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Rework demos and add CI (#33)
* Fix callback * Fix callback * Fix service * Remove rclc_executor_set_timeout * Update * Added CI * Update CI
1 parent 8f58373 commit 683f271

16 files changed

Lines changed: 56 additions & 72 deletions

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‎.github/workflows/ci.yml‎

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@@ -0,0 +1,33 @@
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name: CI
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on:
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pull_request:
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branches:
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- '**'
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jobs:
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micro_ros_demos:
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runs-on: ubuntu-20.04
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container: microros/base:foxy
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defaults:
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run:
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shell: bash
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steps:
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- name: Download environment
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run: |
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cd /uros_ws
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apt update
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source /opt/ros/foxy/setup.bash
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source install/local_setup.bash
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ros2 run micro_ros_setup create_firmware_ws.sh host
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rm -rf uros/micro-ROS-demos
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- uses: actions/checkout@v2
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with:
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path: uros/micro-ROS-demos
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- name: Build
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run: |
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cd /uros_ws
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source /opt/ros/foxy/setup.bash
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source install/local_setup.bash
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ros2 run micro_ros_setup build_firmware.sh

‎rclc/addtwoints_client/main.c‎

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@@ -40,9 +40,6 @@ int main(int argc, const char * const * argv)
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// create executor
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rclc_executor_t executor;
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RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
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unsigned int rcl_wait_timeout = 10; // in ms
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RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
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RCCHECK(rclc_executor_add_client(&executor, &client, &res, client_callback));
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int64_t seq;

‎rclc/addtwoints_server/main.c‎

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@@ -8,11 +8,8 @@
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#include <stdio.h>
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#include <unistd.h>
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11-
#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc); return 1;}}
12-
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}
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example_interfaces__srv__AddTwoInts_Request req;
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example_interfaces__srv__AddTwoInts_Response res;
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#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printk("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);}}
12+
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printk("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}
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void service_callback(const void * req, void * res){
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example_interfaces__srv__AddTwoInts_Request * req_in = (example_interfaces__srv__AddTwoInts_Request *) req;
@@ -23,35 +20,32 @@ void service_callback(const void * req, void * res){
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res_in->sum = req_in->a + req_in->b;
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}
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26-
int main(int argc, const char * const * argv)
27-
{
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RCLC_UNUSED(argc);
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RCLC_UNUSED(argv);
30-
rcl_allocator_t allocator = rcl_get_default_allocator();
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rclc_support_t support;
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// create init_options
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RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
23+
void main(void)
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{
25+
rcl_allocator_t allocator = rcl_get_default_allocator();
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36-
// create node
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rcl_node_t node;
38-
RCCHECK(rclc_node_init_default(&node, "add_twoints_client_rclc", "", &support));
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// create init_options
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rclc_support_t support;
29+
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
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40-
// create service
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rcl_service_t service;
42-
RCCHECK(rclc_service_init_default(&service, &node, ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, srv, AddTwoInts), "/addtwoints"));
31+
// create node
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rcl_node_t node;
33+
RCCHECK(rclc_node_init_default(&node, "add_twoints_client_rclc", "", &support));
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44-
// create executor
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rclc_executor_t executor;
46-
RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
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// create service
36+
rcl_service_t service;
37+
RCCHECK(rclc_service_init_default(&service, &node, ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, srv, AddTwoInts), "/addtwoints"));
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48-
unsigned int rcl_wait_timeout = 10; // in ms
49-
RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
39+
// create executor
40+
rclc_executor_t executor;
41+
RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
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51-
RCCHECK(rclc_executor_add_service(&executor, &service, &req, &res, service_callback));
43+
example_interfaces__srv__AddTwoInts_Response res;
44+
example_interfaces__srv__AddTwoInts_Request req;
45+
RCCHECK(rclc_executor_add_service(&executor, &service, &req, &res, service_callback));
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53-
rclc_executor_spin(&executor);
47+
rclc_executor_spin(&executor);
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55-
RCCHECK(rcl_service_fini(&service, &node));
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RCCHECK(rcl_node_fini(&node));
49+
RCCHECK(rcl_service_fini(&service, &node));
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RCCHECK(rcl_node_fini(&node));
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}

‎rclc/autodiscover_agent/main.c‎

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@@ -67,9 +67,6 @@ int main()
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// create executor
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rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
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RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
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unsigned int rcl_wait_timeout = 1000; // in ms
72-
RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
7370
RCCHECK(rclc_executor_add_timer(&executor, &timer));
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msg.data = 0;

‎rclc/configuration_example/configured_publisher/main.c‎

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@@ -73,9 +73,6 @@ int main(int argc, char * const argv[])
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// create executor
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rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
7575
RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
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77-
unsigned int rcl_wait_timeout = 1000; // in ms
78-
RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
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RCCHECK(rclc_executor_add_timer(&executor, &timer));
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msg.data = 0;

‎rclc/configuration_example/configured_subscriber/main.c‎

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@@ -60,9 +60,6 @@ int main(int argc, const char * const * argv)
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// create executor
6161
rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
6262
RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
63-
64-
unsigned int rcl_wait_timeout = 1000; // in ms
65-
RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
6663
RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &msg, &subscription_callback, ON_NEW_DATA));
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6865
rclc_executor_spin(&executor);

‎rclc/fragmented_publication/main.c‎

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@@ -56,9 +56,6 @@ int main(int argc, const char * const * argv)
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// create executor
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rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
5858
RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
59-
60-
unsigned int rcl_wait_timeout = 1000; // in ms
61-
RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
6259
RCCHECK(rclc_executor_add_timer(&executor, &timer));
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// Fill the array with a known sequence

‎rclc/fragmented_subscription/main.c‎

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@@ -47,9 +47,6 @@ int main(int argc, const char * const * argv)
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// create executor
4848
rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
4949
RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
50-
51-
unsigned int rcl_wait_timeout = 1000; // in ms
52-
RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
5350
RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &msg, &subscription_callback, ON_NEW_DATA));
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5552
msg.data.data = (char * ) malloc(ARRAY_LEN * sizeof(char));

‎rclc/int32_multinode/main.c‎

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@@ -91,8 +91,6 @@ int main(int argc, const char * const * argv)
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// create executor
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rclc_executor_t executor_1 = rclc_executor_get_zero_initialized_executor();
9393
RCCHECK(rclc_executor_init(&executor_1, &support.context, 2, &allocator));
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95-
RCCHECK(rclc_executor_set_timeout(&executor_1, RCL_MS_TO_NS(1000)));
9694
RCCHECK(rclc_executor_add_timer(&executor_1, &timer_1));
9795
RCCHECK(rclc_executor_add_subscription(&executor_1, &subscriber_1, &recv_msg_1, &subscription_callback_1, ON_NEW_DATA));
9896

@@ -126,8 +124,6 @@ int main(int argc, const char * const * argv)
126124
// create executor
127125
rclc_executor_t executor_2 = rclc_executor_get_zero_initialized_executor();
128126
RCCHECK(rclc_executor_init(&executor_2, &support.context, 2, &allocator));
129-
130-
RCCHECK(rclc_executor_set_timeout(&executor_2, RCL_MS_TO_NS(1000)));
131127
RCCHECK(rclc_executor_add_timer(&executor_2, &timer_2));
132128
RCCHECK(rclc_executor_add_subscription(&executor_2, &subscriber_2, &recv_msg_2, &subscription_callback_2, ON_NEW_DATA));
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‎rclc/int32_publisher/main.c‎

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@@ -55,9 +55,6 @@ int main()
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// create executor
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rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
5757
RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
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59-
unsigned int rcl_wait_timeout = 1000; // in ms
60-
RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
6158
RCCHECK(rclc_executor_add_timer(&executor, &timer));
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6360
msg.data = 0;

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