mirror of
https://github.com/apache/nuttx-apps.git
synced 2026-08-01 20:29:00 +00:00
5e91459b1a
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>
67 lines
2.7 KiB
CMake
67 lines
2.7 KiB
CMake
# ##############################################################################
|
|
# apps/system/microros/CMakeLists.txt
|
|
#
|
|
# 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.
|
|
#
|
|
# ##############################################################################
|
|
|
|
if(CONFIG_SYSTEM_MICROROS)
|
|
set(MICROROS_DIR ${CMAKE_CURRENT_LIST_DIR})
|
|
set(MICROROS_LIB_DIR ${MICROROS_DIR}/micro_ros_lib)
|
|
set(MICROROS_DISTRO ${CONFIG_MICROROS_DISTRO})
|
|
|
|
include(ExternalProject)
|
|
|
|
ExternalProject_Add(
|
|
microros_build
|
|
SOURCE_DIR ${MICROROS_LIB_DIR}
|
|
CONFIGURE_COMMAND ""
|
|
BUILD_COMMAND
|
|
${CMAKE_COMMAND} -E env CC=${CMAKE_C_COMPILER} CXX=${CMAKE_CXX_COMPILER}
|
|
AR=${CMAKE_AR} CFLAGS=${CMAKE_C_FLAGS} CXXFLAGS=${CMAKE_CXX_FLAGS} make -C
|
|
${MICROROS_DIR} libmicroros.a
|
|
INSTALL_COMMAND ""
|
|
BUILD_IN_SOURCE TRUE
|
|
BUILD_BYPRODUCTS ${MICROROS_DIR}/libmicroros.a)
|
|
|
|
nuttx_add_library(microros STATIC IMPORTED GLOBAL)
|
|
set_target_properties(
|
|
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()
|