Introduce a new CONFIG_UORB_FORMAT Kconfig option to control whether
uORB format strings are compiled in. UORB_LISTENER, UORB_GENERATOR,
and DEBUG_UORB all select UORB_FORMAT automatically, so format strings
are included when any of these features are enabled.
This replaces the previous approach of guarding format strings with
CONFIG_DEBUG_UORB, which prevented uorb_listener from displaying
sensor data when debug output was disabled.
Signed-off-by: hanzj <hanzjian@zepp.com>
Mirror of microros_pub for the receive direction. Creates a node,
subscribes to /nuttx_sub with std_msgs/Int32, drives an rclc_executor
spin loop, and prints each received value. Exercises the new
rclc_executor + subscription callback path on top of the
microros_transport library shipped in apps/system/microros.
Validates the NuttX-native transport in the agent->client direction
end-to-end against a micro-ROS agent + ros2 topic pub on the host.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add tests for popen()/pclose() and dpopen()/dpclose() that work in
both shell (NSH) and no-shell (direct posix_spawnp) modes. The test
binary doubles as its own target via the --echo sub-command.
Tests:
1-4: popen - basic read, multi-arg, pclose, invalid mode
5-7: dpopen - basic read, multi-arg, dpclose
Signed-off-by: cuiziwei <cuiziwei@xiaomi.com>
When NSH_LIBRARY is not available, dpopen()/popen() can still execute
commands by splitting the command string by whitespace and calling
posix_spawnp() directly. Shell syntax (pipes, redirects, globbing)
is not supported in this mode.
Add CONFIG_SYSTEM_POPEN_MAXARGUMENTS (default 7) to control the
argv array size for the no-shell path.
Remove the hard dependency on NSH_LIBRARY from SYSTEM_POPEN so the
feature can be used in minimal configurations without a shell.
Signed-off-by: cuiziwei <cuiziwei@xiaomi.com>
Add dpopen()/dpclose() as the descriptor-based counterpart of
popen()/pclose(), analogous to how dprintf() relates to fprintf().
dpopen() returns a raw file descriptor instead of a FILE stream,
avoiding the stdio.h dependency for callers that only need an fd.
Refactor popen() as a thin wrapper: dpopen() + fdopen() + FILE
container. All pipe creation and process spawning logic now lives
in dpopen.c.
Also remove the hard dependency on NSH_LIBRARY from SYSTEM_POPEN.
When NSH is available, commands are executed through sh -c with full
shell syntax support. When NSH is not available, commands are split
by whitespace and executed directly via posix_spawnp().
Add CONFIG_SYSTEM_POPEN_MAXARGUMENTS (default 7) to control the
argv array size for the no-shell path.
Signed-off-by: cuiziwei <cuiziwei@xiaomi.com>
Add aarch64 Rust target specs for NuttX, including a Mach-O variant
for macOS sim builds. Use the NuttX custom targets instead of
aarch64-apple-darwin so Rust std is built with target_os=nuttx while
still producing link-compatible objects for sim.
Signed-off-by: Shoji Tokunaga <toku@mac.com>
End-to-end exercise of the micro-ROS stack on NuttX: calls
microros_transport_init() to register the configured backend,
brings up rclc_support / node / publisher, publishes 30
std_msgs/Int32 messages on /nuttx_pub at 1 Hz, then tears the
stack down cleanly.
The example's Make.defs adds $(APPDIR)/system/microros/transport
to its own CFLAGS rather than the system/microros Make.defs, so
the transport-glue header path is not pushed into the global
search path for unrelated apps.
Serves as the smoke test for the transport layer and as a template
for downstream publisher apps.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
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>
libmicroros is installed by colcon under include/<pkg>/<pkg>/file.h
for ament-packaged headers (e.g. rcl, rmw, rosidl) and the flat
include/<pkg>/file.h for a few others (e.g. rclc). A single
-I include/ therefore resolves <rclc/rclc.h> but not <rcl/rcl.h>.
Enumerate every immediate subdirectory of include/ in addition to
include/ itself so both layouts resolve.
Switch the library hand-off from LDLIBS to EXTRA_LIBS. The sim
target's final link pulls EXTRA_LIBS, not LDLIBS, so the previous
form left rcl/rclc/rcutils symbols unresolved.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
micro_ros_lib/toolchain.cmake.in initialised C and CXX flags with
-D'__attribute__(x)=' to silence GCC attributes the upstream ament
build is not aware of. The strip also removed __gnu_inline__ and
__always_inline__ from NuttX's libc string.h inlines, so each
micro-ROS translation unit emitted external definitions of strcmp,
strcpy, strlen and friends. Sim final link then failed with ~50
multiple-definition errors.
Drop the define from both flag init lines so the attributes survive
and the inlines collapse as intended.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add SHA224 hash test using results generated from sha224sum.
Modify "huge block" testing since allocating 600KB to hash all
at once fails on most microcontrollers. Instead allocate a
smaller block and pass into syshash_update() enough times to
hash 600KB of data.
Signed-off-by: Peter Barada <peter.barada@gmail.com>
Fix a missing space in the Kconfig help text for SYSTEM_LZF:
'Enable theLZF' → 'Enable the LZF'.
Signed-off-by: Zepp-Hanzj <Zepp-Hanzj@users.noreply.github.com>
Signed-off-by: hanzj <hanzjian@zepp.com>
Use configured key, value, and filename limits while loading and saving settings storage data.
The text backend now builds backup filenames with a sized buffer and bounded formatting, and both text and binary loading reject keys or string values that are not terminated within their configured field sizes. This completes #3109 without changing the storage formats.
Signed-off-by: Nightt <87569709+nightt5879@users.noreply.github.com>
Use strnlen() for public key, value, and storage path length checks so user-provided settings strings are validated against the configured maximum sizes before they are scanned.
Use bounded key comparisons and strlcpy() for fixed-size settings fields. This addresses part of #3109 without changing the settings API or storage formats.
Signed-off-by: Nightt <87569709+nightt5879@users.noreply.github.com>
Fix spelling errors in QuickJS Kconfig and nettest source:
* "distable" -> "disable" in INTERPRETERS_QUICKJS_NONE description
* "destory" -> "destroy" in INTERPRETERS_QUICKJS_EXT_HOOK option
and help text (2 occurrences)
* "err_destory" -> "err_destroy" label in nettest_tcpserver.c
(3 occurrences: 2 goto targets and 1 label definition)
These are cosmetic fixes with no functional change.
Signed-off-by: hanzj <hanzjian@zepp.com>
Without debug enabled, the code would not compile due to checking
`WIFEXITED(wstatus)` when `wstatus` was uninitialized.
Signed-off-by: Matteo Golin <matteo.golin@gmail.com>
The init.rc file path is now configurable to allow users to choose where
to put the startup script. This is useful for devices that mount
external media to a special directory like `/sd`.
Signed-off-by: Matteo Golin <matteo.golin@gmail.com>
Would not compile due to typo in macro describing service name length.
Change ensures that:
* We do not malloc an extra `len` bytes since this is already allocated
as part of the struct
* The name string always has a null terminating byte
Signed-off-by: Matteo Golin <matteo.golin@gmail.com>
FIx
Add support for the reboot_on_failure option to the service.
When the execution of a command within a certain action fails (returning
a non-zero status code), NxInit will continue to execute subsequent commands or
actions and will not proactively terminate the startup process. To implement
the functionality of "terminating the startup process after a command
execution fails", there are two methods:
a. Execute conditional statements (if/then/else/fi) via exec command,
but this depends on sh:
```
on init
exec -- set +e; \
mount -t fatfs /dev/data /data ; \
if [ $? -ne 0 ] ; \
then \
echo "failed" ; \
reboot ; \
else \
echo "succeed" ; \
fi;
```
b. Via service's oneshot + reboot_on_failure:
/* Although the example uses sh, it does not depend on it and can be
* replaced with any other Builtin Apps.
*/
```
on init
exec_start mkdir_tmp
ls /tmp
service mkdir_tmp sh -c "mkdir /tmp"
reboot_on_failure 0
oneshot
```
Test
- RC
service console sh
class core
override
> reboot_on_failure 0
restart_period 10000
- Runtime
[ 0.150000] [ 3] [ 0] init_main: == Dump Services ==
...
[ 0.170000] [ 3] [ 0] init_main: Service 0x40486ea0 name 'console' path 'sh'
[ 0.170000] [ 3] [ 0] init_main: pid: 0
[ 0.170000] [ 3] [ 0] init_main: arguments:
[ 0.170000] [ 3] [ 0] init_main: [0] 'service'
[ 0.170000] [ 3] [ 0] init_main: [1] 'console'
[ 0.170000] [ 3] [ 0] init_main: [2] 'sh'
[ 0.170000] [ 3] [ 0] init_main: classes:
[ 0.170000] [ 3] [ 0] init_main: 'core'
[ 0.170000] [ 3] [ 0] init_main: restart_period: 10000
> [ 0.170000] [ 3] [ 0] init_main: reboot_on_failure: 0
[ 0.170000] [ 3] [ 0] init_main: flags:
[ 0.170000] [ 3] [ 0] init_main: 'override'
...
[ 0.380000] [ 3] [ 0] init_main: started service 'console' pid 4
...
nsh> kill -9 4
[ 8.060000] [ 3] [ 0] init_main: service 'console' flag 0x20000004 add 0x4
[ 8.060000] [ 3] [ 0] init_main: -flag 'running'
[ 8.060000] [ 3] [ 0] init_main: service 'console' flag 0x20000000 add 0x8
[ 8.060000] [ 3] [ 0] init_main: +flag 'restarting'
> [ 8.060000] [ 3] [ 0] init_main: Error reboot on failure of service 'console' reason 0
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
Format: exec_start <service>
Start the specified service and pause the processing of any additional
initialization commands until the service completes its execution. This
command operates similarly to the `exec` command; the key difference is
that it utilizes an existing service definition rather than requiring
the `exec` argument vector.
This feature is particularly intended for use with the `reboot_on_failure`
built-in command to perform all types of essential checks during system boot.
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
This component (abbreviated as "NxInit") is specifically developed
for NuttX and intended for system initialization. While we have
adopted the Android Init Language among various syntax options,
this is a brand-new implementation—it is not a port or variant of
Android Init.
Refer to the implementation of Android Init Language, consists of five broad
classes of statements: Actions, Commands, Services, Options, and Imports.
Actions support two types of triggers: event and action. Action triggers also
support runtime triggering. Services support lifecycle management, including
automatic restart (at specified intervals), and starting/stopping
individually or by class. Import supports files or directories, and we may
add a static method in the future. The following are some differences:
1. The Android Init Language treats lines starting with `#` as comments,
while we use a preprocessor to handle comments.
2. For action commands, we can omit "exec" and directly execute
built-in apps or nsh builtins.
3. Regarding the property service, users can either adapt it by self or
directly use the preset NVS-based properties.
4. Only part of standard action commands and service options are
implemented currlently.
To enable system/nxinit:
```diff
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_ENTRYPOINT="init_main"
+CONFIG_SYSTEM_NXINIT=y
```
For format and additional details, refer to:
https://android.googlesource.com/platform/system/core/+/
master/init/README.md
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
When stdout is broken (e.g. PTY master closed), nsh_catfile could spin
forever: write() fails, error logging generates syslog output to
/dev/log, next read() picks it up, write() fails again, ad infinitum.
Two fixes:
- nsh_console: drop the _err() in nsh_consolewrite entirely. The risk
is errno-agnostic (EPIPE / EIO / ENOSPC / ...): any failure logged
here can be re-injected by the syslog backend when OUTFD is bound to
/dev/log. Callers already see the failure via the negative return
value and errno, so on-failure logging at this layer is redundant.
- nsh_fsutils: jump straight from the inner write-failure path to a
single errout: cleanup label instead of using a two-level break +
flag check, so a failed write cannot fall through to another read().
Assisted-by: GitHubCopilot:claude-4.7-opus
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
POSIX specifies strcasecmp/strncasecmp in <strings.h>, not <string.h>.
On NuttX (and other strict POSIX environments) rcutils/src/strcasecmp.c
only includes <string.h>, causing an implicit-declaration error for
strcasecmp when cross-compiling.
Patch 0003 adds #include <strings.h> guarded by !_WIN32, matching the
existing Windows/POSIX split in the file.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add -D__NuttX__ to CMAKE_C_FLAGS_INIT and CMAKE_CXX_FLAGS_INIT in
toolchain.cmake.in so that all cross-compiled micro-ROS packages see the
NuttX target macro. Without this, rcutils/src/process.c follows the
__linux__ branch and references program_invocation_name, a glibc-only
extension absent from the NuttX C library.
Pair with 0002-rcutils-process-nuttx-compat.patch which additionally
guards the linux branch with !defined(__NuttX__), ensuring the embedded
fallback path is taken on NuttX even if the host compiler defines any
linux-flavoured macros.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Mirror the Makefile build pipeline into CMakeLists.txt using
ExternalProject_Add so that CMake-based NuttX builds (cmake --build)
can also produce libmicroros.a. The external project delegates to the
existing Makefile targets, then exposes the result via an IMPORTED
STATIC library target with correct INTERFACE_INCLUDE_DIRECTORIES.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
NuttX defines DIR as a struct type in dirent.h. The rcutils filesystem
source has a bare typedef int DIR that triggers a redefinition error when
NuttX system headers are on the include path. Guard it with #ifndef DIR
so the typedef is skipped when the type is already defined.
Applied automatically during the micro_ros_src/src fetch step with
patch -p1 --forward --ignore-whitespace ... || true
so the build is idempotent if the upstream ever merges a fix.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
When CONFIG_SYSTEM_MICROROS=y, add the prebuilt libmicroros.a to LDLIBS
and the colcon-installed include/ tree to CFLAGS/CXXFLAGS so that any
application in nuttx-apps can include micro-ROS headers and link against
the library without extra flags.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add toolchain.cmake.in and include_override/assert.h for the colcon
cross-build. Key differences from the old robertobucher port:
- Drop -DCLOCK_MONOTONIC=0: NuttX defines CLOCK_MONOTONIC=1 and
the override broke nanosleep() on newer kernels.
- CMAKE_SYSTEM_PROCESSOR is a placeholder substituted per-arch.
- include_override/assert.h works around the rosidl NDEBUG issue
(https://github.com/ros2/rosidl/pull/739).
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add a colcon.meta.in template that is substituted at build time with
Kconfig values. Key settings:
- Custom transport only (UCLIENT_PROFILE_CUSTOM_TRANSPORT=ON,
UCLIENT_PROFILE_STREAM_FRAMING=ON) -- actual UDP/serial callbacks
are wired in Phase 4.
- RCL_MICROROS=ON (Jazzy/Kilted renamed flag replacing the old
RCL_COMMAND_LINE_ENABLED/RCL_LOGGING_ENABLED pair).
- RCUTILS_NO_FILESYSTEM=OFF -- NuttX provides POSIX filesystem.
- Resource limits use @MAX_NODES@/@MAX_PUBLISHERS@ etc. placeholders
substituted from CONFIG_MICROROS_MAX_* Kconfig values.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add micro_ros_lib/ subdirectory with a .keep sentinel so the directory
is tracked by git before any generated build artifacts appear. All
colcon/fetch outputs land here and are gitignored by the parent .gitignore.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
The settings save path no longer re-enters g_settings.mtx, so the mutex does not need to be initialized as PTHREAD_MUTEX_RECURSIVE.
This keeps the #3105 fix independent of CONFIG_PTHREAD_MUTEX_TYPES and destroys the temporary mutex attribute object after initialization.
Signed-off-by: Nightt <87569709+nightt5879@users.noreply.github.com>
Fix#3105 by making the immediate save path write pending settings while the caller still owns g_settings.mtx instead of calling the timer callback, which locks the same mutex again.
The cached-save timer callback still takes the mutex before using the same locked helper, so asynchronous saves keep their existing synchronization while non-cached saves no longer depend on a recursive mutex.
Signed-off-by: Nightt <87569709+nightt5879@users.noreply.github.com>
Close the temporary file descriptor when create_files() fails after open(), and release the read buffer before returning from the path-length failure branch.
This is logically separable from the #3205 stale-directory fix: it does not change how existing /sd/stress is handled, but keeps the same failure paths from leaking resources while the stress test exits after an error.
The scope intentionally stays within sd_stress failure cleanup and does not touch SD/MMC transfer behavior or other testing drivers.
Signed-off-by: Nightt <87569709+nightt5879@users.noreply.github.com>
