system/xrcedds: add eProsima Micro XRCE-DDS

system/xrcedds/.gitignore

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+/xrcedds-client/
+/microcdr/
+/*.tar.gz

system/xrcedds/CMakeLists.txt

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+# ##############################################################################
+# apps/system/xrcedds/CMakeLists.txt
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more contributor
+# license agreements.  See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership.  The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License.  You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+# ##############################################################################
+
+if(CONFIG_SYSTEM_XRCEDDS)
+  set(XRCEDDS_VERSION 3.0.1)
+  set(MICROCDR_VERSION 2.0.2)
+  set(XRCEDDS_DIR ${CMAKE_CURRENT_LIST_DIR}/xrcedds-client)
+  set(MICROCDR_DIR ${CMAKE_CURRENT_LIST_DIR}/microcdr)
+  set(XRCEDDS_URL https://github.com/eProsima/Micro-XRCE-DDS-Client/archive)
+  set(MICROCDR_URL https://github.com/eProsima/Micro-CDR/archive)
+
+  if(NOT EXISTS ${XRCEDDS_DIR})
+    FetchContent_Declare(
+      xrcedds_fetch
+      URL ${XRCEDDS_URL}/refs/tags/v${XRCEDDS_VERSION}.tar.gz
+      SOURCE_DIR ${XRCEDDS_DIR}
+      BINARY_DIR ${NUTTX_APPS_BINDIR}/system/xrcedds/xrcedds-client
+      DOWNLOAD_NO_PROGRESS true
+      TIMEOUT 30)
+    FetchContent_GetProperties(xrcedds_fetch)
+    if(NOT xrcedds_fetch_POPULATED)
+      FetchContent_Populate(xrcedds_fetch)
+    endif()
+  endif()
+
+  if(NOT EXISTS ${MICROCDR_DIR})
+    FetchContent_Declare(
+      microcdr_fetch
+      URL ${MICROCDR_URL}/refs/tags/v${MICROCDR_VERSION}.tar.gz
+      SOURCE_DIR ${MICROCDR_DIR}
+      BINARY_DIR ${NUTTX_APPS_BINDIR}/system/xrcedds/microcdr
+      DOWNLOAD_NO_PROGRESS true
+      TIMEOUT 30)
+    FetchContent_GetProperties(microcdr_fetch)
+    if(NOT microcdr_fetch_POPULATED)
+      FetchContent_Populate(microcdr_fetch)
+    endif()
+  endif()
+
+  file(GLOB XRCEDDS_SRCS
+       ${XRCEDDS_DIR}/src/c/core/serialization/*.c
+       ${XRCEDDS_DIR}/src/c/core/session/*.c
+       ${XRCEDDS_DIR}/src/c/core/session/stream/*.c
+       ${XRCEDDS_DIR}/src/c/util/*.c
+       ${XRCEDDS_DIR}/src/c/profile/transport/custom/*.c)
+
+  if(CONFIG_SYSTEM_XRCEDDS_STREAM_FRAMING)
+    file(GLOB XRCEDDS_FRAMING_SRCS
+         ${XRCEDDS_DIR}/src/c/profile/transport/stream_framing/*.c)
+    list(APPEND XRCEDDS_SRCS ${XRCEDDS_FRAMING_SRCS})
+  endif()
+
+  file(GLOB MICROCDR_SRCS ${MICROCDR_DIR}/src/c/*.c
+       ${MICROCDR_DIR}/src/c/types/*.c)
+
+  nuttx_add_library(xrcedds STATIC)
+  target_sources(xrcedds PRIVATE ${XRCEDDS_SRCS} ${MICROCDR_SRCS})
+  target_include_directories(
+    xrcedds PRIVATE ${CMAKE_CURRENT_LIST_DIR}/include ${XRCEDDS_DIR}/include
+                    ${XRCEDDS_DIR}/src/c ${MICROCDR_DIR}/include)
+
+  set_property(
+    TARGET nuttx
+    APPEND
+    PROPERTY NUTTX_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_LIST_DIR}/include
+             ${XRCEDDS_DIR}/include ${MICROCDR_DIR}/include)
+
+  if(CONFIG_SYSTEM_XRCEDDS_PUBLISH_DEMO)
+    nuttx_add_application(
+      NAME
+      ${CONFIG_SYSTEM_XRCEDDS_PUBLISH_DEMO_PROGNAME}
+      SRCS
+      main.c
+      HelloWorld.c
+      STACKSIZE
+      ${CONFIG_SYSTEM_XRCEDDS_PUBLISH_DEMO_STACKSIZE}
+      PRIORITY
+      ${CONFIG_SYSTEM_XRCEDDS_PUBLISH_DEMO_PRIORITY}
+      DEPENDS
+      xrcedds)
+  endif()
+endif()

system/xrcedds/HelloWorld.c

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+/****************************************************************************
+ * apps/system/xrcedds/HelloWorld.c
+ *
+ * This source file contains the definition of the HelloWorld type described
+ * in the IDL file.  It was generated from HelloWorld.idl by the Micro
+ * XRCE-DDS Gen tool (microxrceddsgen) and is committed to the tree so that
+ * it does not need to be regenerated at build time.  DO NOT EDIT: to change
+ * the type, edit HelloWorld.idl and regenerate with microxrceddsgen.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <string.h>
+
+#include <ucdr/microcdr.h>
+
+#include "HelloWorld.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+bool HelloWorld_serialize_topic(struct ucdrBuffer *writer,
+                                const HelloWorld *topic)
+{
+  (void)ucdr_serialize_uint32_t(writer, topic->index);
+  (void)ucdr_serialize_string(writer, topic->message);
+
+  return !writer->error;
+}
+
+bool HelloWorld_deserialize_topic(struct ucdrBuffer *reader,
+                                  HelloWorld *topic)
+{
+  (void)ucdr_deserialize_uint32_t(reader, &topic->index);
+  (void)ucdr_deserialize_string(reader, topic->message, 255);
+
+  return !reader->error;
+}
+
+uint32_t HelloWorld_size_of_topic(const HelloWorld *topic, uint32_t size)
+{
+  uint32_t previous_size = size;
+
+  size += (uint32_t)(ucdr_alignment(size, 4) + 4);
+  size += (uint32_t)(ucdr_alignment(size, 4) + 4 + strlen(topic->message) +
+                     1);
+
+  return size - previous_size;
+}

system/xrcedds/HelloWorld.h

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+/****************************************************************************
+ * apps/system/xrcedds/HelloWorld.h
+ *
+ * This header declares the HelloWorld type.  It was generated from
+ * HelloWorld.idl by the Micro XRCE-DDS Gen tool (microxrceddsgen) and is
+ * committed to the tree so that it does not need to be regenerated at build
+ * time.  DO NOT EDIT: to change the type, edit HelloWorld.idl and regenerate
+ * with microxrceddsgen.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_XRCEDDS_HELLOWORLD_H
+#define __APPS_SYSTEM_XRCEDDS_HELLOWORLD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <stdbool.h>
+#include <stdint.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/* This struct represents the HelloWorld structure defined in the IDL file. */
+
+typedef struct HelloWorld
+{
+  uint32_t index;
+  char message[255];
+} HelloWorld;
+
+struct ucdrBuffer;
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+bool HelloWorld_serialize_topic(struct ucdrBuffer *writer,
+                                const HelloWorld *topic);
+bool HelloWorld_deserialize_topic(struct ucdrBuffer *reader,
+                                  HelloWorld *topic);
+uint32_t HelloWorld_size_of_topic(const HelloWorld *topic, uint32_t size);
+
+#endif /* __APPS_SYSTEM_XRCEDDS_HELLOWORLD_H */

system/xrcedds/HelloWorld.idl

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+struct HelloWorld
+{
+	unsigned long index;
+	string message;
+};

system/xrcedds/Kconfig

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+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+menuconfig SYSTEM_XRCEDDS
+	bool "eProsima Micro XRCE-DDS"
+	default n
+	---help---
+		Enable a lightweight build of Micro XRCE-DDS Client 3.0.1 and
+		Micro-CDR 2.0.2.  Only the core client and the built-in UDP
+		transport are built; ROS 2, micro-ROS, discovery, and other
+		transports are not included.
+
+if SYSTEM_XRCEDDS
+
+config SYSTEM_XRCEDDS_STREAM_FRAMING
+	bool "Byte-stream transport framing"
+	default n
+	---help---
+		Enable HDLC framing for byte-stream transports such as UART.
+		The built-in UDP transport preserves packet boundaries, so this
+		is not needed for the UDP publisher demo.
+
+config SYSTEM_XRCEDDS_MTU
+	int "UDP transport MTU"
+	range 64 65535
+	default 512
+
+config SYSTEM_XRCEDDS_MAX_OUTPUT_BEST_EFFORT_STREAMS
+	int "Maximum output best-effort streams"
+	range 1 127
+	default 1
+
+config SYSTEM_XRCEDDS_MAX_OUTPUT_RELIABLE_STREAMS
+	int "Maximum output reliable streams"
+	range 1 127
+	default 1
+
+config SYSTEM_XRCEDDS_MAX_INPUT_BEST_EFFORT_STREAMS
+	int "Maximum input best-effort streams"
+	range 1 127
+	default 1
+
+config SYSTEM_XRCEDDS_MAX_INPUT_RELIABLE_STREAMS
+	int "Maximum input reliable streams"
+	range 1 127
+	default 1
+
+config SYSTEM_XRCEDDS_PUBLISH_DEMO
+	tristate "Micro XRCE-DDS UDP publisher demo"
+	default n
+	depends on NET_UDP && NET_IPv4
+	---help---
+		Build the PublishHelloWorldClient command.  It connects to a
+		Micro XRCE-DDS Agent through the built-in UDP transport and
+		publishes HelloWorld samples.
+
+if SYSTEM_XRCEDDS_PUBLISH_DEMO
+
+config SYSTEM_XRCEDDS_PUBLISH_DEMO_PROGNAME
+	string "Publisher command name"
+	default "PublishHelloWorldClient"
+
+config SYSTEM_XRCEDDS_PUBLISH_DEMO_PRIORITY
+	int "Publisher task priority"
+	default 100
+
+config SYSTEM_XRCEDDS_PUBLISH_DEMO_STACKSIZE
+	int "Publisher task stack size"
+	default 4096
+
+config SYSTEM_XRCEDDS_PUBLISH_DEMO_AGENT_IP
+	string "Agent IPv4 address"
+	default "127.0.0.1"
+
+config SYSTEM_XRCEDDS_PUBLISH_DEMO_AGENT_PORT
+	int "Agent UDP port"
+	range 1 65535
+	default 8888
+
+endif
+
+endif

system/xrcedds/Make.defs

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+############################################################################
+# apps/system/xrcedds/Make.defs
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+ifneq ($(CONFIG_SYSTEM_XRCEDDS),)
+CONFIGURED_APPS += $(APPDIR)/system/xrcedds
+
+XRCEDDS_DIR := $(APPDIR)/system/xrcedds
+
+CFLAGS += ${INCDIR_PREFIX}"$(XRCEDDS_DIR)/include"
+CFLAGS += ${INCDIR_PREFIX}"$(XRCEDDS_DIR)/xrcedds-client/include"
+CFLAGS += ${INCDIR_PREFIX}"$(XRCEDDS_DIR)/microcdr/include"
+
+CXXFLAGS += ${INCDIR_PREFIX}"$(XRCEDDS_DIR)/include"
+CXXFLAGS += ${INCDIR_PREFIX}"$(XRCEDDS_DIR)/xrcedds-client/include"
+CXXFLAGS += ${INCDIR_PREFIX}"$(XRCEDDS_DIR)/microcdr/include"
+endif