Aksal/nuttx-apps
1
0
Fork 1
mirror of https://github.com/apache/nuttx-apps.git synced 2026-08-01 20:29:00 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions

system/microros: Add UDP and serial custom transport backends.

Browse source 
Micro XRCE-DDS expects the application to supply open/close/write/read
callbacks for the wire transport. Add a single dispatcher that
registers the selected backend via rmw_uros_set_custom_transport(),
plus two backends:

transport/microros_transport_udp.c
  BSD-socket UDP backend. Opens an AF_INET/SOCK_DGRAM socket,
  resolves CONFIG_MICROROS_AGENT_IP/PORT, connect()s it, and uses
  send/recv. The socket fd is stashed in uxrCustomTransport->args
  so no module-level state is needed.

transport/microros_transport_serial.c
  termios serial backend. Opens CONFIG_MICROROS_SERIAL_DEVICE with
  O_RDWR|O_NOCTTY|O_CLOEXEC, switches to raw 8N1 at
  CONFIG_MICROROS_SERIAL_BAUD, and uses poll/read/write. Fd is
  again stashed in uxrCustomTransport->args.

Both backends are mutually exclusive at compile time via Kconfig;
the dispatcher selects which set of callbacks to register. Wired
into both the legacy Make build (CSRCS in system/microros/Makefile)
and the CMake build (separate microros_transport static library
with the transport directory only exposed to its INTERFACE).

Signed-off-by: Arjav Patel <arjav1528@gmail.com>
This commit is contained in:
Arjav Patel 2026-05-31 10:11:25 +05:30 • committed by Xiang Xiao
parent 0a0118b93c
commit 5e91459b1a
7 changed files with 590 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

50
include/system/microros_transport.h Normal file
View file

@ -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 */

20
system/microros/CMakeLists.txt
View file

@ -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()

14
system/microros/Makefile
View file

@ -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

62
system/microros/transport/microros_transport.c Normal file
View file

@ -0,0 +1,62 @@
/****************************************************************************
* apps/system/microros/transport/microros_transport.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 <errno.h>
#include <rmw_microros/rmw_microros.h>
#include <system/microros_transport.h>
#include "microros_transport.h"
/****************************************************************************
* Public Functions
****************************************************************************/
int microros_transport_init(void)
{
#if defined(CONFIG_MICROROS_TRANSPORT_UDP)
rmw_uros_set_custom_transport(false,
NULL,
microros_udp_open,
microros_udp_close,
microros_udp_write,
microros_udp_read);
return 0;
#elif defined(CONFIG_MICROROS_TRANSPORT_SERIAL)
rmw_uros_set_custom_transport(true,
NULL,
microros_serial_open,
microros_serial_close,
microros_serial_write,
microros_serial_read);
return 0;
#else
return -ENOSYS;
#endif
}

67
system/microros/transport/microros_transport.h Normal file
View file

@ -0,0 +1,67 @@
/****************************************************************************
* apps/system/microros/transport/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_SYSTEM_MICROROS_TRANSPORT_MICROROS_TRANSPORT_H
#define __APPS_SYSTEM_MICROROS_TRANSPORT_MICROROS_TRANSPORT_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include <uxr/client/profile/transport/custom/custom_transport.h>
#ifdef __cplusplus
extern "C"
{
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/* Backend callbacks. Exposed for testing only. */
bool microros_udp_open(struct uxrCustomTransport *transport);
bool microros_udp_close(struct uxrCustomTransport *transport);
size_t microros_udp_write(struct uxrCustomTransport *transport,
const uint8_t *buf, size_t len, uint8_t *err);
size_t microros_udp_read(struct uxrCustomTransport *transport,
uint8_t *buf, size_t len,
int timeout_ms, uint8_t *err);
bool microros_serial_open(struct uxrCustomTransport *transport);
bool microros_serial_close(struct uxrCustomTransport *transport);
size_t microros_serial_write(struct uxrCustomTransport *transport,
const uint8_t *buf, size_t len, uint8_t *err);
size_t microros_serial_read(struct uxrCustomTransport *transport,
uint8_t *buf, size_t len,
int timeout_ms, uint8_t *err);
#ifdef __cplusplus
}
#endif
#endif /* __APPS_SYSTEM_MICROROS_TRANSPORT_MICROROS_TRANSPORT_H */

216
system/microros/transport/microros_transport_serial.c Normal file
View file

@ -0,0 +1,216 @@
/****************************************************************************
* apps/system/microros/transport/microros_transport_serial.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 <fcntl.h>
#include <poll.h>
#include <stdint.h>
#include <termios.h>
#include <unistd.h>
#include "microros_transport.h"
/****************************************************************************
* Private Helpers
****************************************************************************/
static inline int serial_fd(struct uxrCustomTransport *transport)
{
return (int)(intptr_t)transport->args - 1;
}
static inline void serial_set_fd(struct uxrCustomTransport *transport,
int fd)
{
transport->args = (void *)(intptr_t)(fd + 1);
}
static int set_baud(struct termios *tio, int baud)
{
speed_t s;
switch (baud)
{
case 9600:
s = B9600;
break;
case 19200:
s = B19200;
break;
case 38400:
s = B38400;
break;
case 57600:
s = B57600;
break;
case 115200:
s = B115200;
break;
case 230400:
s = B230400;
break;
case 460800:
s = B460800;
break;
case 921600:
s = B921600;
break;
default:
return -1;
}
cfsetispeed(tio, s);
cfsetospeed(tio, s);
return 0;
}
/****************************************************************************
* Public Functions
****************************************************************************/
bool microros_serial_open(struct uxrCustomTransport *transport)
{
struct termios tio;
int fd;
fd = open(CONFIG_MICROROS_SERIAL_DEVICE, O_RDWR | O_NOCTTY | O_CLOEXEC);
if (fd < 0)
{
return false;
}
if (tcgetattr(fd, &tio) < 0)
{
close(fd);
return false;
}
cfmakeraw(&tio);
tio.c_cflag |= (CLOCAL | CREAD);
tio.c_cflag &= ~CRTSCTS;
tio.c_cc[VMIN] = 0;
tio.c_cc[VTIME] = 0;
if (set_baud(&tio, CONFIG_MICROROS_SERIAL_BAUD) < 0)
{
close(fd);
return false;
}
if (tcsetattr(fd, TCSANOW, &tio) < 0)
{
close(fd);
return false;
}
tcflush(fd, TCIOFLUSH);
serial_set_fd(transport, fd);
return true;
}
bool microros_serial_close(struct uxrCustomTransport *transport)
{
int fd = serial_fd(transport);
if (fd >= 0)
{
close(fd);
serial_set_fd(transport, -1);
}
return true;
}
size_t microros_serial_write(struct uxrCustomTransport *transport,
const uint8_t *buf, size_t len, uint8_t *err)
{
int fd = serial_fd(transport);
ssize_t n;
if (fd < 0)
{
*err = 1;
return 0;
}
n = write(fd, buf, len);
if (n < 0)
{
*err = 1;
return 0;
}
return n;
}
size_t microros_serial_read(struct uxrCustomTransport *transport,
uint8_t *buf, size_t len,
int timeout_ms, uint8_t *err)
{
int fd = serial_fd(transport);
struct pollfd pfd;
ssize_t n;
int r;
if (fd < 0)
{
*err = 1;
return 0;
}
pfd.fd = fd;
pfd.events = POLLIN;
r = poll(&pfd, 1, timeout_ms);
if (r < 0)
{
*err = 1;
return 0;
}
if (r == 0)
{
return 0;
}
n = read(fd, buf, len);
if (n < 0)
{
*err = 1;
return 0;
}
return n;
}

162
system/microros/transport/microros_transport_udp.c Normal file
View file

@ -0,0 +1,162 @@
/****************************************************************************
* apps/system/microros/transport/microros_transport_udp.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 <arpa/inet.h>
#include <netinet/in.h>
#include <poll.h>
#include <stdint.h>
#include <string.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <unistd.h>
#include "microros_transport.h"
/****************************************************************************
* Private Helpers
****************************************************************************/
static inline int udp_fd(struct uxrCustomTransport *transport)
{
return (int)(intptr_t)transport->args - 1;
}
static inline void udp_set_fd(struct uxrCustomTransport *transport, int fd)
{
transport->args = (void *)(intptr_t)(fd + 1);
}
/****************************************************************************
* Public Functions
****************************************************************************/
bool microros_udp_open(struct uxrCustomTransport *transport)
{
struct sockaddr_in addr;
int fd;
fd = socket(AF_INET, SOCK_DGRAM | SOCK_CLOEXEC, 0);
if (fd < 0)
{
return false;
}
memset(&addr, 0, sizeof(addr));
addr.sin_family = AF_INET;
addr.sin_port = htons(CONFIG_MICROROS_AGENT_PORT);
if (inet_pton(AF_INET, CONFIG_MICROROS_AGENT_IP, &addr.sin_addr) != 1)
{
close(fd);
return false;
}
if (connect(fd, (struct sockaddr *)&addr, sizeof(addr)) < 0)
{
close(fd);
return false;
}
udp_set_fd(transport, fd);
return true;
}
bool microros_udp_close(struct uxrCustomTransport *transport)
{
int fd = udp_fd(transport);
if (fd >= 0)
{
close(fd);
udp_set_fd(transport, -1);
}
return true;
}
size_t microros_udp_write(struct uxrCustomTransport *transport,
const uint8_t *buf, size_t len, uint8_t *err)
{
int fd = udp_fd(transport);
ssize_t n;
if (fd < 0)
{
*err = 1;
return 0;
}
n = send(fd, buf, len, 0);
if (n < 0)
{
*err = 1;
return 0;
}
return n;
}
size_t microros_udp_read(struct uxrCustomTransport *transport,
uint8_t *buf, size_t len,
int timeout_ms, uint8_t *err)
{
int fd = udp_fd(transport);
struct pollfd pfd;
ssize_t n;
int r;
if (fd < 0)
{
*err = 1;
return 0;
}
pfd.fd = fd;
pfd.events = POLLIN;
r = poll(&pfd, 1, timeout_ms);
if (r < 0)
{
*err = 1;
return 0;
}
if (r == 0)
{
return 0;
}
n = recv(fd, buf, len, 0);
if (n < 0)
{
*err = 1;
return 0;
}
return n;
}