Iron Irwini support

.gitignore

@@ -358,6 +358,9 @@ libmicroros_dx200_galactic/
 libmicroros_yrc1000_foxy/
 libmicroros_yrc1000u_foxy/
 libmicroros_dx200_foxy/
+libmicroros_dx200_iron/
+libmicroros_yrc1000_iron/
+libmicroros_yrc1000u_iron/
 
 # M+ build output
 *.out

MotoROS2.sln

@@ -10,12 +10,15 @@ Global
 		DX200_foxy|x86 = DX200_foxy|x86
 		DX200_galactic|x86 = DX200_galactic|x86
 		DX200_humble|x86 = DX200_humble|x86
+		DX200_iron|x86 = DX200_iron|x86
 		YRC1000_foxy|x86 = YRC1000_foxy|x86
 		YRC1000_galactic|x86 = YRC1000_galactic|x86
 		YRC1000_humble|x86 = YRC1000_humble|x86
+		YRC1000_iron|x86 = YRC1000_iron|x86
 		YRC1000u_foxy|x86 = YRC1000u_foxy|x86
 		YRC1000u_galactic|x86 = YRC1000u_galactic|x86
 		YRC1000u_humble|x86 = YRC1000u_humble|x86
+		YRC1000u_iron|x86 = YRC1000u_iron|x86
 	EndGlobalSection
 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
 		{64C31524-A3C4-49D4-AD04-955D44202226}.DX200_foxy|x86.ActiveCfg = DX200_foxy|Win32
@@ -24,18 +27,24 @@ Global
 		{64C31524-A3C4-49D4-AD04-955D44202226}.DX200_galactic|x86.Build.0 = DX200_galactic|Win32
 		{64C31524-A3C4-49D4-AD04-955D44202226}.DX200_humble|x86.ActiveCfg = DX200_humble|Win32
 		{64C31524-A3C4-49D4-AD04-955D44202226}.DX200_humble|x86.Build.0 = DX200_humble|Win32
+		{64C31524-A3C4-49D4-AD04-955D44202226}.DX200_iron|x86.ActiveCfg = DX200_iron|Win32
+		{64C31524-A3C4-49D4-AD04-955D44202226}.DX200_iron|x86.Build.0 = DX200_iron|Win32
 		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000_foxy|x86.ActiveCfg = YRC1000_foxy|Win32
 		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000_foxy|x86.Build.0 = YRC1000_foxy|Win32
 		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000_galactic|x86.ActiveCfg = YRC1000_galactic|Win32
 		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000_galactic|x86.Build.0 = YRC1000_galactic|Win32
 		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000_humble|x86.ActiveCfg = YRC1000_humble|Win32
 		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000_humble|x86.Build.0 = YRC1000_humble|Win32
+		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000_iron|x86.ActiveCfg = YRC1000_iron|Win32
+		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000_iron|x86.Build.0 = YRC1000_iron|Win32
 		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000u_foxy|x86.ActiveCfg = YRC1000u_foxy|Win32
 		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000u_foxy|x86.Build.0 = YRC1000u_foxy|Win32
 		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000u_galactic|x86.ActiveCfg = YRC1000u_galactic|Win32
 		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000u_galactic|x86.Build.0 = YRC1000u_galactic|Win32
 		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000u_humble|x86.ActiveCfg = YRC1000u_humble|Win32
 		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000u_humble|x86.Build.0 = YRC1000u_humble|Win32
+		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000u_iron|x86.ActiveCfg = YRC1000u_iron|Win32
+		{64C31524-A3C4-49D4-AD04-955D44202226}.YRC1000u_iron|x86.Build.0 = YRC1000u_iron|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

README.md

@@ -101,7 +101,7 @@ The following general requirements must be met in order to be able to use MotoRO
   - DX200: `LAN`
   - YRC1000: either `LAN2` or `LAN3`
   - YRC1000micro: either `LAN2` or `LAN3`
-- ROS 2 version: Foxy, Galactic or Humble.
+- ROS 2 version: Foxy, Galactic, Humble or Iron
   MotoROS2 does not support ROS 2 Iron Irwini, nor Jazzy nor Rolling Ridley.
 - Docker or a from-source build of the micro-ROS Agent
 - FastDDS as RMW (even when using ROS 2 Galactic)
@@ -172,12 +172,15 @@ The values must match *exactly*.
 | DX200         | Foxy             | `mr2_dx2_f.out`   | `0.1.3`    | `a9a9e10403f726062c25d97654fad316` |
 | DX200         | Galactic         | `mr2_dx2_g.out`   | `0.1.3`    | `e8db7512215da240b28b985f2f2af98b` |
 | DX200         | Humble           | `mr2_dx2_h.out`   | `0.1.3`    | `611bda537655cf8a60d85600da6043f4` |
+| DX200         | Iron             | `mr2_dx2_i.out`   | ``    | `` |
 | YRC1000       | Foxy             | `mr2_yrc1_f.out`  | `0.1.3`    | `84bfb44e2043372127d9dfc1157a79b5` |
 | YRC1000       | Galactic         | `mr2_yrc1_g.out`  | `0.1.3`    | `866e090b6c724429ce03117712c951f4` |
 | YRC1000       | Humble           | `mr2_yrc1_h.out`  | `0.1.3`    | `e2d088b765a0bfed501aa213a1be1de0` |
+| YRC1000       | Iron             | `mr2_yrc1_i.out`  | ``    | `` |
 | YRC1000micro  | Foxy             | `mr2_yrc1m_f.out` | `0.1.3`    | `027e77b427a212aa63e5d7962d48ad92` |
 | YRC1000micro  | Galactic         | `mr2_yrc1m_g.out` | `0.1.3`    | `042d753a7729784fec8c5c23bef3e685` |
 | YRC1000micro  | Humble           | `mr2_yrc1m_h.out` | `0.1.3`    | `c0e61adbf5bf6fd6a734211f15bb0f0a` |
+| YRC1000micro  | Iron             | `mr2_yrc1m_i.out` | ``    | `` |
 
 If the hash matches, proceed with the next section, [Configuration](#configuration).
 
@@ -427,8 +430,8 @@ Choose one or the other.
 The command shown here starts the `humble` version of the `micro-ros-agent` Docker image.
 However, always make sure to use a version of the Agent image which corresponds to the version of ROS 2 that is being used.
 
-With ROS 2 Foxy, use `microros/micro-ros-agent:foxy`.
 With ROS 2 Humble, use `microros/micro-ros-agent:humble`.
+With ROS 2 Iron, use `microros/micro-ros-agent:iron`.
 
 To start the Agent (on a machine with Docker already installed and setup to allow non-root access):
 
@@ -453,8 +456,8 @@ This procedure is rather involved, so only do this if the pre-configured Docker
 The following sections show how to build the Humble version of the Agent in a dedicated workspace (adapt the paths used below if a different workspace should be used instead).
 
 Note: always make sure to use a version of the Agent which corresponds to the version of ROS 2 that is being used.
-For ROS 2 Foxy, checkout the `foxy` branch.
 For ROS 2 Humble, checkout the `humble` branch.
+For ROS 2 Iron, checkout the `iron` branch.
 
 #### Linux (Debian/Ubuntu)
 
@@ -544,7 +547,7 @@ After the final reboot of the controller, and after [starting the micro-ROS Agen
 
 Note: if you are using ROS 2 Galactic, please first read [Only FastDDS is supported](#only-fastdds-is-supported).
 
-On a PC with a supported ROS 2 installation (ie: Foxy, Galactic (with FastDDS) or Humble):
+On a PC with a supported ROS 2 installation (ie: Foxy, Galactic (with FastDDS), Humble or Iron):
 
 1. open a new terminal
 1. `source` the ROS 2 installation
@@ -732,7 +735,7 @@ None of the other RMWs are supported, including Cyclone DDS, which is the defaul
 
 Symptoms of this incompatibility are seemingly functional ROS 2 network connections, where topics are succesfully published and subscribed to, but service invocations and action goal submissions appear to *hang*.
 
-**Note**: ROS 2 Foxy, ROS 2 Humble and ROS 2 Rolling all use FastDDS by default.
+**Note**: ROS 2 Foxy, ROS 2 Humble, ROS2 Iron and ROS 2 Rolling all use FastDDS by default.
 If you haven't changed your default RMW, you should not need to change anything for MotoROS2.
 
 **Work-around**: unfortunately, this limitation is caused by a middleware-layer incompatibility with respect to how service requests are (de)serialised by the respective RMWs ([ros2/rmw_cyclonedds#184](https://github.com/ros2/rmw_cyclonedds/issues/184)), and without significant changes to the way MotoROS2 operates, has no known work-around.

config/motoros2_config.yaml

@@ -42,6 +42,8 @@
 #-----------------------------------------------------------------------------
 # Remap rules to apply to ROS 2 resource names.
 #
+# (NOT COMPATIBLE WITH IRON IRWINI)
+#
 # This configures the micro-ROS equivalent of the ROS 2 remap functionality.
 #
 # The current implementation expects all remap rules as a single,

doc/build_from_source.md

@@ -21,7 +21,7 @@ The MotoPlus SDK is not compatible with Visual Studio Code.
 - **MotoPlus SDK for Visual Studio v1.5.1 or higher**.
 This is not the same as MotoPlus IDE. Users in Asian regions will need to purchase this software from [Yaskawa America directly](https://www.motoman.com/en-us/products/robots/sales-quote).
 If you already have a license for an older version of the MotoPlus SDK, please contact `techsupport@motoman.com` or `ccs@yaskawa.eu` for assistance obtaining a newer edition.
-- **libmicroros library and headers** that corresponds to your target edition of ROS 2 (Foxy, Humble, etc) and the Yaskawa controller series you are building MotoROS2 for
+- **libmicroros library and headers** that corresponds to your target edition of ROS 2 (Humble, Iron, etc) and the Yaskawa controller series you are building MotoROS2 for
 Although `libmicroros` as used by MotoROS2 is derived from the open-source [micro-ROS](https://micro.ros.org) project, various patches were needed to make it compatible with MotoPlus. As of writing, these patches can not be made open-source yet. Because of this, we distribute the `libmicroros` dependency as a closed-source library.
 These can be found on the [micro_ros_motoplus/Releases](https://github.com/yaskawa-global/micro_ros_motoplus/releases) page.
 

src/CommunicationExecutor.c

@@ -142,6 +142,8 @@ void Ros_Communication_Initialize()
     Ros_Debug_BroadcastMsg("rclc_support_init_with_options = %d", (int)ret);
     motoRosAssert(ret == RCL_RET_OK, SUBCODE_FAIL_SUPPORT_INIT);
 
+    rcl_node_options_t node_options = rcl_node_get_default_options();
+#ifndef MOTOPLUS_LIBMICROROS_ROS2_IS_IRON
     //construct a faux command line to pass to rcl_parse_arguments(..)
     char* faux_argv[MAX_REMAP_RULE_NUM];
     size_t faux_argc = 0;
@@ -157,7 +159,6 @@ void Ros_Communication_Initialize()
     faux_argc = Ros_ConstructFauxArgv(
         remap_rules_str_, faux_argv, MAX_REMAP_RULE_NUM);
 
-    rcl_node_options_t node_options = rcl_node_get_default_options();
     if (faux_argc > 0)
     {
         //parse the just constructed argv
@@ -171,6 +172,7 @@ void Ros_Communication_Initialize()
             node_options = rcl_node_get_default_options();
         }
     }
+#endif
 
     //init node with the remap rules and other options from the config file
     ret = rclc_node_init_with_options(
@@ -182,7 +184,9 @@ void Ros_Communication_Initialize()
 
     //we're done with it
     ret = rcl_node_options_fini(&node_options); RCL_UNUSED(ret);
+#ifndef MOTOPLUS_LIBMICROROS_ROS2_IS_IRON
     Ros_CleanupFauxArgv(faux_argv, faux_argc);
+#endif
 
     MOTOROS2_MEM_TRACE_REPORT(comm_exec_init);
 }

src/DX200_ironCompilerArguments.mps

@@ -0,0 +1 @@
+-DDX200 -DMOTOROS2_MEM_TRACE_ENABLE -std=gnu99 -march=atom -nostdlib -fno-builtin -fno-defer-pop -fno-implicit-fp -fno-zero-initialized-in-bss -Wall -Werror-implicit-function-declaration -DCPU=_VX_ATOM -DTOOL_FAMILY=gnu -DTOOL=gnu -D_WRS_KERNEL -I "~ProjectDir~" ~AdditionalIncludeDir~ -isystem "~IncludeDir~" -O0 ~ObjFileInfo~ -c "~FilePath~"

src/DX200_ironLinkerArguments.mps

@@ -0,0 +1 @@
+-std=gnu99 -nostdlib -r -Wl,--discard-locals -Wl,--entry=mpUsrRoot ~FileList~ -o "~OutputPath~"

src/FauxCommandLineArgs.c

@@ -9,6 +9,7 @@
 #include <string.h>
 #include <rcutils/strdup.h>
 
+#ifndef MOTOPLUS_LIBMICROROS_ROS2_IS_IRON
 
 //TODO: Once https://github.com/ros2/rcl/issues/998 is addressed, this would no longer
 //      be necessary. We could construct rcl_remap_t instances directly without having
@@ -107,3 +108,5 @@ void Ros_CleanupFauxArgv(char** arr, size_t arr_len)
             g_motoros2_Allocator.deallocate(arr[i], g_motoros2_Allocator.state);
     }
 }
+
+#endif  // MOTOPLUS_LIBMICROROS_ROS2_IS_IRON