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generate kakutef7 nonblock variation #508

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56 changes: 56 additions & 0 deletions extras/library_generation/colcon_nonblock.meta
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Original file line number Diff line number Diff line change
@@ -0,0 +1,56 @@
{
"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_TCP=OFF",
"-DUCLIENT_PROFILE_DISCOVERY=OFF",
"-DUCLIENT_PROFILE_SERIAL=OFF",
"-UCLIENT_PROFILE_STREAM_FRAMING=ON",
"-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON",
"-DUCLIENT_MAX_SESSION_CONNECTION_ATTEMPTS=1",
"-DUCLIENT_MIN_SESSION_CONNECTION_INTERVAL=0"
]
},
"rmw_microxrcedds": {
"cmake-args": [
"-DRMW_UXRCE_MAX_NODES=1",
"-DRMW_UXRCE_MAX_PUBLISHERS=10",
"-DRMW_UXRCE_MAX_SUBSCRIPTIONS=6",
"-DRMW_UXRCE_MAX_SERVICES=1",
"-DRMW_UXRCE_MAX_CLIENTS=1",
"-DRMW_UXRCE_MAX_HISTORY=4",
"-DRMW_UXRCE_TRANSPORT=custom",
"-DRMW_UXRCE_ENTITY_CREATION_DESTROY_TIMEOUT=0"
]
}
}
}
9 changes: 7 additions & 2 deletions extras/library_generation/library_generation.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ if [ $OPTIND -eq 1 ]; then
# PLATFORMS+=("portenta-m4")
PLATFORMS+=("portenta-m7")
PLATFORMS+=("kakutef7-m7")
PLATFORMS+=("kakutef7-m7-nonblock")
fi

shift $((OPTIND-1))
Expand Down Expand Up @@ -172,11 +173,15 @@ if [[ " ${PLATFORMS[@]} " =~ " portenta-m7 " ]]; then
fi

######## Build for Kakute F7 M7 core ########
if [[ " ${PLATFORMS[@]} " =~ " kakutef7-m7 " ]]; then
if [[ " ${PLATFORMS[@]} " =~ kakutef7-m7.* ]]; then
rm -rf firmware/build

export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-9-2020-q2-update/bin/arm-none-eabi-
ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/kakutef7-m7_toolchain.cmake /project/extras/library_generation/colcon.meta
if [[ " ${PLATFORMS[@]} " =~ " kakutef7-m7-nonblock " ]]; then
ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/kakutef7-m7_toolchain.cmake /project/extras/library_generation/colcon.meta
elif [[ " ${PLATFORMS[@]} " =~ " kakutef7-m7 " ]]; then
ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/kakutef7-m7_toolchain.cmake /project/extras/library_generation/colcon_nonblock.meta
fi

find firmware/build/include/ -name "*.c" -delete
cp -R firmware/build/include/* /project/src/
Expand Down