updates project to work with zephyr v4.0.x (backport #146)

.github/workflows/ci.yml

@@ -1,71 +1,53 @@
 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
+    container: 
+      image: zephyrprojectrtos/ci:v0.26.17
+      options: --user root
+    env:
+      CMAKE_PREFIX_PATH: /opt/toolchains
     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
         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
-
-          # 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
-          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 [[ ${{ github.ref_name }} == "humble" ]] || [[ ${{ github.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
+

.github/workflows/nightly.yml

@@ -10,73 +10,52 @@ on:
 
 jobs:
 
-  micro_ros_zephyr_module:
+  nightly_micro_ros_zephyr_module:
     runs-on: ubuntu-latest
-    container: ubuntu:22.04
+    container: 
+      image: zephyrprojectrtos/ci:v0.26.17
+      options: --user root
+    env:
+      CMAKE_PREFIX_PATH: /opt/toolchains
     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
         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
-
-          # 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
-          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 [[ ${{ matrix.branch }} == "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

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:

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
 

modules/libmicroros/microros_transports/serial-usb/microros_transports.c

@@ -33,7 +33,7 @@ char uart_out_buffer[RING_BUF_SIZE];
 
 struct ring_buf out_ringbuf, in_ringbuf;
 
-static void uart_fifo_callback(const struct device *dev, void *user_data){ 
+static void uart_fifo_callback(const struct device *dev, void * user_data){
     while (uart_irq_update(dev) && uart_irq_is_pending(dev)) {
         if (uart_irq_rx_ready(dev)) {
             int recv_len;
@@ -64,15 +64,14 @@ static void uart_fifo_callback(const struct device *dev, void *user_data){
 }
 
 bool zephyr_transport_open(struct uxrCustomTransport * transport){
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+
     int ret;
     uint32_t baudrate, dtr = 0U;
-    const struct device *uart_dev;
 
-    /* for serial-usb transport we just override the device pointer
-     * with USB to use the same interface
-     */
-    transport->args = (void *)device_get_binding("CDC_ACM_0");
-    if (!transport->args) {
+
+    params->uart_dev = device_get_binding("CDC_ACM_0");
+    if (!params->uart_dev) {
         printk("CDC ACM device not found\n");
         return false;
     }
@@ -83,15 +82,13 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
         return false;
     }
 
-    uart_dev = (const struct device *)transport->args;
     ring_buf_init(&out_ringbuf, sizeof(uart_out_buffer), uart_out_buffer);
     ring_buf_init(&in_ringbuf, sizeof(uart_in_buffer), uart_out_buffer);
 
     printk("Waiting for agent connection\n");
 
     while (true) {
-
-        uart_line_ctrl_get(uart_dev, UART_LINE_CTRL_DTR, &dtr);
+        uart_line_ctrl_get(params->uart_dev, UART_LINE_CTRL_DTR, &dtr);
         if (dtr) {
             break;
         } else {
@@ -103,46 +100,47 @@ bool zephyr_transport_open(struct uxrCustomTransport * transport){
     printk("Serial port connected!\n");
 
     /* They are optional, we use them to test the interrupt endpoint */
-    ret = uart_line_ctrl_set(uart_dev, UART_LINE_CTRL_DCD, 1);
+    ret = uart_line_ctrl_set(params->uart_dev, UART_LINE_CTRL_DCD, 1);
     if (ret) {
         printk("Failed to set DCD, ret code %d\n", ret);
     }
 
-    ret = uart_line_ctrl_set(uart_dev, UART_LINE_CTRL_DSR, 1);
+    ret = uart_line_ctrl_set(params->uart_dev, UART_LINE_CTRL_DSR, 1);
     if (ret) {
         printk("Failed to set DSR, ret code %d\n", ret);
     }
 
     /* Wait 1 sec for the host to do all settings */
     k_busy_wait(1000*1000);
 
-    ret = uart_line_ctrl_get(uart_dev, UART_LINE_CTRL_BAUD_RATE, &baudrate);
+    ret = uart_line_ctrl_get(params->uart_dev, UART_LINE_CTRL_BAUD_RATE, &baudrate);
     if (ret) {
         printk("Failed to get baudrate, ret code %d\n", ret);
     }
 
-    uart_irq_callback_set(uart_dev, uart_fifo_callback);
+    uart_irq_callback_set(params->uart_dev, uart_fifo_callback);
 
     /* Enable rx interrupts */
-    uart_irq_rx_enable(uart_dev);
+    uart_irq_rx_enable(params->uart_dev);
 
     return true;
 }
 
 bool zephyr_transport_close(struct uxrCustomTransport * transport){
-    (void)transport;
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
+    (void) params;
 
     return true;
 }
 
 size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err){
-    const struct device * uart_dev = (const struct device *) transport->args;
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
 
     size_t wrote;
 
     wrote = ring_buf_put(&out_ringbuf, buf, len);
-    
-    uart_irq_tx_enable(uart_dev);
+
+    uart_irq_tx_enable(params->uart_dev);
 
     while (!ring_buf_is_empty(&out_ringbuf)){
         k_sleep(K_MSEC(5));
@@ -152,7 +150,7 @@ size_t zephyr_transport_write(struct uxrCustomTransport* transport, const uint8_
 }
 
 size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err){
-    const struct device * uart_dev = (const struct device *) transport->args;
+    zephyr_transport_params_t * params = (zephyr_transport_params_t*) transport->args;
 
     size_t read = 0;
     int spent_time = 0;
@@ -162,9 +160,9 @@ size_t zephyr_transport_read(struct uxrCustomTransport* transport, uint8_t* buf,
         spent_time++;
     }
 
-    uart_irq_rx_disable(uart_dev);
+    uart_irq_rx_disable(params->uart_dev);
     read = ring_buf_get(&in_ringbuf, buf, len);
-    uart_irq_rx_enable(uart_dev);
+    uart_irq_rx_enable(params->uart_dev);
 
     return read;
 }

modules/libmicroros/microros_transports/serial-usb/microros_transports.h

@@ -29,7 +29,13 @@ extern "C"
 {
 #endif
 
+typedef struct {
+    size_t fd;
+    const struct device *uart_dev;
+} zephyr_transport_params_t;
+
 #define MICRO_ROS_FRAMING_REQUIRED true
+static zephyr_transport_params_t default_params;
 
 bool zephyr_transport_open(struct uxrCustomTransport * transport);
 bool zephyr_transport_close(struct uxrCustomTransport * transport);