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micro-ROS Rolling patch
* micro-ROS changes over dashing * Added and updated security directory (#1) * RCUTILS_NO_FILESYSTEM and RCUTILS_AVOID_DYNAMIC_ALLOCATION (#2) - No filesystem options; default allocators write access - Avoid dynamic allocation and no filesystem on error handling - Error handling template; new allocator approach * Add test_security_directory test from rcl (#3) * Zephyr fixes (#4) * CMake refactor (#5) * Update approach (#6) - Remove target_compile_definitions and refactor flags install - Added RCUTILS_NO_FILESYSTEM on new functions * Updates 17092020 * Fix atomics 64bits (#9) - Add hashing and lock pool * Updates 09102020 * Release micro-ROS Foxy (#8) - Update filesystem; adjust logger level; cleaning * Remove build warning (#10) - avoid not used warnings * Reduce error handling static size (#14) (#15) * Revert "Revert "Install headers to include/${PROJECT_NAME} (ros2#351)"" * Fix atomic 64 b description (#17) (#18) * Add fork checker for humble * Don't link dl library when not needed (#28) * Revert "Set hints to find the python version we actually want. (ros2#451)" * Fix struct tm init * Add PRId64 * Don't export dl library when not used (#33) (#34) * Remove unnecessary folder (#42) * Update CI (backport #43) (#46) - Add CI and nightly for each distro; update git version; skip tests - Change nightly to weekly; change master to rolling in fork checker * Add RCUTILS_NO_PROCESS_SUPPORT option to build without fork/exec/wait (#50) * Update CI (backport #51) (#54) * Fix thread issues from upstream (#56) * Fix weekly CI (backport #58) (#59) Dropped during the rebase as superseded by upstream: * Don't export dl library when not used (#33) (#34) Co-authored-by: Pablo Garrido <pablogs9@gmail.com> Co-authored-by: Jose Antonio Moral <joseantoniomoralparras@gmail.com> Co-authored-by: Blazej Sowa <bsowa123@gmail.com> Co-authored-by: Anton Casas <antoncasas@eprosima.com> Co-authored-by: Eugenio Collado <eugeniocollado@eprosima.com> Co-authored-by: Carlos Espinoza Curto <148376273+Carlosespicur@users.noreply.github.com> Co-authored-by: Jimmy McElwain <jimmy.mcelwain@motoman.com> Signed-off-by: David Laseca <davidlaseca@eprosima.com>
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‎.github/workflows/fork_checker.yml‎

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name: micro-ROS fork Update Checker
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on:
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workflow_dispatch:
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inputs:
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name:
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description: "Manual trigger"
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schedule:
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- cron: '0 4 * * *'
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jobs:
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micro_ros_fork_update_check:
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runs-on: ubuntu-latest
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container: ubuntu:20.04
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strategy:
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fail-fast: false
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matrix:
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branches: [humble, jazzy, kilted, lyrical, rolling]
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steps:
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- name: Check
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id: check
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shell: bash
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run: |
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apt update; apt install -y git
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REPO=$(echo ${{ github.repository }} | awk '{split($0,a,"/"); print a[2]}')
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git clone -b ${{ matrix.branches }} https://github.com/micro-ros/$REPO
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cd $REPO
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git remote add ros2 https://github.com/ros2/$REPO
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git fetch ros2
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git fetch origin
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echo "::set-output name=merge_required::true"
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CMP=$(git rev-list --left-right --count ros2/${{ matrix.branches }}...origin/${{ matrix.branches }} | awk '{print $1}')
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if [ $CMP = "0" ]; then echo "::set-output name=merge_required::false"; fi
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- name: Alert
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if: ${{ steps.check.outputs.merge_required == 'true' }}
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run: exit 1

‎.github/workflows/humble-ci.yml‎

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name: rcutils CI Humble
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on:
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push:
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branches: [ humble ]
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pull_request:
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branches: [ humble ]
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jobs:
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humble-ci:
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uses: ./.github/workflows/reusable-ci.yml
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with:
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os: ubuntu-22.04
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docker-image: ubuntu:jammy
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ros-distribution: humble

‎.github/workflows/jazzy-ci.yml‎

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name: rcutils CI Jazzy
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on:
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push:
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branches: [ jazzy ]
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pull_request:
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branches: [ jazzy ]
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jobs:
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jazzy-ci:
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uses: ./.github/workflows/reusable-ci.yml
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with:
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os: ubuntu-24.04
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docker-image: ubuntu:noble
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ros-distribution: jazzy

‎.github/workflows/kilted-ci.yml‎

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name: rcutils CI Kilted
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on:
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push:
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branches: [ kilted ]
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pull_request:
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branches: [ kilted ]
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jobs:
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kilted-ci:
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uses: ./.github/workflows/reusable-ci.yml
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with:
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os: ubuntu-24.04
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docker-image: ubuntu:noble
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ros-distribution: kilted

‎.github/workflows/lyrical-ci.yml‎

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name: rcutils CI Lyrical
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on:
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push:
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branches: [ lyrical ]
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pull_request:
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branches: [ lyrical ]
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jobs:
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lyrical-ci:
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uses: ./.github/workflows/reusable-ci.yml
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with:
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os: ubuntu-26.04
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docker-image: ubuntu:resolute
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ros-distribution: lyrical

‎.github/workflows/reusable-ci.yml‎

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name: Reusable rcutils CI
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on:
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workflow_call:
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inputs:
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branch:
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description: "The rcutils branch to build. Leave unset for push and pull_request."
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required: false
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default: ""
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type: string
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os:
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description: "The OS to use for the workflow"
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required: true
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type: string
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docker-image:
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description: "The docker image to use for the workflow"
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required: true
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type: string
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ros-distribution:
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description: "The ROS distribution to use for the workflow"
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required: true
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type: string
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jobs:
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build:
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runs-on: ${{ inputs.os }}
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strategy:
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fail-fast: false
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container:
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image: ${{ inputs.docker-image }}
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steps:
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- run: |
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apt-get update && apt-get install -y git
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shell: bash
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- name: Setup ROS 2
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uses: ros-tooling/setup-ros@0.7.19
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with:
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required-ros-distributions: ${{ inputs.ros-distribution }}
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- name : Download and install rcutils-dependencies
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run: |
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apt-get install ros-${{ inputs.ros-distribution }}-mimick-vendor
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apt-get -y install ros-${{ inputs.ros-distribution }}-performance-test-fixture
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# This action clones the repository itself, so no checkout step is needed.
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# When ref is empty it uses the branch that triggered the run.
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- uses : ros-tooling/action-ros-ci@0.4.8
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with:
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package-name: "rcutils"
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target-ros2-distro: ${{ inputs.ros-distribution }}
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ref: ${{ inputs.branch }}
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skip-tests: true

‎.github/workflows/rolling-ci.yml‎

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name: rcutils CI Rolling
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on:
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push:
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branches: [ rolling ]
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pull_request:
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branches: [ rolling ]
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jobs:
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rolling-ci:
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uses: ./.github/workflows/reusable-ci.yml
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with:
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os: ubuntu-24.04
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docker-image: ubuntu:noble
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ros-distribution: rolling

‎.github/workflows/weekly-ci.yml‎

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name: rcutils weekly CI (all distributions)
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on:
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schedule:
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# Run once per week to detect broken dependencies.
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- cron: '59 23 * * 0'
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workflow_dispatch:
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jobs:
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humble-ci:
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uses: ./.github/workflows/reusable-ci.yml
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with:
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branch: humble
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os: ubuntu-22.04
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docker-image: ubuntu:jammy
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ros-distribution: humble
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jazzy-ci:
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uses: ./.github/workflows/reusable-ci.yml
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with:
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branch: jazzy
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os: ubuntu-24.04
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docker-image: ubuntu:noble
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ros-distribution: jazzy
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kilted-ci:
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uses: ./.github/workflows/reusable-ci.yml
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with:
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branch: kilted
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os: ubuntu-24.04
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docker-image: ubuntu:noble
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ros-distribution: kilted
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lyrical-ci:
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uses: ./.github/workflows/reusable-ci.yml
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with:
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branch: lyrical
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os: ubuntu-26.04
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docker-image: ubuntu:resolute
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ros-distribution: lyrical
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rolling-ci:
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uses: ./.github/workflows/reusable-ci.yml
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with:
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branch: rolling
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os: ubuntu-24.04
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docker-image: ubuntu:noble
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ros-distribution: rolling

‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.20)
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cmake_minimum_required(VERSION 3.12)
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33
project(rcutils)
44

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option(RCUTILS_NO_THREAD_SUPPORT "Disable thread support." OFF)
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option(RCUTILS_NO_FILESYSTEM "Disable filesystem usage." OFF)
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option(RCUTILS_NO_PROCESS_SUPPORT "Disable process support." OFF)
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option(RCUTILS_AVOID_DYNAMIC_ALLOCATION "Disable dynamic allocations." OFF)
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option(RCUTILS_NO_64_ATOMIC "Enable alternative support for 64 bits atomic operations in platforms with no native support." OFF)
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option(RCUTILS_MICROROS "Flag for building micro-ROS." ON)
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512
include(CheckLibraryExists)
613

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find_package(ament_cmake REQUIRED)
815
find_package(ament_cmake_ros_core REQUIRED)
9-
set(THREADS_PREFER_PTHREAD_FLAG TRUE)
10-
find_package(Threads REQUIRED)
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if (NOT RCUTILS_NO_THREAD_SUPPORT)
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set(THREADS_PREFER_PTHREAD_FLAG TRUE)
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find_package(Threads REQUIRED)
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endif()
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1221
if(UNIX AND NOT APPLE)
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include(cmake/check_c_compiler_uses_glibc.cmake)
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endif()
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endif()
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22-
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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if(NOT RCUTILS_MICROROS AND (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang"))
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# enables building a static library but later link it into a dynamic library
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add_compile_options(-fPIC)
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endif()
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set(rcutils_sources
4150
src/allocator.c
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src/array_list.c
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src/base64.c
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$<$<NOT:$<BOOL:${RCUTILS_MICROROS}>>:src/base64.c>
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src/char_array.c
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src/cmdline_parser.c
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src/env.c
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src/time.c
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${time_impl_c}
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src/uint8_array.c
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$<$<BOOL:${RCUTILS_NO_64_ATOMIC}>:src/atomic_64bits.c>
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)
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set_source_files_properties(
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${rcutils_sources}
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7888
${rcutils_sources})
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target_include_directories(${PROJECT_NAME} PUBLIC
8090
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
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"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
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8394
# Causes the visibility macros to use dllexport rather than dllimport,
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8899
if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
89100
target_compile_definitions(${PROJECT_NAME} PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
90101
endif()
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configure_file(
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"${PROJECT_SOURCE_DIR}/include/rcutils/configuration_flags.h.in"
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"${PROJECT_BINARY_DIR}/include/rcutils/configuration_flags.h"
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)
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92107
target_link_libraries(${PROJECT_NAME}
93108
PUBLIC
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${CMAKE_DL_LIBS}
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ament_cmake_ros_core::ament_ros_defaults
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PRIVATE
97-
Threads::Threads
98110
)
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if(NOT RCUTILS_NO_FILESYSTEM)
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target_link_libraries(${PROJECT_NAME} PUBLIC ${CMAKE_DL_LIBS})
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endif()
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if (NOT RCUTILS_NO_THREAD_SUPPORT)
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target_link_libraries(${PROJECT_NAME} PRIVATE Threads::Threads)
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endif()
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100118
check_library_exists(atomic __atomic_load_8 "" HAVE_LIBATOMICS)
101119

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556574
)
557575
endif()
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559-
ament_add_gtest(test_process
560-
test/test_process.cpp
561-
)
562-
if(TARGET test_process)
563-
target_link_libraries(test_process
564-
${PROJECT_NAME}
565-
ament_cmake_ros_core::ament_ros_defaults
577+
if(NOT RCUTILS_NO_PROCESS_SUPPORT)
578+
ament_add_gtest(test_process
579+
test/test_process.cpp
566580
)
567-
target_compile_definitions(test_process PRIVATE
568-
"CMAKE_COMMAND=${CMAKE_COMMAND}")
569-
file(TOUCH "${CMAKE_CURRENT_BINARY_DIR}/file with space.txt")
581+
if(TARGET test_process)
582+
target_link_libraries(test_process
583+
${PROJECT_NAME}
584+
ament_cmake_ros_core::ament_ros_defaults
585+
)
586+
target_compile_definitions(test_process PRIVATE
587+
"CMAKE_COMMAND=${CMAKE_COMMAND}")
588+
file(TOUCH "${CMAKE_CURRENT_BINARY_DIR}/file with space.txt")
589+
endif()
570590
endif()
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572592
ament_add_gtest(test_logging_custom_env test/test_logging_custom_env.cpp
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683703
target_link_libraries(benchmark_err_handle ${PROJECT_NAME} ament_cmake_ros_core::ament_ros_defaults)
684704
endif()
685705

686-
ament_add_gtest(test_base64
687-
test/test_base64.cpp
688-
)
689-
if(TARGET test_base64)
690-
target_link_libraries(test_base64 ${PROJECT_NAME} ament_cmake_ros_core::ament_ros_defaults)
706+
if(NOT RCUTILS_MICROROS)
707+
ament_add_gtest(test_base64
708+
test/test_base64.cpp
709+
)
710+
if(TARGET test_base64)
711+
target_link_libraries(test_base64 ${PROJECT_NAME} ament_cmake_ros_core::ament_ros_defaults)
712+
endif()
691713
endif()
692714
endif()
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703725
ament_package()
704726

705727
install(
706-
DIRECTORY include/
728+
DIRECTORY include/ ${CMAKE_CURRENT_BINARY_DIR}/include/
707729
DESTINATION include/${PROJECT_NAME})

‎include/rcutils/allocator.h‎

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rcutils_allocator_t
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rcutils_get_zero_initialized_allocator(void);
8787

88+
/// Set rcutils default allocators.
89+
/**
90+
* <hr>
91+
* Attribute | Adherence
92+
* ------------------ | -------------
93+
* Allocates Memory | No
94+
* Thread-Safe | Yes
95+
* Uses Atomics | No
96+
* Lock-Free | Yes
97+
*/
98+
RCUTILS_PUBLIC
99+
RCUTILS_WARN_UNUSED
100+
bool
101+
rcutils_set_default_allocator(rcutils_allocator_t * allocator);
102+
88103
/// Return a properly initialized rcutils_allocator_t with default values.
89104
/**
90105
* This defaults to:

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