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Changes for native posix builds #2

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9518bcb
Update native posix configs
chris-hl Oct 28, 2022
b7b953c
Fix native posix builds
chris-hl Oct 28, 2022
6f260ec
Convert all conf files to minimal form
chris-hl Oct 30, 2022
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20 changes: 20 additions & 0 deletions prj_native_posix.conf
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Original file line number Diff line number Diff line change
@@ -1 +1,21 @@
CONFIG_MICROROS_AGENT_IP="192.168.1.42"
# CONFIG_NET_IPV6 is not set
CONFIG_MICRO_XRCE_DDS_CLIENT_CUSTOM=y
CONFIG_MAIN_THREAD_PRIORITY=3
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Would you mind explaining to me why the main thread must be priority 3?

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CONFIG_MAIN_THREAD_PRIORITY=3
comes directly from the original prj.conf file of the micro_ros_zephyr_module application.

There was no indication why it was set to that value in the original project.
I had no reason to change it so left it as is.

CONFIG_MAIN_STACK_SIZE=25000
CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=1000000
CONFIG_CONSOLE=y
CONFIG_CPLUSPLUS=y
CONFIG_NETWORKING=y
CONFIG_NET_SHELL=y
CONFIG_NET_MAX_CONTEXTS=10
CONFIG_NET_PKT_RX_COUNT=32
CONFIG_NET_PKT_TX_COUNT=32
CONFIG_NET_BUF_RX_COUNT=32
CONFIG_NET_BUF_TX_COUNT=32
CONFIG_NET_STATISTICS=y
CONFIG_NET_LOG=y
CONFIG_NET_CONFIG_NEED_IPV4=y
CONFIG_NET_CONFIG_SETTINGS=y
CONFIG_NET_CONFIG_MY_IPV4_ADDR="192.0.2.1"
CONFIG_NET_CONFIG_PEER_IPV4_ADDR="192.0.2.2"
21 changes: 21 additions & 0 deletions prj_native_posix_64.conf
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@@ -1 +1,22 @@
CONFIG_MICROROS_AGENT_IP="192.168.1.42"
# CONFIG_NET_IPV6 is not set
CONFIG_MICRO_XRCE_DDS_CLIENT_CUSTOM=y
CONFIG_BOARD_NATIVE_POSIX_64BIT=y
CONFIG_MAIN_THREAD_PRIORITY=3
CONFIG_MAIN_STACK_SIZE=25000
CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=1000000
CONFIG_CONSOLE=y
CONFIG_CPLUSPLUS=y
CONFIG_NETWORKING=y
CONFIG_NET_SHELL=y
CONFIG_NET_MAX_CONTEXTS=10
CONFIG_NET_PKT_RX_COUNT=32
CONFIG_NET_PKT_TX_COUNT=32
CONFIG_NET_BUF_RX_COUNT=32
CONFIG_NET_BUF_TX_COUNT=32
CONFIG_NET_STATISTICS=y
CONFIG_NET_LOG=y
CONFIG_NET_CONFIG_NEED_IPV4=y
CONFIG_NET_CONFIG_SETTINGS=y
CONFIG_NET_CONFIG_MY_IPV4_ADDR="192.0.2.1"
CONFIG_NET_CONFIG_PEER_IPV4_ADDR="192.0.2.2"
30 changes: 19 additions & 11 deletions prj_nucleo_f429zi.conf
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@@ -1,16 +1,24 @@
CONFIG_ETH_DRIVER=y
CONFIG_MAIN_THREAD_PRIORITY=3
CONFIG_MICROROS_AGENT_IP="192.168.1.42"
CONFIG_GPIO=y
CONFIG_PINCTRL=y
CONFIG_CLOCK_CONTROL=y
CONFIG_SERIAL=y
CONFIG_MAIN_STACK_SIZE=25000

CONFIG_POSIX_API=y
CONFIG_MICRO_XRCE_DDS_CLIENT_CUSTOM=y
CONFIG_SOC_SERIES_STM32F4X=y
CONFIG_SOC_STM32F429XX=y
CONFIG_ARM_MPU=y
CONFIG_HW_STACK_PROTECTION=y
CONFIG_MAIN_THREAD_PRIORITY=3
CONFIG_CONSOLE=y
CONFIG_UART_CONSOLE=y
CONFIG_ENTROPY_STM32_THR_THRESHOLD=4
CONFIG_ENTROPY_STM32_ISR_THRESHOLD=12
CONFIG_PICOLIBC=y
CONFIG_PTHREAD_IPC=n

CONFIG_POSIX_API=y
# CONFIG_PTHREAD_IPC is not set
CONFIG_CPLUSPLUS=y
CONFIG_MICROROS_AGENT_IP="192.168.1.42"
CONFIG_MICRO_XRCE_DDS_CLIENT_CUSTOM=y

CONFIG_NETWORKING=y
CONFIG_NET_SOCKETS=y
CONFIG_NET_CONFIG_NEED_IPV4=y
CONFIG_NET_DHCPV4=y
CONFIG_NET_CONFIG_NEED_IPV4=y
CONFIG_NET_SOCKETS=y
12 changes: 7 additions & 5 deletions prj_qemu_cortex_m3.conf
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@@ -1,7 +1,9 @@
# CONFIG_NET_IPV6 is not set
# CONFIG_ETH_DRIVER is not set
#CONFIG_MINIMAL_LIBC_RAND=y
#CONFIG_MINIMAL_LIBC_STRING_ERROR_TABLE=y
CONFIG_POSIX_API=y
CONFIG_SERIAL=y
CONFIG_QEMU_ICOUNT_SHIFT=6
CONFIG_SOC_TI_LM3S6965=y
CONFIG_SCHED_MULTIQ=y
CONFIG_CONSOLE=y
CONFIG_UART_CONSOLE=y
CONFIG_PICOLIBC=y
CONFIG_POSIX_API=y
CONFIG_CPLUSPLUS=y
2 changes: 1 addition & 1 deletion src/main.c
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Expand Up @@ -93,7 +93,7 @@ void main(void)

while(1){
rclc_executor_spin_some(&executor, 100);
usleep(100000);
k_msleep(100);
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hmmm. I'm not sure why. Would you mind enlightening me?

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I'm assuming that with host's usleep() Zephyr doesn't schedule the sleeping thread.

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zephyrproject-rtos/zephyr#51776

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Your assumption is correct.
This change helped this application work better, but there is still the problem that the ROS and uROS libs use usleep()
Example: modules/lib/rclc/src/rclc/sleep.c

However, I wasn't too concerned about this as it only has to work well enough for CI tests on native_posix builds.
For bare-metal builds Zephyr's usleep() will be used.

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Example: modules/lib/rclc/src/rclc/sleep.c

That's easy to fix. See yashi/rclc#1

}

// free resources
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