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Move support to v2.7.x and v3.1.0 (backport #64) (#66)
* Move support to v2.7.x and v3.1.0 (#64) * Add v2.7.0 and v3.1.0 Signed-off-by: Pablo Garrido <[email protected]> Fix Signed-off-by: Pablo Garrido <[email protected]> Fix Signed-off-by: Pablo Garrido <[email protected]> Use ubuntu 20.04 Signed-off-by: Pablo Garrido <[email protected]> Update cmake Signed-off-by: Pablo Garrido <[email protected]> Fix env Signed-off-by: Pablo Garrido <[email protected]> Fix Signed-off-by: Pablo Garrido <[email protected]> Deprecate v2.4.0 Signed-off-by: Pablo Garrido <[email protected]> Update Signed-off-by: Pablo Garrido <[email protected]> Update Readme Signed-off-by: Pablo Garrido <[email protected]> Fix CMake Signed-off-by: Pablo Garrido <[email protected]> Update Signed-off-by: Pablo Garrido <[email protected]> * Revert "Add v2.7.0 and v3.1.0" This reverts commit 64370f1. * Initial Signed-off-by: Pablo Garrido <[email protected]> * Update Signed-off-by: Pablo Garrido <[email protected]> * Update Signed-off-by: Pablo Garrido <[email protected]> * Fix Signed-off-by: Pablo Garrido <[email protected]> * Move 2.7.2 to new ci Signed-off-by: Pablo Garrido <[email protected]> * Deprecate <v2.7 Signed-off-by: Pablo Garrido <[email protected]> * Readme Signed-off-by: Pablo Garrido <[email protected]> (cherry picked from commit 07797df) # Conflicts: # .github/workflows/nightly.yml * Fix Signed-off-by: Pablo Garrido <[email protected]> * Fix Signed-off-by: Pablo Garrido <[email protected]> Co-authored-by: Pablo Garrido <[email protected]>
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‎.github/workflows/ci.yml‎

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Original file line numberDiff line numberDiff line change
@@ -9,21 +9,18 @@ jobs:
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micro_ros_zephyr_module:
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runs-on: ubuntu-latest
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container: ubuntu:20.04
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container: ubuntu:22.04
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strategy:
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fail-fast: false
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matrix:
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zephyr_version: ["zephyr-v2.4.0", "zephyr-v2.5.0", "zephyr-v2.6.0"]
16+
zephyr_version: ["zephyr-v3.1.0", "zephyr-v2.7.2"]
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include:
18-
- zephyr_version: zephyr-v2.4.0
19-
zephyr_sdk: 0.11.4
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sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
21-
- zephyr_version: zephyr-v2.5.0
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zephyr_sdk: 0.11.4
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sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
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- zephyr_version: zephyr-v2.6.0
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zephyr_sdk: 0.12.4
26-
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-x86_64-linux-setup.run
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- zephyr_version: zephyr-v2.7.2
19+
zephyr_sdk: 0.14.2
20+
sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
21+
- zephyr_version: zephyr-v3.1.0
22+
zephyr_sdk: 0.14.2
23+
sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
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steps:
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- uses: actions/checkout@v2
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with:
@@ -34,8 +31,8 @@ jobs:
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run: |
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apt update
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export DEBIAN_FRONTEND=noninteractive
37-
apt install -y --no-install-recommends git cmake ninja-build gperf \
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ccache dfu-util device-tree-compiler wget curl gnupg2 \
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apt install -y --no-install-recommends wget git cmake ninja-build gperf \
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ccache dfu-util device-tree-compiler wget \
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python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
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make gcc gcc-multilib g++-multilib libsdl2-dev
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pip3 install --user -U west
@@ -52,15 +49,15 @@ jobs:
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export TOOLCHAIN_VERSION=${{ matrix.zephyr_sdk }}
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export TOOLCHAIN_FILE_NAME=${{ matrix.sdk_filename }}
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wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v$TOOLCHAIN_VERSION/$TOOLCHAIN_FILE_NAME
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chmod +x $TOOLCHAIN_FILE_NAME
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yes | ./$TOOLCHAIN_FILE_NAME -- -rc -y -d $(pwd)/zephyr-sdk || :
57-
rm -rf $TOOLCHAIN_FILE_NAME
52+
tar xvf $TOOLCHAIN_FILE_NAME
53+
cd zephyr-sdk-$TOOLCHAIN_VERSION
54+
./setup.sh -h -t arm-zephyr-eabi -c
55+
cd ..
56+
source zephyr-sdk-$TOOLCHAIN_VERSION/environment-setup-x86_64-pokysdk-linux
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export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
59-
export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk
58+
export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk-$TOOLCHAIN_VERSION
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source zephyrproject/zephyr/zephyr-env.sh
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# Installing micro-ROS prerequisites
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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
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# Building the app
6663
west build -b disco_l475_iot1 micro_ros_zephyr_module

‎.github/workflows/nightly.yml‎

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Original file line numberDiff line numberDiff line change
@@ -12,42 +12,37 @@ jobs:
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micro_ros_zephyr_module:
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runs-on: ubuntu-latest
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container: ubuntu:20.04
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container: ubuntu:22.04
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strategy:
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fail-fast: false
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matrix:
19-
zephyr_version: ["zephyr-v2.4.0", "zephyr-v2.5.0", "zephyr-v2.6.0"]
20-
distro: ["foxy", "rolling", "galactic", "humble"]
19+
zephyr_version: ["zephyr-v3.1.0", "zephyr-v2.7.2"]
20+
distro: ["foxy", "humble", "rolling"]
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include:
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- distro: foxy
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branch: foxy
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- distro: rolling
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branch: main
26-
- distro: galactic
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branch: galactic
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- distro: humble
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branch: humble
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- zephyr_version: zephyr-v2.4.0
31-
zephyr_sdk: 0.11.4
32-
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
33-
- zephyr_version: zephyr-v2.5.0
34-
zephyr_sdk: 0.11.4
35-
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
36-
- zephyr_version: zephyr-v2.6.0
37-
zephyr_sdk: 0.12.4
38-
sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-x86_64-linux-setup.run
28+
- zephyr_version: zephyr-v2.7.2
29+
zephyr_sdk: 0.14.2
30+
sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
31+
- zephyr_version: zephyr-v3.1.0
32+
zephyr_sdk: 0.14.2
33+
sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION_linux-x86_64_minimal.tar.gz
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steps:
4035
- uses: actions/checkout@v2
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with:
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path: micro_ros_zephyr_module
43-
ref: ${{ matrix.branch }}
38+
4439
- name: Dependencies
4540
shell: bash
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run: |
4742
apt update
4843
export DEBIAN_FRONTEND=noninteractive
49-
apt install -y --no-install-recommends git cmake ninja-build gperf \
50-
ccache dfu-util device-tree-compiler wget curl gnupg2 \
44+
apt install -y --no-install-recommends wget git cmake ninja-build gperf \
45+
ccache dfu-util device-tree-compiler wget \
5146
python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
5247
make gcc gcc-multilib g++-multilib libsdl2-dev
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pip3 install --user -U west
@@ -64,15 +59,15 @@ jobs:
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export TOOLCHAIN_VERSION=${{ matrix.zephyr_sdk }}
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export TOOLCHAIN_FILE_NAME=${{ matrix.sdk_filename }}
6661
wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v$TOOLCHAIN_VERSION/$TOOLCHAIN_FILE_NAME
67-
chmod +x $TOOLCHAIN_FILE_NAME
68-
yes | ./$TOOLCHAIN_FILE_NAME -- -rc -y -d $(pwd)/zephyr-sdk || :
69-
rm -rf $TOOLCHAIN_FILE_NAME
62+
tar xvf $TOOLCHAIN_FILE_NAME
63+
cd zephyr-sdk-$TOOLCHAIN_VERSION
64+
./setup.sh -h -t arm-zephyr-eabi -c
65+
cd ..
66+
source zephyr-sdk-$TOOLCHAIN_VERSION/environment-setup-x86_64-pokysdk-linux
7067
export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
71-
export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk
68+
export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk-$TOOLCHAIN_VERSION
7269
source zephyrproject/zephyr/zephyr-env.sh
7370
# Installing micro-ROS prerequisites
7471
pip3 install catkin_pkg lark-parser empy colcon-common-extensions
75-
# 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
76-
pip3 install --upgrade Sphinx
7772
# Building the app
7873
west build -b disco_l475_iot1 micro_ros_zephyr_module

‎README.md‎

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@@ -3,7 +3,7 @@
33

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# micro-ROS module for Zephyr
55

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).
6+
This module has been tested in Zephyr RTOS v2.7.0 (SDK 0.14.2) and v3.1.0 (SDK 0.14.2).
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## Dependencies
99

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

Lines changed: 7 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@ char uart_out_buffer[RING_BUF_SIZE];
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struct ring_buf out_ringbuf, in_ringbuf;
2424

25-
static void uart_fifo_callback(struct device *dev){
25+
static void uart_fifo_callback(const struct device *dev, void * user_data){
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(struct device *dev){
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

@@ -58,6 +58,7 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
5858
int ret;
5959
uint32_t baudrate, dtr = 0U;
6060

61+
6162
params->uart_dev = device_get_binding("CDC_ACM_0");
6263
if (!params->uart_dev) {
6364
printk("CDC ACM device not found\n");
@@ -116,6 +117,7 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
116117

117118
bool zephyr_transport_close(struct uxrCustomTransport * transport){
118119
zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
120+
(void) params;
119121

120122
return true;
121123
}
@@ -124,15 +126,15 @@ size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_
124126
zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
125127

126128
size_t wrote;
127-
129+
128130
wrote = ring_buf_put(&out_ringbuf, buf, len);
129-
131+
130132
uart_irq_tx_enable(params->uart_dev);
131133

132134
while (!ring_buf_is_empty(&out_ringbuf)){
133135
k_sleep(K_MSEC(5));
134136
}
135-
137+
136138
return wrote;
137139
}
138140

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

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@@ -26,7 +26,7 @@ extern "C"
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typedef struct {
2828
size_t fd;
29-
struct device *uart_dev;
29+
const struct device *uart_dev;
3030
} zephyr_transport_params_t;
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#define MICRO_ROS_FRAMING_REQUIRED true

‎modules/libmicroros/zephyr_toolchain.cmake.in‎

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Original file line numberDiff line numberDiff line change
@@ -26,7 +26,7 @@ SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
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set(CMAKE_C_COMPILER @CMAKE_C_COMPILER@)
2727
set(CMAKE_CXX_COMPILER @CMAKE_CXX_COMPILER@)
2828

29-
set(CMAKE_C_FLAGS_INIT "@CFLAGS@" CACHE STRING "" FORCE)
30-
set(CMAKE_CXX_FLAGS_INIT "@CXXFLAGS@" CACHE STRING "" FORCE)
29+
set(CMAKE_C_FLAGS_INIT "@CFLAGS@ -DCLOCK_MONOTONIC=0" CACHE STRING "" FORCE)
30+
set(CMAKE_CXX_FLAGS_INIT "@CXXFLAGS@ -DCLOCK_MONOTONIC=0" CACHE STRING "" FORCE)
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set(__BIG_ENDIAN__ 0)

‎prj.conf‎

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@@ -9,12 +9,10 @@ CONFIG_NEWLIB_LIBC_NANO=n
99
CONFIG_PTHREAD_IPC=n
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1111
CONFIG_POSIX_API=y
12-
CONFIG_NATIVE_POSIX_TIMER=y
1312
CONFIG_APP_LINK_WITH_POSIX_SUBSYS=y
1413
CONFIG_POSIX_CLOCK=y
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1615
CONFIG_STDOUT_CONSOLE=y
17-
CONFIG_USB=y
1816
CONFIG_USB_DEVICE_STACK=y
1917
CONFIG_USB_DEVICE_PRODUCT="Zephyr micro-ROS"
2018
CONFIG_LOG=y

‎src/main.c‎

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Original file line numberDiff line numberDiff line change
@@ -43,12 +43,8 @@ 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-
5046
// create init_options
51-
RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
47+
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
5248

5349
// create node
5450
rcl_node_t node;

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