Move support to v2.7.x and v3.1.0 (backport #64) (#67)

mergify[bot] · pablogs9 · web-flow · commit a305b983993a · 2022-08-09T12:09:07.000+02:00
* Move support to v2.7.x and v3.1.0 (#64) * Add v2.7.0 and v3.1.0 Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Fix Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Fix Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Use ubuntu 20.04 Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Update cmake Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Fix env Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Fix Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Deprecate v2.4.0 Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Update Readme Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Fix CMake Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Revert "Add v2.7.0 and v3.1.0" This reverts commit 64370f1. * Initial Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Fix Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Move 2.7.2 to new ci Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Deprecate <v2.7 Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Readme Signed-off-by: Pablo Garrido <pablogs9@gmail.com> (cherry picked from commit 07797df) # Conflicts: # .github/workflows/nightly.yml * Fix Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Fix Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -9,21 +9,18 @@ jobs:
 
   micro_ros_zephyr_module:
     runs-on: ubuntu-latest
-    container: ubuntu:20.04
+    container: ubuntu:22.04
     strategy:
       fail-fast: false
       matrix:
-        zephyr_version: ["zephyr-v2.4.0", "zephyr-v2.5.0", "zephyr-v2.6.0"]
+        zephyr_version: ["zephyr-v3.1.0", "zephyr-v2.7.2"]
         include:
-          - zephyr_version: zephyr-v2.4.0
-            zephyr_sdk: 0.11.4
-            sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
-          - zephyr_version: zephyr-v2.5.0
-            zephyr_sdk: 0.11.4
-            sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
-          - zephyr_version: zephyr-v2.6.0
-            zephyr_sdk: 0.12.4
-            sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-x86_64-linux-setup.run
+          - zephyr_version: zephyr-v2.7.2
+            zephyr_sdk: 0.14.2
+            sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
+          - zephyr_version: zephyr-v3.1.0
+            zephyr_sdk: 0.14.2
+            sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
     steps:
       - uses: actions/checkout@v2
         with:
@@ -34,8 +31,8 @@ jobs:
         run: |
           apt update
           export DEBIAN_FRONTEND=noninteractive
-          apt install -y --no-install-recommends git cmake ninja-build gperf \
-            ccache dfu-util device-tree-compiler wget curl gnupg2 \
+          apt install -y --no-install-recommends wget git cmake ninja-build gperf \
+            ccache dfu-util device-tree-compiler wget \
             python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
             make gcc gcc-multilib g++-multilib libsdl2-dev
           pip3 install --user -U west
@@ -52,15 +49,15 @@ jobs:
           export TOOLCHAIN_VERSION=${{ 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
-          chmod +x $TOOLCHAIN_FILE_NAME
-          yes | ./$TOOLCHAIN_FILE_NAME -- -rc -y -d $(pwd)/zephyr-sdk || :
-          rm -rf $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
+          export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk-$TOOLCHAIN_VERSION
           source zephyrproject/zephyr/zephyr-env.sh
           # Installing micro-ROS prerequisites
           pip3 install catkin_pkg lark-parser empy colcon-common-extensions
-          # 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
-          pip3 install --upgrade Sphinx
           # Building the app
           west build -b disco_l475_iot1 micro_ros_zephyr_module
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
@@ -12,40 +12,37 @@ jobs:
 
   micro_ros_zephyr_module:
     runs-on: ubuntu-latest
-    container: ubuntu:20.04
+    container: ubuntu:22.04
     strategy:
       fail-fast: false
       matrix:
-        zephyr_version: ["zephyr-v2.4.0", "zephyr-v2.5.0", "zephyr-v2.6.0"]
-        distro: ["foxy", "rolling", "galactic"]
+        zephyr_version: ["zephyr-v3.1.0", "zephyr-v2.7.2"]
+        distro: ["foxy", "humble", "rolling"]
         include:
           - distro: foxy
             branch: foxy
           - distro: rolling
             branch: main
-          - distro: galactic
-            branch: galactic
-          - zephyr_version: zephyr-v2.4.0
-            zephyr_sdk: 0.11.4
-            sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
-          - zephyr_version: zephyr-v2.5.0
-            zephyr_sdk: 0.11.4
-            sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-setup.run
-          - zephyr_version: zephyr-v2.6.0
-            zephyr_sdk: 0.12.4
-            sdk_filename: zephyr-toolchain-arm-$TOOLCHAIN_VERSION-x86_64-linux-setup.run
+          - distro: humble
+            branch: humble
+          - zephyr_version: zephyr-v2.7.2
+            zephyr_sdk: 0.14.2
+            sdk_filename: zephyr-sdk-$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
     steps:
       - uses: actions/checkout@v2
         with:
           path: micro_ros_zephyr_module
-          ref: ${{ matrix.branch }}
+
       - name: Dependencies
         shell: bash
         run: |
           apt update
           export DEBIAN_FRONTEND=noninteractive
-          apt install -y --no-install-recommends git cmake ninja-build gperf \
-            ccache dfu-util device-tree-compiler wget curl gnupg2 \
+          apt install -y --no-install-recommends wget git cmake ninja-build gperf \
+            ccache dfu-util device-tree-compiler wget \
             python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
             make gcc gcc-multilib g++-multilib libsdl2-dev
           pip3 install --user -U west
@@ -62,15 +59,15 @@ jobs:
           export TOOLCHAIN_VERSION=${{ 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
-          chmod +x $TOOLCHAIN_FILE_NAME
-          yes | ./$TOOLCHAIN_FILE_NAME -- -rc -y -d $(pwd)/zephyr-sdk || :
-          rm -rf $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
+          export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk-$TOOLCHAIN_VERSION
           source zephyrproject/zephyr/zephyr-env.sh
           # Installing micro-ROS prerequisites
           pip3 install catkin_pkg lark-parser empy colcon-common-extensions
-          # 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
-          pip3 install --upgrade Sphinx
           # Building the app
           west build -b disco_l475_iot1 micro_ros_zephyr_module
diff --git a/README.md b/README.md
@@ -3,7 +3,7 @@
 
 # micro-ROS module for Zephyr
 
-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).
+This module has been tested in Zephyr RTOS v2.7.0 (SDK 0.14.2) and v3.1.0 (SDK 0.14.2).
 
 ## Dependencies
 
diff --git a/modules/libmicroros/microros_transports/serial-usb/microros_transports.c b/modules/libmicroros/microros_transports/serial-usb/microros_transports.c
@@ -22,7 +22,7 @@ char uart_out_buffer[RING_BUF_SIZE];
 
 struct ring_buf out_ringbuf, in_ringbuf;
 
-static void uart_fifo_callback(struct device *dev){ 
+static void uart_fifo_callback(const struct device *dev, void * user_data){
     while (uart_irq_update(dev) && uart_irq_is_pending(dev)) {
         if (uart_irq_rx_ready(dev)) {
             int recv_len;
@@ -36,7 +36,7 @@ static void uart_fifo_callback(struct device *dev){
 
         }
 
-        if (uart_irq_tx_ready(dev)) {			
+        if (uart_irq_tx_ready(dev)) {
             char buffer[64];
             int rb_len;
 
@@ -58,6 +58,7 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
     int ret;
     uint32_t baudrate, dtr = 0U;
 
+
     params->uart_dev = device_get_binding("CDC_ACM_0");
     if (!params->uart_dev) {
         printk("CDC ACM device not found\n");
@@ -116,6 +117,7 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
 
 bool zephyr_transport_close(struct uxrCustomTransport * transport){
     zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+    (void) params;
 
     return true;
 }
@@ -124,15 +126,15 @@ size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_
     zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
 
     size_t wrote;
-    
+
     wrote = ring_buf_put(&out_ringbuf, buf, len);
-    
+
     uart_irq_tx_enable(params->uart_dev);
 
     while (!ring_buf_is_empty(&out_ringbuf)){
         k_sleep(K_MSEC(5));
     }
-    
+
     return wrote;
 }
 
diff --git a/modules/libmicroros/microros_transports/serial-usb/microros_transports.h b/modules/libmicroros/microros_transports/serial-usb/microros_transports.h
@@ -26,7 +26,7 @@ extern "C"
 
 typedef struct {
     size_t fd;
-    struct device *uart_dev;
+    const struct device *uart_dev;
 } zephyr_transport_params_t;
 
 #define MICRO_ROS_FRAMING_REQUIRED true
diff --git a/modules/libmicroros/zephyr_toolchain.cmake.in b/modules/libmicroros/zephyr_toolchain.cmake.in
@@ -26,7 +26,7 @@ SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
 set(CMAKE_C_COMPILER @CMAKE_C_COMPILER@)
 set(CMAKE_CXX_COMPILER @CMAKE_CXX_COMPILER@)
 
-set(CMAKE_C_FLAGS_INIT "@CFLAGS@" CACHE STRING "" FORCE)
-set(CMAKE_CXX_FLAGS_INIT "@CXXFLAGS@" CACHE STRING "" FORCE)
+set(CMAKE_C_FLAGS_INIT "@CFLAGS@ -DCLOCK_MONOTONIC=0" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_INIT "@CXXFLAGS@ -DCLOCK_MONOTONIC=0" CACHE STRING "" FORCE)
 
 set(__BIG_ENDIAN__ 0)
diff --git a/prj.conf b/prj.conf
@@ -9,12 +9,10 @@ CONFIG_NEWLIB_LIBC_NANO=n
 CONFIG_PTHREAD_IPC=n
 
 CONFIG_POSIX_API=y
-CONFIG_NATIVE_POSIX_TIMER=y
 CONFIG_APP_LINK_WITH_POSIX_SUBSYS=y
 CONFIG_POSIX_CLOCK=y
 
 CONFIG_STDOUT_CONSOLE=y
-CONFIG_USB=y
 CONFIG_USB_DEVICE_STACK=y
 CONFIG_USB_DEVICE_PRODUCT="Zephyr micro-ROS"
 CONFIG_LOG=y
diff --git a/src/main.c b/src/main.c
@@ -43,12 +43,8 @@ void main(void)
 	rcl_allocator_t allocator = rcl_get_default_allocator();
 	rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	RCCHECK(rcl_init_options_init(&init_options, allocator));
-	rmw_init_options_t* rmw_options = rcl_init_options_get_rmw_init_options(&init_options);
-
 	// create init_options
-	RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
+	RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
 
 	// create node
 	rcl_node_t node;
