micro-ROS · Acuadros95 · Mar 13, 2023 · Mar 14, 2023 · Mar 14, 2023
diff --git a/README.md b/README.md
@@ -6,6 +6,7 @@
 This tool aims to ease the micro-ROS integration in a STM32CubeMX/IDE project.
 
 - [micro-ROS for STM32CubeMX/IDE](#micro-ros-for-stm32cubemxide)
+  - [Requirements](#requirements)
   - [Middlewares available](#middlewares-available)
   - [Using this package with STM32CubeMX](#using-this-package-with-stm32cubemx)
   - [Using this package with STM32CubeIDE](#using-this-package-with-stm32cubeide)
@@ -17,6 +18,16 @@ This tool aims to ease the micro-ROS integration in a STM32CubeMX/IDE project.
   - [Purpose of the Project](#purpose-of-the-project)
   - [License](#license)
   - [Known Issues/Limitations](#known-issueslimitations)
+
+## Requirements
+
+- Install `rsync`: `apt -y install rsync`
+- [Install colcon](https://colcon.readthedocs.io/en/released/user/installation.html) and dependencies, for example with:
+
+   ```bash
+   pip3 install colcon-common-extensions catkin_pkg lark-parser empy
+   ```
+
 ## Middlewares available
 
 This package support the usage of micro-ROS on top of two different middlewares:
@@ -31,53 +42,54 @@ This package support the usage of micro-ROS on top of two different middlewares:
 4. Configure the transport interface on the STM32CubeMX project, check the [Transport configuration](#Transport-configuration) section for instructions on the custom transports provided.
 5. Modify the generated `Makefile` to include the following code **before the `build the application` section**:
 
-<!-- # Removing heap4 manager while being polite with STM32CubeMX
-TMPVAR := $(C_SOURCES)
-C_SOURCES := $(filter-out Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c, $(TMPVAR)) -->
+   <!-- # Removing heap4 manager while being polite with STM32CubeMX
+   TMPVAR := $(C_SOURCES)
+   C_SOURCES := $(filter-out Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c, $(TMPVAR)) -->
 
-```makefile
-#######################################
-# micro-ROS addons
-#######################################
-LDFLAGS += micro_ros_stm32cubemx_utils/microros_static_library/libmicroros/libmicroros.a
-C_INCLUDES += -Imicro_ros_stm32cubemx_utils/microros_static_library/libmicroros/microros_include
+   <!-- TODO: Check how to fix flags here -->
 
-# Add micro-ROS utils
-C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/custom_memory_manager.c
-C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_allocators.c
-C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_time.c
+   ```makefile
+   #######################################
+   # micro-ROS addons
+   #######################################
+   LDFLAGS += micro_ros_stm32cubemx_utils/libmicroros/libmicroros.a
+   C_INCLUDES += -Imicro_ros_stm32cubemx_utils/libmicroros/include
 
-# Set here the custom transport implementation
-C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_transports/dma_transport.c
+   # Add micro-ROS utils
+   C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/custom_memory_manager.c
+   C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_allocators.c
+   C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_time.c
 
-print_cflags:
-	@echo $(CFLAGS)
-```
+   # Set here the custom transport implementation
+   C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_transports/usb_transport.c
 
-6. Execute the static library generation tool. Compiler flags will retrieved automatically from your `Makefile` and user will be prompted to check if they are correct.
+   print_cflags:
+      @echo $(CFLAGS)
+   ```
 
+6. Execute the static library generation tool. Compiler flags will retrieved automatically from your `Makefile` and user will be prompted to check if they are correct.
 
-```bash
-docker pull microros/micro_ros_static_library_builder:humble
-docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library microros/micro_ros_static_library_builder:humble
-```
+   ```bash
+   ./micro_ros_stm32cubemx_utils/library_generation//library_generation.sh
+   ```
 
 1. Modify your `main.c` to use micro-ROS. An example application can be found in `sample_main.c`.
 2. Continue your usual workflow building your project and flashing the binary:
 
-```bash
-make -j$(nproc)
-```
+   ```bash
+   make -j$(nproc)
+   ```
+
 ## Using this package with STM32CubeIDE
 
 micro-ROS can be used with SMT32CubeIDE following these steps:
 
 1. Clone this repository in your STM32CubeIDE project folder
 2. Go to `Project -> Settings -> C/C++ Build -> Settings -> Build Steps Tab` and in `Pre-build steps` add:
 
-```bash
-docker pull microros/micro_ros_static_library_builder:humble && docker run --rm -v ${workspace_loc:/${ProjName}}:/project --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library_ide microros/micro_ros_static_library_builder:humble
-```
+   ```bash
+   ./micro_ros_stm32cubemx_utils/library_generation//library_generation.sh
+   ```
 
 3. Add micro-ROS include directory. In `Project -> Settings -> C/C++ Build -> Settings -> Tool Settings Tab -> MCU GCC Compiler -> Include paths` add `micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include`
 4. Add the micro-ROS precompiled library. In `Project -> Settings -> C/C++ Build -> Settings -> MCU GCC Linker -> Libraries`
@@ -91,6 +103,7 @@ docker pull microros/micro_ros_static_library_builder:humble && docker run --rm
 6. Make sure that if you are using FreeRTOS, the micro-ROS task **has more than 10 kB of stack**: [Detail](.images/Set_freertos_stack.jpg)
 7. Configure the transport interface on the STM32CubeMX project, check the [Transport configuration](#Transport-configuration) section for instructions on the custom transports provided.
 8. Build and run your project
+
 ## Transport configuration
 
 Available transport for this platform are:

diff --git a/embeddedrtps.md b/embeddedrtps.md
@@ -42,7 +42,7 @@ This instructions are an approach to a [STMCubeIDE v1.7.0](https://www.st.com/en
 10. Go to `Project -> Settings -> C/C++ Build -> Settings -> Build Steps Tab` and in `Pre-build steps` add:
 
 ```bash
-docker pull microros/micro_ros_static_library_builder:humble && docker run --rm -v ${workspace_loc:/${ProjName}}:/project --env MICROROS_USE_EMBEDDEDRTPS=ON --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library_ide microros/micro_ros_static_library_builder:humble
+export MICROROS_USE_EMBEDDEDRTPS=ON && cd ../micro_ros_stm32cubemx_utils/microros_static_library_ide/library_generation && ./library_generation.sh
 ```
 
 12. Add the following source code files to your project, dragging them to source folder:

diff --git a/...brary_generation/colcon-embeddedrtps.meta → library_generation/colcon-embeddedrtps.meta b/...brary_generation/colcon-embeddedrtps.meta → library_generation/colcon-embeddedrtps.meta
diff --git a/...ibrary_ide/library_generation/colcon.meta → library_generation/colcon.meta b/...ibrary_ide/library_generation/colcon.meta → library_generation/colcon.meta
diff --git a/...ation/extra_packages/extra_packages.repos → ...ation/extra_packages/extra_packages.repos b/...ation/extra_packages/extra_packages.repos → ...ation/extra_packages/extra_packages.repos
diff --git a/...y_ide/library_generation/extract_flags.py → library_generation/extract_flags.py b/...y_ide/library_generation/extract_flags.py → library_generation/extract_flags.py
@@ -14,7 +14,7 @@
 
 includes = [x for x in text if x.startswith("-I")]
 includes = list(set(includes))
-includes = [x.replace("../", "/project/") for x in includes]
+includes = [x.replace("../", "../../../") for x in includes]
 
 out = "-ffunction-sections -fdata-sections -DSTM32CUBEIDE"
 

diff --git a/library_generation/libmicroros.mk b/library_generation/libmicroros.mk
@@ -0,0 +1,160 @@
+COMPONENT_DIR = $(shell pwd)
+INSTALL_DIR = $(COMPONENT_DIR)/../libmicroros
+
+DEBUG ?= 0
+
+ifeq ($(DEBUG), 1)
+	BUILD_TYPE = Debug
+else
+	BUILD_TYPE = Release
+endif
+
+ifeq ($(MICROROS_USE_EMBEDDEDRTPS), "ON")
+META_FILE = $(COMPONENT_DIR)/colcon-embeddedrtps.meta
+else
+META_FILE = $(COMPONENT_DIR)/colcon.meta
+endif
+
+X_CC := arm-none-eabi-gcc
+X_CXX := arm-none-eabi-g++
+X_AR := arm-none-eabi-ar
+X_STRIP := arm-none-eabi-strip
+CFLAGS_INTERNAL := $(RET_CFLAGS) -w -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='
+CXXFLAGS_INTERNAL := $(RET_CFLAGS) -w -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='
+
+all: $(INSTALL_DIR)/libmicroros.a
+
+clean:
+	rm -rf $(INSTALL_DIR)
+
+$(INSTALL_DIR)/toolchain.cmake: $(COMPONENT_DIR)/toolchain.cmake.in
+	rm -f $(INSTALL_DIR)/toolchain.cmake; \
+	mkdir -p $(INSTALL_DIR); \
+	cat $(COMPONENT_DIR)/toolchain.cmake.in | \
+		sed "s/@CMAKE_C_COMPILER@/$(subst /,\/,$(X_CC))/g" | \
+		sed "s/@CMAKE_CXX_COMPILER@/$(subst /,\/,$(X_CXX))/g" | \
+		sed "s/@CFLAGS@/$(subst /,\/,$(CFLAGS_INTERNAL))/g" | \
+		sed "s/@CXXFLAGS@/$(subst /,\/,$(CXXFLAGS_INTERNAL))/g" \
+		> $(INSTALL_DIR)/toolchain.cmake
+
+$(INSTALL_DIR)/micro_ros_dev/install:
+	rm -rf $(INSTALL_DIR)/micro_ros_dev; \
+	mkdir $(INSTALL_DIR)/micro_ros_dev; cd $(INSTALL_DIR)/micro_ros_dev; \
+	git clone -b humble https://github.com/ament/ament_cmake src/ament_cmake; \
+	git clone -b humble https://github.com/ament/ament_lint src/ament_lint; \
+	git clone -b humble https://github.com/ament/ament_package src/ament_package; \
+	git clone -b humble https://github.com/ament/googletest src/googletest; \
+	git clone -b humble https://github.com/ros2/ament_cmake_ros src/ament_cmake_ros; \
+	git clone -b humble https://github.com/ament/ament_index src/ament_index; \
+	colcon build --cmake-args -DBUILD_TESTING=OFF;
+
+# TODO(acuadros95): Add EmbeddedRTPS conditional
+$(INSTALL_DIR)/micro_ros_src/src:
+	rm -rf $(INSTALL_DIR)/micro_ros_src; \
+	mkdir $(INSTALL_DIR)/micro_ros_src; cd $(INSTALL_DIR)/micro_ros_src; \
+	if [ "$(MICROROS_USE_EMBEDDEDRTPS)" = "ON" ]; then \
+		git clone -b humble https://github.com/micro-ROS/embeddedRTPS src/embeddedRTPS; \
+		git clone -b humble https://github.com/micro-ROS/rmw_embeddedrtps src/rmw_embeddedrtps; \
+	else \
+		git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client; \
+		git clone -b humble https://github.com/micro-ROS/rmw_microxrcedds src/rmw_microxrcedds; \
+	fi; \
+	git clone -b ros2 https://github.com/eProsima/micro-CDR src/micro-CDR; \
+	git clone -b humble https://github.com/micro-ROS/rcl src/rcl; \
+	git clone -b humble https://github.com/ros2/rclc src/rclc; \
+	git clone -b humble https://github.com/micro-ROS/rcutils src/rcutils; \
+	git clone -b humble https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs; \
+	git clone -b humble https://github.com/micro-ROS/rosidl_typesupport src/rosidl_typesupport; \
+	git clone -b humble https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds; \
+	git clone -b humble https://github.com/ros2/rosidl src/rosidl; \
+	git clone -b humble https://github.com/ros2/rmw src/rmw; \
+	git clone -b humble https://github.com/ros2/rcl_interfaces src/rcl_interfaces; \
+	git clone -b humble https://github.com/ros2/rosidl_defaults src/rosidl_defaults; \
+	git clone -b humble https://github.com/ros2/unique_identifier_msgs src/unique_identifier_msgs; \
+	git clone -b humble https://github.com/ros2/common_interfaces src/common_interfaces; \
+	git clone -b humble https://github.com/ros2/test_interface_files src/test_interface_files; \
+	git clone -b humble https://github.com/ros2/rmw_implementation src/rmw_implementation; \
+	git clone -b humble https://github.com/ros2/rcl_logging src/rcl_logging; \
+	git clone -b humble https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing src/ros2_tracing; \
+	git clone -b humble https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities; \
+	git clone -b humble https://github.com/ros2/example_interfaces src/example_interfaces; \
+    touch src/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE; \
+    touch src/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE; \
+    touch src/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE; \
+    touch src/rclc/rclc_examples/COLCON_IGNORE; \
+	touch src/rcl/rcl_yaml_param_parser/COLCON_IGNORE; \
+	cp -rf $(COMPONENT_DIR)/extra_packages src/extra_packages || :;
+
+$(INSTALL_DIR)/micro_ros_src/install: $(INSTALL_DIR)/toolchain.cmake $(INSTALL_DIR)/micro_ros_dev/install $(INSTALL_DIR)/micro_ros_src/src
+	cd $(INSTALL_DIR)/micro_ros_src; \
+	unset AMENT_PREFIX_PATH; \
+	unset RMW_IMPLEMENTATION; \
+	PATH=$(subst /opt/ros/$(ROS_DISTRO)/bin,,$(PATH)); \
+	. ../micro_ros_dev/install/local_setup.sh; \
+	colcon build \
+		--merge-install \
+		--packages-ignore-regex=.*_cpp \
+		--metas $(META_FILE) $(COMPONENT_DIR)/../../app_colcon.meta $(USER_COLCON_META) \
+		--cmake-force-configure \
+		--cmake-clean-cache \
+		--cmake-args \
+		"--no-warn-unused-cli" \
+		--log-level=ERROR \
+		-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=OFF \
+		-DTHIRDPARTY=ON \
+		-DBUILD_SHARED_LIBS=OFF \
+		-DBUILD_TESTING=OFF \
+		-DCMAKE_BUILD_TYPE=$(BUILD_TYPE) \
+		-DCMAKE_TOOLCHAIN_FILE=$(INSTALL_DIR)/toolchain.cmake \
+		-DCMAKE_VERBOSE_MAKEFILE=OFF;
+
+$(INSTALL_DIR)/libmicroros.a: $(INSTALL_DIR)/micro_ros_src/install
+	mkdir -p $(INSTALL_DIR)/micro_ros_src/aux; cd $(INSTALL_DIR)/micro_ros_src/aux; \
+	for file in $$(find $(INSTALL_DIR)/micro_ros_src/install/lib/ -name '*.a'); do \
+		folder=$$(echo $$file | sed -E "s/(.+)\/(.+).a/\2/"); \
+		mkdir -p $$folder; cd $$folder; $(AR) x $$file; \
+		for f in *; do \
+			mv $$f ../$$folder-$$f; \
+		done; \
+		cd ..; rm -rf $$folder; \
+	done ; \
+	$(AR) rc -s libmicroros.a *.obj; cp libmicroros.a $(INSTALL_DIR); \
+	cd ..; rm -rf aux; \
+	cp -R $(INSTALL_DIR)/micro_ros_src/install/include $(INSTALL_DIR)/include;
+
+rebuild_metas:
+	export META_PACKAGES=$$(python3 $(COMPONENT_DIR)/get_metas_packages.py $(USER_COLCON_META)); \
+	cd $(INSTALL_DIR)/micro_ros_src; \
+	unset AMENT_PREFIX_PATH; \
+	PATH=$(subst /opt/ros/$(ROS_DISTRO)/bin,,$(PATH)); \
+	. ../micro_ros_dev/install/local_setup.sh; \
+	colcon build \
+		--merge-install \
+		--packages-ignore-regex=.*_cpp \
+		--packages-select $$META_PACKAGES \
+		--metas $(COMPONENT_DIR)/colcon.meta $(COMPONENT_DIR)/../../app_colcon.meta $(USER_COLCON_META) \
+		--cmake-force-configure \
+		--cmake-clean-cache \
+		--cmake-args \
+		"--no-warn-unused-cli" \
+		--log-level=ERROR \
+		-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=OFF \
+		-DTHIRDPARTY=ON \
+		-DBUILD_SHARED_LIBS=OFF \
+		-DBUILD_TESTING=OFF \
+		-DCMAKE_BUILD_TYPE=$(BUILD_TYPE) \
+		-DCMAKE_TOOLCHAIN_FILE=$(INSTALL_DIR)/toolchain.cmake \
+		-DCMAKE_VERBOSE_MAKEFILE=OFF;\
+	mkdir -p $(INSTALL_DIR)/micro_ros_src/aux; cd $(INSTALL_DIR)/micro_ros_src/aux; \
+	for file in $$(find $(INSTALL_DIR)/micro_ros_src/install/lib/ -name '*.a'); do \
+		folder=$$(echo $$file | sed -E "s/(.+)\/(.+).a/\2/"); \
+		mkdir -p $$folder; cd $$folder; $(AR) x $$file; \
+		for f in *; do \
+			mv $$f ../$$folder-$$f; \
+		done; \
+		cd ..; rm -rf $$folder; \
+	done ; \
+	$(AR) rc -s libmicroros.a *.obj; cp libmicroros.a $(INSTALL_DIR); \
+	cd ..; rm -rf aux; \
+	rm -rf $(INSTALL_DIR)/include; \
+	cp -R $(INSTALL_DIR)/micro_ros_src/install/include $(INSTALL_DIR)/include;
diff --git a/library_generation/library_generation.sh b/library_generation/library_generation.sh
@@ -0,0 +1,81 @@
+#!/bin/bash
+set -e
+
+export BASE_PATH=$(pwd)/..
+export PROJECT_PATH=../../
+
+######## Check existing library ########
+if [[ -f "$BASE_PATH/libmicroros/libmicroros.a" && ! -f "$USER_COLCON_META" ]]; then
+    echo "micro-ROS library found. Skipping..."
+    echo "Delete libmicroros/ for rebuild."
+    exit 0
+fi
+
+if [ ! -f "$USER_COLCON_META" ]; then
+    rm -rf $BASE_PATH/libmicroros
+fi
+
+if [ "$USER_COLCON_META" ]; then
+    rm -rf $BASE_PATH/libmicroros
+fi
+
+######## Trying to retrieve CFLAGS ########
+
+if [ $(MICROROS_USE_CUBEIDE) ]; then
+    export RET_CFLAGS=$(find $PROJECT_PATH -type f -name subdir.mk -exec cat {} \; | python3 $BASE_PATH/library_generation/extract_flags.py)
+else
+    # Use CubeMX approach
+    export RET_CFLAGS=$(cd $PROJECT_PATH && make print_cflags)
+fi
+
+if [ $RET_CFLAGS != "" ]; then
+    echo "Found CFLAGS:"
+    echo "-------------"
+    echo $RET_CFLAGS
+    echo "-------------"
+else
+    echo "Error retrieving croscompiler flags"
+    exit 1;
+fi
+
+echo "Using:"
+echo "-------------"
+echo $(which arm-none-eabi-gcc)
+echo Version: $(arm-none-eabi-gcc -dumpversion)
+echo "-------------"
+
+######## Build  ########
+
+if [ ! -f "$BASE_PATH/libmicroros/libmicroros.a" ]; then
+    # If library does not exist build it
+
+    ######## Add extra packages  ########
+    pushd extra_packages
+        # Workaround: Copy just tf2_msgs
+        git clone -b ros2 https://github.com/ros2/geometry2
+        cp -R geometry2/tf2_msgs tf2_msgs
+        rm -rf geometry2
+
+        if [ -f $extra_packages.repos ]; then
+        	vcs import --input extra_packages.repos
+        fi
+    popd > /dev/null
+
+
+    make -f libmicroros.mk
+else
+    # If exists just rebuild
+    make -f libmicroros.mk rebuild_metas
+fi
+
+######## Fix include paths  ########
+pushd $BASE_PATH/libmicroros/micro_ros_src > /dev/null
+    INCLUDE_ROS2_PACKAGES=$(colcon list | awk '{print $1}' | awk -v d=" " '{s=(NR==1?s:s d)$0}END{print s}')
+popd > /dev/null
+
+for var in ${INCLUDE_ROS2_PACKAGES}; do
+    if [ -d "$BASE_PATH/libmicroros/include/${var}/${var}" ]; then
+        rsync -r $BASE_PATH/libmicroros/include/${var}/${var}/* $BASE_PATH/libmicroros/include/${var}
+        rm -rf $BASE_PATH/libmicroros/include/${var}/${var}
+    fi
+done
diff --git a/library_generation/toolchain.cmake.in b/library_generation/toolchain.cmake.in
@@ -0,0 +1,21 @@
+include(CMakeForceCompiler)
+
+set(CMAKE_SYSTEM_NAME Generic)
+
+set(CMAKE_CROSSCOMPILING 1)
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+SET (CMAKE_C_COMPILER_WORKS 1)
+SET (CMAKE_CXX_COMPILER_WORKS 1)
+
+set(CMAKE_C_COMPILER @CMAKE_C_COMPILER@)
+set(CMAKE_CXX_COMPILER @CMAKE_CXX_COMPILER@)
+
+set(CMAKE_C_FLAGS_INIT "-std=c11 @CFLAGS@" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_INIT "-std=c++14 @CXXFLAGS@" CACHE STRING "" FORCE)
+
+set(__BIG_ENDIAN__ 0)