diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml old mode 100755 new mode 100644 index 34ab831..4f7c599 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -1,71 +1,48 @@ name: CI on: + workflow_dispatch: + inputs: + name: + description: "Manual trigger" pull_request: - branches: - - '**' + branches: ["rolling", "jazzy", "humble"] jobs: micro_ros_zephyr_module: runs-on: ubuntu-latest - container: ubuntu:22.04 + container: + image: zephyrprojectrtos/ci:v0.26.17 + options: --user root + env: + CMAKE_PREFIX_PATH: /opt/toolchains strategy: fail-fast: false matrix: - zephyr_version: ["zephyr-v3.1.0", "zephyr-v2.7.2"] - include: - - zephyr_version: zephyr-v2.7.2 - zephyr_sdk: 0.14.2 - sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz - - zephyr_version: zephyr-v3.1.0 - zephyr_sdk: 0.14.2 - sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz + zephyr_version: ["v4.0.0", "v4.1.0"] steps: - - uses: actions/checkout@v2 + - uses: actions/checkout@v4 with: path: micro_ros_zephyr_module - name: Build shell: bash run: | - # Install dependencies - apt update - export DEBIAN_FRONTEND=noninteractive - apt install -y --no-install-recommends wget git cmake ninja-build gperf \ - ccache dfu-util device-tree-compiler wget \ - python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \ - make gcc gcc-multilib g++-multilib libsdl2-dev - - # Install Zephyr environment - pip3 install --user -U west - export PATH=~/.local/bin:/github/home/.local/bin:"$PATH" - west init zephyrproject - cd zephyrproject + # Zephyr setup + apt -y update + west init cd zephyr git checkout ${{ matrix.zephyr_version }} cd .. - west update - west zephyr-export - pip3 install --user -r zephyr/scripts/requirements.txt - cd .. - export TOOLCHAIN_VERSION=${{ matrix.zephyr_sdk }} - export TOOLCHAIN_FILE_NAME=${{ matrix.sdk_filename }} - wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v$TOOLCHAIN_VERSION/$TOOLCHAIN_FILE_NAME - tar xvf $TOOLCHAIN_FILE_NAME - cd zephyr-sdk-$TOOLCHAIN_VERSION - ./setup.sh -h -t arm-zephyr-eabi -c - cd .. - source zephyr-sdk-$TOOLCHAIN_VERSION/environment-setup-x86_64-pokysdk-linux - export ZEPHYR_TOOLCHAIN_VARIANT=zephyr - export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk-$TOOLCHAIN_VERSION - source zephyrproject/zephyr/zephyr-env.sh + west update --narrow # Installing micro-ROS prerequisites pip3 install catkin_pkg lark-parser empy colcon-common-extensions # Build with Serial USB transport - west build -b disco_l475_iot1 micro_ros_zephyr_module -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y + west build -b disco_l475_iot1 $GITHUB_WORKSPACE/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y # Build with Serial transport - west build -b disco_l475_iot1 micro_ros_zephyr_module -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y + west build -b disco_l475_iot1 $GITHUB_WORKSPACE/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y + diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml index 6bab7f5..00b88c4 100644 --- a/.github/workflows/nightly.yml +++ b/.github/workflows/nightly.yml @@ -10,75 +10,47 @@ on: jobs: - micro_ros_zephyr_module: + nightly_micro_ros_zephyr_module: runs-on: ubuntu-latest - container: ubuntu:22.04 + container: + image: zephyrprojectrtos/ci:v0.26.17 + options: --user root + env: + CMAKE_PREFIX_PATH: /opt/toolchains strategy: fail-fast: false matrix: - zephyr_version: ["zephyr-v3.1.0", "zephyr-v2.7.2"] - distro: ["iron", "humble", "rolling", "jazzy"] + zephyr_version: ["v4.0.0", "v4.1.0"] + distro: ["rolling", "jazzy", "humble"] include: - - distro: iron - branch: iron - distro: rolling branch: rolling - - distro: humble - branch: humble - distro: jazzy branch: jazzy - - zephyr_version: zephyr-v2.7.2 - zephyr_sdk: 0.14.2 - sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz - - zephyr_version: zephyr-v3.1.0 - zephyr_sdk: 0.14.2 - sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz + - distro: humble + branch: humble steps: - - uses: actions/checkout@v2 + - uses: actions/checkout@v4 with: path: micro_ros_zephyr_module - branch: ${{ matrix.branch }} + ref: ${{ matrix.branch }} - name: Build shell: bash run: | - # Install dependencies - apt update - export DEBIAN_FRONTEND=noninteractive - apt install -y --no-install-recommends wget git cmake ninja-build gperf \ - ccache dfu-util device-tree-compiler wget \ - python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \ - make gcc gcc-multilib g++-multilib libsdl2-dev - - # Install Zephyr environment - pip3 install --user -U west - export PATH=~/.local/bin:/github/home/.local/bin:"$PATH" - west init zephyrproject - cd zephyrproject + # Zephyr setup + apt -y update + west init cd zephyr git checkout ${{ matrix.zephyr_version }} cd .. - west update - west zephyr-export - pip3 install --user -r zephyr/scripts/requirements.txt - cd .. - export TOOLCHAIN_VERSION=${{ matrix.zephyr_sdk }} - export TOOLCHAIN_FILE_NAME=${{ matrix.sdk_filename }} - wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v$TOOLCHAIN_VERSION/$TOOLCHAIN_FILE_NAME - tar xvf $TOOLCHAIN_FILE_NAME - cd zephyr-sdk-$TOOLCHAIN_VERSION - ./setup.sh -h -t arm-zephyr-eabi -c - cd .. - source zephyr-sdk-$TOOLCHAIN_VERSION/environment-setup-x86_64-pokysdk-linux - export ZEPHYR_TOOLCHAIN_VARIANT=zephyr - export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk-$TOOLCHAIN_VERSION - source zephyrproject/zephyr/zephyr-env.sh + west update --narrow # Installing micro-ROS prerequisites pip3 install catkin_pkg lark-parser empy colcon-common-extensions # Build with Serial USB transport - west build -b disco_l475_iot1 micro_ros_zephyr_module -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y + west build -b disco_l475_iot1 $GITHUB_WORKSPACE/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y # Build with Serial transport - west build -b disco_l475_iot1 micro_ros_zephyr_module -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y + west build -b disco_l475_iot1 $GITHUB_WORKSPACE/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y diff --git a/README.md b/README.md index af8a08e..fca59c2 100644 --- a/README.md +++ b/README.md @@ -3,7 +3,7 @@ # micro-ROS module for Zephyr -This module has been tested in Zephyr RTOS v2.7.0 (SDK 0.14.2) and v3.1.0 (SDK 0.14.2). +This module has been tested in Zephyr RTOS v4.0.0 (SDK 0.16.9-rc3), and v4.1.0 (SDK 0.16.9-rc3), using a docker image based on 'zephyrprojectrtos/zephyr-build:v0.26.17'. ## Dependencies @@ -18,7 +18,7 @@ pip3 install catkin_pkg lark-parser empy colcon-common-extensions For example for `disco_l475_iot1` board: ```bash -west build -b disco_l475_iot1 micro_ros_zephyr_module +west build -b disco_l475_iot1 -p ``` Some configuration parameters can be found using: diff --git a/modules/libmicroros/CMakeLists.txt b/modules/libmicroros/CMakeLists.txt index 193524d..4e8c213 100644 --- a/modules/libmicroros/CMakeLists.txt +++ b/modules/libmicroros/CMakeLists.txt @@ -52,10 +52,9 @@ externalproject_add(libmicroros_project BUILD_BYPRODUCTS ${MICROROS_DIR}/libmicroros.a ) -zephyr_library_import(libmicroros ${MICROROS_DIR}/libmicroros.a) +zephyr_link_libraries(${MICROROS_DIR}/libmicroros.a) zephyr_interface_library_named(microros) -add_dependencies(microros libmicroros) add_dependencies(microros libmicroros_project) target_include_directories(microros INTERFACE ${MICROROS_DIR}/include) @@ -96,7 +95,6 @@ zephyr_library_sources( add_dependencies(microros microros_transports) add_dependencies(microros_transports libmicroros_project) -add_dependencies(microros_transports libmicroros) # Cleaning diff --git a/modules/libmicroros/microros_transports/serial/microros_transports.c b/modules/libmicroros/microros_transports/serial/microros_transports.c index 32a2e95..e2eea50 100644 --- a/modules/libmicroros/microros_transports/serial/microros_transports.c +++ b/modules/libmicroros/microros_transports/serial/microros_transports.c @@ -24,6 +24,7 @@ #include #define RING_BUF_SIZE 2048 +#define UART_NODE DT_NODELABEL(usart1) char uart_in_buffer[RING_BUF_SIZE]; char uart_out_buffer[RING_BUF_SIZE]; @@ -52,9 +53,7 @@ static void uart_fifo_callback(const struct device * dev, void * args){ bool zephyr_transport_open(struct uxrCustomTransport * transport){ zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args; - char uart_descriptor[8]; - sprintf(uart_descriptor,"UART_%d", params->fd); - params->uart_dev = device_get_binding(uart_descriptor); + params->uart_dev = DEVICE_DT_GET(UART_NODE); if (!params->uart_dev) { printk("Serial device not found\n"); return false; diff --git a/prj.conf b/prj.conf index aa11d31..8c8706b 100644 --- a/prj.conf +++ b/prj.conf @@ -1,5 +1,6 @@ CONFIG_GPIO=y CONFIG_MICROROS=y +CONFIG_CPP=y CONFIG_MAIN_STACK_SIZE=25000 CONFIG_MAIN_THREAD_PRIORITY=3 @@ -9,7 +10,6 @@ CONFIG_NEWLIB_LIBC_NANO=n CONFIG_PTHREAD_IPC=n CONFIG_POSIX_API=y -CONFIG_APP_LINK_WITH_POSIX_SUBSYS=y CONFIG_POSIX_CLOCK=y CONFIG_STDOUT_CONSOLE=y diff --git a/src/main.c b/src/main.c index d24f06b..6efe05c 100644 --- a/src/main.c +++ b/src/main.c @@ -1,7 +1,7 @@ #include #if ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(3,1,0) -#include +#include #include #include #include @@ -39,7 +39,7 @@ void timer_callback(rcl_timer_t * timer, int64_t last_call_time) } } -void main(void) +int main(void) { rmw_uros_set_custom_transport( MICRO_ROS_FRAMING_REQUIRED, @@ -91,4 +91,5 @@ void main(void) // free resources RCCHECK(rcl_publisher_fini(&publisher, &node)) RCCHECK(rcl_node_fini(&node)) + return 0; }