Change jazzy to humble base. #154

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TeeTyJunGz wants to merge 17 commits into micro-ROS:jazzy from TeeTyJunGz:humble

CHANGELOG.rst

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@@ -0,0 +1,58 @@
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+    Changelog for package micro_ros_stmcube
+    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.0.2 (2024-06-03)
+    ------------------
+    * Add UDP transport (`#134 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/134>`_) (`#136 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/136>`_)
+      * Add UDP transport
+      * Apply suggestions from code review
+      Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
+      * Update README and modify recv flag
+      * Update udp_transport.c
+      * Apply suggestions from code review
+      Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
+      * Update udp_transport.c
+      * Minor fixes on readme
+      ---------
+      Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
+      (cherry picked from commit 0dbe8b656cf48ef6b8194f047029711fc09cc9bb)
+      Co-authored-by: Lion Hao <haolion520@gmail.com>
+    * Workaround to use STMCubeIDE in Windows 11 (backport `#127 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/127>`_) (`#128 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/128>`_)
+      Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
+      Co-authored-by: Leonardo <leogarberoglio@hotmail.com>
+    * Contributors: mergify[bot]
+.0.1 (2023-06-12)
+    ------------------
+    * Add USB CDC transport (`#89 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/89>`_)
+    * Improved repository clarity (`#74 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/74>`_)
+    * Fix USER_CUSTOM_PACKAGES_DIR (`#67 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/67>`_) (`#70 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/70>`_)
+    * microros_component/extra_packages support (`#63 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/63>`_) (`#65 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/65>`_)
+.0.0 (2022-05-25)
+    ------------------
+    * Humble release (`#61 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/61>`_)
+    * Update banner (`#56 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/56>`_)
+    * Fix include paths (`#47 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/47>`_)
+    * Add check for NULL input pointer (`#53 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/53>`_) (`#55 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/55>`_)
+    * Fix broken pvPortReallocMicroROS() implementation (`#48 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/48>`_) (`#49 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/49>`_)
+    * Update STM32CubeMX micro-ROS library paths (backport `#42 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/42>`_) (`#43 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/43>`_)
+    * Fix embeddedRTPS build (`#38 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/38>`_)
+    * Fix embeddedRTPS repo (backport `#33 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/33>`_) (`#34 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/34>`_)
+    * Fix meta file selection and change rtps branch (backport `#31 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/31>`_) (`#32 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/32>`_)
+    * Add embeddedRTPS as experimental middleware (backport `#29 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/29>`_) (`#30 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/30>`_)
+    * Update library_generation.sh (`#26 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/26>`_) (`#27 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/27>`_)
+    * apt to apt-get (`#20 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/20>`_) (`#22 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/22>`_)
+    * multichange tool (`#10 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/10>`_) (`#12 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/12>`_)
+    * Initial Rolling port
+    * Suggested absolute path in step 4 (`#9 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/9>`_)
+    * multichange tool (`#6 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/6>`_)
+    * Add automated IDE support (`#4 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/4>`_)
+    * Add serial interrupt transport (`#2 <https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues/2>`_)
+    * Update
+    * Update
+    * Update dockerfile
+    * Update
+    * Initial commit
+    * Initial commit

README.md

            
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    @@ -9,9 +9,12 @@ This tool aims to ease the micro-ROS integration in a STM32CubeMX/IDE project.
  
      - [Middlewares available](#middlewares-available)

      - [Using this package with STM32CubeMX](#using-this-package-with-stm32cubemx)

      - [Using this package with STM32CubeIDE](#using-this-package-with-stm32cubeide)

        - [Windows 11 (Community Contributed)](#windows-11-community-contributed)

      - [Transport configuration](#transport-configuration)

        - [U(S)ART with DMA](#usart-with-dma)

        - [U(S)ART with Interrupts](#usart-with-interrupts)

        - [USB CDC](#usb-cdc)

        - [UDP](#udp)

      - [Customizing the micro-ROS library](#customizing-the-micro-ros-library)

      - [Adding custom packages](#adding-custom-packages)

      - [Purpose of the Project](#purpose-of-the-project)

    @@ -31,53 +34,54 @@ 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

       ```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

    # 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

       # 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

    # Set here the custom transport implementation

    C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_transports/dma_transport.c

       # Set here the custom transport implementation

       C_SOURCES += micro_ros_stm32cubemx_utils/extra_sources/microros_transports/dma_transport.c

    print_cflags:

    	@echo $(CFLAGS)

    ```

       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:rolling

    docker run -it --rm -v $(pwd):/project --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library microros/micro_ros_static_library_builder:rolling

    ```

       ```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

       ```

    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:rolling && 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:rolling

    ```

       ```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

       ```

    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 +95,21 @@ docker pull microros/micro_ros_static_library_builder:rolling && 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

    ### Windows 11 (Community Contributed)

    micro-ROS can be used with SMT32CubeIDE in Windows 11 OS, following these steps:

    1. Install Docker Desktop and open it

    2. Clone this repository in your STM32CubeIDE project folder

    3. Open a terminal in the project folder and run:

       ```bash

       docker pull microros/micro_ros_static_library_builder:humble

       docker run --rm -v <ABSOLUTE_PATH_TO_PROJECT>:/project --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library_ide microros/micro_ros_static_library_builder:humble

       ```

    Follow steps 4 to 8.

    Noticed that thist steps where tested with ROS 2 Humble, but should work on any distribution. micro-ROS Agent could be build and run in Ubuntu using WSL.

    ## Transport configuration

    Available transport for this platform are:

    @@ -109,12 +128,45 @@ Steps to configure:
  
       - Enable U(S)ART in your STM32CubeMX

       - For the selected USART, enable `global interrupt` under `NVIC Settings`: [Detail](.images/Set_UART_IT.jpg)

    ### USB CDC

    Steps to configure:

       - Enable the USB in your STM32CubeMX `Connectivity` tab.

       - Select the `Communication Device Class (Virtual Port Com)` mode on the `Middleware -> USB_DEVICE` configuration.

          **Note: The micro-ROS transport will override the autogenerated `USB_DEVICE/App/usbd_cdc_if.c` methods.**

    ### UDP

    Steps to configure:

       - Enable Ethernet in your STM32CubeMX/IDE `Connectivity` tab.

       - Enable LwIP in your STM32CubeMX/IDE `Middleware` tab.

       - Make sure that LwIP has the following configuration:

          ```

          Platform Setting according to your own board

          LwIP -> General Settings -> LWIP_DHCP -> Disabled

          LwIP -> General Settings -> IP Address Settings (Set here the board address and mask)

          LwIP -> General Settings -> LWIP UDP -> Enabled

          LwIP -> General Settings -> Procols Options -> MEMP_NUM_UDP_PCB -> 15

          LwIP -> Key Options -> LWIP_SO_RCVTIMEO -> Enable

          ```

       **Note: Ensure your board and Agent are within the same LAN. The default port is 8888. You can modify it in `udp_transport.c`.If you are using a board from the STM32H7 series, please set up the MPU correctly.**

       - Use `sample_main_udp.c` as a reference for writing your application code.

       - Start the micro-ROS Agent with the following arguments:

            ```

            ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v 6

            ```

    ## Customizing the micro-ROS library

    All the micro-ROS configuration can be done in `colcon.meta` file before step 3. You can find detailed information about how to tune the static memory usage of the library in the [Middleware Configuration tutorial](https://micro.ros.org/docs/tutorials/advanced/microxrcedds_rmw_configuration/).

    ## Adding custom packages

    Note that folders added to `microros_component/extra_packages` and entries added to `microros_component/extra_packages/extra_packages.repos` will be taken into account by this build system.

    Note that folders added to `microros_static_library/library_generation/extra_packages/` and entries added to `/microros_static_library/library_generation/extra_packages/extra_packages.repos` will be taken into account by this build system.

    ## Purpose of the Project

embeddedrtps.md

            
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    @@ -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:galactic && 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:galactic

    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

    ```

    12. Add the following source code files to your project, dragging them to source folder:

extra_sources/microros_transports/udp_transport.c

-Original file line number
+Diff line change
@@ -0,0 +1,79 @@
+    #include <uxr/client/transport.h>
+    #include <rmw_microxrcedds_c/config.h>
+    #include "main.h"
+    #include "cmsis_os.h"
+    #include <unistd.h>
+    #include <stdio.h>
+    #include <string.h>
+    #include <stdbool.h>
+    // --- LWIP ---
+    #include "lwip/opt.h"
+    #include "lwip/sys.h"
+    #include "lwip/api.h"
+    #include <lwip/sockets.h>
+    #ifdef RMW_UXRCE_TRANSPORT_CUSTOM
+    // --- micro-ROS Transports ---
+    #define UDP_PORT        8888
+    static int sock_fd = -1;
+    bool cubemx_transport_open(struct uxrCustomTransport * transport){
+        sock_fd = socket(AF_INET, SOCK_DGRAM, 0);
+        struct sockaddr_in addr;
+        addr.sin_family = AF_INET;
+        addr.sin_port = htons(UDP_PORT);
+        addr.sin_addr.s_addr = htonl(INADDR_ANY);
+        if (bind(sock_fd, (struct sockaddr *)&addr, sizeof(addr)) == -1)
+        {
+            return false;
+        }
+        return true;
+    }
+    bool cubemx_transport_close(struct uxrCustomTransport * transport){
+        if (sock_fd != -1)
+        {
+            closesocket(sock_fd);
+            sock_fd = -1;
+        }
+        return true;
+    }
+    size_t cubemx_transport_write(struct uxrCustomTransport* transport, uint8_t * buf, size_t len, uint8_t * err){
+        if (sock_fd == -1)
+        {
+            return 0;
+        }
+        const char * ip_addr = (const char*) transport->args;
+        struct sockaddr_in addr;
+        addr.sin_family = AF_INET;
+        addr.sin_port = htons(UDP_PORT);
+        addr.sin_addr.s_addr = inet_addr(ip_addr);
+        int ret = 0;
+        ret = sendto(sock_fd, buf, len, 0, (struct sockaddr *)&addr, sizeof(addr));
+        size_t writed = ret>0? ret:0;
+        return writed;
+    }
+    size_t cubemx_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err){
+        int ret = 0;
+        //set timeout
+        struct timeval tv_out;
+        tv_out.tv_sec = timeout / 1000;
+        tv_out.tv_usec = (timeout % 1000) * 1000;
+        setsockopt(sock_fd, SOL_SOCKET, SO_RCVTIMEO,&tv_out, sizeof(tv_out));
+        ret = recv(sock_fd, buf, len, MSG_WAITALL);
+        size_t readed = ret > 0 ? ret : 0;
+        return readed;
+    }
+    #endif

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