From 940501457eb059006a7f9256990cd27375ea3420 Mon Sep 17 00:00:00 2001
From: acuadros95 <acuadros1995@gmail.com>
Date: Mon, 13 Mar 2023 16:57:57 +0100
Subject: [PATCH 1/3] Update Readme and build scripts

Signed-off-by: acuadros95 <acuadros1995@gmail.com>
---
 README.md                                     |   4 +-
 embeddedrtps.md                               |   2 +-
 .../library_generation/extract_flags.py       |   2 +-
 .../library_generation/libmicroros.mk         | 160 ++++++++++++++++++
 .../library_generation/library_generation.sh  |  95 ++++-------
 .../library_generation/toolchain.cmake        |  17 --
 .../library_generation/toolchain.cmake.in     |  21 +++
 7 files changed, 215 insertions(+), 86 deletions(-)
 create mode 100644 microros_static_library_ide/library_generation/libmicroros.mk
 delete mode 100755 microros_static_library_ide/library_generation/toolchain.cmake
 create mode 100644 microros_static_library_ide/library_generation/toolchain.cmake.in

diff --git a/README.md b/README.md
index a61cfdf..317e18e 100644
--- a/README.md
+++ b/README.md
@@ -56,7 +56,7 @@ print_cflags:
 
 6. Execute the static library generation tool. Compiler flags will retrieved automatically from your `Makefile` and user will be prompted to check if they are correct.
 
-
+<!-- TODO(acuadros95): Test with STM32CubeMX -->
 ```bash
 docker pull microros/micro_ros_static_library_builder:humble
 docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library microros/micro_ros_static_library_builder:humble
@@ -76,7 +76,7 @@ micro-ROS can be used with SMT32CubeIDE following these steps:
 2. Go to `Project -> Settings -> C/C++ Build -> Settings -> Build Steps Tab` and in `Pre-build steps` add:
 
 ```bash
-docker pull microros/micro_ros_static_library_builder:humble && docker run --rm -v ${workspace_loc:/${ProjName}}:/project --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library_ide microros/micro_ros_static_library_builder:humble
+cd ../micro_ros_stm32cubemx_utils/microros_static_library_ide/library_generation && ./library_generation.sh
 ```
 
 3. Add micro-ROS include directory. In `Project -> Settings -> C/C++ Build -> Settings -> Tool Settings Tab -> MCU GCC Compiler -> Include paths` add `micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include`
diff --git a/embeddedrtps.md b/embeddedrtps.md
index bfef068..8077495 100644
--- a/embeddedrtps.md
+++ b/embeddedrtps.md
@@ -42,7 +42,7 @@ This instructions are an approach to a [STMCubeIDE v1.7.0](https://www.st.com/en
 10. Go to `Project -> Settings -> C/C++ Build -> Settings -> Build Steps Tab` and in `Pre-build steps` add:
 
 ```bash
-docker pull microros/micro_ros_static_library_builder:humble && docker run --rm -v ${workspace_loc:/${ProjName}}:/project --env MICROROS_USE_EMBEDDEDRTPS=ON --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library_ide microros/micro_ros_static_library_builder:humble
+export MICROROS_USE_EMBEDDEDRTPS=ON && cd ../micro_ros_stm32cubemx_utils/microros_static_library_ide/library_generation && ./library_generation.sh
 ```
 
 12. Add the following source code files to your project, dragging them to source folder:
diff --git a/microros_static_library_ide/library_generation/extract_flags.py b/microros_static_library_ide/library_generation/extract_flags.py
index 328c283..1bba013 100644
--- a/microros_static_library_ide/library_generation/extract_flags.py
+++ b/microros_static_library_ide/library_generation/extract_flags.py
@@ -14,7 +14,7 @@
 
 includes = [x for x in text if x.startswith("-I")]
 includes = list(set(includes))
-includes = [x.replace("../", "/project/") for x in includes]
+includes = [x.replace("../", "../../../") for x in includes]
 
 out = "-ffunction-sections -fdata-sections -DSTM32CUBEIDE"
 
diff --git a/microros_static_library_ide/library_generation/libmicroros.mk b/microros_static_library_ide/library_generation/libmicroros.mk
new file mode 100644
index 0000000..bd7782a
--- /dev/null
+++ b/microros_static_library_ide/library_generation/libmicroros.mk
@@ -0,0 +1,160 @@
+COMPONENT_DIR = $(shell pwd)
+INSTALL_DIR = $(COMPONENT_DIR)/../libmicroros
+
+DEBUG ?= 0
+
+ifeq ($(DEBUG), 1)
+	BUILD_TYPE = Debug
+else
+	BUILD_TYPE = Release
+endif
+
+ifeq ($(MICROROS_USE_EMBEDDEDRTPS), "ON")
+META_FILE = $(COMPONENT_DIR)/colcon-embeddedrtps.meta;
+else
+META_FILE = $(COMPONENT_DIR)/colcon.meta;
+endif
+
+X_CC := arm-none-eabi-gcc
+X_CXX := arm-none-eabi-g++
+X_AR := arm-none-eabi-ar
+X_STRIP := arm-none-eabi-strip
+CFLAGS_INTERNAL := $(RET_CFLAGS) -w -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='
+CXXFLAGS_INTERNAL := $(RET_CFLAGS) -w -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='
+
+all: $(INSTALL_DIR)/libmicroros.a
+
+clean:
+	rm -rf $(INSTALL_DIR)
+
+$(INSTALL_DIR)/toolchain.cmake: $(COMPONENT_DIR)/toolchain.cmake.in
+	rm -f $(INSTALL_DIR)/toolchain.cmake; \
+	mkdir -p $(INSTALL_DIR); \
+	cat $(COMPONENT_DIR)/toolchain.cmake.in | \
+		sed "s/@CMAKE_C_COMPILER@/$(subst /,\/,$(X_CC))/g" | \
+		sed "s/@CMAKE_CXX_COMPILER@/$(subst /,\/,$(X_CXX))/g" | \
+		sed "s/@CFLAGS@/$(subst /,\/,$(CFLAGS_INTERNAL))/g" | \
+		sed "s/@CXXFLAGS@/$(subst /,\/,$(CXXFLAGS_INTERNAL))/g" \
+		> $(INSTALL_DIR)/toolchain.cmake
+
+$(INSTALL_DIR)/micro_ros_dev/install:
+	rm -rf $(INSTALL_DIR)/micro_ros_dev; \
+	mkdir $(INSTALL_DIR)/micro_ros_dev; cd $(INSTALL_DIR)/micro_ros_dev; \
+	git clone -b humble https://github.com/ament/ament_cmake src/ament_cmake; \
+	git clone -b humble https://github.com/ament/ament_lint src/ament_lint; \
+	git clone -b humble https://github.com/ament/ament_package src/ament_package; \
+	git clone -b humble https://github.com/ament/googletest src/googletest; \
+	git clone -b humble https://github.com/ros2/ament_cmake_ros src/ament_cmake_ros; \
+	git clone -b humble https://github.com/ament/ament_index src/ament_index; \
+	colcon build --cmake-args -DBUILD_TESTING=OFF;
+
+# TODO(acuadros95): Add EmbeddedRTPS conditional
+$(INSTALL_DIR)/micro_ros_src/src:
+	rm -rf $(INSTALL_DIR)/micro_ros_src; \
+	mkdir $(INSTALL_DIR)/micro_ros_src; cd $(INSTALL_DIR)/micro_ros_src; \
+	if [ "$(MICROROS_USE_EMBEDDEDRTPS)" = "ON" ]; then \
+		git clone -b humble https://github.com/micro-ROS/embeddedRTPS src/embeddedRTPS; \
+		git clone -b humble https://github.com/micro-ROS/rmw_embeddedrtps src/rmw_embeddedrtps; \
+	else \
+		git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client; \
+		git clone -b humble https://github.com/micro-ROS/rmw_microxrcedds src/rmw_microxrcedds; \
+	fi; \
+	git clone -b ros2 https://github.com/eProsima/micro-CDR src/micro-CDR; \
+	git clone -b humble https://github.com/micro-ROS/rcl src/rcl; \
+	git clone -b humble https://github.com/ros2/rclc src/rclc; \
+	git clone -b humble https://github.com/micro-ROS/rcutils src/rcutils; \
+	git clone -b humble https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs; \
+	git clone -b humble https://github.com/micro-ROS/rosidl_typesupport src/rosidl_typesupport; \
+	git clone -b humble https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds; \
+	git clone -b humble https://github.com/ros2/rosidl src/rosidl; \
+	git clone -b humble https://github.com/ros2/rmw src/rmw; \
+	git clone -b humble https://github.com/ros2/rcl_interfaces src/rcl_interfaces; \
+	git clone -b humble https://github.com/ros2/rosidl_defaults src/rosidl_defaults; \
+	git clone -b humble https://github.com/ros2/unique_identifier_msgs src/unique_identifier_msgs; \
+	git clone -b humble https://github.com/ros2/common_interfaces src/common_interfaces; \
+	git clone -b humble https://github.com/ros2/test_interface_files src/test_interface_files; \
+	git clone -b humble https://github.com/ros2/rmw_implementation src/rmw_implementation; \
+	git clone -b humble https://github.com/ros2/rcl_logging src/rcl_logging; \
+	git clone -b humble https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing src/ros2_tracing; \
+	git clone -b humble https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities; \
+	git clone -b humble https://github.com/ros2/example_interfaces src/example_interfaces; \
+    touch src/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE; \
+    touch src/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE; \
+    touch src/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE; \
+    touch src/rclc/rclc_examples/COLCON_IGNORE; \
+	touch src/rcl/rcl_yaml_param_parser/COLCON_IGNORE; \
+	cp -rf $(COMPONENT_DIR)/extra_packages src/extra_packages || :;
+
+$(INSTALL_DIR)/micro_ros_src/install: $(INSTALL_DIR)/toolchain.cmake $(INSTALL_DIR)/micro_ros_dev/install $(INSTALL_DIR)/micro_ros_src/src
+	cd $(INSTALL_DIR)/micro_ros_src; \
+	unset AMENT_PREFIX_PATH; \
+	unset RMW_IMPLEMENTATION; \
+	PATH=$(subst /opt/ros/$(ROS_DISTRO)/bin,,$(PATH)); \
+	. ../micro_ros_dev/install/local_setup.sh; \
+	colcon build \
+		--merge-install \
+		--packages-ignore-regex=.*_cpp \
+		--metas $(META_FILE) $(COMPONENT_DIR)/../../app_colcon.meta $(USER_COLCON_META) \
+		--cmake-force-configure \
+		--cmake-clean-cache \
+		--cmake-args \
+		"--no-warn-unused-cli" \
+		--log-level=ERROR \
+		-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=OFF \
+		-DTHIRDPARTY=ON \
+		-DBUILD_SHARED_LIBS=OFF \
+		-DBUILD_TESTING=OFF \
+		-DCMAKE_BUILD_TYPE=$(BUILD_TYPE) \
+		-DCMAKE_TOOLCHAIN_FILE=$(INSTALL_DIR)/toolchain.cmake \
+		-DCMAKE_VERBOSE_MAKEFILE=OFF;
+
+$(INSTALL_DIR)/libmicroros.a: $(INSTALL_DIR)/micro_ros_src/install
+	mkdir -p $(INSTALL_DIR)/micro_ros_src/aux; cd $(INSTALL_DIR)/micro_ros_src/aux; \
+	for file in $$(find $(INSTALL_DIR)/micro_ros_src/install/lib/ -name '*.a'); do \
+		folder=$$(echo $$file | sed -E "s/(.+)\/(.+).a/\2/"); \
+		mkdir -p $$folder; cd $$folder; $(AR) x $$file; \
+		for f in *; do \
+			mv $$f ../$$folder-$$f; \
+		done; \
+		cd ..; rm -rf $$folder; \
+	done ; \
+	$(AR) rc -s libmicroros.a *.obj; cp libmicroros.a $(INSTALL_DIR); \
+	cd ..; rm -rf aux; \
+	cp -R $(INSTALL_DIR)/micro_ros_src/install/include $(INSTALL_DIR)/include;
+
+rebuild_metas:
+	export META_PACKAGES=$$(python3 $(COMPONENT_DIR)/get_metas_packages.py $(USER_COLCON_META)); \
+	cd $(INSTALL_DIR)/micro_ros_src; \
+	unset AMENT_PREFIX_PATH; \
+	PATH=$(subst /opt/ros/$(ROS_DISTRO)/bin,,$(PATH)); \
+	. ../micro_ros_dev/install/local_setup.sh; \
+	colcon build \
+		--merge-install \
+		--packages-ignore-regex=.*_cpp \
+		--packages-select $$META_PACKAGES \
+		--metas $(COMPONENT_DIR)/colcon.meta $(COMPONENT_DIR)/../../app_colcon.meta $(USER_COLCON_META) \
+		--cmake-force-configure \
+		--cmake-clean-cache \
+		--cmake-args \
+		"--no-warn-unused-cli" \
+		--log-level=ERROR \
+		-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=OFF \
+		-DTHIRDPARTY=ON \
+		-DBUILD_SHARED_LIBS=OFF \
+		-DBUILD_TESTING=OFF \
+		-DCMAKE_BUILD_TYPE=$(BUILD_TYPE) \
+		-DCMAKE_TOOLCHAIN_FILE=$(INSTALL_DIR)/toolchain.cmake \
+		-DCMAKE_VERBOSE_MAKEFILE=OFF;\
+	mkdir -p $(INSTALL_DIR)/micro_ros_src/aux; cd $(INSTALL_DIR)/micro_ros_src/aux; \
+	for file in $$(find $(INSTALL_DIR)/micro_ros_src/install/lib/ -name '*.a'); do \
+		folder=$$(echo $$file | sed -E "s/(.+)\/(.+).a/\2/"); \
+		mkdir -p $$folder; cd $$folder; $(AR) x $$file; \
+		for f in *; do \
+			mv $$f ../$$folder-$$f; \
+		done; \
+		cd ..; rm -rf $$folder; \
+	done ; \
+	$(AR) rc -s libmicroros.a *.obj; cp libmicroros.a $(INSTALL_DIR); \
+	cd ..; rm -rf aux; \
+	rm -rf $(INSTALL_DIR)/include; \
+	cp -R $(INSTALL_DIR)/micro_ros_src/install/include $(INSTALL_DIR)/include;
diff --git a/microros_static_library_ide/library_generation/library_generation.sh b/microros_static_library_ide/library_generation/library_generation.sh
index f7ade0b..20eb67b 100755
--- a/microros_static_library_ide/library_generation/library_generation.sh
+++ b/microros_static_library_ide/library_generation/library_generation.sh
@@ -1,16 +1,22 @@
 #!/bin/bash
 set -e
 
-export BASE_PATH=/project/$MICROROS_LIBRARY_FOLDER
+export BASE_PATH=$(pwd)/..
+export PROJECT_PATH=../../../
 
 ######## Check existing library ########
-if [ -f "$BASE_PATH/libmicroros/libmicroros.a" ]; then
+if [[ -f "$BASE_PATH/libmicroros/libmicroros.a" && ! -f "$USER_COLCON_META" ]]; then
     echo "micro-ROS library found. Skipping..."
-    echo "Delete $MICROROS_LIBRARY_FOLDER/libmicroros/ for rebuild."
+    echo "Delete microros_static_library_ide/libmicroros/ for rebuild."
     exit 0
 fi
+
+if [ ! -f "$USER_COLCON_META" ]; then
+    rm -rf $BASE_PATH/libmicroros
+fi
+
 ######## Trying to retrieve CFLAGS ########
-export RET_CFLAGS=$(find /project -type f -name *.mk -exec cat {} \; | python3 $BASE_PATH/library_generation/extract_flags.py)
+export RET_CFLAGS=$(find $PROJECT_PATH -type f -name subdir.mk -exec cat {} \; | python3 $BASE_PATH/library_generation/extract_flags.py)
 RET_CODE=$?
 
 if [ $RET_CODE = "0" ]; then
@@ -23,66 +29,38 @@ else
     exit 1;
 fi
 
-######## Init ########
-apt-get update
-apt-get install -y gcc-arm-none-eabi
-
-cd /uros_ws
+echo "Using:"
+echo "-------------"
+echo $(which arm-none-eabi-gcc)
+echo Version: $(arm-none-eabi-gcc -dumpversion)
+echo "-------------"
 
-source /opt/ros/$ROS_DISTRO/setup.bash
-source install/local_setup.bash
-
-ros2 run micro_ros_setup create_firmware_ws.sh generate_lib
+######## Build  ########
 
-######## Adding extra packages ########
-pushd firmware/mcu_ws > /dev/null
+if [ ! -f "$BASE_PATH/libmicroros/libmicroros.a" ]; then
+    # If library does not exist build it
 
-    # Workaround: Copy just tf2_msgs
-    git clone -b ros2 https://github.com/ros2/geometry2
-    cp -R geometry2/tf2_msgs ros2/tf2_msgs
-    rm -rf geometry2
+    ######## Add extra packages  ########
+    pushd extra_packages
+        # Workaround: Copy just tf2_msgs
+        git clone -b ros2 https://github.com/ros2/geometry2
+        cp -R geometry2/tf2_msgs tf2_msgs
+        rm -rf geometry2
 
-    # Import user defined packages
-    mkdir extra_packages
-    pushd extra_packages > /dev/null
-        USER_CUSTOM_PACKAGES_DIR=$BASE_PATH/../../microros_component/extra_packages 
-    	if [ -d "$USER_CUSTOM_PACKAGES_DIR" ]; then
-    		cp -R $USER_CUSTOM_PACKAGES_DIR/* .
-		fi
-        if [ -f $USER_CUSTOM_PACKAGES_DIR/extra_packages.repos ]; then
-        	vcs import --input $USER_CUSTOM_PACKAGES_DIR/extra_packages.repos
+        if [ -f $extra_packages.repos ]; then
+        	vcs import --input extra_packages.repos
         fi
-        cp -R $BASE_PATH/library_generation/extra_packages/* .
-        vcs import --input extra_packages.repos
     popd > /dev/null
 
-    if [ ! -z ${MICROROS_USE_EMBEDDEDRTPS+x} ]; then
-        rm -rf eProsima/Micro-XRCE-DDS-Client
-        rm -rf uros/rmw_microxrcedds
-
-        git clone -b main https://github.com/micro-ROS/rmw_embeddedrtps uros/rmw_embeddedrtps
-        git clone -b main https://github.com/micro-ROS/embeddedRTPS uros/embeddedRTPS
-    fi
-
-popd > /dev/null
-
-######## Build  ########
-export TOOLCHAIN_PREFIX=/usr/bin/arm-none-eabi-
 
-if [ ! -z ${MICROROS_USE_EMBEDDEDRTPS+x} ]; then
-    ros2 run micro_ros_setup build_firmware.sh $BASE_PATH/library_generation/toolchain.cmake $BASE_PATH/library_generation/colcon-embeddedrtps.meta
+    make -f libmicroros.mk
 else
-    ros2 run micro_ros_setup build_firmware.sh $BASE_PATH/library_generation/toolchain.cmake $BASE_PATH/library_generation/colcon.meta
+    # If exists just rebuild
+    make -f libmicroros.mk rebuild_metas
 fi
 
-find firmware/build/include/ -name "*.c"  -delete
-rm -rf $BASE_PATH/libmicroros
-mkdir -p $BASE_PATH/libmicroros/include
-cp -R firmware/build/include/* $BASE_PATH/libmicroros/include/
-cp -R firmware/build/libmicroros.a $BASE_PATH/libmicroros/libmicroros.a
-
 ######## Fix include paths  ########
-pushd firmware/mcu_ws > /dev/null
+pushd $BASE_PATH/libmicroros/micro_ros_src > /dev/null
     INCLUDE_ROS2_PACKAGES=$(colcon list | awk '{print $1}' | awk -v d=" " '{s=(NR==1?s:s d)$0}END{print s}')
 popd > /dev/null
 
@@ -92,16 +70,3 @@ for var in ${INCLUDE_ROS2_PACKAGES}; do
         rm -rf $BASE_PATH/libmicroros/include/${var}/${var}
     fi
 done
-
-######## Generate extra files ########
-find firmware/mcu_ws/ros2 \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' > $BASE_PATH/libmicroros/available_ros2_types
-find firmware/mcu_ws/extra_packages \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' >> $BASE_PATH/libmicroros/available_ros2_types
-
-cd firmware
-echo "" > $BASE_PATH/libmicroros/built_packages
-for f in $(find $(pwd) -name .git -type d); do pushd $f > /dev/null; echo $(git config --get remote.origin.url) $(git rev-parse HEAD) >> $BASE_PATH/libmicroros/built_packages; popd > /dev/null; done;
-
-######## Fix permissions ########
-sudo chmod -R 777 $BASE_PATH/libmicroros/
-sudo chmod -R 777 $BASE_PATH/libmicroros/include/
-sudo chmod -R 777 $BASE_PATH/libmicroros/libmicroros.a
diff --git a/microros_static_library_ide/library_generation/toolchain.cmake b/microros_static_library_ide/library_generation/toolchain.cmake
deleted file mode 100755
index 731fe18..0000000
--- a/microros_static_library_ide/library_generation/toolchain.cmake
+++ /dev/null
@@ -1,17 +0,0 @@
-SET(CMAKE_SYSTEM_NAME Generic)
-set(CMAKE_CROSSCOMPILING 1)
-set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
-
-set(CMAKE_C_COMPILER $ENV{TOOLCHAIN_PREFIX}gcc)
-set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++)
-
-SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
-SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
-
-set(FLAGS $ENV{RET_CFLAGS} CACHE STRING "" FORCE)
-set(MICROROSFLAGS "-DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
-
-set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} ${MICROROSFLAGS} " CACHE STRING "" FORCE)
-set(CMAKE_CXX_FLAGS_INIT "-std=c++14 ${FLAGS} -fno-rtti ${MICROROSFLAGS} " CACHE STRING "" FORCE)
-
-set(__BIG_ENDIAN__ 0)
diff --git a/microros_static_library_ide/library_generation/toolchain.cmake.in b/microros_static_library_ide/library_generation/toolchain.cmake.in
new file mode 100644
index 0000000..5cdcaf7
--- /dev/null
+++ b/microros_static_library_ide/library_generation/toolchain.cmake.in
@@ -0,0 +1,21 @@
+include(CMakeForceCompiler)
+
+set(CMAKE_SYSTEM_NAME Generic)
+
+set(CMAKE_CROSSCOMPILING 1)
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+SET (CMAKE_C_COMPILER_WORKS 1)
+SET (CMAKE_CXX_COMPILER_WORKS 1)
+
+set(CMAKE_C_COMPILER @CMAKE_C_COMPILER@)
+set(CMAKE_CXX_COMPILER @CMAKE_CXX_COMPILER@)
+
+set(CMAKE_C_FLAGS_INIT "-std=c11 @CFLAGS@" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_INIT "-std=c++14 @CXXFLAGS@" CACHE STRING "" FORCE)
+
+set(__BIG_ENDIAN__ 0)

From 99b52b51295ff8f90c14c65d13ef7fa02f6e2e98 Mon Sep 17 00:00:00 2001
From: acuadros95 <acuadros1995@gmail.com>
Date: Tue, 14 Mar 2023 15:44:24 +0100
Subject: [PATCH 2/3] Unify CubeIDE and CubeMX approaches

Signed-off-by: acuadros95 <acuadros1995@gmail.com>
---
 .../colcon-embeddedrtps.meta                  |   0
 .../colcon.meta                               |   0
 .../extra_packages/extra_packages.repos       |   0
 .../extract_flags.py                          |   0
 .../libmicroros.mk                            |   4 +-
 .../library_generation.sh                     |  19 +++-
 .../toolchain.cmake.in                        |   0
 .../library_generation/colcon.meta            |  53 ----------
 .../library_generation/library_generation.sh  | 100 ------------------
 .../library_generation/toolchain.cmake        |  17 ---
 .../extra_packages/extra_packages.repos       |   5 -
 11 files changed, 16 insertions(+), 182 deletions(-)
 rename {microros_static_library_ide/library_generation => library_generation}/colcon-embeddedrtps.meta (100%)
 rename {microros_static_library_ide/library_generation => library_generation}/colcon.meta (100%)
 rename {microros_static_library/library_generation => library_generation}/extra_packages/extra_packages.repos (100%)
 rename {microros_static_library_ide/library_generation => library_generation}/extract_flags.py (100%)
 rename {microros_static_library_ide/library_generation => library_generation}/libmicroros.mk (98%)
 rename {microros_static_library_ide/library_generation => library_generation}/library_generation.sh (79%)
 rename {microros_static_library_ide/library_generation => library_generation}/toolchain.cmake.in (100%)
 delete mode 100755 microros_static_library/library_generation/colcon.meta
 delete mode 100755 microros_static_library/library_generation/library_generation.sh
 delete mode 100755 microros_static_library/library_generation/toolchain.cmake
 delete mode 100755 microros_static_library_ide/library_generation/extra_packages/extra_packages.repos

diff --git a/microros_static_library_ide/library_generation/colcon-embeddedrtps.meta b/library_generation/colcon-embeddedrtps.meta
similarity index 100%
rename from microros_static_library_ide/library_generation/colcon-embeddedrtps.meta
rename to library_generation/colcon-embeddedrtps.meta
diff --git a/microros_static_library_ide/library_generation/colcon.meta b/library_generation/colcon.meta
similarity index 100%
rename from microros_static_library_ide/library_generation/colcon.meta
rename to library_generation/colcon.meta
diff --git a/microros_static_library/library_generation/extra_packages/extra_packages.repos b/library_generation/extra_packages/extra_packages.repos
similarity index 100%
rename from microros_static_library/library_generation/extra_packages/extra_packages.repos
rename to library_generation/extra_packages/extra_packages.repos
diff --git a/microros_static_library_ide/library_generation/extract_flags.py b/library_generation/extract_flags.py
similarity index 100%
rename from microros_static_library_ide/library_generation/extract_flags.py
rename to library_generation/extract_flags.py
diff --git a/microros_static_library_ide/library_generation/libmicroros.mk b/library_generation/libmicroros.mk
similarity index 98%
rename from microros_static_library_ide/library_generation/libmicroros.mk
rename to library_generation/libmicroros.mk
index bd7782a..773029b 100644
--- a/microros_static_library_ide/library_generation/libmicroros.mk
+++ b/library_generation/libmicroros.mk
@@ -10,9 +10,9 @@ else
 endif
 
 ifeq ($(MICROROS_USE_EMBEDDEDRTPS), "ON")
-META_FILE = $(COMPONENT_DIR)/colcon-embeddedrtps.meta;
+META_FILE = $(COMPONENT_DIR)/colcon-embeddedrtps.meta
 else
-META_FILE = $(COMPONENT_DIR)/colcon.meta;
+META_FILE = $(COMPONENT_DIR)/colcon.meta
 endif
 
 X_CC := arm-none-eabi-gcc
diff --git a/microros_static_library_ide/library_generation/library_generation.sh b/library_generation/library_generation.sh
similarity index 79%
rename from microros_static_library_ide/library_generation/library_generation.sh
rename to library_generation/library_generation.sh
index 20eb67b..3e3f83f 100755
--- a/microros_static_library_ide/library_generation/library_generation.sh
+++ b/library_generation/library_generation.sh
@@ -2,12 +2,12 @@
 set -e
 
 export BASE_PATH=$(pwd)/..
-export PROJECT_PATH=../../../
+export PROJECT_PATH=../../
 
 ######## Check existing library ########
 if [[ -f "$BASE_PATH/libmicroros/libmicroros.a" && ! -f "$USER_COLCON_META" ]]; then
     echo "micro-ROS library found. Skipping..."
-    echo "Delete microros_static_library_ide/libmicroros/ for rebuild."
+    echo "Delete libmicroros/ for rebuild."
     exit 0
 fi
 
@@ -15,11 +15,20 @@ if [ ! -f "$USER_COLCON_META" ]; then
     rm -rf $BASE_PATH/libmicroros
 fi
 
+if [ "$USER_COLCON_META" ]; then
+    rm -rf $BASE_PATH/libmicroros
+fi
+
 ######## Trying to retrieve CFLAGS ########
-export RET_CFLAGS=$(find $PROJECT_PATH -type f -name subdir.mk -exec cat {} \; | python3 $BASE_PATH/library_generation/extract_flags.py)
-RET_CODE=$?
 
-if [ $RET_CODE = "0" ]; then
+if [ $(MICROROS_USE_CUBEIDE) ]; then
+    export RET_CFLAGS=$(find $PROJECT_PATH -type f -name subdir.mk -exec cat {} \; | python3 $BASE_PATH/library_generation/extract_flags.py)
+else
+    # Use CubeMX approach
+    export RET_CFLAGS=$(cd $PROJECT_PATH && make print_cflags)
+fi
+
+if [ $RET_CFLAGS != "" ]; then
     echo "Found CFLAGS:"
     echo "-------------"
     echo $RET_CFLAGS
diff --git a/microros_static_library_ide/library_generation/toolchain.cmake.in b/library_generation/toolchain.cmake.in
similarity index 100%
rename from microros_static_library_ide/library_generation/toolchain.cmake.in
rename to library_generation/toolchain.cmake.in
diff --git a/microros_static_library/library_generation/colcon.meta b/microros_static_library/library_generation/colcon.meta
deleted file mode 100755
index 5bb8eff..0000000
--- a/microros_static_library/library_generation/colcon.meta
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-    "names": {
-        "tracetools": {
-            "cmake-args": [
-                "-DTRACETOOLS_DISABLED=ON",
-                "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
-            ]
-        },
-        "rosidl_typesupport": {
-            "cmake-args": [
-                "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON"
-            ]
-        },
-        "rcl": {
-            "cmake-args": [
-                "-DBUILD_TESTING=OFF",
-                "-DRCL_COMMAND_LINE_ENABLED=OFF",
-                "-DRCL_LOGGING_ENABLED=OFF"
-            ]
-        }, 
-        "rcutils": {
-            "cmake-args": [
-                "-DENABLE_TESTING=OFF",
-                "-DRCUTILS_NO_FILESYSTEM=ON",
-                "-DRCUTILS_NO_THREAD_SUPPORT=ON",
-                "-DRCUTILS_NO_64_ATOMIC=ON",
-                "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"
-            ]
-        },
-        "microxrcedds_client": {
-            "cmake-args": [
-                "-DUCLIENT_PIC=OFF",
-                "-DUCLIENT_PROFILE_UDP=OFF",
-                "-DUCLIENT_PROFILE_TCP=OFF",
-                "-DUCLIENT_PROFILE_DISCOVERY=OFF",
-                "-DUCLIENT_PROFILE_SERIAL=OFF",
-                "-UCLIENT_PROFILE_STREAM_FRAMING=ON",
-                "-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON"
-            ]
-        },
-        "rmw_microxrcedds": {
-            "cmake-args": [
-                "-DRMW_UXRCE_MAX_NODES=1",
-                "-DRMW_UXRCE_MAX_PUBLISHERS=10",
-                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=5",
-                "-DRMW_UXRCE_MAX_SERVICES=1",
-                "-DRMW_UXRCE_MAX_CLIENTS=1",
-                "-DRMW_UXRCE_MAX_HISTORY=4",
-                "-DRMW_UXRCE_TRANSPORT=custom"
-            ]
-        }
-    }
-}
diff --git a/microros_static_library/library_generation/library_generation.sh b/microros_static_library/library_generation/library_generation.sh
deleted file mode 100755
index 13f4ad4..0000000
--- a/microros_static_library/library_generation/library_generation.sh
+++ /dev/null
@@ -1,100 +0,0 @@
-#!/bin/bash
-set -e
-
-export BASE_PATH=/project/$MICROROS_LIBRARY_FOLDER
-
-######## Init ########
-
-apt update
-apt install -y gcc-arm-none-eabi
-
-cd /uros_ws
-
-source /opt/ros/$ROS_DISTRO/setup.bash
-source install/local_setup.bash
-
-ros2 run micro_ros_setup create_firmware_ws.sh generate_lib
-
-######## Adding extra packages ########
-pushd firmware/mcu_ws > /dev/null
-
-    # Workaround: Copy just tf2_msgs
-    git clone -b humble https://github.com/ros2/geometry2
-    cp -R geometry2/tf2_msgs ros2/tf2_msgs
-    rm -rf geometry2
-
-    # Import user defined packages
-    mkdir extra_packages
-    pushd extra_packages > /dev/null
-    	USER_CUSTOM_PACKAGES_DIR=$BASE_PATH/../../microros_component/extra_packages 
-    	if [ -d "$USER_CUSTOM_PACKAGES_DIR" ]; then
-    		cp -R $USER_CUSTOM_PACKAGES_DIR/* .
-		fi
-        if [ -f $USER_CUSTOM_PACKAGES_DIR/extra_packages.repos ]; then
-        	vcs import --input $USER_CUSTOM_PACKAGES_DIR/extra_packages.repos
-        fi
-        cp -R $BASE_PATH/library_generation/extra_packages/* .
-        vcs import --input extra_packages.repos
-    popd > /dev/null
-
-popd > /dev/null
-
-######## Trying to retrieve CFLAGS ########
-pushd /project > /dev/null
-export RET_CFLAGS=$(make print_cflags)
-RET_CODE=$?
-
-if [ $RET_CODE = "0" ]; then
-    echo "Found CFLAGS:"
-    echo "-------------"
-    echo $RET_CFLAGS
-    echo "-------------"
-    read -p "Do you want to continue with them? (y/n)" -n 1 -r
-    echo
-    if [[ $REPLY =~ ^[Yy]$ ]]
-    then
-        echo "Continuing..."
-    else
-        echo "Aborting"
-        exit 0;
-    fi
-else
-    echo "Please read README.md to update your Makefile"
-    exit 1;
-fi
-popd > /dev/null
-
-######## Build  ########
-export TOOLCHAIN_PREFIX=/usr/bin/arm-none-eabi-
-ros2 run micro_ros_setup build_firmware.sh $BASE_PATH/library_generation/toolchain.cmake $BASE_PATH/library_generation/colcon.meta
-
-find firmware/build/include/ -name "*.c"  -delete
-rm -rf $BASE_PATH/libmicroros
-mkdir -p $BASE_PATH/libmicroros/microros_include
-cp -R firmware/build/include/* $BASE_PATH/libmicroros/microros_include/
-cp -R firmware/build/libmicroros.a $BASE_PATH/libmicroros/libmicroros.a
-
-######## Fix include paths  ########
-pushd firmware/mcu_ws > /dev/null
-    INCLUDE_ROS2_PACKAGES=$(colcon list | awk '{print $1}' | awk -v d=" " '{s=(NR==1?s:s d)$0}END{print s}')
-popd > /dev/null
-
-for var in ${INCLUDE_ROS2_PACKAGES}; do
-    if [ -d "$BASE_PATH/libmicroros/microros_include/${var}/${var}" ]; then
-        rsync -r $BASE_PATH/libmicroros/microros_include/${var}/${var}/* $BASE_PATH/libmicroros/microros_include/${var}
-        rm -rf $BASE_PATH/libmicroros/microros_include/${var}/${var}
-    fi
-done
-
-######## Generate extra files ########
-find firmware/mcu_ws/ros2 \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' > $BASE_PATH/libmicroros/available_ros2_types
-find firmware/mcu_ws/extra_packages \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' >> $BASE_PATH/libmicroros/available_ros2_types
-
-cd firmware
-echo "" > $BASE_PATH/libmicroros/built_packages
-for f in $(find $(pwd) -name .git -type d); do pushd $f > /dev/null; echo $(git config --get remote.origin.url) $(git rev-parse HEAD) >> $BASE_PATH/libmicroros/built_packages; popd > /dev/null; done;
-
-######## Fix permissions ########
-sudo chmod -R 777 $BASE_PATH/libmicroros/
-sudo chmod -R 777 $BASE_PATH/libmicroros/microros_include/
-sudo chmod -R 777 $BASE_PATH/libmicroros/libmicroros.a
diff --git a/microros_static_library/library_generation/toolchain.cmake b/microros_static_library/library_generation/toolchain.cmake
deleted file mode 100755
index 731fe18..0000000
--- a/microros_static_library/library_generation/toolchain.cmake
+++ /dev/null
@@ -1,17 +0,0 @@
-SET(CMAKE_SYSTEM_NAME Generic)
-set(CMAKE_CROSSCOMPILING 1)
-set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
-
-set(CMAKE_C_COMPILER $ENV{TOOLCHAIN_PREFIX}gcc)
-set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++)
-
-SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
-SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
-
-set(FLAGS $ENV{RET_CFLAGS} CACHE STRING "" FORCE)
-set(MICROROSFLAGS "-DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
-
-set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} ${MICROROSFLAGS} " CACHE STRING "" FORCE)
-set(CMAKE_CXX_FLAGS_INIT "-std=c++14 ${FLAGS} -fno-rtti ${MICROROSFLAGS} " CACHE STRING "" FORCE)
-
-set(__BIG_ENDIAN__ 0)
diff --git a/microros_static_library_ide/library_generation/extra_packages/extra_packages.repos b/microros_static_library_ide/library_generation/extra_packages/extra_packages.repos
deleted file mode 100755
index 7ce2b93..0000000
--- a/microros_static_library_ide/library_generation/extra_packages/extra_packages.repos
+++ /dev/null
@@ -1,5 +0,0 @@
-repositories:
-  control_msgs:
-    type: git
-    url: https://github.com/ros-controls/control_msgs
-    version: foxy-devel
\ No newline at end of file

From 63926c47f971cb04fe1f999f839bace259f185de Mon Sep 17 00:00:00 2001
From: acuadros95 <acuadros1995@gmail.com>
Date: Tue, 14 Mar 2023 15:44:42 +0100
Subject: [PATCH 3/3] Update Readme

Signed-off-by: acuadros95 <acuadros1995@gmail.com>
---
 README.md | 71 ++++++++++++++++++++++++++++++++-----------------------
 1 file changed, 42 insertions(+), 29 deletions(-)

diff --git a/README.md b/README.md
index 317e18e..77503be 100644
--- a/README.md
+++ b/README.md
@@ -6,6 +6,7 @@
 This tool aims to ease the micro-ROS integration in a STM32CubeMX/IDE project.
 
 - [micro-ROS for STM32CubeMX/IDE](#micro-ros-for-stm32cubemxide)
+  - [Requirements](#requirements)
   - [Middlewares available](#middlewares-available)
   - [Using this package with STM32CubeMX](#using-this-package-with-stm32cubemx)
   - [Using this package with STM32CubeIDE](#using-this-package-with-stm32cubeide)
@@ -17,6 +18,16 @@ This tool aims to ease the micro-ROS integration in a STM32CubeMX/IDE project.
   - [Purpose of the Project](#purpose-of-the-project)
   - [License](#license)
   - [Known Issues/Limitations](#known-issueslimitations)
+
+## Requirements
+
+- Install `rsync`: `apt -y install rsync`
+- [Install colcon](https://colcon.readthedocs.io/en/released/user/installation.html) and dependencies, for example with:
+
+   ```bash
+   pip3 install colcon-common-extensions catkin_pkg lark-parser empy
+   ```
+
 ## Middlewares available
 
 This package support the usage of micro-ROS on top of two different middlewares:
@@ -31,43 +42,44 @@ This package support the usage of micro-ROS on top of two different middlewares:
 4. Configure the transport interface on the STM32CubeMX project, check the [Transport configuration](#Transport-configuration) section for instructions on the custom transports provided.
 5. Modify the generated `Makefile` to include the following code **before the `build the application` section**:
 
-<!-- # Removing heap4 manager while being polite with STM32CubeMX
-TMPVAR := $(C_SOURCES)
-C_SOURCES := $(filter-out Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c, $(TMPVAR)) -->
+   <!-- # Removing heap4 manager while being polite with STM32CubeMX
+   TMPVAR := $(C_SOURCES)
+   C_SOURCES := $(filter-out Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c, $(TMPVAR)) -->
 
-```makefile
-#######################################
-# micro-ROS addons
-#######################################
-LDFLAGS += micro_ros_stm32cubemx_utils/microros_static_library/libmicroros/libmicroros.a
-C_INCLUDES += -Imicro_ros_stm32cubemx_utils/microros_static_library/libmicroros/microros_include
+   <!-- TODO: Check how to fix flags here -->
 
-# Add micro-ROS utils
-C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/custom_memory_manager.c
-C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_allocators.c
-C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_time.c
+   ```makefile
+   #######################################
+   # micro-ROS addons
+   #######################################
+   LDFLAGS += micro_ros_stm32cubemx_utils/libmicroros/libmicroros.a
+   C_INCLUDES += -Imicro_ros_stm32cubemx_utils/libmicroros/include
 
-# Set here the custom transport implementation
-C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_transports/dma_transport.c
+   # Add micro-ROS utils
+   C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/custom_memory_manager.c
+   C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_allocators.c
+   C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_time.c
 
-print_cflags:
-	@echo $(CFLAGS)
-```
+   # Set here the custom transport implementation
+   C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_transports/usb_transport.c
+
+   print_cflags:
+      @echo $(CFLAGS)
+   ```
 
 6. Execute the static library generation tool. Compiler flags will retrieved automatically from your `Makefile` and user will be prompted to check if they are correct.
 
-<!-- TODO(acuadros95): Test with STM32CubeMX -->
-```bash
-docker pull microros/micro_ros_static_library_builder:humble
-docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library microros/micro_ros_static_library_builder:humble
-```
+   ```bash
+   ./micro_ros_stm32cubemx_utils/library_generation//library_generation.sh
+   ```
 
 1. Modify your `main.c` to use micro-ROS. An example application can be found in `sample_main.c`.
 2. Continue your usual workflow building your project and flashing the binary:
 
-```bash
-make -j$(nproc)
-```
+   ```bash
+   make -j$(nproc)
+   ```
+
 ## Using this package with STM32CubeIDE
 
 micro-ROS can be used with SMT32CubeIDE following these steps:
@@ -75,9 +87,9 @@ micro-ROS can be used with SMT32CubeIDE following these steps:
 1. Clone this repository in your STM32CubeIDE project folder
 2. Go to `Project -> Settings -> C/C++ Build -> Settings -> Build Steps Tab` and in `Pre-build steps` add:
 
-```bash
-cd ../micro_ros_stm32cubemx_utils/microros_static_library_ide/library_generation && ./library_generation.sh
-```
+   ```bash
+   ./micro_ros_stm32cubemx_utils/library_generation//library_generation.sh
+   ```
 
 3. Add micro-ROS include directory. In `Project -> Settings -> C/C++ Build -> Settings -> Tool Settings Tab -> MCU GCC Compiler -> Include paths` add `micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include`
 4. Add the micro-ROS precompiled library. In `Project -> Settings -> C/C++ Build -> Settings -> MCU GCC Linker -> Libraries`
@@ -91,6 +103,7 @@ cd ../micro_ros_stm32cubemx_utils/microros_static_library_ide/library_generation
 6. Make sure that if you are using FreeRTOS, the micro-ROS task **has more than 10 kB of stack**: [Detail](.images/Set_freertos_stack.jpg)
 7. Configure the transport interface on the STM32CubeMX project, check the [Transport configuration](#Transport-configuration) section for instructions on the custom transports provided.
 8. Build and run your project
+
 ## Transport configuration
 
 Available transport for this platform are: