Humble zephyrproject v4.3.0

.github/workflows/fork_checker.yml

@@ -0,0 +1,36 @@
+name: micro-ROS fork Update Checker
+on:
+  workflow_dispatch:
+    inputs:
+      name:
+        description: "Manual trigger"
+  schedule:
+    - cron:  '0 4 * * *'
+
+jobs:
+    micro_ros_fork_update_check:
+        runs-on: ubuntu-latest
+        container: ubuntu:20.04
+        strategy:
+          fail-fast: false
+          matrix:
+            branches: [humble, jazzy, kilted, rolling]
+        steps:
+          - name: Check
+            id: check
+            shell: bash
+            run: |
+              apt update; apt install -y git
+              REPO=$(echo ${{ github.repository }} | awk '{split($0,a,"/"); print a[2]}')
+              git clone -b ${{ matrix.branches }} https://github.com/micro-ros/$REPO
+              cd $REPO
+              git remote add ros2 https://github.com/ros2/$REPO
+              git fetch ros2
+              git fetch origin
+              echo "::set-output name=merge_required::true"
+              CMP=$(git rev-list --left-right --count ros2/${{ matrix.branches }}...origin/${{ matrix.branches }} | awk '{print $1}')
+              if [ $CMP = "0" ]; then echo "::set-output name=merge_required::false"; fi
+
+          - name: Alert
+            if: ${{ steps.check.outputs.merge_required  == 'true' }}
+            run: exit 1

.github/workflows/humble-ci.yml

@@ -0,0 +1,16 @@
+name: rcutils CI Humble
+
+on:
+  push:
+    branches: [ humble ]
+  pull_request:
+    branches: [ humble ]
+
+jobs:
+  humble-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: ${{ github.ref }}
+      os: ubuntu-22.04
+      docker-image: ubuntu:jammy
+      ros-distribution: humble

.github/workflows/jazzy-ci.yml

@@ -0,0 +1,16 @@
+name: rcutils CI Jazzy
+
+on:
+  push:
+    branches: [ jazzy ]
+  pull_request:
+    branches: [ jazzy ]
+
+jobs:
+  jazzy-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: ${{ github.ref }}
+      os: ubuntu-24.04
+      docker-image: ubuntu:noble
+      ros-distribution: jazzy

.github/workflows/kilted-ci.yml

@@ -0,0 +1,16 @@
+name: rcutils CI Kilted
+
+on:
+  push:
+    branches: [ kilted ]
+  pull_request:
+    branches: [ kilted ]
+
+jobs:
+  kilted-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: ${{ github.ref }}
+      os: ubuntu-24.04
+      docker-image: ubuntu:noble
+      ros-distribution: kilted

.github/workflows/reusable-ci.yml

@@ -0,0 +1,56 @@
+name: Reusable rcutils CI
+
+on:
+  workflow_call:
+    inputs:
+      branch:
+        description: "The rcutils branch to use for the workflow"
+        required: true
+        type: string
+      os:
+        description: "The OS to use for the workflow"
+        required: true
+        type: string
+      docker-image:
+        description: "The docker image to use for the workflow"
+        required: true
+        type: string
+      ros-distribution:
+        description: "The ROS distribution to use for the workflow"
+        required: true
+        type: string
+
+jobs:
+  build:
+    runs-on: ${{ inputs.os }}
+    strategy:
+      fail-fast: false
+    container:
+      image: ${{ inputs.docker-image }}
+    steps:
+
+    - run: |
+        apt-get update && apt-get install -y git
+      shell: bash
+
+    - name: Sync repository
+      uses: actions/checkout@v5
+      with:
+        ref: ${{ inputs.branch }}
+        submodules: recursive
+
+    - name: Setup ROS 2 
+      uses: ros-tooling/setup-ros@0.7.15
+      with:
+        required-ros-distributions: ${{ inputs.ros-distribution }}
+
+    - name : Download and install rcutils-dependencies
+      run: |
+        apt-get install ros-${{ inputs.ros-distribution }}-mimick-vendor
+        apt-get -y install ros-${{ inputs.ros-distribution }}-performance-test-fixture
+
+    - uses : ros-tooling/action-ros-ci@0.4.5
+      with:
+        package-name: "rcutils"
+        target-ros2-distro: ${{ inputs.ros-distribution }}
+        skip-tests: true

.github/workflows/rolling-ci.yml

@@ -0,0 +1,16 @@
+name: rcutils CI Rolling
+
+on:
+  push:
+    branches: [ rolling ]
+  pull_request:
+    branches: [ rolling ]
+
+jobs:
+  rolling-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: ${{ github.ref }}
+      os: ubuntu-24.04
+      docker-image: ubuntu:noble
+      ros-distribution: rolling

.github/workflows/weekly-ci.yml

@@ -0,0 +1,37 @@
+name: rcutils weekly CI (all distributions)
+
+on:
+  schedule:
+    # Run once per week to detect broken dependencies.
+    - cron: '59 23 * * 0'
+  workflow_dispatch:
+
+jobs:
+  humble-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: humble
+      os: ubuntu-22.04
+      docker-image: ubuntu:jammy
+      ros-distribution: humble
+  jazzy-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: jazzy
+      os: ubuntu-24.04
+      docker-image: ubuntu:noble
+      ros-distribution: jazzy
+  kilted-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: kilted
+      os: ubuntu-24.04
+      docker-image: ubuntu:noble
+      ros-distribution: kilted
+  rolling-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: rolling
+      os: ubuntu-24.04
+      docker-image: ubuntu:noble
+      ros-distribution: rolling

CMakeLists.txt

@@ -2,6 +2,12 @@ cmake_minimum_required(VERSION 3.12)
 
 project(rcutils)
 
+option(RCUTILS_NO_THREAD_SUPPORT "Disable thread support." OFF)
+option(RCUTILS_NO_FILESYSTEM "Disable filesystem usage." OFF)
+option(RCUTILS_AVOID_DYNAMIC_ALLOCATION "Disable dynamic allocations." OFF)
+option(RCUTILS_NO_64_ATOMIC "Enable alternative support for 64 bits atomic operations in platforms with no native support." OFF)
+option(RCUTILS_MICROROS "Flag for building micro-ROS." ON)
+
 # Default to C11
 if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 11)
@@ -30,7 +36,7 @@ if(UNIX AND NOT APPLE)
   endif()
 endif()
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(NOT RCUTILS_MICROROS AND (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang"))
   # enables building a static library but later link it into a dynamic library
   add_compile_options(-fPIC)
 endif()
@@ -75,6 +81,7 @@ set(rcutils_sources
   src/time.c
   ${time_impl_c}
   src/uint8_array.c
+  $<$<BOOL:${RCUTILS_NO_64_ATOMIC}>:src/atomic_64bits.c>
 )
 set_source_files_properties(
   ${rcutils_sources}
@@ -129,8 +136,14 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_BUILDING_DLL")
 if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
   target_compile_definitions(${PROJECT_NAME} PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
 endif()
+configure_file(
+    "${PROJECT_SOURCE_DIR}/include/rcutils/configuration_flags.h.in"
+    "${PROJECT_BINARY_DIR}/include/rcutils/configuration_flags.h"
+)
 
-target_link_libraries(${PROJECT_NAME} ${CMAKE_DL_LIBS})
+if(NOT RCUTILS_NO_FILESYSTEM)
+  target_link_libraries(${PROJECT_NAME} ${CMAKE_DL_LIBS})
+endif()
 
 check_library_exists(atomic __atomic_load_8 "" HAVE_LIBATOMICS)
 
@@ -282,7 +295,7 @@ if(BUILD_TESTING)
   )
   if(TARGET test_error_handling_helpers)
     target_include_directories(test_error_handling_helpers PUBLIC include)
-    target_link_libraries(test_error_handling_helpers osrf_testing_tools_cpp::memory_tools)
+    target_link_libraries(test_error_handling_helpers ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools)
   endif()
 
   rcutils_custom_add_gtest(test_split
@@ -587,7 +600,10 @@ endif()
 
 # Export old-style CMake variables
 ament_export_include_directories("include/${PROJECT_NAME}")
-ament_export_libraries(${PROJECT_NAME} ${CMAKE_DL_LIBS})
+
+if(NOT RCUTILS_NO_FILESYSTEM)
+  ament_export_libraries(${PROJECT_NAME} ${CMAKE_DL_LIBS})
+endif()
 
 # Export modern CMake targets
 ament_export_targets(${PROJECT_NAME})

include/rcutils/allocator.h

@@ -85,6 +85,21 @@ RCUTILS_WARN_UNUSED
 rcutils_allocator_t
 rcutils_get_zero_initialized_allocator(void);
 
+/// Set rcutils default allocators.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+bool
+rcutils_set_default_allocator(rcutils_allocator_t * allocator);
+
 /// Return a properly initialized rcutils_allocator_t with default values.
 /**
  * This defaults to:

include/rcutils/configuration_flags.h.in

@@ -0,0 +1,19 @@
+
+#ifndef RCUTILS__CONFIGURATION_FLAGS_H_
+#define RCUTILS__CONFIGURATION_FLAGS_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#cmakedefine RCUTILS_NO_FILESYSTEM
+#cmakedefine RCUTILS_AVOID_DYNAMIC_ALLOCATION
+#cmakedefine RCUTILS_NO_THREAD_SUPPORT
+#cmakedefine RCUTILS_MICROROS
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCUTILS__CONFIGURATION_FLAGS_H_