddedRTPS
         if: ${{ matrix.branch == 'humble' }}
         shell: bash

CMakeLists.txt

@@ -43,6 +43,9 @@ foreach(package ${PACKAGES})
     string(REPLACE ";" "" ${package}_includes_string "${${package}_includes}")
 endforeach()
 
+# Workaround for https://github.com/ros2/rosidl/pull/739
+string(APPEND IDF_INCLUDES "-I${COMPONENT_DIR}/include_override")
+
 # Create a string with all packages with a for loop
 foreach(package ${PACKAGES})
     string(APPEND IDF_INCLUDES "${${package}_includes_string}")

include_override/FreeRTOS.h

@@ -0,0 +1,2 @@
+// Include proper path to FreeRTOS header file
+#include "freertos/FreeRTOS.h"

include_override/esp_macros.h

@@ -0,0 +1 @@
+// This is very overkill, but it's a workaround for the fact that the ESP_STATIC_ASSERT fails when building micro-ROS in IDF >v5.0.0

include_override/semphr.h

@@ -0,0 +1,2 @@
+// Include proper path to FreeRTOS header file
+#include "freertos/semphr.h"