mirror of
https://github.com/apache/nuttx-apps.git
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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>
258 lines
11 KiB
Makefile
258 lines
11 KiB
Makefile
############################################################################
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# apps/system/microros/Makefile
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#
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# SPDX-License-Identifier: Apache-2.0
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#
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# Licensed to the Apache Software Foundation (ASF) under one or more
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# contributor license agreements. See the NOTICE file distributed with
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# this work for additional information regarding copyright ownership. The
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# ASF licenses this file to you under the Apache License, Version 2.0 (the
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# "License"); you may not use this file except in compliance with the
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# License. You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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# License for the specific language governing permissions and limitations
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# under the License.
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#
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############################################################################
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include $(APPDIR)/Make.defs
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MICROROS_DIR := $(APPDIR)/system/microros
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MICROROS_LIB_DIR := $(MICROROS_DIR)/micro_ros_lib
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MICROROS_DISTRO := $(patsubst "%",%,$(CONFIG_MICROROS_DISTRO))
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MICROROS_AR := $(firstword $(AR))
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MAX_NODES := $(CONFIG_MICROROS_MAX_NODES)
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MAX_PUB := $(CONFIG_MICROROS_MAX_PUBLISHERS)
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MAX_SUB := $(CONFIG_MICROROS_MAX_SUBSCRIPTIONS)
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MAX_SVC := $(CONFIG_MICROROS_MAX_SERVICES)
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MAX_CLIENTS := $(CONFIG_MICROROS_MAX_CLIENTS)
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# Escape for sed: forward slashes and strip quotes
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ESCAPED_CC := $(subst /,\/,$(CC))
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ESCAPED_CXX := $(subst /,\/,$(CXX))
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ESCAPED_TOPDIR := $(subst /,\/,$(TOPDIR))
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ESCAPED_APPDIR := $(subst /,\/,$(APPDIR))
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ESCAPED_LIBDIR := $(subst /,\/,$(MICROROS_LIB_DIR))
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ESCAPED_CFLAGS := $(subst /,\/,$(subst ",,$(CFLAGS)))
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ESCAPED_CXXFLAGS := $(subst /,\/,$(subst ",,$(CXXFLAGS)))
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MENUDESC = "micro-ROS Library"
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# Transport sources compiled into the user-side app library
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CSRCS += transport/microros_transport.c
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ifeq ($(CONFIG_MICROROS_TRANSPORT_UDP),y)
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CSRCS += transport/microros_transport_udp.c
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endif
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ifeq ($(CONFIG_MICROROS_TRANSPORT_SERIAL),y)
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CSRCS += transport/microros_transport_serial.c
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endif
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# Architecture for CMake toolchain
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ifeq ($(CONFIG_ARCH_ARM),y)
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MICROROS_ARCH := arm
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else ifeq ($(CONFIG_ARCH_ARM64),y)
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MICROROS_ARCH := arm64
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else ifeq ($(CONFIG_ARCH_RISCV),y)
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MICROROS_ARCH := riscv
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else ifeq ($(CONFIG_ARCH_XTENSA),y)
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MICROROS_ARCH := xtensa
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else
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MICROROS_ARCH := generic
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endif
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# Wire libmicroros.a into the build when the context target fires
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context:: $(MICROROS_DIR)/libmicroros.a
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# ---------------------------------------------------------------------------
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# Step 1 – Build the ament/colcon dev tools (host-side)
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# ---------------------------------------------------------------------------
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$(MICROROS_LIB_DIR)/micro_ros_dev/install:
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rm -rf $(MICROROS_LIB_DIR)/micro_ros_dev
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mkdir -p $(MICROROS_LIB_DIR)/micro_ros_dev/src
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cd $(MICROROS_LIB_DIR)/micro_ros_dev && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ament/ament_cmake src/ament_cmake && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ament/ament_lint src/ament_lint && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ament/ament_package src/ament_package && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ament/googletest src/googletest && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ros2/ament_cmake_ros src/ament_cmake_ros && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ament/ament_index src/ament_index && \
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touch src/ament_cmake_ros/rmw_test_fixture_implementation/COLCON_IGNORE 2>/dev/null || true && \
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touch src/ament_cmake_ros/rmw_test_fixture/COLCON_IGNORE 2>/dev/null || true && \
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colcon build --cmake-args -DBUILD_TESTING=OFF
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# ---------------------------------------------------------------------------
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# Step 2 – Clone all micro-ROS source packages
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# ---------------------------------------------------------------------------
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$(MICROROS_LIB_DIR)/micro_ros_src/src: $(MICROROS_LIB_DIR)/micro_ros_dev/install
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rm -rf $(MICROROS_LIB_DIR)/micro_ros_src
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mkdir -p $(MICROROS_LIB_DIR)/micro_ros_src/src
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cd $(MICROROS_LIB_DIR)/micro_ros_src && \
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git clone -b ros2 --depth 1 \
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https://github.com/eProsima/micro-CDR src/micro-CDR && \
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git clone -b ros2 --depth 1 \
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https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/micro-ROS/rmw-microxrcedds src/rmw_microxrcedds && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/micro-ROS/rcl src/rcl && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ros2/rclc src/rclc && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/micro-ROS/rcutils src/rcutils && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ros2/rosidl src/rosidl && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ros2/rosidl_defaults src/rosidl_defaults && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ros2/rosidl_dynamic_typesupport src/rosidl_dynamic_typesupport && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ros2/rosidl_core src/rosidl_core && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ros2/rmw src/rmw && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ros2/rmw_implementation src/rmw_implementation && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ros2/rcl_interfaces src/rcl_interfaces && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ros2/common_interfaces src/common_interfaces && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ros2/rcl_logging src/rcl_logging && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/micro-ROS/rosidl_typesupport src/rosidl_typesupport && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ros2/unique_identifier_msgs src/unique_identifier_msgs && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ros2/test_interface_files src/test_interface_files && \
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git clone -b $(MICROROS_DISTRO) --depth 1 \
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https://github.com/ros2/ros2_tracing src/ros2_tracing && \
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touch src/ros2_tracing/test_tracetools/COLCON_IGNORE && \
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touch src/ros2_tracing/lttngpy/COLCON_IGNORE && \
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touch src/rmw/rmw_security_common/COLCON_IGNORE && \
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touch src/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE && \
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touch src/rclc/rclc_examples/COLCON_IGNORE && \
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touch src/rcl/rcl_yaml_param_parser/COLCON_IGNORE && \
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touch src/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE && \
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touch src/rcl_interfaces/test_msgs/COLCON_IGNORE && \
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touch src/common_interfaces/actionlib_msgs/COLCON_IGNORE && \
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touch src/common_interfaces/std_srvs/COLCON_IGNORE && \
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patch -p1 --forward --ignore-whitespace \
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-d src < $(MICROROS_LIB_DIR)/patches/0001-dir-typedef-nuttx-guard.patch || true && \
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patch -p1 --forward --ignore-whitespace \
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-d src < $(MICROROS_LIB_DIR)/patches/0002-rcutils-process-nuttx-compat.patch || true && \
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patch -p1 --forward --ignore-whitespace \
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-d src < $(MICROROS_LIB_DIR)/patches/0003-rcutils-strcasecmp-include-strings-h.patch || true
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# ---------------------------------------------------------------------------
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# Step 3 – Generate toolchain.cmake from template
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# ---------------------------------------------------------------------------
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$(MICROROS_LIB_DIR)/toolchain.cmake: $(MICROROS_LIB_DIR)/toolchain.cmake.in
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sed \
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-e 's/@CMAKE_C_COMPILER@/$(ESCAPED_CC)/g' \
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-e 's/@CMAKE_CXX_COMPILER@/$(ESCAPED_CXX)/g' \
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-e 's/@ARCH_C_FLAGS@/$(ESCAPED_CFLAGS)/g' \
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-e 's/@ARCH_CPP_FLAGS@/$(ESCAPED_CXXFLAGS)/g' \
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-e 's/@NUTTX_TOPDIR@/$(ESCAPED_TOPDIR)/g' \
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-e 's/@NUTTX_APPDIR@/$(ESCAPED_APPDIR)/g' \
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-e 's/@INCLUDE_OVR_DIR@/$(ESCAPED_LIBDIR)/g' \
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-e 's/@CMAKE_SYSTEM_PROCESSOR@/$(MICROROS_ARCH)/g' \
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$< > $@
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# ---------------------------------------------------------------------------
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# Step 4 – Generate colcon.meta from template
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# ---------------------------------------------------------------------------
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$(MICROROS_LIB_DIR)/colcon.meta: $(MICROROS_LIB_DIR)/colcon.meta.in
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sed \
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-e 's/@MAX_NODES@/$(MAX_NODES)/g' \
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-e 's/@MAX_PUBLISHERS@/$(MAX_PUB)/g' \
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-e 's/@MAX_SUBSCRIPTIONS@/$(MAX_SUB)/g' \
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-e 's/@MAX_SERVICES@/$(MAX_SVC)/g' \
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-e 's/@MAX_CLIENTS@/$(MAX_CLIENTS)/g' \
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$< > $@
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# ---------------------------------------------------------------------------
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# Step 5 – Cross-build micro-ROS packages with colcon
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# ---------------------------------------------------------------------------
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$(MICROROS_LIB_DIR)/micro_ros_src/install: \
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$(MICROROS_LIB_DIR)/toolchain.cmake \
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$(MICROROS_LIB_DIR)/colcon.meta \
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$(MICROROS_LIB_DIR)/micro_ros_src/src
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cd $(MICROROS_LIB_DIR)/micro_ros_src && \
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unset AMENT_PREFIX_PATH && \
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. ../micro_ros_dev/install/local_setup.sh && \
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colcon build \
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--merge-install \
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"--packages-ignore-regex=(.*_cpp$$|.*_py$$|test_rmw_implementation|rclc_examples)" \
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--metas $(MICROROS_LIB_DIR)/colcon.meta \
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--cmake-args \
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--no-warn-unused-cli \
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-DCMAKE_POSITION_INDEPENDENT_CODE=OFF \
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-DTHIRDPARTY=ON \
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-DBUILD_SHARED_LIBS=OFF \
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-DBUILD_TESTING=OFF \
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-DCMAKE_BUILD_TYPE=Release \
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"-DCMAKE_TOOLCHAIN_FILE=$(MICROROS_LIB_DIR)/toolchain.cmake" \
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-DCMAKE_VERBOSE_MAKEFILE=OFF
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# ---------------------------------------------------------------------------
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# Step 6 – Merge all .a files into a single libmicroros.a
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# ---------------------------------------------------------------------------
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$(MICROROS_DIR)/libmicroros.a: $(MICROROS_LIB_DIR)/micro_ros_src/install
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mkdir -p $(MICROROS_LIB_DIR)/libmicroros_obj
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cd $(MICROROS_LIB_DIR)/libmicroros_obj && \
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for file in $$(find $(MICROROS_LIB_DIR)/micro_ros_src/install/lib/ -name '*.a'); do \
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folder=$$(basename $$file .a); \
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mkdir -p $$folder && cd $$folder; \
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$(MICROROS_AR) x $$file; \
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for f in *; do \
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[ -f "$$f" ] && mv "$$f" "../$${folder}-$${f}" 2>/dev/null || true; \
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done; \
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cd ..; \
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rm -rf $$folder; \
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done && \
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$(MICROROS_AR) rc libmicroros.a $$(find . -maxdepth 1 -type f ! -name 'libmicroros.a') && \
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cp libmicroros.a $(MICROROS_DIR)/
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cd $(MICROROS_LIB_DIR) && rm -rf libmicroros_obj
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cp -R $(MICROROS_LIB_DIR)/micro_ros_src/install/include $(MICROROS_DIR)/include
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# ---------------------------------------------------------------------------
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# Cleanup targets
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# ---------------------------------------------------------------------------
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clean::
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$(call DELFILE,$(MICROROS_DIR)/libmicroros.a)
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$(call DELDIR,$(MICROROS_DIR)/include)
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$(call DELFILE,$(MICROROS_LIB_DIR)/toolchain.cmake)
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$(call DELFILE,$(MICROROS_LIB_DIR)/colcon.meta)
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distclean:: clean
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$(call DELDIR,$(MICROROS_LIB_DIR)/micro_ros_src)
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$(call DELDIR,$(MICROROS_LIB_DIR)/micro_ros_dev)
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include $(APPDIR)/Application.mk
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