feat: library generation and extra packages

bin/library-generation/colcon.meta

@@ -0,0 +1,53 @@
+{
+    "names": {
+        "tracetools": {
+            "cmake-args": [
+                "-DTRACETOOLS_DISABLED=ON",
+                "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
+            ]
+        },
+        "rosidl_typesupport": {
+            "cmake-args": [
+                "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON"
+            ]
+        },
+        "rcl": {
+            "cmake-args": [
+                "-DBUILD_TESTING=OFF",
+                "-DRCL_COMMAND_LINE_ENABLED=OFF",
+                "-DRCL_LOGGING_ENABLED=OFF"
+            ]
+        }, 
+        "rcutils": {
+            "cmake-args": [
+                "-DENABLE_TESTING=OFF",
+                "-DRCUTILS_NO_FILESYSTEM=ON",
+                "-DRCUTILS_NO_THREAD_SUPPORT=ON",
+                "-DRCUTILS_NO_64_ATOMIC=ON",
+                "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"
+            ]
+        },
+        "microxrcedds_client": {
+            "cmake-args": [
+                "-DUCLIENT_PIC=OFF",
+                "-DUCLIENT_PROFILE_UDP=OFF",
+                "-DUCLIENT_PROFILE_TCP=OFF",
+                "-DUCLIENT_PROFILE_DISCOVERY=OFF",
+                "-DUCLIENT_PROFILE_SERIAL=OFF",
+                "-UCLIENT_PROFILE_STREAM_FRAMING=ON",
+                "-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON"
+            ]
+        },
+        "rmw_microxrcedds": {
+            "cmake-args": [
+                "-DRMW_UXRCE_MAX_NODES=1",
+                "-DRMW_UXRCE_MAX_PUBLISHERS=10",
+                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=5",
+                "-DRMW_UXRCE_MAX_SERVICES=1",
+                "-DRMW_UXRCE_MAX_CLIENTS=1",
+                "-DRMW_UXRCE_MAX_HISTORY=4",
+                "-DRMW_UXRCE_TRANSPORT=custom"
+            ]
+        }
+    }
+}

bin/library-generation/library-generation.sh

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+#!/bin/bash
+set -e
+
+# Controlla se il numero di argomenti è corretto
+if [ "$#" -ne 1 ]; then
+    echo "Uso: $0 <directory>"
+    exit 1
+fi
+
+#sudo rosdep init
+#rosdep update 
+#sudo apt update
+
+export BASE_PATH=/$1/$MICROROS_LIBRARY_FOLDER
+#export BASE_PATH=$1
+
+######## Init ########
+
+source /opt/ros/$ROS_DISTRO/setup.bash
+source install/local_setup.bash
+
+ros2 run micro_ros_setup create_firmware_ws.sh generate_lib
+
+######## Adding 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
+        cp -R ../../../config/extra_packages/* .
+        vcs import --input extra_packages.repos
+    popd > /dev/null
+
+popd > /dev/null
+
+######## Trying to retrieve CFLAGS ########
+pushd $1 > /dev/null
+export RET_CFLAGS=$(make print_cflags)
+RET_CODE=$?
+
+if [ $RET_CODE = "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  ########
+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
+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

bin/library-generation/toolchain.cmake

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+SET(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_CROSSCOMPILING 1)
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+set(CMAKE_C_COMPILER $ENV{TOOLCHAIN_PREFIX}gcc)
+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 $ENV{RET_CFLAGS} CACHE STRING "" FORCE)
+set(MICROROSFLAGS "-DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
+
+set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} ${MICROROSFLAGS} " CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_INIT "-std=c++14 ${FLAGS} -fno-rtti ${MICROROSFLAGS} " CACHE STRING "" FORCE)
+
+set(__BIG_ENDIAN__ 0)

config/extra_packages/extra_packages.repos

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+repositories:
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs
+    version: humble