fix: library_generation.sh

bin/library_generation/library_generation.sh

@@ -0,0 +1,143 @@
+#!/usr/bin/env bash
+
+# micro-ROS static, Cube-compatible library generation script.
+#
+# August 4, 2024
+
+# Copyright 2024 dotX Automation s.r.l.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# shellcheck disable=SC2207,SC2016,SC2086
+
+set -o errexit
+set -o nounset
+set -o pipefail
+if [[ "${TRACE-0}" == "1" ]]; then set -o xtrace; fi
+
+function usage {
+  echo >&2 "Usage:"
+  echo >&2 "  library_generation.sh BOARD_DIRECTORY"
+  echo >&2 "  BOARD_DIRECTORY: The directory containing the board-specific firmware code, omitting tools/ (e.g., \"F4/F429ZI\")"
+}
+
+# Check input arguments
+if [[ $# -ne 1 ]]; then
+  usage
+  exit 1
+fi
+
+# Check that current working directory is 'workspace'
+if [[ "$(pwd)" != "/home/neo/workspace" ]]; then
+  echo "ERROR: Please run this script from the workspace directory"
+  exit 1
+fi
+
+# Setup environment
+export MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library
+export BASE_PATH=$MICROROS_LIBRARY_FOLDER
+unset RMW_IMPLEMENTATION
+
+# Setup ROS installation
+# NOTE: No need to source it since it is already sourced by default in DUA container shells.
+rosdep update
+
+# Create firmware workspace
+# NOTE: This creates a 'firmware' directory containing code for both development and microcontroller
+# firmware. The 'mcu_ws' directory contains the microcontroller firmware code, while the 'dev_ws'
+# directory may contain additional ROS2 packages required for development.
+# This is achieved by calling the 'create_firmware_ws.sh' script with the 'generate_lib' argument,
+# which identifies the generic, platform-agnostic, static library target.
+if [[ -d "tools/firmware" ]]; then
+  rm -rf "tools/firmware"
+fi
+cd tools
+ros2 run micro_ros_setup create_firmware_ws.sh generate_lib
+
+# Add extra packages
+# NOTE: This step depends on what you have to do with this firmare.
+# If you need to add more packages, you can modify the file(s) in config/extra_packages.
+pushd firmware/mcu_ws > /dev/null
+  # Import user defined packages
+  mkdir extra_packages
+  pushd extra_packages > /dev/null
+  	USER_CUSTOM_PACKAGES_DIR="../../../../config/extra_packages"
+  	if [[ -d "$USER_CUSTOM_PACKAGES_DIR" ]]; then
+  		cp -R $USER_CUSTOM_PACKAGES_DIR/* .
+    fi
+    if [[ -f "$USER_CUSTOM_PACKAGES_DIR/extra_packages.repos" ]]; then
+    	vcs import --input "$USER_CUSTOM_PACKAGES_DIR/extra_packages.repos"
+    fi
+  popd > /dev/null
+popd > /dev/null
+
+# Try to retrieve CFLAGS from Makefile
+pushd "$1" > /dev/null
+  ret_cflags=$(make print_cflags)
+  RET_CODE=$?
+  export RET_CFLAGS=$ret_cflags
+
+  if [[ $RET_CODE -eq 0 ]]; then
+    echo "Found CFLAGS:"
+    echo "-------------"
+    echo "$RET_CFLAGS"
+    echo "-------------"
+    read -p "Do you want to continue with them? (y/n)" -n 1 -r
+    echo
+    if [[ $REPLY =~ ^[Yy]$ ]]; then
+      echo "Continuing..."
+    else
+      echo "Aborting"
+      exit 0;
+    fi
+  else
+    echo "Please read README.md to update your Makefile"
+    exit 1;
+  fi
+popd > /dev/null
+
+# Build library
+# NOTE: Here we must supply toolchain commands and compile definition for cross-compilation.
+export TOOLCHAIN_PREFIX=arm-none-eabi-
+ros2 run micro_ros_setup build_firmware.sh /home/neo/workspace/bin/library_generation/toolchain.cmake /home/neo/workspace/bin/library_generation/colcon.meta
+
+find firmware/build/include/ -name "*.c" -delete
+rm -rf $BASE_PATH/libmicroros || true
+mkdir -p $BASE_PATH/libmicroros/microros_include
+cp -R firmware/build/include/* $BASE_PATH/libmicroros/microros_include/
+cp -R firmware/build/libmicroros.a $BASE_PATH/libmicroros/libmicroros.a
+
+# Fix include paths
+pushd firmware/mcu_ws > /dev/null
+  INCLUDE_ROS2_PACKAGES=$(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/microros_include/${var}/${var}" ]]; then
+    rsync -r $BASE_PATH/libmicroros/microros_include/${var}/${var}/* $BASE_PATH/libmicroros/microros_include/${var}
+    rm -rf $BASE_PATH/libmicroros/microros_include/${var}/${var}
+  fi
+done
+
+######## Generate extra files ########
+find firmware/mcu_ws/ros2 \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' > $BASE_PATH/libmicroros/available_ros2_types
+find firmware/mcu_ws/extra_packages \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' >> $BASE_PATH/libmicroros/available_ros2_types
+
+cd firmware
+echo "" > $BASE_PATH/libmicroros/built_packages
+for f in $(find $(pwd) -name .git -type d); do pushd $f > /dev/null; echo $(git config --get remote.origin.url) $(git rev-parse HEAD) >> $BASE_PATH/libmicroros/built_packages; popd > /dev/null; done;
+
+######## Fix permissions ########
+sudo chmod -R 777 $BASE_PATH/libmicroros/
+sudo chmod -R 777 $BASE_PATH/libmicroros/microros_include/
+sudo chmod -R 777 $BASE_PATH/libmicroros/libmicroros.a

tools/.gitignore

@@ -0,0 +1,2 @@
+# micro-ROS firmware generation products
+firmware/