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Revert "Add v2.7.0 and v3.1.0"
This reverts commit 64370f1.
1 parent 64370f1 commit aa6bfba

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‎.github/workflows/ci.yml‎

Lines changed: 8 additions & 58 deletions
Original file line numberDiff line numberDiff line change
@@ -9,21 +9,21 @@ jobs:
99

1010
micro_ros_zephyr_module:
1111
runs-on: ubuntu-latest
12-
container: ubuntu:22.04
12+
container: ubuntu:20.04
1313
strategy:
1414
fail-fast: false
1515
matrix:
16-
zephyr_version: ["zephyr-v2.5.0", "zephyr-v2.6.0", "zephyr-v2.7.2"]
16+
zephyr_version: ["zephyr-v2.4.0", "zephyr-v2.5.0", "zephyr-v2.6.0"]
1717
include:
18+
- zephyr_version: zephyr-v2.4.0
19+
zephyr_sdk: 0.11.4
20+
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
1821
- zephyr_version: zephyr-v2.5.0
1922
zephyr_sdk: 0.11.4
2023
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
2124
- zephyr_version: zephyr-v2.6.0
2225
zephyr_sdk: 0.12.4
2326
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-x86_64-linux-setup.run
24-
- zephyr_version: zephyr-v2.7.2
25-
zephyr_sdk: 0.13.1
26-
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-linux-x86_64-setup.run
2727
steps:
2828
- uses: actions/checkout@v2
2929
with:
@@ -34,7 +34,7 @@ jobs:
3434
run: |
3535
apt update
3636
export DEBIAN_FRONTEND=noninteractive
37-
apt install -y --no-install-recommends wget git cmake ninja-build gperf \
37+
apt install -y --no-install-recommends git cmake ninja-build gperf \
3838
ccache dfu-util device-tree-compiler wget curl gnupg2 \
3939
python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
4040
make gcc gcc-multilib g++-multilib libsdl2-dev
@@ -60,57 +60,7 @@ jobs:
6060
source zephyrproject/zephyr/zephyr-env.sh
6161
# Installing micro-ROS prerequisites
6262
pip3 install catkin_pkg lark-parser empy colcon-common-extensions
63-
# Building the app
64-
west build -b disco_l475_iot1 micro_ros_zephyr_module
65-
66-
micro_ros_zephyr_module_v3:
67-
runs-on: ubuntu-latest
68-
container: ubuntu:22.04
69-
strategy:
70-
fail-fast: false
71-
matrix:
72-
zephyr_version: ["zephyr-v3.1.0"]
73-
include:
74-
- zephyr_version: zephyr-v3.1.0
75-
zephyr_sdk: 0.14.2
76-
sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
77-
steps:
78-
- uses: actions/checkout@v2
79-
with:
80-
path: micro_ros_zephyr_module
81-
82-
- name: Dependencies
83-
shell: bash
84-
run: |
85-
apt update
86-
export DEBIAN_FRONTEND=noninteractive
87-
apt install -y --no-install-recommends wget git cmake ninja-build gperf \
88-
ccache dfu-util device-tree-compiler wget \
89-
python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
90-
make gcc gcc-multilib g++-multilib libsdl2-dev
91-
pip3 install --user -U west
92-
export PATH=~/.local/bin:/github/home/.local/bin:"$PATH"
93-
west init zephyrproject
94-
cd zephyrproject
95-
cd zephyr
96-
git checkout ${{ matrix.zephyr_version }}
97-
cd ..
98-
west update
99-
west zephyr-export
100-
pip3 install --user -r zephyr/scripts/requirements.txt
101-
cd ..
102-
export TOOLCHAIN_VERSION=${{ matrix.zephyr_sdk }}
103-
export TOOLCHAIN_FILE_NAME=${{ matrix.sdk_filename }}
104-
wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v$TOOLCHAIN_VERSION/$TOOLCHAIN_FILE_NAME
105-
tar xvf $TOOLCHAIN_FILE_NAME
106-
cd zephyr-sdk-$TOOLCHAIN_VERSION
107-
./setup.sh -h -t arm-zephyr-eabi -c
108-
cd ..
109-
source zephyr-sdk-$TOOLCHAIN_VERSION/environment-setup-x86_64-pokysdk-linux
110-
export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
111-
export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk-$TOOLCHAIN_VERSION
112-
source zephyrproject/zephyr/zephyr-env.sh
113-
# Installing micro-ROS prerequisites
114-
pip3 install catkin_pkg lark-parser empy colcon-common-extensions
63+
# 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
64+
pip3 install --upgrade Sphinx
11565
# Building the app
11666
west build -b disco_l475_iot1 micro_ros_zephyr_module

‎.github/workflows/nightly.yml‎

Lines changed: 9 additions & 68 deletions
Original file line numberDiff line numberDiff line change
@@ -12,28 +12,26 @@ jobs:
1212

1313
micro_ros_zephyr_module:
1414
runs-on: ubuntu-latest
15-
container: ubuntu:22.04
15+
container: ubuntu:20.04
1616
strategy:
1717
fail-fast: false
1818
matrix:
19-
zephyr_version: ["zephyr-v2.5.0", "zephyr-v2.6.0", "zephyr-v2.7.2"]
20-
distro: ["foxy", "humble", "rolling"]
19+
zephyr_version: ["zephyr-v2.4.0", "zephyr-v2.5.0", "zephyr-v2.6.0"]
20+
distro: ["foxy", "rolling"]
2121
include:
2222
- distro: foxy
2323
branch: foxy
2424
- distro: rolling
2525
branch: main
26-
- distro: humble
27-
branch: humble
26+
- zephyr_version: zephyr-v2.4.0
27+
zephyr_sdk: 0.11.4
28+
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
2829
- zephyr_version: zephyr-v2.5.0
2930
zephyr_sdk: 0.11.4
3031
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
3132
- zephyr_version: zephyr-v2.6.0
3233
zephyr_sdk: 0.12.4
3334
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-x86_64-linux-setup.run
34-
- zephyr_version: zephyr-v2.7.2
35-
zephyr_sdk: 0.13.1
36-
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-linux-x86_64-setup.run
3735
steps:
3836
- uses: actions/checkout@v2
3937
with:
@@ -44,7 +42,7 @@ jobs:
4442
run: |
4543
apt update
4644
export DEBIAN_FRONTEND=noninteractive
47-
apt install -y --no-install-recommends wget git cmake ninja-build gperf \
45+
apt install -y --no-install-recommends git cmake ninja-build gperf \
4846
ccache dfu-util device-tree-compiler wget curl gnupg2 \
4947
python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
5048
make gcc gcc-multilib g++-multilib libsdl2-dev
@@ -70,64 +68,7 @@ jobs:
7068
source zephyrproject/zephyr/zephyr-env.sh
7169
# Installing micro-ROS prerequisites
7270
pip3 install catkin_pkg lark-parser empy colcon-common-extensions
73-
# Building the app
74-
west build -b disco_l475_iot1 micro_ros_zephyr_module
75-
76-
micro_ros_zephyr_module_v3:
77-
runs-on: ubuntu-latest
78-
container: ubuntu:22.04
79-
strategy:
80-
fail-fast: false
81-
matrix:
82-
zephyr_version: ["zephyr-v3.1.0"]
83-
distro: ["foxy", "humble", "rolling"]
84-
include:
85-
- distro: foxy
86-
branch: foxy
87-
- distro: rolling
88-
branch: main
89-
- distro: humble
90-
branch: humble
91-
- zephyr_version: zephyr-v3.1.0
92-
zephyr_sdk: 0.14.2
93-
sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION_linux-x86_64_minimal.tar.gz
94-
steps:
95-
- uses: actions/checkout@v2
96-
with:
97-
path: micro_ros_zephyr_module
98-
99-
- name: Dependencies
100-
shell: bash
101-
run: |
102-
apt update
103-
export DEBIAN_FRONTEND=noninteractive
104-
apt install -y --no-install-recommends wget git cmake ninja-build gperf \
105-
ccache dfu-util device-tree-compiler wget \
106-
python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
107-
make gcc gcc-multilib g++-multilib libsdl2-dev
108-
pip3 install --user -U west
109-
export PATH=~/.local/bin:/github/home/.local/bin:"$PATH"
110-
west init zephyrproject
111-
cd zephyrproject
112-
cd zephyr
113-
git checkout ${{ matrix.zephyr_version }}
114-
cd ..
115-
west update
116-
west zephyr-export
117-
pip3 install --user -r zephyr/scripts/requirements.txt
118-
cd ..
119-
export TOOLCHAIN_VERSION=${{ matrix.zephyr_sdk }}
120-
export TOOLCHAIN_FILE_NAME=${{ matrix.sdk_filename }}
121-
wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v$TOOLCHAIN_VERSION/$TOOLCHAIN_FILE_NAME
122-
tar xvf $TOOLCHAIN_FILE_NAME
123-
cd zephyr-sdk-$TOOLCHAIN_VERSION
124-
./setup.sh -h -t arm-zephyr-eabi -c
125-
cd ..
126-
source zephyr-sdk-$TOOLCHAIN_VERSION/environment-setup-x86_64-pokysdk-linux
127-
export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
128-
export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk-$TOOLCHAIN_VERSION
129-
source zephyrproject/zephyr/zephyr-env.sh
130-
# Installing micro-ROS prerequisites
131-
pip3 install catkin_pkg lark-parser empy colcon-common-extensions
71+
# 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
72+
pip3 install --upgrade Sphinx
13273
# Building the app
13374
west build -b disco_l475_iot1 micro_ros_zephyr_module

‎README.md‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
33

44
# micro-ROS module for Zephyr
55

6-
This module has been tested in Zephyr RTOS v2.5.0 (SDK 0.11.4), v2.6.0 (SDK 0.12.4), v2.7.0 (SDK 0.13.1) and v3.1.0 (SDK 0.14.2).
6+
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).
77

88
## Dependencies
99

‎modules/libmicroros/microros_transports/serial-usb/microros_transports.c‎

Lines changed: 7 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@ char uart_out_buffer[RING_BUF_SIZE];
2222

2323
struct ring_buf out_ringbuf, in_ringbuf;
2424

25-
static void uart_fifo_callback(const struct device *dev, void * user_data){
25+
static void uart_fifo_callback(struct device *dev){
2626
while (uart_irq_update(dev) && uart_irq_is_pending(dev)) {
2727
if (uart_irq_rx_ready(dev)) {
2828
int recv_len;
@@ -36,7 +36,7 @@ static void uart_fifo_callback(const struct device *dev, void * user_data){
3636

3737
}
3838

39-
if (uart_irq_tx_ready(dev)) {
39+
if (uart_irq_tx_ready(dev)) {
4040
char buffer[64];
4141
int rb_len;
4242

@@ -58,15 +58,12 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
5858
int ret;
5959
uint32_t baudrate, dtr = 0U;
6060

61-
62-
// params->uart_dev = device_get_binding("CDC_ACM_0");
63-
params->uart_dev = DEVICE_DT_GET_ONE(zephyr_cdc_acm_uart);
64-
printk("uart_dev: %p\n", params->uart_dev);
61+
params->uart_dev = device_get_binding("CDC_ACM_0");
6562
if (!params->uart_dev) {
6663
printk("CDC ACM device not found\n");
6764
return false;
6865
}
69-
printk("CDC ACM device found: ready: %d\n", device_is_ready(params->uart_dev));
66+
7067
ret = usb_enable(NULL);
7168
if (ret != 0) {
7269
printk("Failed to enable USB\n");
@@ -119,7 +116,6 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
119116

120117
bool zephyr_transport_close(struct uxrCustomTransport * transport){
121118
zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
122-
(void) params;
123119

124120
return true;
125121
}
@@ -128,15 +124,15 @@ size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_
128124
zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
129125

130126
size_t wrote;
131-
127+
132128
wrote = ring_buf_put(&out_ringbuf, buf, len);
133-
129+
134130
uart_irq_tx_enable(params->uart_dev);
135131

136132
while (!ring_buf_is_empty(&out_ringbuf)){
137133
k_sleep(K_MSEC(5));
138134
}
139-
135+
140136
return wrote;
141137
}
142138

‎modules/libmicroros/microros_transports/serial-usb/microros_transports.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -26,7 +26,7 @@ extern "C"
2626

2727
typedef struct {
2828
size_t fd;
29-
const struct device *uart_dev;
29+
struct device *uart_dev;
3030
} zephyr_transport_params_t;
3131

3232
#define MICRO_ROS_FRAMING_REQUIRED true

‎prj.conf‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -9,10 +9,12 @@ CONFIG_NEWLIB_LIBC_NANO=n
99
CONFIG_PTHREAD_IPC=n
1010

1111
CONFIG_POSIX_API=y
12+
CONFIG_NATIVE_POSIX_TIMER=y
1213
CONFIG_APP_LINK_WITH_POSIX_SUBSYS=y
1314
CONFIG_POSIX_CLOCK=y
1415

1516
CONFIG_STDOUT_CONSOLE=y
17+
CONFIG_USB=y
1618
CONFIG_USB_DEVICE_STACK=y
1719
CONFIG_USB_DEVICE_PRODUCT="Zephyr micro-ROS"
1820
CONFIG_LOG=y

‎src/main.c‎

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -43,8 +43,12 @@ void main(void)
4343
rcl_allocator_t allocator = rcl_get_default_allocator();
4444
rclc_support_t support;
4545

46+
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
47+
RCCHECK(rcl_init_options_init(&init_options, allocator));
48+
rmw_init_options_t* rmw_options = rcl_init_options_get_rmw_init_options(&init_options);
49+
4650
// create init_options
47-
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
51+
RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
4852

4953
// create node
5054
rcl_node_t node;

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