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Add rcutils dependencies (#98)
* Add article to client library section. * Improve text formating. * Ignore touched files. * Compare with origin. * Fix broken link.
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‎_data/docs.yml‎

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- concepts/client_library/system_modes
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- concepts/client_library/embedded_tf
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- concepts/client_library/decision_paper
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- concepts/client_library/rcutils_analysis
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- title: Middleware
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docs:

‎_docs/concepts/client_library/rcutils_analysis/analysis.md‎

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---
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title: Embedded rcutils analysis
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permalink: /docs/concepts/client_library/rcutils_analysis/
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---
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## Proposed changes
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The main issues found when porting rcutils package to embedded systems with RTOS during micro-ROS development were:
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- the lack of filesystem
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- dynamic memory allocations out of the RTOS control (usually with standar library implementations of `malloc` and `free`)
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- the POSIX API dependency
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The main issues found when porting rcutils package to embedded systems with RTOS during micro*ROS development were:
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* the lack of filesystem
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* dynamic memory allocations out of the RTOS control (usually with standard library implementations of `malloc` and `free`)
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* the POSIX API dependency
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This document addresses the first two items.
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In order to avoid the **filesystem** dependency without modifiying high level layers (such as `rcl` or `rmw`), it is proposed to use a combination between the available `rcl_logging_noop` package and a modified version of the filesystem dependecies in `rcutils`. This approach is enabled using `RCUTILS_NO_FILESYSTEM` flag in compilation time.
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To avoid the **filesystem** dependency without modifying high*level layers (such as `rcl` or `rmw`), it is proposed to use a combination between the available `rcl_logging_noop` package and a modified version of the filesystem dependencies in `rcutils`. This approach is enabled using the `RCUTILS_NO_FILESYSTEM` flag in compilation time.
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**Dynamic memory allocation** must be bounded to ROS2 custom allocators. `rcl` and `rmw` layers usually rely on `rcutils_get_default_allocator` function in order to obtain allocators, so a setter function is proposed.
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**Dynamic memory allocation** must be bounded to ROS2 custom allocators. `rcl` and `rmw` layers usually rely on `rcutils_get_default_allocator` function to obtain allocators, so a setter function is proposed.
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This way, using `rcutils_set_default_allocator` function is possible to modify the defaults easing the use of custom memory management in embedded systems.
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Dynamic memory allocation is also found when dealing with error handling in `rcutils`. By using `RCUTILS_AVOID_DYNAMIC_ALLOCATION` some string related `memmove` functions along the error handling are avoided.
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### error_handling.h
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- Macro **RCUTILS_SAFE_FWRITE_TO_STDERR** in `rcutils` error_handling.h:
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[Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1L42)
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- Problem: use `fwrite` to print to stderr and relies on a filesytem
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- Appears in:
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- rcl/rcl/src/rcl/expand_topic_name.c
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- rcl/rcl/src/rcl/logging_rosout.c
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- rcl/rcl/src/rcl/logging.c
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- rcl/rcl/src/rcl/context.c
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- rcl/rcl_yaml_param_parser/src/parser.c
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- rcutils/src/split.c
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- rcutils/src/error_handling.c
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- rcutils/src/allocator.c
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- rcutils/src/logging.c
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- rcutils/src/error_handling_helpers.h
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- rcutils/include/rcutils/logging.h
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- rcutils/include/rcutils/error_handling.h
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- rcl/rcl/src/rcl/expand_topic_name.c
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- rcl/rcl/src/rcl/logging_rosout.c
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- rcl/rcl/src/rcl/logging.c
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- rcl/rcl/src/rcl/context.c
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- rcl/rcl_yaml_param_parser/src/parser.c
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- rmw/rmw/include/rmw/error_handling.h
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- Macro **RCUTILS_SET_ERROR_MSG** in `rcutils` error_handling.h: [Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1R202)
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- Problem: use inconditionally `memmove` inside `__rcutils_copy_string()` inside `rcutils_set_error_state`. It implies dynamic memory allocation.
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- Dependecies:
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- rcl/rcl/include/rcl/error_handling.h
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- rcutils/src/security_directory.c
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- rcutils/src/time_unix.c
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- rcutils/src/split.c
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- rcutils/src/error_handling.c
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- rcutils/src/time.c
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- rcutils/src/string_map.c
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- rcutils/src/uint8_array.c
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- rcutils/src/hash_map.c
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- rcutils/src/char_array.c
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- rcutils/src/logging.c
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- rcutils/src/string_array.c
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- rcutils/src/array_list.c
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- rcutils/include/rcutils/types/array_list.h
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- rcutils/include/rcutils/types/hash_map.h
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- rcutils/include/rcutils/allocator.h
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- rcutils/include/rcutils/error_handling.h
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- rcl/rcl/include/rcl/error_handling.h
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- rmw/rmw/include/rmw/error_handling.h
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- Macro **RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING** in `rcutils` error_handling.h:. [Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1R218)
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- Problem: use `RCUTILS_SET_ERROR_MSG`, see above.
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- Dependecies:
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- rcl/rcl/include/rcl/error_handling.h
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- rcutils/src/security_directory.c
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- rcutils/src/string_map.c
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- rcutils/src/logging.c
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- rcutils/include/rcutils/error_handling.h
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- rcl/rcl/include/rcl/error_handling.h
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- rmw/rmw/include/rmw/error_handling.h
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* Macro **RCUTILS_SAFE_FWRITE_TO_STDERR** in `rcutils` error_handling.h:
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[Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1L42)
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* Problem: use `fwrite` to print to stderr and relies on a filesytem
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* Appears in:
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* rcl/rcl/src/rcl/expand_topic_name.c
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* rcl/rcl/src/rcl/logging_rosout.c
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* rcl/rcl/src/rcl/logging.c
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* rcl/rcl/src/rcl/context.c
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* rcl/rcl_yaml_param_parser/src/parser.c
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* rcutils/src/split.c
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* rcutils/src/error_handling.c
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* rcutils/src/allocator.c
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* rcutils/src/logging.c
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* rcutils/src/error_handling_helpers.h
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* rcutils/include/rcutils/logging.h
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* rcutils/include/rcutils/error_handling.h
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* rcl/rcl/src/rcl/expand_topic_name.c
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* rcl/rcl/src/rcl/logging_rosout.c
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* rcl/rcl/src/rcl/logging.c
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* rcl/rcl/src/rcl/context.c
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* rcl/rcl_yaml_param_parser/src/parser.c
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* rmw/rmw/include/rmw/error_handling.h
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* Macro **RCUTILS_SET_ERROR_MSG** in `rcutils` error_handling.h: [Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1R202)
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* Problem: use inconditionally `memmove` inside `__rcutils_copy_string()` inside `rcutils_set_error_state`. It implies dynamic memory allocation.
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* Dependecies:
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* rcl/rcl/include/rcl/error_handling.h
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* rcutils/src/security_directory.c
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* rcutils/src/time_unix.c
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* rcutils/src/split.c
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* rcutils/src/error_handling.c
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* rcutils/src/time.c
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* rcutils/src/string_map.c
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* rcutils/src/uint8_array.c
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* rcutils/src/hash_map.c
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* rcutils/src/char_array.c
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* rcutils/src/logging.c
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* rcutils/src/string_array.c
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* rcutils/src/array_list.c
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* rcutils/include/rcutils/types/array_list.h
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* rcutils/include/rcutils/types/hash_map.h
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* rcutils/include/rcutils/allocator.h
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* rcutils/include/rcutils/error_handling.h
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* rcl/rcl/include/rcl/error_handling.h
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* rmw/rmw/include/rmw/error_handling.h
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* Macro **RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING** in `rcutils` error_handling.h:. [Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1R218)
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* Problem: use `RCUTILS_SET_ERROR_MSG`, see above.
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* Dependecies:
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* rcl/rcl/include/rcl/error_handling.h
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* rcutils/src/security_directory.c
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* rcutils/src/string_map.c
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* rcutils/src/logging.c
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* rcutils/include/rcutils/error_handling.h
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* rcl/rcl/include/rcl/error_handling.h
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* rmw/rmw/include/rmw/error_handling.h
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### security_directory.c (moved from `rcl` to `rcutils`)
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- Function **get_best_matching_directory** in `rcutils` security_directory.c [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d#diff-1ca0173d6a68ba1bdcd9ff908b769911R91)
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- Problem: use **tinydir** library which relies on filesytem
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- Dependecies:
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- rcutils/src/security_directory.c
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- rcl/rcl/src/rcl/security_directory.c
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* Function **get_best_matching_directory** in `rcutils` security_directory.c [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d#diff-1ca0173d6a68ba1bdcd9ff908b769911R91)
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* Problem: use **tinydir** library which relies on filesytem
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* Dependecies:
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* rcutils/src/security_directory.c
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* rcl/rcl/src/rcl/security_directory.c
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- Function **prefix_match_lookup**. [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d#diff-1ca0173d6a68ba1bdcd9ff908b769911L151)
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- Problem: use **tinydir** library which relies on filesytem
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- Dependencies:
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- rcutils/src/security_directory.c
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- rcl/rcl/src/rcl/security_directory.c
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* Function **prefix_match_lookup**. [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d#diff-1ca0173d6a68ba1bdcd9ff908b769911L151)
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* Problem: use **tinydir** library which relies on filesytem
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* Dependencies:
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* rcutils/src/security_directory.c
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* rcl/rcl/src/rcl/security_directory.c
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### allocator.c
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- Function **rcutils_get_default_allocator**. [Check here](https://github.com/micro-ROS/rcutils/commit/3abb1eb2c9b206054101293997c0d4e541b1c657)
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- Problem: use static allocated **default_allocator** which uses malloc/free. **rcutils_set_default_allocator** is proposed.
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- Dependecies:
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- rcl/rcl/include/rcl/allocator.h
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- rcl/rcl/include/rcl/expand_topic_name.h
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- rcutils/src/allocator.c
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- rcutils/src/logging.c
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- rcutils/include/rcutils/types/string_map.h
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- rcutils/include/rcutils/types/array_list.h
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- rcutils/include/rcutils/types/string_array.h
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- rcutils/include/rcutils/types/hash_map.h
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- rcutils/include/rcutils/allocator.h
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- rmw_implementation/rmw_implementation/src/functions.cpp
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- rcl/rcl/include/rcl/allocator.h
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- rcl/rcl/include/rcl/expand_topic_name.h
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- rmw/rmw/src/allocators.c
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* Function **rcutils_get_default_allocator**. [Check here](https://github.com/micro-ROS/rcutils/commit/3abb1eb2c9b206054101293997c0d4e541b1c657)
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* Problem: use static allocated **default_allocator** which uses malloc/free. **rcutils_set_default_allocator** is proposed.
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* Dependecies:
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* rcl/rcl/include/rcl/allocator.h
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* rcl/rcl/include/rcl/expand_topic_name.h
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* rcutils/src/allocator.c
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* rcutils/src/logging.c
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* rcutils/include/rcutils/types/string_map.h
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* rcutils/include/rcutils/types/array_list.h
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* rcutils/include/rcutils/types/string_array.h
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* rcutils/include/rcutils/types/hash_map.h
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* rcutils/include/rcutils/allocator.h
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* rmw_implementation/rmw_implementation/src/functions.cpp
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* rcl/rcl/include/rcl/allocator.h
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* rcl/rcl/include/rcl/expand_topic_name.h
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* rmw/rmw/src/allocators.c
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### filesystem.c
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- Functions **rcutils_get_cwd**, **rcutils_is_directory**, **rcutils_is_file**, **rcutils_exists**, **rcutils_is_readable**, **rcutils_is_writable** and **rcutils_is_readable_and_writable**. [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d)
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- Problem: rely on filesystem
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- Dependecies **rcutils_get_cwd()**:
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- rcutils/src/filesystem.c
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- rcutils/include/rcutils/filesystem.h
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- Dependecies **rcutils_is_directory()**:
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- rcutils/src/security_directory.c
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- rcutils/src/filesystem.c
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- rcutils/include/rcutils/filesystem.h
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- rcl/rcl/src/rcl/security_directory.c
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- Dependecies **rcutils_is_file()**:
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- rcutils/src/filesystem.c
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- rcutils/include/rcutils/filesystem.h
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- Dependencies **rcutils_exists()**:
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- rcutils/src/filesystem.c
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- rcutils/include/rcutils/filesystem.h
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- Dependencies **rcutils_is_readable()**:
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- rcutils/src/filesystem.c
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- rcutils/include/rcutils/filesystem.h
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- Dependencies **rcutils_is_writable()**:
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- rcutils/src/filesystem.c
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- rcutils/include/rcutils/filesystem.h
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- Dependencies **rcutils_is_readable_and_writable()**:
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- rcutils/src/filesystem.c
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- rcutils/include/rcutils/filesystem.h
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* Functions **rcutils_get_cwd**, **rcutils_is_directory**, **rcutils_is_file**, **rcutils_exists**, **rcutils_is_readable**, **rcutils_is_writable** and **rcutils_is_readable_and_writable**. [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d)
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* Problem: rely on filesystem
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* Dependecies **rcutils_get_cwd()**:
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* rcutils/src/filesystem.c
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* rcutils/include/rcutils/filesystem.h
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* Dependecies **rcutils_is_directory()**:
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* rcutils/src/security_directory.c
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* rcutils/src/filesystem.c
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* rcutils/include/rcutils/filesystem.h
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* rcl/rcl/src/rcl/security_directory.c
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* Dependecies **rcutils_is_file()**:
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* rcutils/src/filesystem.c
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* rcutils/include/rcutils/filesystem.h
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* Dependencies **rcutils_exists()**:
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* rcutils/src/filesystem.c
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* rcutils/include/rcutils/filesystem.h
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* Dependencies **rcutils_is_readable()**:
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* rcutils/src/filesystem.c
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* rcutils/include/rcutils/filesystem.h
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* Dependencies **rcutils_is_writable()**:
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* rcutils/src/filesystem.c
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* rcutils/include/rcutils/filesystem.h
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* Dependencies **rcutils_is_readable_and_writable()**:
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* rcutils/src/filesystem.c
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* rcutils/include/rcutils/filesystem.h

‎scripts/cibuild‎

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#!/usr/bin/env bash
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set -e # halt script on error
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IGNORE_HREFS=$(ruby -e 'puts %w{
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CHANGED_FILES=$(git diff --name-only origin/master)
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if grep -q "_docs" <<< $CHANGED_FILES; then
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TOUCHED=${TOUCHED:+$TOUCHED }micro-ros.github.io//docs
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else if grep -q "_posts" <<< $CHANGED_FILES; then
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TOUCHED=${TOUCHED:+$TOUCHED,}micro-ros.github.io//blog
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fi
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fi
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IGNORE_HREFS=${IGNORE_HREFS:+$IGNORE_HREFS,}$(ruby -e "puts %w{
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vimeo.com
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micro-ros.github.io//blog
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}.map{|h| "/#{h}/"}.join(",")'
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${TOUCHED}
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}.map{|h| \"/#{h}/\"}.join(\",\")"
816
)
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echo "Ignoring urls: " $IGNORE_HREFS
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bundle exec jekyll build
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bundle exec htmlproofer --check_html --check-favicon --assume-extension --empty-alt-ignore --only-4xx --url-ignore $IGNORE_HREFS $@ ./_site
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bundle exec htmlproofer --check_html --check-favicon --assume-extension --empty-alt-ignore --only-4xx --url-ignore $IGNORE_HREFS $@ ./_site

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