micro-ROS Humble patch

* Avoid logging on build time based on RCutils flags (#6) * Add RCL_YAML_PARSER and RCL_LOGGING CMake options. * Replace RCL_YAML_PARSER by RCL_COMMAND_LINE_ENABLED and RCL_LOGGING by RCL_LOGGING_ENABLED. * Disabled logging fix * Fix remapping (#7) Co-authored-by: Pablo Garrido <pablogs9@gmail.com> Co-authored-by: julibert <julianbermudez@eprosima.com> Updates 17092020 *Release micro-ROS Foxy (#9) Cleaning Update Update Update Add workflow checker Update Update update Test Test Update Update Update New approach Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update Update
micro-ROS · May 6, 2024 · 74f7477 · 74f7477
1 parent 81bf82d
commit 74f7477
Show file tree

Hide file tree

Showing 13 changed files with 162 additions and 14 deletions.
diff --git a/.github/workflows/fork_checker.yml b/.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: [foxy, galactic, master]
+        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
diff --git a/rcl/CMakeLists.txt b/rcl/CMakeLists.txt
@@ -2,20 +2,29 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rcl)
 
+option(RCL_COMMAND_LINE_ENABLED "Enable/disable the rcl_yaml_param_parser tool" OFF)
+option(RCL_LOGGING_ENABLED "Enable/disable logging" OFF)
+
 find_package(ament_cmake_ros 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(tracetools REQUIRED)
 
+if(RCL_COMMAND_LINE_ENABLED)
+  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(RCL_LOGGING_ENABLED)
+  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)
@@ -32,7 +41,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 set(${PROJECT_NAME}_sources
-  src/rcl/arguments.c
+  $<$<BOOL:${RCL_COMMAND_LINE_ENABLED}>:src/rcl/arguments.c>
   src/rcl/client.c
   src/rcl/common.c
   src/rcl/context.c
@@ -46,9 +55,9 @@ set(${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
+  $<$<BOOL:${RCL_LOGGING_ENABLED}>:src/rcl/logging_rosout.c>
+  $<$<BOOL:${RCL_LOGGING_ENABLED}>:src/rcl/logging.c>
+  $<$<BOOL:${RCL_LOGGING_ENABLED}>:src/rcl/log_level.c>
   src/rcl/network_flow_endpoints.c
   src/rcl/node.c
   src/rcl/node_options.c
@@ -74,15 +83,31 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 ament_target_dependencies(${PROJECT_NAME}
   "rcl_interfaces"
   "rcl_logging_interface"
-  "rcl_yaml_param_parser"
   "rcutils"
   "rmw"
   "rmw_implementation"
-  ${RCL_LOGGING_IMPL}
   "rosidl_runtime_c"
   "tracetools"
 )
 
+if(RCL_COMMAND_LINE_ENABLED)
+  ament_target_dependencies(${PROJECT_NAME}
+    "rcl_yaml_param_parser"
+  )
+endif()
+
+if(RCL_LOGGING_ENABLED)
+  ament_target_dependencies(${PROJECT_NAME}
+    ${RCL_LOGGING_IMPL}
+  )
+endif()
+
+target_compile_definitions(${PROJECT_NAME}
+  PRIVATE
+    $<$<BOOL:${RCL_COMMAND_LINE_ENABLED}>:RCL_COMMAND_LINE_ENABLED>
+    $<$<BOOL:${RCL_LOGGING_ENABLED}>:RCL_LOGGING_ENABLED>
+  )
+
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_BUILDING_DLL")
@@ -114,14 +139,20 @@ ament_export_targets(${PROJECT_NAME})
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl_interfaces)
 ament_export_dependencies(rcl_logging_interface)
-ament_export_dependencies(rcl_yaml_param_parser)
 ament_export_dependencies(rmw_implementation)
 ament_export_dependencies(rmw)
 ament_export_dependencies(rcutils)
-ament_export_dependencies(${RCL_LOGGING_IMPL})
 ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(tracetools)
 
+if(RCL_COMMAND_LINE_ENABLED)
+  ament_export_dependencies(rcl_yaml_param_parser)
+endif()
+
+if(RCL_LOGGING_ENABLED)
+  ament_export_dependencies(${RCL_LOGGING_IMPL})
+endif()
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

diff --git a/rcl/include/rcl/arguments.h b/rcl/include/rcl/arguments.h
@@ -22,7 +22,11 @@
 #include "rcl/macros.h"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl_yaml_param_parser/types.h"
+#else
+typedef bool rcl_params_t;
+#endif // RCL_COMMAND_LINE_ENABLED
 
 #ifdef __cplusplus
 extern "C"

diff --git a/rcl/include/rcl/context.h b/rcl/include/rcl/context.h
@@ -25,7 +25,9 @@ extern "C"
 #include "rmw/init.h"
 
 #include "rcl/allocator.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcl/init_options.h"
 #include "rcl/macros.h"
 #include "rcl/types.h"
@@ -112,9 +114,11 @@ typedef struct rcl_context_impl_s rcl_context_impl_t;
  */
 typedef struct rcl_context_s
 {
+#ifdef RCL_COMMAND_LINE_ENABLED
   /// 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_COMMAND_LINE_ENABLED
 
   /// Implementation specific pointer.
   rcl_context_impl_t * impl;

diff --git a/rcl/include/rcl/node.h b/rcl/include/rcl/node.h
@@ -25,7 +25,9 @@ extern "C"
 #include <stdint.h>
 
 #include "rcl/allocator.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcl/context.h"
 #include "rcl/guard_condition.h"
 #include "rcl/macros.h"

diff --git a/rcl/include/rcl/node_options.h b/rcl/include/rcl/node_options.h
@@ -23,7 +23,10 @@ extern "C"
 #endif
 
 #include "rcl/allocator.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
+#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_COMMAND_LINE_ENABLED
   /// Command line arguments that apply only to this node.
   rcl_arguments_t arguments;
+#endif // RCL_COMMAND_LINE_ENABLED
 
   /// Flag to enable rosout for this node
   bool enable_rosout;

diff --git a/rcl/src/rcl/arguments_impl.h b/rcl/src/rcl/arguments_impl.h
@@ -17,7 +17,11 @@
 
 #include "rcl/arguments.h"
 #include "rcl/log_level.h"
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl_yaml_param_parser/types.h"
+#else
+typedef bool rcl_params_t;
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "./remap_impl.h"
 
 #ifdef __cplusplus

diff --git a/rcl/src/rcl/context.c b/rcl/src/rcl/context.c
@@ -33,7 +33,9 @@ rcl_get_zero_initialized_context(void)
     .instance_id_storage = {0},
   };
   // this is not constexpr so it cannot be in the struct initialization
+#ifdef RCL_COMMAND_LINE_ENABLED
   context.global_arguments = rcl_get_zero_initialized_arguments();
+#endif // RCL_COMMAND_LINE_ENABLED
   // ensure assumption about static storage
   static_assert(
     sizeof(context.instance_id_storage) >= sizeof(atomic_uint_least64_t),
@@ -112,6 +114,7 @@ __cleanup_context(rcl_context_t * context)
   // 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);
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   // clean up global_arguments if initialized
   if (NULL != context->global_arguments.impl) {
     ret = rcl_arguments_fini(&(context->global_arguments));
@@ -124,6 +127,7 @@ __cleanup_context(rcl_context_t * context)
       rcl_reset_error();
     }
   }
+#endif // RCL_COMMAND_LINE_ENABLED
 
   // if impl is null, nothing else can be cleaned up
   if (NULL != context->impl) {

diff --git a/rcl/src/rcl/init.c b/rcl/src/rcl/init.c
@@ -27,15 +27,21 @@ extern "C"
 
 #include "tracetools/tracetools.h"
 
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "rcl/arguments.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "rcl/domain_id.h"
 #include "rcl/error_handling.h"
 #include "rcl/localhost.h"
+#ifdef RCL_LOGGING_ENABLED
 #include "rcl/logging.h"
+#endif // RCL_LOGGING_ENABLED
 #include "rcl/security.h"
 #include "rcl/validate_enclave_name.h"
 
+#ifdef RCL_COMMAND_LINE_ENABLED
 #include "./arguments_impl.h"
+#endif // RCL_COMMAND_LINE_ENABLED
 #include "./common.h"
 #include "./context_impl.h"
 #include "./init_options_impl.h"
@@ -80,8 +86,10 @@ rcl_init(
     return RCL_RET_ALREADY_INIT;
   }
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   // Zero initialize global arguments.
   context->global_arguments = rcl_get_zero_initialized_arguments();
+#endif // RCL_COMMAND_LINE_ENABLED
 
   // Setup impl for context.
   // use zero_allocate so the cleanup function will not try to clean up uninitialized parts later
@@ -123,13 +131,15 @@ rcl_init(
     }
   }
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   // Parse the ROS specific arguments.
   ret = rcl_parse_arguments(argc, argv, allocator, &context->global_arguments);
   if (RCL_RET_OK != ret) {
     fail_ret = ret;
     RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to parse global arguments");
     goto fail;
   }
+#endif // RCL_COMMAND_LINE_ENABLED
 
   // Set the instance id.
   uint64_t next_instance_id = rcutils_atomic_fetch_add_uint64_t(&__rcl_next_unique_id, 1);
@@ -164,6 +174,7 @@ rcl_init(
     }
   }
 
+#ifdef RCL_COMMAND_LINE_ENABLED
   if (context->global_arguments.impl->enclave) {
     context->impl->init_options.impl->rmw_init_options.enclave = rcutils_strdup(
       context->global_arguments.impl->enclave,
@@ -178,6 +189,7 @@ rcl_init(
     fail_ret = RCL_RET_BAD_ALLOC;
     goto fail;
   }
+#endif //RCL_COMMAND_LINE_ENABLED
 
   int validation_result;
   size_t invalid_index;

diff --git a/rcl/src/rcl/logging.c b/rcl/src/rcl/logging.c
@@ -67,9 +67,13 @@ rcl_logging_configure_with_output_handler(
   int default_level = -1;
   rcl_log_levels_t * log_levels = &global_args->impl->log_levels;
   const char * config_file = global_args->impl->external_log_config_file;
-  g_rcl_logging_stdout_enabled = !global_args->impl->log_stdout_disabled;
-  g_rcl_logging_rosout_enabled = !global_args->impl->log_rosout_disabled;
-  g_rcl_logging_ext_lib_enabled = !global_args->impl->log_ext_lib_disabled;
+  bool global_disable = false;
+  #ifdef RCUTILS_NO_LOGGING
+    global_disable = true;
+  #endif
+  g_rcl_logging_stdout_enabled = !global_args->impl->log_stdout_disabled && !global_disable;
+  g_rcl_logging_rosout_enabled = !global_args->impl->log_rosout_disabled && !global_disable;
+  g_rcl_logging_ext_lib_enabled = !global_args->impl->log_ext_lib_disabled && !global_disable;
   rcl_ret_t status = RCL_RET_OK;
   g_rcl_logging_num_out_handlers = 0;