Add support for Arduino Due and Arduino Zero

.github/workflows/ci.yml

@@ -16,7 +16,7 @@ jobs:
           with:
             path: checkout/
 
-        - name: Build OpenCR and Teensy 3.2/4.1
+        - name: Build
           run: |
             apt update
             apt install -y git curl lib32z1 wget libfontconfig libxft2 xz-utils rsync
@@ -28,21 +28,34 @@ jobs:
                 - https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json''' > arduino-cli.yaml
             export PATH=$PATH:/github/workspace/bin:/__w/micro_ros_arduino/micro_ros_arduino/bin
             arduino-cli core install OpenCR:OpenCR -v
+            arduino-cli core install arduino:samd -v
+            arduino-cli core install arduino:sam -v
+            # 
+            # INSTALLING TEENSY SUPPORT
             wget https://downloads.arduino.cc/arduino-1.8.13-linux64.tar.xz
             tar -xf arduino-1.8.13-linux64.tar.xz
             wget https://www.pjrc.com/teensy/td_153/TeensyduinoInstall.linux64
             chmod 755 TeensyduinoInstall.linux64
             ./TeensyduinoInstall.linux64 --dir=arduino-1.8.13
-            # Faking loader
+            # Faking Teensy loader
             TRUE_PATH=$(which true)
             rm -rf arduino-1.8.13/hardware/tools/teensy_post_compile
             cp $TRUE_PATH arduino-1.8.13/hardware/tools/teensy_post_compile
             cp -R arduino-1.8.13/hardware/teensy/ /github/home/.arduino15/packages/
             rsync -a  arduino-1.8.13/hardware/tools/ /github/home/.arduino15/packages/tools/
-            rm -rf arduino-1.8.13
-            curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/foxy/extras/library_generation/platform_teensy.txt > /github/home/.arduino15/packages/teensy/avr/platform.txt
+            rm -rf arduino-1.8.13 arduino-1.8.13-linux64.tar.xz
+            # 
+            # PATCHING TEENSY AND SAM
+            cat checkout/extras/patching_boards/platform_teensy.txt > /github/home/.arduino15/packages/teensy/avr/platform.txt
+            # remove when https://github.com/arduino/ArduinoCore-sam/pull/115 merged
+            cat checkout/extras/patching_boards/platform_arduinocore_sam.txt > /github/home/.arduino15/packages/arduino/hardware/sam/1.6.12/platform.txt
+            #
+            # BUILDING EXAPLE FOR EACH PLATFORM
             arduino-cli core update-index
             arduino-cli lib update-index
             arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino-0.0.1/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn teensy:avr:teensy31 /github/home/Arduino/libraries/micro_ros_arduino-0.0.1/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino-0.0.1/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:samd:arduino_zero_native /github/home/Arduino/libraries/micro_ros_arduino-0.0.1/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:sam:arduino_due_x /github/home/Arduino/libraries/micro_ros_arduino-0.0.1/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:sam:arduino_due_x /github/home/Arduino/libraries/micro_ros_arduino-0.0.1/examples/micro-ros_custom_transport -v

README.md

@@ -12,6 +12,14 @@ Supported boards are:
 | [Teensy 4.1](https://www.pjrc.com/store/teensy41.html)                   | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html)                                | `colcon.meta`        |
 | [Teensy 3.2/3.1](https://www.pjrc.com/store/teensy32.html)               | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html)                                | `colcon_lowmem.meta` |
 
+Community contributed boards are:
+
+| Board                                                 | Min version | Contributor  | Details | Prebuild meta            |
+| ----------------------------------------------------- | ----------- | ------------ | ------- | ------------------------ |
+| [Arduino Due](https://store.arduino.cc/arduino-due)   | -           | @lukicdarkoo |         | `colcon_verylowmem.meta` |
+| [Arduino Zero](https://store.arduino.cc/arduino-zero) | -           | @lukicdarkoo |         | `colcon_verylowmem.meta` |
+
+
 You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types).
 
 ## How to use the precompiled library
@@ -42,14 +50,25 @@ docker run -it --rm -v $(pwd):/arduino_project microros/micro_ros_arduino_builde
 ```
 Note that folders added to `extras/library_generation/extra_packages` and entries added to `extras/library_generation/extra_packages/extra_packages.repos` will be taken into account by this build system.
 
-## Patch Teensyduino
+## Patch Arduino board for support precompiled libraries
+### Patch Teensyduino
 
 Go inside your Arduino + Teensyduino installation and replace `platform.txt`:
 
 ```bash
 export ARDUINO_PATH=[Your Arduino + Teensiduino path]
 cd $ARDUINO_PATH/hardware/teensy/avr/
-curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/foxy/extras/library_generation/platform_teensy.txt > platform.txt
+curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/foxy/extras/patching_boards/platform_teensy.txt > platform.txt
+```
+
+### Patch SAMD
+
+Go inside your Arduino + Teensyduino installation and replace `platform.txt`:
+
+```bash
+export ARDUINO_PATH=[Your Arduino path]
+cd $ARDUINO_PATH/hardware/sam/1.6.12/
+curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/foxy/extras/patching_boards/platform_arduinocore_sam.txt > platform.txt
 ```
 
 ## Purpose of the Project

examples/micro-ros_custom_transport/micro-ros_custom_transport.ino

@@ -0,0 +1,87 @@
+#include <micro_ros_arduino.h>
+
+#include <stdio.h>
+#include <rcl/rcl.h>
+#include <rcl/error_handling.h>
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+
+#include <std_msgs/msg/int32.h>
+
+rcl_publisher_t publisher;
+std_msgs__msg__Int32 msg;
+rclc_executor_t executor;
+rclc_support_t support;
+rcl_allocator_t allocator;
+rcl_node_t node;
+rcl_timer_t timer;
+
+#define LED_PIN 13
+
+#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
+#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}
+
+
+void error_loop(){
+  while(1){
+    digitalWrite(LED_PIN, !digitalRead(LED_PIN));
+    delay(100);
+  }
+}
+
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+{  
+  RCLC_UNUSED(last_call_time);
+  if (timer != NULL) {
+    RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
+    msg.data++;
+  }
+}
+
+void setup() {
+
+  pinMode(LED_PIN, OUTPUT);
+  digitalWrite(LED_PIN, HIGH);  
+
+  delay(2000);
+
+  allocator = rcl_get_default_allocator();
+
+  //create init_options
+  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
+
+  // create node
+  node = rcl_get_zero_initialized_node();
+  RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_node", "", &support));
+
+  // create publisher
+  RCCHECK(rclc_publisher_init_default(
+    &publisher,
+    &node,
+    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+    "micro_ros_arduino_node_publisher"));
+
+  // create timer,
+  timer = rcl_get_zero_initialized_timer();
+  const unsigned int timer_timeout = 1000;
+  RCCHECK(rclc_timer_init_default(
+    &timer,
+    &support,
+    RCL_MS_TO_NS(timer_timeout),
+    timer_callback));
+
+  // create executor
+  executor = rclc_executor_get_zero_initialized_executor();
+  RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
+
+  unsigned int rcl_wait_timeout = 100;   // in ms
+  RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
+  RCCHECK(rclc_executor_add_timer(&executor, &timer));
+
+  msg.data = 0;
+}
+
+void loop() {
+  delay(100);
+  RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
+}

examples/micro-ros_custom_transport/my_custom_transport.cpp

@@ -0,0 +1,45 @@
+#include <Arduino.h>
+
+// This is a working example of how to use micro-ROS with user defined transports.
+// These functions should be filled with custom transport code and they will replace
+// the weak functions defined in the custom transport in the library.
+
+extern "C"
+{
+#include <stdio.h>
+#include <stdbool.h>
+#include <sys/time.h>
+
+  bool arduino_serial_platform_open()
+  {
+    // Place here your initialization platform code
+    // Return true if success
+    Serial2.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 = Serial2.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;
+    Serial2.setTimeout(timeout);
+    return Serial2.readBytes((char *)buf, len);
+  }
+}

extras/library_generation/Dockerfile

@@ -18,7 +18,10 @@ RUN git clone https://github.com/micro-ROS/micro-ros-build.git src/micro-ros-bui
     && rm -rf gcc-arm-none-eabi-5_4-2016q2-20160622-linux.tar.bz2 gcc-arm-none-eabi-5_4-2016q2/share/doc \
     && wget https://launchpad.net/gcc-arm-embedded/5.0/5-2016-q3-update/+download/gcc-arm-none-eabi-5_4-2016q3-20160926-linux.tar.bz2 \
     && tar -xvf gcc-arm-none-eabi-5_4-2016q3-20160926-linux.tar.bz2 \
-    && rm -rf gcc-arm-none-eabi-5_4-2016q3-20160926-linux.tar.bz2 gcc-arm-none-eabi-5_4-2016q3/share/doc 
+    && rm -rf gcc-arm-none-eabi-5_4-2016q3-20160926-linux.tar.bz2 gcc-arm-none-eabi-5_4-2016q3/share/doc \
+    && wget https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-linux.tar.bz2 \
+    && tar -xvf gcc-arm-none-eabi-4_8-2014q1-20140314-linux.tar.bz2 \
+    && rm -rf gcc-arm-none-eabi-4_8-2014q1-20140314-linux.tar.bz2 gcc-arm-none-eabi-4_8-2014q1/share/doc 
 
 COPY ./entrypoint.sh /entrypoint.sh
 

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/cortex_m3_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 -ffunction-sections -fdata-sections -fno-exceptions -mcpu=cortex-m3 -nostdlib -DARDUINO=10813 -mthumb --param max-inline-insns-single=500 -DF_CPU=84000000L -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++11 ${FLAGS} -fno-rtti -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
+
+set(__BIG_ENDIAN__ 0)

extras/library_generation/library_generation.sh

@@ -13,6 +13,8 @@ if [ $OPTIND -eq 1 ]; then
     PLATFORMS+=("opencr1")
     PLATFORMS+=("teensy4")
     PLATFORMS+=("teensy3")
+    PLATFORMS+=("cortex_m0")
+    PLATFORMS+=("cortex_m3")
 fi
 
 shift $((OPTIND-1))
@@ -94,6 +96,34 @@ 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
+
+######## Build for SAM (e.g. Arduino Due) ########
+if [[ " ${PLATFORMS[@]} " =~ " cortex_m3 " ]]; then
+    rm -rf firmware/build
+
+    export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-4_8-2014q1/bin/arm-none-eabi-
+    ros2 run micro_ros_setup build_firmware.sh /arduino_project/extras/library_generation/cortex_m3_toolchain.cmake /arduino_project/extras/library_generation/colcon_lowmem.meta
+
+    find firmware/build/include/ -name "*.c"  -delete
+    cp -R firmware/build/include/* /arduino_project/src/ 
+
+    mkdir -p /arduino_project/src/cortex-m3
+    cp -R firmware/build/libmicroros.a /arduino_project/src/cortex-m3/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