system/microros: Add UDP and serial custom transports with publisher example

examples/microros_pub/CMakeLists.txt

@@ -0,0 +1,35 @@
+# ##############################################################################
+# apps/examples/microros_pub/CMakeLists.txt
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more contributor
+# license agreements.  See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership.  The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License.  You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+# ##############################################################################
+
+if(CONFIG_EXAMPLES_MICROROS_PUB)
+  nuttx_add_application(
+    NAME
+    ${CONFIG_EXAMPLES_MICROROS_PUB_PROGNAME}
+    SRCS
+    microros_pub_main.c
+    STACKSIZE
+    ${CONFIG_EXAMPLES_MICROROS_PUB_STACKSIZE}
+    PRIORITY
+    ${CONFIG_EXAMPLES_MICROROS_PUB_PRIORITY}
+    DEPENDS
+    microros_transport)
+endif()

examples/microros_pub/Kconfig

@@ -0,0 +1,30 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_MICROROS_PUB
+	tristate "micro-ROS int32 publisher example"
+	default n
+	depends on SYSTEM_MICROROS
+	---help---
+		Minimal micro-ROS publisher that creates a node and publishes
+		an std_msgs/Int32 every second on the topic /nuttx_pub.  Used
+		to validate the NuttX-native transport layer end-to-end with
+		a micro-ROS agent.
+
+if EXAMPLES_MICROROS_PUB
+
+config EXAMPLES_MICROROS_PUB_PROGNAME
+	string "Program name"
+	default "microros_pub"
+
+config EXAMPLES_MICROROS_PUB_PRIORITY
+	int "micro-ROS pub task priority"
+	default 100
+
+config EXAMPLES_MICROROS_PUB_STACKSIZE
+	int "micro-ROS pub stack size"
+	default 8192
+
+endif

examples/microros_pub/Make.defs

@@ -0,0 +1,25 @@
+############################################################################
+# apps/examples/microros_pub/Make.defs
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_MICROROS_PUB),)
+CONFIGURED_APPS += $(APPDIR)/examples/microros_pub
+endif

examples/microros_pub/Makefile

@@ -0,0 +1,32 @@
+############################################################################
+# apps/examples/microros_pub/Makefile
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(APPDIR)/Make.defs
+
+PROGNAME  = $(CONFIG_EXAMPLES_MICROROS_PUB_PROGNAME)
+PRIORITY  = $(CONFIG_EXAMPLES_MICROROS_PUB_PRIORITY)
+STACKSIZE = $(CONFIG_EXAMPLES_MICROROS_PUB_STACKSIZE)
+MODULE    = $(CONFIG_EXAMPLES_MICROROS_PUB)
+
+MAINSRC = microros_pub_main.c
+
+include $(APPDIR)/Application.mk

examples/microros_pub/microros_pub_main.c

@@ -0,0 +1,109 @@
+/****************************************************************************
+ * apps/examples/microros_pub/microros_pub_main.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <unistd.h>
+
+#include <rcl/rcl.h>
+#include <rcl/error_handling.h>
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+#include <std_msgs/msg/int32.h>
+
+#include <system/microros_transport.h>
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int main(int argc, FAR char *argv[])
+{
+  rcl_publisher_t       publisher;
+  std_msgs__msg__Int32  msg;
+  rcl_allocator_t       allocator;
+  rclc_support_t        support;
+  rcl_node_t            node;
+  int                   i;
+
+  printf("microros_pub: starting\n");
+
+  if (microros_transport_init() != 0)
+    {
+      printf("microros_pub: transport init failed\n");
+      return 1;
+    }
+
+  allocator = rcl_get_default_allocator();
+
+  if (rclc_support_init(&support, 0, NULL, &allocator) != RCL_RET_OK)
+    {
+      printf("microros_pub: rclc_support_init failed\n");
+      return 1;
+    }
+
+  if (rclc_node_init_default(&node, "nuttx_node", "", &support)
+      != RCL_RET_OK)
+    {
+      printf("microros_pub: node init failed\n");
+      return 1;
+    }
+
+  if (rclc_publisher_init_default(
+        &publisher,
+        &node,
+        ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+        "nuttx_pub") != RCL_RET_OK)
+    {
+      printf("microros_pub: publisher init failed\n");
+      return 1;
+    }
+
+  msg.data = 0;
+
+  for (i = 0; i < 30; i++)
+    {
+      if (rcl_publish(&publisher, &msg, NULL) == RCL_RET_OK)
+        {
+          printf("microros_pub: sent %d\n", (int)msg.data);
+        }
+      else
+        {
+          printf("microros_pub: publish failed\n");
+        }
+
+      msg.data++;
+      sleep(1);
+    }
+
+  rcl_publisher_fini(&publisher, &node);
+  rcl_node_fini(&node);
+  rclc_support_fini(&support);
+
+  printf("microros_pub: done\n");
+  return 0;
+}

include/system/microros_transport.h

@@ -0,0 +1,50 @@
+/****************************************************************************
+ * apps/include/system/microros_transport.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_INCLUDE_SYSTEM_MICROROS_TRANSPORT_H
+#define __APPS_INCLUDE_SYSTEM_MICROROS_TRANSPORT_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/* microros_transport_init
+ *
+ * Register the NuttX-native transport (UDP or Serial, selected by Kconfig)
+ * with the rmw_microxrcedds layer.  Must be called once before
+ * rclc_support_init().
+ *
+ * Returns 0 on success, negated errno on failure.
+ */
+
+int microros_transport_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __APPS_INCLUDE_SYSTEM_MICROROS_TRANSPORT_H */

system/microros/CMakeLists.txt

@@ -44,4 +44,24 @@ if(CONFIG_SYSTEM_MICROROS)
     microros PROPERTIES IMPORTED_LOCATION ${MICROROS_DIR}/libmicroros.a
                         INTERFACE_INCLUDE_DIRECTORIES ${MICROROS_DIR}/include)
   add_dependencies(microros microros_build)
+
+  # Transport glue compiled into the apps tree
+  set(MICROROS_TRANSPORT_SRCS ${MICROROS_DIR}/transport/microros_transport.c)
+
+  if(CONFIG_MICROROS_TRANSPORT_UDP)
+    list(APPEND MICROROS_TRANSPORT_SRCS
+         ${MICROROS_DIR}/transport/microros_transport_udp.c)
+  endif()
+
+  if(CONFIG_MICROROS_TRANSPORT_SERIAL)
+    list(APPEND MICROROS_TRANSPORT_SRCS
+         ${MICROROS_DIR}/transport/microros_transport_serial.c)
+  endif()
+
+  nuttx_add_library(microros_transport STATIC)
+  target_sources(microros_transport PRIVATE ${MICROROS_TRANSPORT_SRCS})
+  target_include_directories(microros_transport
+                             PRIVATE ${MICROROS_DIR}/transport)
+  target_include_directories(microros_transport PUBLIC ${MICROROS_DIR}/include)
+  add_dependencies(microros_transport microros_build)
 endif()

system/microros/Make.defs

@@ -23,8 +23,10 @@
 ifneq ($(CONFIG_SYSTEM_MICROROS),)
 CONFIGURED_APPS += $(APPDIR)/system/microros
 
-CFLAGS   += ${INCDIR_PREFIX}$(APPDIR)/system/microros/include
-CXXFLAGS += ${INCDIR_PREFIX}$(APPDIR)/system/microros/include
+MICROROS_INC_DIRS := $(APPDIR)/system/microros/include \
+                     $(wildcard $(APPDIR)/system/microros/include/*)
+CFLAGS   += $(foreach d,$(MICROROS_INC_DIRS),${INCDIR_PREFIX}$(d))
+CXXFLAGS += $(foreach d,$(MICROROS_INC_DIRS),${INCDIR_PREFIX}$(d))
 
-LDLIBS   += $(APPDIR)/system/microros/libmicroros.a
+EXTRA_LIBS += $(APPDIR)/system/microros/libmicroros.a
 endif

system/microros/Makefile

@@ -25,7 +25,7 @@ include $(APPDIR)/Make.defs
 MICROROS_DIR     := $(APPDIR)/system/microros
 MICROROS_LIB_DIR := $(MICROROS_DIR)/micro_ros_lib
 MICROROS_DISTRO  := $(patsubst "%",%,$(CONFIG_MICROROS_DISTRO))
-MICROROS_AR      := $(CROSSDEV)ar
+MICROROS_AR      := $(firstword $(AR))
 
 MAX_NODES   := $(CONFIG_MICROROS_MAX_NODES)
 MAX_PUB     := $(CONFIG_MICROROS_MAX_PUBLISHERS)
@@ -44,6 +44,18 @@ ESCAPED_CXXFLAGS := $(subst /,\/,$(subst ",,$(CXXFLAGS)))
 
 MENUDESC = "micro-ROS Library"
 
+# Transport sources compiled into the user-side app library
+
+CSRCS += transport/microros_transport.c
+
+ifeq ($(CONFIG_MICROROS_TRANSPORT_UDP),y)
+CSRCS += transport/microros_transport_udp.c
+endif
+
+ifeq ($(CONFIG_MICROROS_TRANSPORT_SERIAL),y)
+CSRCS += transport/microros_transport_serial.c
+endif
+
 # Architecture for CMake toolchain
 ifeq ($(CONFIG_ARCH_ARM),y)
 MICROROS_ARCH := arm

system/microros/micro_ros_lib/toolchain.cmake.in

@@ -9,8 +9,8 @@ set(PLATFORM_NAME "nuttx")
 set(CMAKE_C_COMPILER @CMAKE_C_COMPILER@)
 set(CMAKE_CXX_COMPILER @CMAKE_CXX_COMPILER@)
 
-set(CMAKE_C_FLAGS_INIT "-std=c11 @ARCH_C_FLAGS@ -D__NuttX__ -D'__attribute__(x)='" CACHE STRING "" FORCE)
-set(CMAKE_CXX_FLAGS_INIT "-std=c++14 @ARCH_CPP_FLAGS@ -fno-rtti -D__NuttX__ -D'__attribute__(x)='" CACHE STRING "" FORCE)
+set(CMAKE_C_FLAGS_INIT "-std=c11 @ARCH_C_FLAGS@ -D__NuttX__" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_INIT "-std=c++14 @ARCH_CPP_FLAGS@ -fno-rtti -D__NuttX__" CACHE STRING "" FORCE)
 
 set(NUTTX_TOPDIR @NUTTX_TOPDIR@)
 set(NUTTX_APPDIR @NUTTX_APPDIR@)