Add RTEMS TCP/UDP Support #283
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Signed-off-by: Bart Jimenez Vera <bjv@capra.ooo> Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
Add UCLIENT_PLATFORM_RTEMS_BSD_NET platform flag to use TCP/UDP implementation with only POSIX API and no poll() usage, to be able to compile against RTEMS 5.1 RTOS. Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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Thanks @roncapat, let's review it and we can merge it in develop branch |
src/c/profile/discovery/transport/udp_transport_datagram_rtems_bsd_net.c
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I will solve DCO after build passing and all reviews are closed. The last 3 commits address already some of your observations (thank you so much for the fast response to this PR :) ) |
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Co-authored-by: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com> Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
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Thank you so much! 💯 |
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@roncapat we are really interested in your use case. Will you be interested in talking about the purpose / use cases / projects where RTEMS is going to be used along with micro-ROS in our monthly ROS 2 Embedded Working Group? |
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@pablogs9 of course I am. Note that currently, this is a low-priority and personal contribution, but is meant to pave the way to internal usage (at Thales Alenia Space Italy, where I currently work) in some robotic testbenches. Let me know more about the meeting at roncapat@gmail.com (so that I can then reply with my corporate mail). |
| tv.tv_usec = (timeout % 1000) * 1000; | ||
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| int32_t poll_rv = select(transport->fd + 1, &transport->select_fd, NULL, NULL, &tv); |
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Bug: The same FD_ZERO FD_SET treatment before select() should be done here. Will post a new PR soon.
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Cool, thanks. We will handle it in a new PR.
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Yes! We missed that the set object is modified.
We also use a select approach on the multi-serial agent, where it is enough to copy the set on a local variable, check here: link (read_fds is equivalent to your transport->select_fd).
With this approach you avoid modifications on external data.
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I like it, cleaner! I will also then update the other two usages of select() like this.
With this PR, the DDS Client (and subsequently micro-ros) can build and run on RTEMS 5.
RTEMS is a Real Time Executive in use in multiple research and space exploration projects (satellites, rovers...).
This is the issue where I kept track of the progress.
micro-ROS/micro_ros_setup#397
Today I managed to run a 1:1 copy of the ping-pong example with 50 Hz ping rate.
RTEMS support is enabled by defining
UCLIENT_PLATFORM_RTEMS_BSD_NET.Both TCP and UDP transports have been tested.