micro-ROS Jazzy patch

Author: pablogs9

.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: [galactic, humble, jazzy, 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

.vscode/settings.json

@@ -0,0 +1,6 @@
+{
+    "files.associations": {
+        "*.uml": "plantuml",
+        "service_event_publisher.h": "c"
+    }
+}

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
@@ -54,13 +62,13 @@ set(${PROJECT_NAME}_sources
   src/rcl/lexer.c
   src/rcl/lexer_lookahead.c
   src/rcl/localhost.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
@@ -72,7 +80,7 @@ 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
@@ -88,20 +96,44 @@ 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)
@@ -141,14 +173,21 @@ 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(${PROJECT_NAME})
+ament_export_dependencies(tracetools)
+
+if(NOT RCL_MICROROS)
+  ament_export_dependencies(rcl_yaml_param_parser)
+endif()
+
+if(NOT RCL_MICROROS)
+  ament_export_dependencies(${RCL_LOGGING_IMPL})
+endif()
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

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"

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.

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"

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;

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

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;
 

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) {