Skip to content

Add rcutils dependencies #98

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
BorjaOuterelo merged 5 commits into from
Jan 23, 2020
Merged

Add rcutils dependencies #98

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
c344e4e
Add article to client library section.
BorjaOuterelo Jan 22, 2020
70adc20
Improve text formating.
BorjaOuterelo Jan 22, 2020
635af15
Ignore touched files.
BorjaOuterelo Jan 22, 2020
7b603e0
Compare with origin.
BorjaOuterelo Jan 22, 2020
6e614b5
Fix broken link.
BorjaOuterelo Jan 22, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions _data/docs.yml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
- concepts/client_library/system_modes
- concepts/client_library/embedded_tf
- concepts/client_library/decision_paper
- concepts/client_library/rcutils_analysis

- title: Middleware
docs:
Expand Down
231 changes: 118 additions & 113 deletions _docs/concepts/client_library/rcutils_analysis/analysis.md
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,15 +1,20 @@
---
title: Embedded rcutils analysis
permalink: /docs/concepts/client_library/rcutils_analysis/
---

## Proposed changes

The main issues found when porting rcutils package to embedded systems with RTOS during micro-ROS development were:
- the lack of filesystem
- dynamic memory allocations out of the RTOS control (usually with standar library implementations of `malloc` and `free`)
- the POSIX API dependency
The main issues found when porting rcutils package to embedded systems with RTOS during micro*ROS development were:
* the lack of filesystem
* dynamic memory allocations out of the RTOS control (usually with standard library implementations of `malloc` and `free`)
* the POSIX API dependency

This document addresses the first two items.

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.
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.

**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.
**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.
This way, using `rcutils_set_default_allocator` function is possible to modify the defaults easing the use of custom memory management in embedded systems.

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.
Expand All @@ -20,120 +25,120 @@ Dynamic memory allocation is also found when dealing with error handling in `rcu

### error_handling.h

- Macro **RCUTILS_SAFE_FWRITE_TO_STDERR** in `rcutils` error_handling.h:
[Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1L42)
- Problem: use `fwrite` to print to stderr and relies on a filesytem
- Appears in:
- rcl/rcl/src/rcl/expand_topic_name.c
- rcl/rcl/src/rcl/logging_rosout.c
- rcl/rcl/src/rcl/logging.c
- rcl/rcl/src/rcl/context.c
- rcl/rcl_yaml_param_parser/src/parser.c
- rcutils/src/split.c
- rcutils/src/error_handling.c
- rcutils/src/allocator.c
- rcutils/src/logging.c
- rcutils/src/error_handling_helpers.h
- rcutils/include/rcutils/logging.h
- rcutils/include/rcutils/error_handling.h
- rcl/rcl/src/rcl/expand_topic_name.c
- rcl/rcl/src/rcl/logging_rosout.c
- rcl/rcl/src/rcl/logging.c
- rcl/rcl/src/rcl/context.c
- rcl/rcl_yaml_param_parser/src/parser.c
- rmw/rmw/include/rmw/error_handling.h

- Macro **RCUTILS_SET_ERROR_MSG** in `rcutils` error_handling.h: [Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1R202)
- Problem: use inconditionally `memmove` inside `__rcutils_copy_string()` inside `rcutils_set_error_state`. It implies dynamic memory allocation.
- Dependecies:
- rcl/rcl/include/rcl/error_handling.h
- rcutils/src/security_directory.c
- rcutils/src/time_unix.c
- rcutils/src/split.c
- rcutils/src/error_handling.c
- rcutils/src/time.c
- rcutils/src/string_map.c
- rcutils/src/uint8_array.c
- rcutils/src/hash_map.c
- rcutils/src/char_array.c
- rcutils/src/logging.c
- rcutils/src/string_array.c
- rcutils/src/array_list.c
- rcutils/include/rcutils/types/array_list.h
- rcutils/include/rcutils/types/hash_map.h
- rcutils/include/rcutils/allocator.h
- rcutils/include/rcutils/error_handling.h
- rcl/rcl/include/rcl/error_handling.h
- rmw/rmw/include/rmw/error_handling.h

- 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)
- Problem: use `RCUTILS_SET_ERROR_MSG`, see above.
- Dependecies:
- rcl/rcl/include/rcl/error_handling.h
- rcutils/src/security_directory.c
- rcutils/src/string_map.c
- rcutils/src/logging.c
- rcutils/include/rcutils/error_handling.h
- rcl/rcl/include/rcl/error_handling.h
- rmw/rmw/include/rmw/error_handling.h
* Macro **RCUTILS_SAFE_FWRITE_TO_STDERR** in `rcutils` error_handling.h:
[Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1L42)
* Problem: use `fwrite` to print to stderr and relies on a filesytem
* Appears in:
* rcl/rcl/src/rcl/expand_topic_name.c
* rcl/rcl/src/rcl/logging_rosout.c
* rcl/rcl/src/rcl/logging.c
* rcl/rcl/src/rcl/context.c
* rcl/rcl_yaml_param_parser/src/parser.c
* rcutils/src/split.c
* rcutils/src/error_handling.c
* rcutils/src/allocator.c
* rcutils/src/logging.c
* rcutils/src/error_handling_helpers.h
* rcutils/include/rcutils/logging.h
* rcutils/include/rcutils/error_handling.h
* rcl/rcl/src/rcl/expand_topic_name.c
* rcl/rcl/src/rcl/logging_rosout.c
* rcl/rcl/src/rcl/logging.c
* rcl/rcl/src/rcl/context.c
* rcl/rcl_yaml_param_parser/src/parser.c
* rmw/rmw/include/rmw/error_handling.h

* Macro **RCUTILS_SET_ERROR_MSG** in `rcutils` error_handling.h: [Check here](https://github.com/micro-ROS/rcutils/commit/bcaa00a6ed12fc62d05dc5e44521a1648fd2d07f#diff-1b06d4a1ccca0f0dff66d961923143a1R202)
* Problem: use inconditionally `memmove` inside `__rcutils_copy_string()` inside `rcutils_set_error_state`. It implies dynamic memory allocation.
* Dependecies:
* rcl/rcl/include/rcl/error_handling.h
* rcutils/src/security_directory.c
* rcutils/src/time_unix.c
* rcutils/src/split.c
* rcutils/src/error_handling.c
* rcutils/src/time.c
* rcutils/src/string_map.c
* rcutils/src/uint8_array.c
* rcutils/src/hash_map.c
* rcutils/src/char_array.c
* rcutils/src/logging.c
* rcutils/src/string_array.c
* rcutils/src/array_list.c
* rcutils/include/rcutils/types/array_list.h
* rcutils/include/rcutils/types/hash_map.h
* rcutils/include/rcutils/allocator.h
* rcutils/include/rcutils/error_handling.h
* rcl/rcl/include/rcl/error_handling.h
* rmw/rmw/include/rmw/error_handling.h

* 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)
* Problem: use `RCUTILS_SET_ERROR_MSG`, see above.
* Dependecies:
* rcl/rcl/include/rcl/error_handling.h
* rcutils/src/security_directory.c
* rcutils/src/string_map.c
* rcutils/src/logging.c
* rcutils/include/rcutils/error_handling.h
* rcl/rcl/include/rcl/error_handling.h
* rmw/rmw/include/rmw/error_handling.h

### security_directory.c (moved from `rcl` to `rcutils`)

- Function **get_best_matching_directory** in `rcutils` security_directory.c [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d#diff-1ca0173d6a68ba1bdcd9ff908b769911R91)
- Problem: use **tinydir** library which relies on filesytem
- Dependecies:
- rcutils/src/security_directory.c
- rcl/rcl/src/rcl/security_directory.c
* Function **get_best_matching_directory** in `rcutils` security_directory.c [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d#diff-1ca0173d6a68ba1bdcd9ff908b769911R91)
* Problem: use **tinydir** library which relies on filesytem
* Dependecies:
* rcutils/src/security_directory.c
* rcl/rcl/src/rcl/security_directory.c

- Function **prefix_match_lookup**. [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d#diff-1ca0173d6a68ba1bdcd9ff908b769911L151)
- Problem: use **tinydir** library which relies on filesytem
- Dependencies:
- rcutils/src/security_directory.c
- rcl/rcl/src/rcl/security_directory.c
* Function **prefix_match_lookup**. [Check here](https://github.com/micro-ROS/rcutils/commit/9804287c3489ce9c88b714832abf54f9a7b7198d#diff-1ca0173d6a68ba1bdcd9ff908b769911L151)
* Problem: use **tinydir** library which relies on filesytem
* Dependencies:
* rcutils/src/security_directory.c
* rcl/rcl/src/rcl/security_directory.c

### allocator.c

- Function **rcutils_get_default_allocator**. [Check here](https://github.com/micro-ROS/rcutils/commit/3abb1eb2c9b206054101293997c0d4e541b1c657)
- Problem: use static allocated **default_allocator** which uses malloc/free. **rcutils_set_default_allocator** is proposed.
- Dependecies:
- rcl/rcl/include/rcl/allocator.h
- rcl/rcl/include/rcl/expand_topic_name.h
- rcutils/src/allocator.c
- rcutils/src/logging.c
- rcutils/include/rcutils/types/string_map.h
- rcutils/include/rcutils/types/array_list.h
- rcutils/include/rcutils/types/string_array.h
- rcutils/include/rcutils/types/hash_map.h
- rcutils/include/rcutils/allocator.h
- rmw_implementation/rmw_implementation/src/functions.cpp
- rcl/rcl/include/rcl/allocator.h
- rcl/rcl/include/rcl/expand_topic_name.h
- rmw/rmw/src/allocators.c
* Function **rcutils_get_default_allocator**. [Check here](https://github.com/micro-ROS/rcutils/commit/3abb1eb2c9b206054101293997c0d4e541b1c657)
* Problem: use static allocated **default_allocator** which uses malloc/free. **rcutils_set_default_allocator** is proposed.
* Dependecies:
* rcl/rcl/include/rcl/allocator.h
* rcl/rcl/include/rcl/expand_topic_name.h
* rcutils/src/allocator.c
* rcutils/src/logging.c
* rcutils/include/rcutils/types/string_map.h
* rcutils/include/rcutils/types/array_list.h
* rcutils/include/rcutils/types/string_array.h
* rcutils/include/rcutils/types/hash_map.h
* rcutils/include/rcutils/allocator.h
* rmw_implementation/rmw_implementation/src/functions.cpp
* rcl/rcl/include/rcl/allocator.h
* rcl/rcl/include/rcl/expand_topic_name.h
* rmw/rmw/src/allocators.c

### filesystem.c

- 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)
- Problem: rely on filesystem
- Dependecies **rcutils_get_cwd()**:
- rcutils/src/filesystem.c
- rcutils/include/rcutils/filesystem.h
- Dependecies **rcutils_is_directory()**:
- rcutils/src/security_directory.c
- rcutils/src/filesystem.c
- rcutils/include/rcutils/filesystem.h
- rcl/rcl/src/rcl/security_directory.c
- Dependecies **rcutils_is_file()**:
- rcutils/src/filesystem.c
- rcutils/include/rcutils/filesystem.h
- Dependencies **rcutils_exists()**:
- rcutils/src/filesystem.c
- rcutils/include/rcutils/filesystem.h
- Dependencies **rcutils_is_readable()**:
- rcutils/src/filesystem.c
- rcutils/include/rcutils/filesystem.h
- Dependencies **rcutils_is_writable()**:
- rcutils/src/filesystem.c
- rcutils/include/rcutils/filesystem.h
- Dependencies **rcutils_is_readable_and_writable()**:
- rcutils/src/filesystem.c
- rcutils/include/rcutils/filesystem.h
* 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)
* Problem: rely on filesystem
* Dependecies **rcutils_get_cwd()**:
* rcutils/src/filesystem.c
* rcutils/include/rcutils/filesystem.h
* Dependecies **rcutils_is_directory()**:
* rcutils/src/security_directory.c
* rcutils/src/filesystem.c
* rcutils/include/rcutils/filesystem.h
* rcl/rcl/src/rcl/security_directory.c
* Dependecies **rcutils_is_file()**:
* rcutils/src/filesystem.c
* rcutils/include/rcutils/filesystem.h
* Dependencies **rcutils_exists()**:
* rcutils/src/filesystem.c
* rcutils/include/rcutils/filesystem.h
* Dependencies **rcutils_is_readable()**:
* rcutils/src/filesystem.c
* rcutils/include/rcutils/filesystem.h
* Dependencies **rcutils_is_writable()**:
* rcutils/src/filesystem.c
* rcutils/include/rcutils/filesystem.h
* Dependencies **rcutils_is_readable_and_writable()**:
* rcutils/src/filesystem.c
* rcutils/include/rcutils/filesystem.h
17 changes: 13 additions & 4 deletions scripts/cibuild
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,11 +1,20 @@
#!/usr/bin/env bash
set -e # halt script on error

IGNORE_HREFS=$(ruby -e 'puts %w{
CHANGED_FILES=$(git diff --name-only origin/master)
if grep -q "_docs" <<< $CHANGED_FILES; then
TOUCHED=${TOUCHED:+$TOUCHED }micro-ros.github.io//docs
else if grep -q "_posts" <<< $CHANGED_FILES; then
TOUCHED=${TOUCHED:+$TOUCHED,}micro-ros.github.io//blog
fi
fi

IGNORE_HREFS=${IGNORE_HREFS:+$IGNORE_HREFS,}$(ruby -e "puts %w{
vimeo.com
micro-ros.github.io//blog
}.map{|h| "/#{h}/"}.join(",")'
${TOUCHED}
}.map{|h| \"/#{h}/\"}.join(\",\")"
)

echo "Ignoring urls: " $IGNORE_HREFS
bundle exec jekyll build
bundle exec htmlproofer --check_html --check-favicon --assume-extension --empty-alt-ignore --only-4xx --url-ignore $IGNORE_HREFS $@ ./_site
bundle exec htmlproofer --check_html --check-favicon --assume-extension --empty-alt-ignore --only-4xx --url-ignore $IGNORE_HREFS $@ ./_site