bug fixes: jazzy: serial transport

.github/workflows/ci.yml

@@ -1,71 +1,72 @@
 name: CI
 
 on:
+  workflow_dispatch:
+    inputs:
+      name:
+        description: "Manual trigger"
   pull_request:
-    branches:
-      - '**'
+    branches: ["rolling", "jazzy", "humble"]
 
 jobs:
 
   micro_ros_zephyr_module:
     runs-on: ubuntu-latest
-    container: ubuntu:22.04
     strategy:
       fail-fast: false
       matrix:
-        zephyr_version: ["zephyr-v3.1.0", "zephyr-v2.7.2"]
-        include:
-          - zephyr_version: zephyr-v2.7.2
-            zephyr_sdk: 0.14.2
-            sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
-          - zephyr_version: zephyr-v3.1.0
-            zephyr_sdk: 0.14.2
-            sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
+        zephyr_version: ["v4.0.0", "v4.1.0"]
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
         with:
           path: micro_ros_zephyr_module
 
-      - name: Build
-        shell: bash
+      - name: Free disk space
+        run: |
+          sudo rm -rf /usr/share/dotnet
+          sudo rm -rf /usr/local/lib/android
+          sudo rm -rf /opt/ghc
+          sudo docker image prune --all --force
+
+      - name: Create build script
         run: |
-          # Install dependencies
-          apt update
-          export DEBIAN_FRONTEND=noninteractive
-          apt install -y --no-install-recommends wget git cmake ninja-build gperf \
-            ccache dfu-util device-tree-compiler wget \
-            python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
-            make gcc gcc-multilib g++-multilib libsdl2-dev
+          cat << 'EOF' > build.sh
+          #!/bin/bash
+          set -e
 
-          # Install Zephyr environment
-          pip3 install --user -U west
-          export PATH=~/.local/bin:/github/home/.local/bin:"$PATH"
-          west init zephyrproject
-          cd zephyrproject
+          # Zephyr setup
+          apt -y update
+          west init
           cd zephyr
-          git checkout ${{ matrix.zephyr_version }}
-          cd ..
-          west update
-          west zephyr-export
-          pip3 install --user -r zephyr/scripts/requirements.txt
-          cd ..
-          export TOOLCHAIN_VERSION=${{ matrix.zephyr_sdk }}
-          export TOOLCHAIN_FILE_NAME=${{ matrix.sdk_filename }}
-          wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v$TOOLCHAIN_VERSION/$TOOLCHAIN_FILE_NAME
-          tar xvf $TOOLCHAIN_FILE_NAME
-          cd zephyr-sdk-$TOOLCHAIN_VERSION
-          ./setup.sh -h -t arm-zephyr-eabi -c
+          git checkout $ZEPHYR_VERSION
           cd ..
-          source zephyr-sdk-$TOOLCHAIN_VERSION/environment-setup-x86_64-pokysdk-linux
-          export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
-          export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk-$TOOLCHAIN_VERSION
-          source zephyrproject/zephyr/zephyr-env.sh
+          west update --narrow
 
           # Installing micro-ROS prerequisites
           pip3 install catkin_pkg lark-parser empy colcon-common-extensions
 
+          if [[ "$REF_NAME" == "humble" ]] || [[ "$HEAD_REF" == *"humble"* ]]; then
+            # Use empy version 3.3.4 for Humble
+            pip3 install empy==3.3.4
+          fi
+
           # Build with Serial USB transport
-          west build -b disco_l475_iot1 micro_ros_zephyr_module -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y
+          west build -b disco_l475_iot1 /github/workspace/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y
 
           # Build with Serial transport
-          west build -b disco_l475_iot1 micro_ros_zephyr_module -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y
+          west build -b disco_l475_iot1 /github/workspace/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y
+          EOF
+          chmod +x build.sh
+
+      - name: Build
+        run: |
+          sudo docker run --rm \
+            --user root \
+            -v ${{ github.workspace }}:/github/workspace \
+            -w /github/workspace \
+            -e CMAKE_PREFIX_PATH=/opt/toolchains \
+            -e ZEPHYR_VERSION=${{ matrix.zephyr_version }} \
+            -e REF_NAME=${{ github.ref_name }} \
+            -e HEAD_REF=${{ github.head_ref }} \
+            zephyrprojectrtos/ci:v0.26.17 \
+            /github/workspace/build.sh

.github/workflows/nightly.yml

@@ -10,73 +10,71 @@ on:
 
 jobs:
 
-  micro_ros_zephyr_module:
+  nightly_micro_ros_zephyr_module:
     runs-on: ubuntu-latest
-    container: ubuntu:22.04
     strategy:
       fail-fast: false
       matrix:
-        zephyr_version: ["zephyr-v3.1.0", "zephyr-v2.7.2"]
-        distro: ["iron", "humble", "rolling"]
+        zephyr_version: ["v4.0.0", "v4.1.0"]
+        distro: ["rolling", "jazzy", "humble"]
         include:
-          - distro: iron
-            branch: iron
           - distro: rolling
             branch: rolling
+          - distro: jazzy
+            branch: jazzy
           - distro: humble
             branch: humble
-          - zephyr_version: zephyr-v2.7.2
-            zephyr_sdk: 0.14.2
-            sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
-          - zephyr_version: zephyr-v3.1.0
-            zephyr_sdk: 0.14.2
-            sdk_filename: zephyr-sdk-$TOOLCHAIN_VERSION\_linux-x86_64_minimal.tar.gz
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
         with:
           path: micro_ros_zephyr_module
-          branch: ${{ matrix.branch }}
+          ref: ${{ matrix.branch }}
 
-      - name: Build
-        shell: bash
+      - name: Free disk space
+        run: |
+          sudo rm -rf /usr/share/dotnet
+          sudo rm -rf /usr/local/lib/android
+          sudo rm -rf /opt/ghc
+          sudo docker image prune --all --force
+
+      - name: Create build script
         run: |
-          # Install dependencies
-          apt update
-          export DEBIAN_FRONTEND=noninteractive
-          apt install -y --no-install-recommends wget git cmake ninja-build gperf \
-            ccache dfu-util device-tree-compiler wget \
-            python3-dev python3-pip python3-setuptools python3-tk python3-wheel xz-utils file \
-            make gcc gcc-multilib g++-multilib libsdl2-dev
+          cat << 'EOF' > build.sh
+          #!/bin/bash
+          set -e
 
-          # Install Zephyr environment
-          pip3 install --user -U west
-          export PATH=~/.local/bin:/github/home/.local/bin:"$PATH"
-          west init zephyrproject
-          cd zephyrproject
+          # Zephyr setup
+          apt -y update
+          west init
           cd zephyr
-          git checkout ${{ matrix.zephyr_version }}
-          cd ..
-          west update
-          west zephyr-export
-          pip3 install --user -r zephyr/scripts/requirements.txt
-          cd ..
-          export TOOLCHAIN_VERSION=${{ matrix.zephyr_sdk }}
-          export TOOLCHAIN_FILE_NAME=${{ matrix.sdk_filename }}
-          wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v$TOOLCHAIN_VERSION/$TOOLCHAIN_FILE_NAME
-          tar xvf $TOOLCHAIN_FILE_NAME
-          cd zephyr-sdk-$TOOLCHAIN_VERSION
-          ./setup.sh -h -t arm-zephyr-eabi -c
+          git checkout $ZEPHYR_VERSION
           cd ..
-          source zephyr-sdk-$TOOLCHAIN_VERSION/environment-setup-x86_64-pokysdk-linux
-          export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
-          export ZEPHYR_SDK_INSTALL_DIR=$(pwd)/zephyr-sdk-$TOOLCHAIN_VERSION
-          source zephyrproject/zephyr/zephyr-env.sh
+          west update --narrow
 
           # Installing micro-ROS prerequisites
           pip3 install catkin_pkg lark-parser empy colcon-common-extensions
 
+          if [[ "$BRANCH_NAME" == "humble" ]]; then
+            # Use empy version 3.3.4 for Humble
+            pip3 install empy==3.3.4
+          fi
+
           # Build with Serial USB transport
-          west build -b disco_l475_iot1 micro_ros_zephyr_module -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y
+          west build -b disco_l475_iot1 /github/workspace/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y
 
           # Build with Serial transport
-          west build -b disco_l475_iot1 micro_ros_zephyr_module -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y
+          west build -b disco_l475_iot1 /github/workspace/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y
+          EOF
+          chmod +x build.sh
+
+      - name: Build
+        run: |
+          sudo docker run --rm \
+            --user root \
+            -v ${{ github.workspace }}:/github/workspace \
+            -w /github/workspace \
+            -e CMAKE_PREFIX_PATH=/opt/toolchains \
+            -e ZEPHYR_VERSION=${{ matrix.zephyr_version }} \
+            -e BRANCH_NAME=${{ matrix.branch }} \
+            zephyrprojectrtos/ci:v0.26.17 \
+            /github/workspace/build.sh

CHANGELOG.rst

@@ -2,6 +2,37 @@
 Changelog for package micro_ros_zephyr
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.0.1 (2024-06-03)
+------------------
+* Bump jazzy (`#139 <https://github.com/micro-ROS/micro_ros_zephyr_module/issues/139>`_)
+* Ignore lttngpy (`#135 <https://github.com/micro-ROS/micro_ros_zephyr_module/issues/135>`_)
+* Fix of unknown Ringbuffer and not found USB-Serial Device (`#125 <https://github.com/micro-ROS/micro_ros_zephyr_module/issues/125>`_) (`#130 <https://github.com/micro-ROS/micro_ros_zephyr_module/issues/130>`_)
+  * Added Ringbuffer-config in prj.conf for eliminating error
+  * Added Label CDC_ACM_0 label with an overlay so "modules/libmicroros/microros_transports/serial-usb/microros_transports.c" can find the device
+  * Update app.overlay
+  * Update app.overlay
+  A fix for backwards compability
+  * Update app.overlay
+  * Update app.overlay
+  * Update prj.conf
+  * Better comments
+  * Changed settings to conditional from transport choice
+  * Update prj.conf
+  Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
+  * Update modules/libmicroros/Kconfig
+  Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
+  ---------
+  Co-authored-by: scrapforge <rumpelcode@gmx.de>
+  Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
+  (cherry picked from commit 7c5edcdf9e0a6c6e131d9e45ad357fa0757a5584)
+  Co-authored-by: scrapforge <99104728+scrapforge@users.noreply.github.com>
+* Update CI with Serial USB build (`#126 <https://github.com/micro-ROS/micro_ros_zephyr_module/issues/126>`_) (`#128 <https://github.com/micro-ROS/micro_ros_zephyr_module/issues/128>`_)
+  (cherry picked from commit e1e23407664625c5cb145c791561007fe6d51df9)
+  Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
+* Fix Nightly
+* Remove micro-ROS fork (`#123 <https://github.com/micro-ROS/micro_ros_zephyr_module/issues/123>`_)
+* Contributors: Antonio Cuadros, Pablo Garrido, mergify[bot]
+
 5.0.0 (2023-06-12)
 ------------------
 * Update branches to rolling (`#121 <https://github.com/micro-ROS/micro_ros_zephyr_module/issues/121>`_)

NOTICE

@@ -20,5 +20,8 @@
 #
 # Please keep the list sorted.
 
+Aliensense
+    Kristina Kisiuk <kisyuk.kristina@gmail.com>
+
 eProsima
     Pablo Garrido <pablogarrido@eprosima.com>

README.md

@@ -3,7 +3,7 @@
 
 # micro-ROS module for Zephyr
 
-This module has been tested in Zephyr RTOS v2.7.0 (SDK 0.14.2) and v3.1.0 (SDK 0.14.2).
+This module has been tested in Zephyr RTOS v4.0.0 (SDK 0.16.9-rc3), and v4.1.0 (SDK 0.16.9-rc3), using a docker image based on `zephyrprojectrtos/zephyr-build:v0.26.17`.
 
 ## Dependencies
 
@@ -18,7 +18,7 @@ pip3 install catkin_pkg lark-parser empy colcon-common-extensions
 For example for `disco_l475_iot1` board:
 
 ```bash
-west build -b disco_l475_iot1 micro_ros_zephyr_module
+west build -b disco_l475_iot1 -p
 ```
 
 Some configuration parameters can be found using:
@@ -32,10 +32,10 @@ Is possible to use a micro-ROS Agent just with this docker command:
 
 ```bash
 # Serial micro-ROS Agent
-docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:rolling serial --dev [YOUR BOARD PORT] -v6
+docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:jazzy serial --dev [YOUR BOARD PORT] -v6
 
 # UDPv4 micro-ROS Agent
-docker run -it --rm --net=host microros/micro-ros-agent:rolling udp4 --port 8888 -v6
+docker run -it --rm --net=host microros/micro-ros-agent:jazzy udp4 --port 8888 -v6
 
 ```
 

modules/libmicroros/CMakeLists.txt

@@ -52,10 +52,9 @@ externalproject_add(libmicroros_project
     BUILD_BYPRODUCTS ${MICROROS_DIR}/libmicroros.a
     )
 
-zephyr_library_import(libmicroros ${MICROROS_DIR}/libmicroros.a)
+zephyr_link_libraries(${MICROROS_DIR}/libmicroros.a)
 
 zephyr_interface_library_named(microros)
-add_dependencies(microros libmicroros)
 add_dependencies(microros libmicroros_project)
 target_include_directories(microros INTERFACE ${MICROROS_DIR}/include)
 
@@ -96,7 +95,6 @@ zephyr_library_sources(
 
 add_dependencies(microros microros_transports)
 add_dependencies(microros_transports libmicroros_project)
-add_dependencies(microros_transports libmicroros)
 
 # Cleaning