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Author SHA1 Message Date
Arjav Patel
5e91459b1a system/microros: Add UDP and serial custom transport backends. 
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>
 2026-06-02 00:15:25 +08:00
Arjav Patel
b1a4d3fcd5 apps/system/microros: add libmicroros.a colcon build pipeline. 
Replace the Directory.mk stub with a full Application.mk-based Makefile
that builds libmicroros.a from upstream micro-ROS sources via colcon.
Build pipeline (six steps, each a Make target):

  1. micro_ros_dev/install  -- clone + build ament/colcon host tools
  2. micro_ros_src/src      -- git clone all Jazzy micro-ROS packages
                               with --depth 1; apply DIR-typedef guard
                               patch; mark unused packages COLCON_IGNORE
  3. toolchain.cmake        -- sed-substitute CC/CXX/CFLAGS into template
  4. colcon.meta            -- sed-substitute Kconfig resource limits
  5. micro_ros_src/install  -- colcon cross-build (merge-install,
                               packages-ignore-regex=.*_cpp)
  6. libmicroros.a          -- ar-merge all install/lib/*.a into one
                               archive; copy include/ tree

clean:: removes generated files; distclean:: removes all fetched dirs.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
 2026-05-26 06:57:55 +08:00
Arjav Patel
0be4928893 apps/system/microros: Add Makefile skeleton. 
Add Makefile with standard NuttX build system integration. Follows
the MENUDESC + Directory.mk pattern used throughout nuttx-apps.
Enables the system/microros module to be built as part of the apps
directory build process.

Signed-off-by: Arjav Patel <arjav1528@gmail.com>
 2026-05-22 06:49:02 +08:00