Merge branch 'feature-arduino-zero' into foxy

Author: lukicdarkoo

examples/micro-ros_publisher/transport.cpp

@@ -0,0 +1,50 @@
+#include <Arduino.h>
+
+extern "C"
+{
+#include <stdio.h>
+#include <stdbool.h>
+#include <sys/time.h>
+
+  int clock_gettime(clockid_t unused, struct timespec *tp)
+  {
+    (void)unused;
+    uint64_t m = micros();
+    tp->tv_sec = m / 1000000;
+    tp->tv_nsec = (m % 1000000) * 1000;
+    return 0;
+  }
+
+  bool arduino_serial_platform_open()
+  {
+    // Place here your initialization platform code
+    // Return true if success
+    SerialUSB.begin(115200);
+    return true;
+  }
+
+  bool arduino_serial_platform_close()
+  {
+    // Place here your closing platform code
+    // Return true if success
+    return true;
+  }
+
+  size_t arduino_serial_platform_write(uint8_t *buf, size_t len, uint8_t *errcode)
+  {
+    // Place here your writing bytes platform code
+    // Return number of bytes written
+    (void)errcode;
+    size_t sent = SerialUSB.write(buf, len);
+    return sent;
+  }
+
+  size_t arduino_serial_platform_read(uint8_t *buf, size_t len, int timeout, uint8_t *errcode)
+  {
+    // Place here your reading bytes platform code
+    // Return number of bytes read (max bytes: len)
+    (void)errcode;
+    SerialUSB.setTimeout(timeout);
+    return SerialUSB.readBytes((char *)buf, len);
+  }
+}

extras/library_generation/colcon_verylowmem.meta

@@ -0,0 +1,51 @@
+{
+    "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_DISCOVERY=OFF",
+                "-DUCLIENT_PROFILE_SERIAL=ON",
+                "-DUCLIENT_EXTERNAL_SERIAL=ON"
+            ]
+        },
+        "rmw_microxrcedds": {
+            "cmake-args": [
+                "-DRMW_UXRCE_MAX_NODES=1",
+                "-DRMW_UXRCE_MAX_PUBLISHERS=2",
+                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=1",
+                "-DRMW_UXRCE_MAX_SERVICES=0",
+                "-DRMW_UXRCE_MAX_CLIENTS=1",
+                "-DRMW_UXRCE_MAX_HISTORY=1",
+                "-DRMW_UXRCE_TRANSPORT=custom_serial"
+            ]
+        }
+    }
+}

extras/library_generation/cortex_m0_toolchain.cmake

@@ -0,0 +1,16 @@
+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 "-O2 -fsingle-precision-constant -ffunction-sections -fdata-sections -fno-exceptions -mcpu=cortex-m0 -nostdlib  -mthumb -D'RCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_NONE'" CACHE STRING "" FORCE)
+
+set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_INIT "-std=c++14 ${FLAGS} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
+
+set(__BIG_ENDIAN__ 0)

extras/library_generation/library_generation.sh

@@ -13,6 +13,7 @@ if [ $OPTIND -eq 1 ]; then
     PLATFORMS+=("opencr1")
     PLATFORMS+=("teensy4")
     PLATFORMS+=("teensy3")
+    PLATFORMS+=("cortex_m0")
 fi
 
 shift $((OPTIND-1))
@@ -94,6 +95,20 @@ if [[ " ${PLATFORMS[@]} " =~ " teensy4 " ]]; then
     cp -R firmware/build/libmicroros.a /arduino_project/src/imxrt1062/fpv5-d16-hard/libmicroros.a
 fi
 
+######## Build for SAMD (e.g. Arduino Zero) ########
+if [[ " ${PLATFORMS[@]} " =~ " cortex_m0 " ]]; then
+    rm -rf firmware/build
+
+    export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-
+    ros2 run micro_ros_setup build_firmware.sh /arduino_project/extras/library_generation/cortex_m0_toolchain.cmake /arduino_project/extras/library_generation/colcon_verylowmem.meta
+
+    find firmware/build/include/ -name "*.c"  -delete
+    cp -R firmware/build/include/* /arduino_project/src/ 
+
+    mkdir -p /arduino_project/src/cortex-m0plus
+    cp -R firmware/build/libmicroros.a /arduino_project/src/cortex-m0plus/libmicroros.a
+fi
+
 ######## Generate extra files ########
 find firmware/mcu_ws/ros2 \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' > /arduino_project/available_ros2_types
 find firmware/mcu_ws/extra_packages \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' >> /arduino_project/available_ros2_types

library.properties

@@ -7,4 +7,4 @@ paragraph=micro-ROS Arduino library
 url=https://github.com/micro-ROS
 precompiled=true
 category=Other
-architectures=OpenCR,Teensyduino
+architectures=OpenCR,Teensyduino,samd

src/arduino_transports.c

@@ -1,14 +1,15 @@
 #include <stdio.h>
 #include <stdbool.h>
 
+/*
 #if defined(ARDUINO_TEENSY41) || defined(ARDUINO_TEENSY40) || defined(ARDUINO_TEENSY32)
 #include "teensy_transports.c.in"
 #elif defined(ARDUINO_ARCH_OPENCR)
 #include "opencr_transports.c.in"
 #else
 #error micro-ROS Library not supported for this platform
 #endif
-
+*/
 
 // TODO: This should be fixed
 #if defined(ARDUINO_TEENSY32)