Add support for building with micro-ROS

rcl/CMakeLists.txt

@@ -2,28 +2,34 @@ cmake_minimum_required(VERSION 3.20)
 
 project(rcl)
 
+option(RCL_MICROROS "micro-ROS build mode" OFF)
+
 find_package(ament_cmake_ros REQUIRED)
 find_package(ament_cmake_gen_version_h REQUIRED)
 
-find_package(libyaml_vendor 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(service_msgs REQUIRED)
 find_package(tracetools REQUIRED)
 find_package(type_description_interfaces REQUIRED)
-find_package(yaml REQUIRED)
+if(NOT RCL_MICROROS)
+  find_package(libyaml_vendor REQUIRED)
+  find_package(rcl_yaml_param_parser REQUIRED)
+  find_package(yaml REQUIRED)
+endif()
 
 include(cmake/rcl_set_symbol_visibility_hidden.cmake)
 
-# Determine the logging implementation to use
-include(cmake/get_default_rcl_logging_implementation.cmake)
-get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
-message(STATUS "RCL_LOGGING_IMPLEMENTATION: ${RCL_LOGGING_IMPL}")
+if(NOT RCL_MICROROS)
+  # Determine the logging implementation to use
+  include(cmake/get_default_rcl_logging_implementation.cmake)
+  get_default_rcl_logging_implementation(RCL_LOGGING_IMPL)
+  message(STATUS "RCL_LOGGING_IMPLEMENTATION: ${RCL_LOGGING_IMPL}")
+endif()
 
 # Default to C11
 if(NOT CMAKE_C_STANDARD)
@@ -41,7 +47,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 set(${PROJECT_NAME}_sources
-  src/rcl/arguments.c
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/arguments.c>
   src/rcl/client.c
   src/rcl/common.c
   src/rcl/context.c
@@ -57,13 +63,13 @@ set(${PROJECT_NAME}_sources
   src/rcl/init_options.c
   src/rcl/lexer.c
   src/rcl/lexer_lookahead.c
-  src/rcl/logging_rosout.c
-  src/rcl/logging.c
-  src/rcl/log_level.c
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/logging_rosout.c>
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/logging.c>
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/log_level.c>
   src/rcl/network_flow_endpoints.c
   src/rcl/node.c
   src/rcl/node_options.c
-  src/rcl/node_type_cache.c
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/node_type_cache.c>
   src/rcl/publisher.c
   src/rcl/remap.c
   src/rcl/node_resolve_name.c
@@ -75,13 +81,16 @@ set(${PROJECT_NAME}_sources
   src/rcl/time.c
   src/rcl/timer.c
   src/rcl/type_hash.c
-  src/rcl/type_description_conversions.c
+  $<$<NOT:$<BOOL:${RCL_MICROROS}>>:src/rcl/type_description_conversions.c>
   src/rcl/validate_enclave_name.c
   src/rcl/validate_topic_name.c
   src/rcl/wait.c
 )
 
 add_library(${PROJECT_NAME} ${${PROJECT_NAME}_sources})
+if(RCL_MICROROS)
+  target_compile_definitions(${PROJECT_NAME} PUBLIC RCL_MICROROS)
+endif()
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>"
@@ -91,33 +100,44 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   rcl_interfaces::rcl_interfaces
   # TODO(clalancette): rcl_logging_interface should be PRIVATE, but downstream depends on it for now
   rcl_logging_interface::rcl_logging_interface
-  rcl_yaml_param_parser::rcl_yaml_param_parser
   rcutils::rcutils
   rmw::rmw
   # TODO(clalancette): rmw_implementation should be PRIVATE, but downstream depends on it for now
   rmw_implementation::rmw_implementation
   rosidl_runtime_c::rosidl_runtime_c
   type_description_interfaces::type_description_interfaces
 )
+if(NOT RCL_MICROROS)
+  target_link_libraries(${PROJECT_NAME} PUBLIC
+    rcl_yaml_param_parser::rcl_yaml_param_parser
+  )
+endif()
+
 target_link_libraries(${PROJECT_NAME} PRIVATE
-  service_msgs::service_msgs
   tracetools::tracetools
-  yaml
 )
-
-# Link logging implementation based on configuration
-if(RCL_LOGGING_IMPL STREQUAL "rcl_logging_implementation")
-  # Dynamic loading: use rcl_logging_implementation abstraction
-  target_link_libraries(${PROJECT_NAME} PRIVATE
-    rcl_logging_implementation::rcl_logging_implementation
-  )
-else()
-  # Static linking: use specific logging implementation
+if(NOT RCL_MICROROS)
   target_link_libraries(${PROJECT_NAME} PRIVATE
-    ${RCL_LOGGING_IMPL}::${RCL_LOGGING_IMPL}
+    service_msgs::service_msgs
+    yaml
   )
 endif()
 
+if(NOT RCL_MICROROS)
+  # Link logging implementation based on configuration
+  if(RCL_LOGGING_IMPL STREQUAL "rcl_logging_implementation")
+    # Dynamic loading: use rcl_logging_implementation abstraction
+    target_link_libraries(${PROJECT_NAME} PRIVATE
+      rcl_logging_implementation::rcl_logging_implementation
+    )
+  else()
+    # Static linking: use specific logging implementation
+    target_link_libraries(${PROJECT_NAME} PRIVATE
+      ${RCL_LOGGING_IMPL}::${RCL_LOGGING_IMPL}
+    )
+  endif()
+endif()
+
 # Allow configuring the default discovery range
 if(DEFINED RCL_DEFAULT_DISCOVERY_RANGE)
 target_compile_definitions(${PROJECT_NAME} PRIVATE
@@ -156,13 +176,16 @@ ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl_interfaces)
 # TODO(clalancette): rcl_logging_interface shouldn't be exported, but downstream depends on it for now
 ament_export_dependencies(rcl_logging_interface)
-ament_export_dependencies(rcl_yaml_param_parser)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
 # TODO(clalancette): rmw_implementation shouldn't be exported, but downstream depends on it for now
 ament_export_dependencies(rmw_implementation)
 ament_export_dependencies(rosidl_runtime_c)
+ament_export_dependencies(tracetools)
 ament_export_dependencies(type_description_interfaces)
+if(NOT RCL_MICROROS)
+  ament_export_dependencies(rcl_yaml_param_parser)
+endif()
 ament_generate_version_header(${PROJECT_NAME})
 
 if(BUILD_TESTING)

rcl/include/rcl/arguments.h

@@ -22,7 +22,11 @@
 #include "rcl/macros.h"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
+#ifndef RCL_MICROROS
 #include "rcl_yaml_param_parser/types.h"
+#else
+typedef bool rcl_params_t;
+#endif  // RCL_MICROROS
 
 #ifdef __cplusplus
 extern "C"

rcl/include/rcl/context.h

@@ -25,7 +25,9 @@ extern "C"
 #include "rmw/init.h"
 
 #include "rcl/allocator.h"
+#ifndef RCL_MICROROS
 #include "rcl/arguments.h"
+#endif  // RCL_MICROROS
 #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
 {
+#ifndef RCL_MICROROS
   /// 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_MICROROS
 
   /// Implementation specific pointer.
   rcl_context_impl_t * impl;
@@ -123,7 +127,7 @@ typedef struct rcl_context_s
   // ensured with a static_assert in the context.c file.
   // In most cases it should just be a plain uint64_t.
 /// @cond Doxygen_Suppress
-#if !defined(RCL_CONTEXT_ATOMIC_INSTANCE_ID_STORAGE_SIZE)
+#if !defined(RCL_CONTEXT_ATOMIC_INSTANCE_ID_STORAGE_SIZE) && !defined(RCL_MICROROS)
 #define RCL_CONTEXT_ATOMIC_INSTANCE_ID_STORAGE_SIZE sizeof(uint_least64_t)
 #endif
 /// @endcond
@@ -146,7 +150,11 @@ typedef struct rcl_context_s
    * See this paper for an effort to make this possible in the future:
    *   http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2018/p0943r1.html
    */
+#ifdef RCL_MICROROS
+  uint32_t instance_id_storage;
+#else
   RCL_ALIGNAS(8) uint8_t instance_id_storage[RCL_CONTEXT_ATOMIC_INSTANCE_ID_STORAGE_SIZE];
+#endif  // RCL_MICROROS
 } rcl_context_t;
 
 /// Return a zero initialization context object.

rcl/include/rcl/node.h

@@ -25,7 +25,9 @@ extern "C"
 #include <stdint.h>
 
 #include "rcl/allocator.h"
+#ifndef RCL_MICROROS
 #include "rcl/arguments.h"
+#endif  // RCL_MICROROS
 #include "rcl/context.h"
 #include "rcl/guard_condition.h"
 #include "rcl/macros.h"

rcl/include/rcl/node_options.h

@@ -23,9 +23,11 @@ extern "C"
 #endif
 
 #include "rcl/allocator.h"
+#ifndef RCL_MICROROS
 #include "rcl/arguments.h"
-
+#endif  // RCL_MICROROS
 #include "rcl/domain_id.h"
+#include "rcl/macros.h"
 
 /// Constant which indicates that the default domain id should be used.
 #define RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID RCL_DEFAULT_DOMAIN_ID
@@ -46,8 +48,10 @@ typedef struct rcl_node_options_s
   /// If false then only use arguments in this struct, otherwise use global arguments also.
   bool use_global_arguments;
 
+#ifndef RCL_MICROROS
   /// Command line arguments that apply only to this node.
   rcl_arguments_t arguments;
+#endif  // RCL_MICROROS
 
   /// Flag to enable rosout for this node
   bool enable_rosout;

rcl/src/rcl/arguments_impl.h

@@ -17,7 +17,11 @@
 
 #include "rcl/arguments.h"
 #include "rcl/log_level.h"
+#ifndef RCL_MICROROS
 #include "rcl_yaml_param_parser/types.h"
+#else
+typedef bool rcl_params_t;
+#endif  // RCL_MICROROS
 #include "./remap_impl.h"
 
 #ifdef __cplusplus

rcl/src/rcl/client.c

@@ -24,7 +24,9 @@ extern "C"
 
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
+#ifndef RCL_MICROROS
 #include "rcl/node_type_cache.h"
+#endif  // RCL_MICROROS
 #include "rcl/publisher.h"
 #include "rcl/time.h"
 #include "rcutils/logging_macros.h"
@@ -169,6 +171,7 @@ rcl_client_init(
   atomic_init(&client->impl->sequence_number, 0);
   client->impl->in_use_by_waitset = false;
 
+#ifndef RCL_MICROROS
   const rosidl_type_hash_t * hash = type_support->get_type_hash_func(type_support);
   if (hash == NULL) {
     RCL_SET_ERROR_MSG("Failed to get the type hash");
@@ -186,6 +189,7 @@ rcl_client_init(
     goto destroy_client;
   }
   client->impl->type_hash = *hash;
+#endif  // RCL_MICROROS
 
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Client initialized");
   TRACETOOLS_TRACEPOINT(
@@ -248,13 +252,15 @@ rcl_client_fini(rcl_client_t * client, rcl_node_t * node)
       result = RCL_RET_ERROR;
     }
 
+#ifndef RCL_MICROROS
     if (
       ROSIDL_TYPE_HASH_VERSION_UNSET != client->impl->type_hash.version &&
       RCL_RET_OK != rcl_node_type_cache_unregister_type(node, &client->impl->type_hash))
     {
       RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
       result = RCL_RET_ERROR;
     }
+#endif  // RCL_MICROROS
 
     allocator.deallocate(client->impl->remapped_service_name, allocator.state);
     client->impl->remapped_service_name = NULL;

rcl/src/rcl/context.c

@@ -32,6 +32,7 @@ rcl_get_zero_initialized_context(void)
     .impl = NULL,
     .instance_id_storage = {0},
   };
+#ifndef RCL_MICROROS
   // this is not constexpr so it cannot be in the struct initialization
   context.global_arguments = rcl_get_zero_initialized_arguments();
   // ensure assumption about static storage
@@ -40,6 +41,7 @@ rcl_get_zero_initialized_context(void)
     "expected rcl_context_t's instance id storage to be >= size of atomic_uint_least64_t");
   // initialize atomic
   atomic_init((atomic_uint_least64_t *)(&context.instance_id_storage), 0);
+#endif  // RCL_MICROROS
   return context;
 }
 
@@ -76,7 +78,11 @@ rcl_context_instance_id_t
 rcl_context_get_instance_id(const rcl_context_t * context)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(context, 0);
+#ifdef RCL_MICROROS
+  return context->instance_id_storage;
+#else
   return rcutils_atomic_load_uint64_t((atomic_uint_least64_t *)(&context->instance_id_storage));
+#endif  // RCL_MICROROS
 }
 
 rcl_ret_t
@@ -110,8 +116,13 @@ __cleanup_context(rcl_context_t * context)
 {
   rcl_ret_t ret = RCL_RET_OK;
   // reset the instance id to 0 to indicate "invalid" (should already be 0, but this is defensive)
+#ifdef RCL_MICROROS
+  context->instance_id_storage = 0;
+#else
   rcutils_atomic_store((atomic_uint_least64_t *)(&context->instance_id_storage), 0);
+#endif  // RCL_MICROROS
 
+#ifndef RCL_MICROROS
   // clean up global_arguments if initialized
   if (NULL != context->global_arguments.impl) {
     ret = rcl_arguments_fini(&(context->global_arguments));
@@ -124,6 +135,7 @@ __cleanup_context(rcl_context_t * context)
       rcl_reset_error();
     }
   }
+#endif  // RCL_MICROROS
 
   // if impl is null, nothing else can be cleaned up
   if (NULL != context->impl) {