Update toolchains (#1)

* Update toolchains

* Update CI

* Update CI

* Updated CI

* Update CI

* Update Ci

Author: pablogs9

.github/workflows/ci.yml

@@ -7,31 +7,34 @@ on:
 
 jobs:
 
-    rmw_microxrcedds_ci:
+    micro_ros_arduino:
         runs-on: ubuntu-20.04
         container: ubuntu:20.04
 
         steps:
         - uses: actions/checkout@v2
           with:
-            path: src/rmw-microxrcedds
+            path: checkout/
 
-        - name: Download dependencies
+        - name: Build OpenCR
           run: |
             apt update
-            apt install git curl
+            apt install -y git curl lib32z1 wget
             curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh 
-            mkdir -p /root/Arduino/libraries/micro_ros_arduino-0.0.1/
-
-        - uses: actions/checkout@v2
-          with:
-            path: /root/Arduino/libraries/micro_ros_arduino-0.0.1/
-      
-        - name: Build sample OpenCR
-          run: | 
+            mkdir -p /github/home/Arduino/libraries/micro_ros_arduino-0.0.1/
+            cp -R checkout/* /github/home/Arduino/libraries/micro_ros_arduino-0.0.1/
             echo '''board_manager:
               additional_urls:
                 - https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json''' > arduino-cli.yaml
+            export PATH=$PATH:/github/workspace/bin:/__w/micro_ros_arduino/micro_ros_arduino/bin
+            arduino-cli core install OpenCR:OpenCR -v
             arduino-cli core update-index
-            arduino-cli core install OpenCR:OpenCR
-            arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /root/Arduino/libraries/micro_ros_arduino-0.0.1/examples/micro-ros_publisher -v
+            arduino-cli lib update-index
+            # Remove when https://github.com/ROBOTIS-GIT/OpenCR/pull/253 merged
+            export ORIGIN=$(pwd)
+            cd /github/home/.arduino15/packages/OpenCR/hardware/OpenCR/1.4.15
+            rm -rf platform.txt
+            wget https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/44bcd82f48a933a7db5fae1bd69e97cda4932832/arduino/opencr_arduino/opencr/platform.txt
+            cd $ORIGIN
+            # Remove until here
+            arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino-0.0.1/examples/micro-ros_publisher -v

extras/library_generation/teensy32_toolchain.cmake

@@ -8,7 +8,7 @@ set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++)
 SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
 SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
 
-set(FLAGS "-O2 -fsingle-precision-constant -mcpu=cortex-m4 -nostdlib  -mthumb" CACHE STRING "" FORCE)
+set(FLAGS "-O2 -fsingle-precision-constant -ffunction-sections -fdata-sections -fno-exceptions -mcpu=cortex-m4 -nostdlib  -mthumb" CACHE STRING "" FORCE)
 
 set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
 set(CMAKE_CXX_FLAGS_INIT "-std=c++14 ${FLAGS} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)

extras/library_generation/teensy4_toolchain.cmake

@@ -8,7 +8,7 @@ set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++)
 SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
 SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
 
-set(FLAGS "-O2 -mfloat-abi=hard -mfpu=fpv5-d16 -ffunction-sections -fdata-sections -nostdlib -mcpu=cortex-m7 -mthumb" CACHE STRING "" FORCE)
+set(FLAGS "-O2 -mfloat-abi=hard -mfpu=fpv5-d16 -ffunction-sections -fdata-sections -fno-exceptions -nostdlib -mcpu=cortex-m7 -mthumb" CACHE STRING "" FORCE)
 
 set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
 set(CMAKE_CXX_FLAGS_INIT "-std=c++14 ${FLAGS} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)

src/arduino_transports.c

@@ -13,15 +13,6 @@
 // TODO: This should be fixed
 #if defined(ARDUINO_TEENSY32)
 
-void usleep(uint32_t usec){
-    delay(usec/1000);
-}
-
-// Fake functions
-int mkdir(const char * abs_path, uint32_t mode){
-    return 0;
-}
-
 void _write(){
 }