micro-ROS Rolling patch

* Avoid logging on build time based on RCutils flags (#6) * Add RCL_YAML_PARSER and RCL_LOGGING CMake options. * Replace RCL_YAML_PARSER by RCL_COMMAND_LINE_ENABLED and RCL_LOGGING by RCL_LOGGING_ENABLED. * Disabled logging fix * Fix remapping (#7) Co-authored-by: Pablo Garrido <pablogs9@gmail.com> Co-authored-by: julibert <julianbermudez@eprosima.com> Updates 17092020 *Release micro-ROS Foxy (#9) Cleaning Update Update Update Add workflow checker Update Update update Test Test Update Update Update New approach Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Disable logger name (#11) (#13) (cherry picked from commit 1fac9bf) Co-authored-by: Pablo Garrido <pablogs9@gmail.com> Avoid uint64_t operation when handling context (#16) (#18) * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Update Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Clean PR * Clean id rollover check * Fix rollover Co-authored-by: acuadros95 <acuadros1995@gmail.com> (cherry picked from commit 32aa288) Co-authored-by: Pablo Garrido <pablogs9@gmail.com> Update fork checker for Humble Signed-off-by: Pablo Garrido <pablogs9@gmail.com> Update micro-ROS conditional compilation micro-ROS get_type_description fix Signed-off-by: acuadros95 <acuadros1995@gmail.com> micro-ROS get_type_description fix Signed-off-by: acuadros95 <acuadros1995@gmail.com> Revert minor change Signed-off-by: acuadros95 <acuadros1995@gmail.com> Remove vscode file Signed-off-by: acuadros95 <acuadros1995@gmail.com> Address memory issue of type hash Update
micro-ROS · Sep 6, 2024 · 40600ed · 40600ed
1 parent 61077aa
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diff --git a/.github/workflows/fork_checker.yml b/.github/workflows/fork_checker.yml
@@ -0,0 +1,36 @@
+name: micro-ROS fork Update Checker
+on:
+  workflow_dispatch:
+    inputs:
+      name:
+        description: "Manual trigger"
+  schedule:
+    - cron:  '0 4 * * *'
+
+jobs:
+    micro_ros_fork_update_check:
+        runs-on: ubuntu-latest
+        container: ubuntu:20.04
+        strategy:
+          fail-fast: false
+          matrix:
+            branches: [foxy, galactic, humble, rolling]
+        steps:
+          - name: Check
+            id: check
+            shell: bash
+            run: |
+              apt update; apt install -y git
+              REPO=$(echo ${{ github.repository }} | awk '{split($0,a,"/"); print a[2]}')
+              git clone -b ${{ matrix.branches }} https://github.com/micro-ros/$REPO
+              cd $REPO
+              git remote add ros2 https://github.com/ros2/$REPO
+              git fetch ros2
+              git fetch origin
+              echo "::set-output name=merge_required::true"
+              CMP=$(git rev-list --left-right --count ros2/${{ matrix.branches }}...origin/${{ matrix.branches }} | awk '{print $1}')
+              if [ $CMP = "0" ]; then echo "::set-output name=merge_required::false"; fi
+
+          - name: Alert
+            if: ${{ steps.check.outputs.merge_required  == 'true' }}
+            run: exit 1
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -0,0 +1,6 @@
+{
+    "files.associations": {
+        "*.uml": "plantuml",
+        "service_event_publisher.h": "c"
+    }
+}
diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
@@ -2,25 +2,33 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rcl)
 
+option(RCL_MICROROS "micro-ROS build mode" ON)
+
 find_package(ament_cmake_ros REQUIRED)
 find_package(ament_cmake_gen_version_h REQUIRED)
 
-find_package(libyaml_vendor REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 find_package(rcl_logging_interface REQUIRED)
-find_package(rcl_yaml_param_parser REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_implementation REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
 find_package(service_msgs REQUIRED)
 find_package(tracetools REQUIRED)
 find_package(type_description_interfaces REQUIRED)
-find_package(yaml REQUIRED)
+
+if(NOT RCL_MICROROS)
+  find_package(libyaml_vendor REQUIRED)
+  find_package(yaml REQUIRED)
+  find_package(rcl_yaml_param_parser REQUIRED)
+endif()
 
 include(cmake/rcl_set_symbol_visibility_hidden.cmake)
-include(cmake/get_default_rcl_logging_implementation.cmake)
-get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
+
+if(NOT RCL_MICROROS)
+  include(cmake/get_default_rcl_logging_implementation.cmake)
+  get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
+endif()
 
 # Default to C11
 if(NOT CMAKE_C_STANDARD)
@@ -38,7 +46,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 set(${PROJECT_NAME}_sources
-  src/rcl/arguments.c
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/arguments.c>
   src/rcl/client.c
   src/rcl/common.c
   src/rcl/context.c
@@ -53,13 +61,13 @@ set(${PROJECT_NAME}_sources
   src/rcl/init_options.c
   src/rcl/lexer.c
   src/rcl/lexer_lookahead.c
-  src/rcl/logging_rosout.c
-  src/rcl/logging.c
-  src/rcl/log_level.c
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/logging_rosout.c>
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/logging.c>
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/log_level.c>
   src/rcl/network_flow_endpoints.c
   src/rcl/node.c
   src/rcl/node_options.c
-  src/rcl/node_type_cache.c
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/node_type_cache.c>
   src/rcl/publisher.c
   src/rcl/remap.c
   src/rcl/node_resolve_name.c
@@ -71,7 +79,7 @@ set(${PROJECT_NAME}_sources
   src/rcl/time.c
   src/rcl/timer.c
   src/rcl/type_hash.c
-  src/rcl/type_description_conversions.c
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/type_description_conversions.c>
   src/rcl/validate_enclave_name.c
   src/rcl/validate_topic_name.c
   src/rcl/wait.c
@@ -87,20 +95,44 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   ${rcl_interfaces_TARGETS}
   # TODO(clalancette): rcl_logging_interface should be PRIVATE, but downstream depends on it for now
   rcl_logging_interface::rcl_logging_interface
-  rcl_yaml_param_parser::rcl_yaml_param_parser
   rcutils::rcutils
   rmw::rmw
   # TODO(clalancette): rmw_implementation should be PRIVATE, but downstream depends on it for now
   rmw_implementation::rmw_implementation
   rosidl_runtime_c::rosidl_runtime_c
   ${type_description_interfaces_TARGETS}
 )
+
+target_link_libraries(${PROJECT_NAME} PRIVATE
+  tracetools::tracetools
+)
+
+if(NOT RCL_MICROROS)
 target_link_libraries(${PROJECT_NAME} PRIVATE
   ${RCL_LOGGING_IMPL}::${RCL_LOGGING_IMPL}
   ${service_msgs_TARGETS}
-  tracetools::tracetools
   yaml
 )
+endif()
+
+if(NOT RCL_MICROROS)
+  ament_target_dependencies(${PROJECT_NAME}
+    "rcl_yaml_param_parser"
+  )
+endif()
+
+if(NOT RCL_MICROROS)
+  ament_target_dependencies(${PROJECT_NAME}
+    ${RCL_LOGGING_IMPL}
+  )
+endif()
+
+if(NOT RCL_MICROROS)
+target_compile_definitions(${PROJECT_NAME}
+  PUBLIC
+    RCL_MICROROS_COMPLETE_IMPL
+  )
+endif()
 
 # Allow configuring the default discovery range
 if(DEFINED RCL_DEFAULT_DISCOVERY_RANGE)
@@ -140,14 +172,21 @@ ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl_interfaces)
 # TODO(clalancette): rcl_logging_interface shouldn't be exported, but downstream depends on it for now
 ament_export_dependencies(rcl_logging_interface)
-ament_export_dependencies(rcl_yaml_param_parser)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
 # TODO(clalancette): rmw_implementation shouldn't be exported, but downstream depends on it for now
 ament_export_dependencies(rmw_implementation)
 ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(type_description_interfaces)
-ament_generate_version_header(${PROJECT_NAME})
+
+if(NOT RCL_MICROROS)
+  ament_export_dependencies(rcl_yaml_param_parser)
+  ament_export_dependencies(tracetools)
+endif()
+
+if(NOT RCL_MICROROS)
+  ament_export_dependencies(${RCL_LOGGING_IMPL})
+endif()
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
@@ -22,7 +22,11 @@
 #include "rcl/macros.h"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl_yaml_param_parser/types.h"
+#else
+typedef bool rcl_params_t;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
 #ifdef __cplusplus
 extern "C"

diff --git a/rcl/include/rcl/context.h b/rcl/include/rcl/context.h
@@ -25,7 +25,9 @@ extern "C"
 #include "rmw/init.h"
 
 #include "rcl/allocator.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/arguments.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/init_options.h"
 #include "rcl/macros.h"
 #include "rcl/types.h"
@@ -112,21 +114,18 @@ typedef struct rcl_context_impl_s rcl_context_impl_t;
  */
 typedef struct rcl_context_s
 {
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   /// Global arguments for all nodes which share this context.
   /** Typically generated by the parsing of argc/argv in rcl_init(). */
   rcl_arguments_t global_arguments;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   /// Implementation specific pointer.
   rcl_context_impl_t * impl;
 
   // The assumption that this is big enough for an atomic_uint_least64_t is
   // ensured with a static_assert in the context.c file.
   // In most cases it should just be a plain uint64_t.
-/// @cond Doxygen_Suppress
-#if !defined(RCL_CONTEXT_ATOMIC_INSTANCE_ID_STORAGE_SIZE)
-#define RCL_CONTEXT_ATOMIC_INSTANCE_ID_STORAGE_SIZE sizeof(uint_least64_t)
-#endif
-/// @endcond
   /// Private storage for instance ID atomic.
   /**
    * Accessing the instance id should be done using the function
@@ -146,7 +145,7 @@ typedef struct rcl_context_s
    * See this paper for an effort to make this possible in the future:
    *   http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2018/p0943r1.html
    */
-  RCL_ALIGNAS(8) uint8_t instance_id_storage[RCL_CONTEXT_ATOMIC_INSTANCE_ID_STORAGE_SIZE];
+  uint32_t instance_id_storage;
 } rcl_context_t;
 
 /// Return a zero initialization context object.

diff --git a/rcl/include/rcl/node.h b/rcl/include/rcl/node.h
@@ -25,7 +25,9 @@ extern "C"
 #include <stdint.h>
 
 #include "rcl/allocator.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/arguments.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/context.h"
 #include "rcl/guard_condition.h"
 #include "rcl/macros.h"

diff --git a/rcl/include/rcl/node_options.h b/rcl/include/rcl/node_options.h
@@ -23,7 +23,10 @@ extern "C"
 #endif
 
 #include "rcl/allocator.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/arguments.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
+#include "rcl/macros.h"
 
 #include "rcl/domain_id.h"
 
@@ -46,8 +49,10 @@ typedef struct rcl_node_options_s
   /// If false then only use arguments in this struct, otherwise use global arguments also.
   bool use_global_arguments;
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   /// Command line arguments that apply only to this node.
   rcl_arguments_t arguments;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   /// Flag to enable rosout for this node
   bool enable_rosout;

diff --git a/rcl/src/rcl/arguments_impl.h b/rcl/src/rcl/arguments_impl.h
@@ -17,7 +17,11 @@
 
 #include "rcl/arguments.h"
 #include "rcl/log_level.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl_yaml_param_parser/types.h"
+#else
+typedef bool rcl_params_t;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "./remap_impl.h"
 
 #ifdef __cplusplus

diff --git a/rcl/src/rcl/client.c b/rcl/src/rcl/client.c
@@ -24,7 +24,9 @@ extern "C"
 
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
+#ifdef RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/node_type_cache.h"
+#endif // RCL_MICROROS_COMPLETE_IMPL
 #include "rcl/publisher.h"
 #include "rcl/time.h"
 #include "rcutils/logging_macros.h"
@@ -49,7 +51,9 @@ struct rcl_client_impl_s
   atomic_int_least64_t sequence_number;
   rcl_service_event_publisher_t * service_event_publisher;
   char * remapped_service_name;
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   rosidl_type_hash_t type_hash;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 };
 
 rcl_client_t
@@ -178,6 +182,7 @@ rcl_client_init(
   client->impl->options = *options;
   atomic_init(&client->impl->sequence_number, 0);
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   const rosidl_type_hash_t * hash = type_support->get_type_hash_func(type_support);
   if (hash == NULL) {
     RCL_SET_ERROR_MSG("Failed to get the type hash");
@@ -195,6 +200,7 @@ rcl_client_init(
     goto destroy_client;
   }
   client->impl->type_hash = *hash;
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client initialized");
   TRACETOOLS_TRACEPOINT(
@@ -256,15 +262,15 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
       RCL_SET_ERROR_MSG(rmw_get_error_string().str);
       result = RCL_RET_ERROR;
     }
-
+#ifdef RCL_MICROROS_COMPLETE_IMPL
     if (
       ROSIDL_TYPE_HASH_VERSION_UNSET != client->impl->type_hash.version &&
       RCL_RET_OK != rcl_node_type_cache_unregister_type(node, &client->impl->type_hash))
     {
       RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
       result = RCL_RET_ERROR;
     }
-
+#endif // RCL_MICROROS_COMPLETE_IMPL
     allocator.deallocate(client->impl->remapped_service_name, allocator.state);
     client->impl->remapped_service_name = NULL;
 

diff --git a/rcl/src/rcl/context.c b/rcl/src/rcl/context.c
@@ -30,16 +30,12 @@ rcl_get_zero_initialized_context(void)
 {
   static rcl_context_t context = {
     .impl = NULL,
-    .instance_id_storage = {0},
+    .instance_id_storage = 0,
   };
   // this is not constexpr so it cannot be in the struct initialization
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   context.global_arguments = rcl_get_zero_initialized_arguments();
-  // ensure assumption about static storage
-  static_assert(
-    sizeof(context.instance_id_storage) >= sizeof(atomic_uint_least64_t),
-    "expected rcl_context_t's instance id storage to be >= size of atomic_uint_least64_t");
-  // initialize atomic
-  atomic_init((atomic_uint_least64_t *)(&context.instance_id_storage), 0);
+#endif // RCL_MICROROS_COMPLETE_IMPL
   return context;
 }
 
@@ -76,7 +72,7 @@ rcl_context_instance_id_t
 rcl_context_get_instance_id(const rcl_context_t * context)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(context, 0);
-  return rcutils_atomic_load_uint64_t((atomic_uint_least64_t *)(&context->instance_id_storage));
+  return context->instance_id_storage;
 }
 
 rcl_ret_t
@@ -110,8 +106,9 @@ __cleanup_context(rcl_context_t * context)
 {
   rcl_ret_t ret = RCL_RET_OK;
   // reset the instance id to 0 to indicate "invalid" (should already be 0, but this is defensive)
-  rcutils_atomic_store((atomic_uint_least64_t *)(&context->instance_id_storage), 0);
+  context->instance_id_storage = 0;
 
+#ifdef RCL_MICROROS_COMPLETE_IMPL
   // clean up global_arguments if initialized
   if (NULL != context->global_arguments.impl) {
     ret = rcl_arguments_fini(&(context->global_arguments));
@@ -124,6 +121,7 @@ __cleanup_context(rcl_context_t * context)
       rcl_reset_error();
     }
   }
+#endif // RCL_MICROROS_COMPLETE_IMPL
 
   // if impl is null, nothing else can be cleaned up
   if (NULL != context->impl) {