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micro-ROS Rolling patch
* micro-ROS changes over dashing Feature/add security directory (#1) * Added security directory * Updated security directory Feature/avoid filesystem and allocation (#2) * Included RCUTILS_NO_FILESYSTEM and RCUTILS_AVOID_DYNAMIC_ALLOCATION * Added no filesystem options * Default allocators write access * Avoid dynamic allocation and no filesytem on error handling * Typo * New flags for filesystem and avoid dynamic * Error handling template * New allocator approach Add test_security_directory test from rcl. (#3) Merge pull request #4 from micro-ROS/feature/zephyr_fixes Feature/zephyr fixes CMake refactor (#5) Update approach (#6) * Update approach * Remove target_compile_definitions and refactor flags install * Added RCUTILS_NO_FILESYSTEM on new functions * Added RCUTILS_NO_FILESYSTEM on new functions Co-authored-by: Pablo Garrido <[email protected]> Updates 17092020 Fix atomics 64bits (#9) * micro-ROS changes over dashing Feature/add security directory (#1) * Added security directory * Updated security directory Feature/avoid filesystem and allocation (#2) * Included RCUTILS_NO_FILESYSTEM and RCUTILS_AVOID_DYNAMIC_ALLOCATION * Added no filesystem options * Default allocators write access * Avoid dynamic allocation and no filesytem on error handling * Typo * New flags for filesystem and avoid dynamic * Error handling template * New allocator approach Add test_security_directory test from rcl. (#3) Merge pull request #4 from micro-ROS/feature/zephyr_fixes Feature/zephyr fixes CMake refactor (#5) Update approach (#6) * Update approach * Remove target_compile_definitions and refactor flags install * Added RCUTILS_NO_FILESYSTEM on new functions * Added RCUTILS_NO_FILESYSTEM on new functions Co-authored-by: Pablo Garrido <[email protected]> * Initial changes * Add hashing and lock pool * Updates Co-authored-by: Jose Antonio Moral <[email protected]> Fix atomics 64bits (#9) Updates 09102020 * Release micro-ROS Foxy (#8) Update Cleaning Update Update filesystem Updates Adjust logger level Remove build warning (#10) * Avoid not used warnings * Update Reduce error handling static size (#14) (#15) This reverts commit befc608. Reduce error handling static size (#14) (#15) Signed-off-by: Pablo Garrido <[email protected]> (cherry picked from commit 1176652) Co-authored-by: Pablo Garrido <[email protected]> Revert "Revert "Install headers to include\${PROJECT_NAME} (ros2#351)"" This reverts commit 4546892. Fix atomic 64 b description (#17) (#18) (cherry picked from commit 85efa4a) Co-authored-by: Pablo Garrido <[email protected]> Add fork checker for humble Signed-off-by: Pablo Garrido <[email protected]>
1 parent cb567ca commit 3259b41

16 files changed

+475
-6
lines changed

‎.github/workflows/fork_checker.yml

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name: micro-ROS fork Update Checker
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on:
3+
workflow_dispatch:
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inputs:
5+
name:
6+
description: "Manual trigger"
7+
schedule:
8+
- cron: '0 4 * * *'
9+
10+
jobs:
11+
micro_ros_fork_update_check:
12+
runs-on: ubuntu-latest
13+
container: ubuntu:20.04
14+
strategy:
15+
fail-fast: false
16+
matrix:
17+
branches: [foxy, galactic, humble, master]
18+
steps:
19+
- name: Check
20+
id: check
21+
shell: bash
22+
run: |
23+
apt update; apt install -y git
24+
REPO=$(echo ${{ github.repository }} | awk '{split($0,a,"/"); print a[2]}')
25+
git clone -b ${{ matrix.branches }} https://github.com/micro-ros/$REPO
26+
cd $REPO
27+
git remote add ros2 https://github.com/ros2/$REPO
28+
git fetch ros2
29+
git fetch origin
30+
echo "::set-output name=merge_required::true"
31+
CMP=$(git rev-list --left-right --count ros2/${{ matrix.branches }}...origin/${{ matrix.branches }} | awk '{print $1}')
32+
if [ $CMP = "0" ]; then echo "::set-output name=merge_required::false"; fi
33+
34+
- name: Alert
35+
if: ${{ steps.check.outputs.merge_required == 'true' }}
36+
run: exit 1

‎CMakeLists.txt

Lines changed: 12 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,12 @@ cmake_minimum_required(VERSION 3.20)
22

33
project(rcutils)
44

5+
option(RCUTILS_NO_THREAD_SUPPORT "Disable thread support." OFF)
6+
option(RCUTILS_NO_FILESYSTEM "Disable filesystem usage." OFF)
7+
option(RCUTILS_AVOID_DYNAMIC_ALLOCATION "Disable dynamic allocations." OFF)
8+
option(RCUTILS_NO_64_ATOMIC "Enable alternative support for 64 bits atomic operations in platforms with no native support." OFF)
9+
option(RCUTILS_MICROROS "Flag for building micro-ROS." ON)
10+
511
# Default to C11
612
if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 11)
@@ -26,7 +32,7 @@ if(UNIX AND NOT APPLE)
2632
endif()
2733
endif()
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29-
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
35+
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
3137
add_compile_options(-fPIC)
3238
endif()
@@ -74,6 +80,7 @@ set(rcutils_sources
7480
src/time.c
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${time_impl_c}
7682
src/uint8_array.c
83+
$<$<BOOL:${RCUTILS_NO_64_ATOMIC}>:src/atomic_64bits.c>
7784
)
7885
set_source_files_properties(
7986
${rcutils_sources}
@@ -93,6 +100,10 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_BUILDING_DLL")
93100
if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
94101
target_compile_definitions(${PROJECT_NAME} PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
95102
endif()
103+
configure_file(
104+
"${PROJECT_SOURCE_DIR}/include/rcutils/configuration_flags.h.in"
105+
"${PROJECT_BINARY_DIR}/include/rcutils/configuration_flags.h"
106+
)
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97108
target_link_libraries(${PROJECT_NAME} ${CMAKE_DL_LIBS})
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‎include/rcutils/allocator.h

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@@ -85,6 +85,21 @@ RCUTILS_WARN_UNUSED
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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:

‎include/rcutils/configuration_flags.h.in

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#ifndef RCUTILS__CONFIGURATION_FLAGS_H_
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#define RCUTILS__CONFIGURATION_FLAGS_H_
4+
5+
#ifdef __cplusplus
6+
extern "C"
7+
{
8+
#endif
9+
10+
#cmakedefine RCUTILS_NO_FILESYSTEM
11+
#cmakedefine RCUTILS_AVOID_DYNAMIC_ALLOCATION
12+
#cmakedefine RCUTILS_NO_THREAD_SUPPORT
13+
14+
#ifdef __cplusplus
15+
}
16+
#endif
17+
18+
#endif // RCUTILS__CONFIGURATION_FLAGS_H_

‎include/rcutils/error_handling.h

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@@ -37,14 +37,19 @@ extern "C"
3737
#include "rcutils/testing/fault_injection.h"
3838
#include "rcutils/types/rcutils_ret.h"
3939
#include "rcutils/visibility_control.h"
40+
#include "rcutils/configuration_flags.h"
4041

42+
#ifndef(RCUTILS_NO_FILESYSTEM)
4143
/// Write the given msg out to stderr, limiting the buffer size in the `fwrite`.
4244
/**
4345
* This ensures that there is an upper bound to a buffer overrun if `msg` is
4446
* non-null terminated.
4547
*/
4648
#define RCUTILS_SAFE_FWRITE_TO_STDERR(msg) \
4749
do {fwrite(msg, sizeof(char), rcutils_strnlen(msg, 4096), stderr);} while (0)
50+
#else
51+
#define RCUTILS_SAFE_FWRITE_TO_STDERR(msg)
52+
#endif
4853

4954
/// Set the error message to stderr using a format string and format arguments.
5055
/**
@@ -55,6 +60,8 @@ extern "C"
5560
* \param[in] format_string The string to be used as the format of the error message.
5661
* \param[in] ... Arguments for the format string.
5762
*/
63+
64+
#if !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
5865
#define RCUTILS_SAFE_FWRITE_TO_STDERR_WITH_FORMAT_STRING(format_string, ...) \
5966
do { \
6067
char output_msg[RCUTILS_ERROR_MESSAGE_MAX_LENGTH]; \
@@ -65,7 +72,11 @@ extern "C"
6572
RCUTILS_SAFE_FWRITE_TO_STDERR(output_msg); \
6673
} \
6774
} while (0)
75+
#else
76+
#define RCUTILS_SAFE_FWRITE_TO_STDERR_WITH_FORMAT_STRING(format_string, ...)
77+
#endif
6878

79+
#if !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
6980
/// The maximum length a formatted number is allowed to have.
7081
#define RCUTILS_ERROR_STATE_LINE_NUMBER_STR_MAX_LENGTH 20 // "18446744073709551615"
7182

@@ -92,6 +103,13 @@ extern "C"
92103
RCUTILS_ERROR_STATE_LINE_NUMBER_STR_MAX_LENGTH - \
93104
RCUTILS_ERROR_FORMATTING_CHARACTERS - \
94105
1)
106+
#else
107+
#define RCUTILS_ERROR_STATE_LINE_NUMBER_STR_MAX_LENGTH 1
108+
#define RCUTILS_ERROR_FORMATTING_CHARACTERS 1
109+
#define RCUTILS_ERROR_MESSAGE_MAX_LENGTH 1
110+
#define RCUTILS_ERROR_STATE_MESSAGE_MAX_LENGTH 1
111+
#define RCUTILS_ERROR_STATE_FILE_MAX_LENGTH 1
112+
#endif // RCUTILS_AVOID_DYNAMIC_ALLOCATION
95113

96114
/// Struct wrapping a fixed-size c string used for returning the formatted error string.
97115
typedef struct rcutils_error_string_s
@@ -113,7 +131,7 @@ typedef struct rcutils_error_state_s
113131
} rcutils_error_state_t;
114132

115133
// make sure our math is right...
116-
#if __STDC_VERSION__ >= 201112L
134+
#if __STDC_VERSION__ >= 201112L && !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
117135
static_assert(
118136
sizeof(rcutils_error_string_t) == (
119137
RCUTILS_ERROR_STATE_MESSAGE_MAX_LENGTH +
@@ -225,8 +243,12 @@ rcutils_set_error_state(const char * error_string, const char * file, size_t lin
225243
*
226244
* \param[in] msg The error message to be set.
227245
*/
246+
#ifdef RCUTILS_AVOID_DYNAMIC_ALLOCATION
247+
#define RCUTILS_SET_ERROR_MSG(msg)
248+
#else
228249
#define RCUTILS_SET_ERROR_MSG(msg) \
229250
do {rcutils_set_error_state(msg, __FILE__, __LINE__);} while (0)
251+
#endif // RCUTILS_AVOID_DYNAMIC_ALLOCATION
230252

231253
/// Set the error message using a format string and format arguments.
232254
/**
@@ -237,6 +259,9 @@ rcutils_set_error_state(const char * error_string, const char * file, size_t lin
237259
* \param[in] format_string The string to be used as the format of the error message.
238260
* \param[in] ... Arguments for the format string.
239261
*/
262+
#ifdef RCUTILS_AVOID_DYNAMIC_ALLOCATION
263+
#define RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(format_string, ...)
264+
#else
240265
#define RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(format_string, ...) \
241266
do { \
242267
char output_msg[RCUTILS_ERROR_MESSAGE_MAX_LENGTH]; \
@@ -247,6 +272,8 @@ rcutils_set_error_state(const char * error_string, const char * file, size_t lin
247272
RCUTILS_SET_ERROR_MSG(output_msg); \
248273
} \
249274
} while (0)
275+
#endif // RCUTILS_AVOID_DYNAMIC_ALLOCATION
276+
250277

251278
/// Indicate that the function intends to set an error message and return an error value.
252279
/**

‎include/rcutils/logging.h

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -40,7 +40,7 @@ extern "C"
4040
* \def RCUTILS_DEFAULT_LOGGER_DEFAULT_LEVEL
4141
* \brief The default severity level of the default logger.
4242
*/
43-
#define RCUTILS_DEFAULT_LOGGER_DEFAULT_LEVEL RCUTILS_LOG_SEVERITY_INFO
43+
#define RCUTILS_DEFAULT_LOGGER_DEFAULT_LEVEL RCUTILS_LOG_SEVERITY_UNSET
4444

4545
/// The flag if the logging system has been initialized.
4646
RCUTILS_PUBLIC

‎include/rcutils/macros.h

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -22,6 +22,8 @@ extern "C"
2222
{
2323
#endif
2424

25+
#include "rcutils/configuration_flags.h"
26+
2527
#ifndef _MSC_VER
2628
/// A macro to make the compiler warn when the return value of a function is not used.
2729
#define RCUTILS_WARN_UNUSED __attribute__((warn_unused_result))
@@ -32,7 +34,9 @@ extern "C"
3234

3335
/// \cond Doxygen_Suppress
3436
// This block either sets RCUTILS_THREAD_LOCAL or RCUTILS_THREAD_LOCAL_PTHREAD.
35-
#if defined _WIN32 || defined __CYGWIN__
37+
#if defined(RCUTILS_NO_THREAD_SUPPORT)
38+
#define RCUTILS_THREAD_LOCAL
39+
#elif defined _WIN32 || defined __CYGWIN__
3640
// Windows or Cygwin
3741
#define RCUTILS_THREAD_LOCAL __declspec(thread)
3842
#elif defined __APPLE__

‎include/rcutils/security_directory.h

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1+
// Copyright 2018 Open Source Robotics Foundation, Inc.
2+
//
3+
// Licensed under the Apache License, Version 2.0 (the "License");
4+
// you may not use this file except in compliance with the License.
5+
// You may obtain a copy of the License at
6+
//
7+
// http://www.apache.org/licenses/LICENSE-2.0
8+
//
9+
// Unless required by applicable law or agreed to in writing, software
10+
// distributed under the License is distributed on an "AS IS" BASIS,
11+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
#ifndef RCUTILS__SECURITY_DIRECTORY_H_
16+
#define RCUTILS__SECURITY_DIRECTORY_H_
17+
18+
#ifdef __cplusplus
19+
extern "C"
20+
{
21+
#endif
22+
23+
#include "rcutils/allocator.h"
24+
#include "rcutils/visibility_control.h"
25+
26+
#ifndef ROS_SECURITY_NODE_DIRECTORY_VAR_NAME
27+
#define ROS_SECURITY_NODE_DIRECTORY_VAR_NAME "ROS_SECURITY_NODE_DIRECTORY"
28+
#endif
29+
30+
#ifndef ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME
31+
#define ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "ROS_SECURITY_ROOT_DIRECTORY"
32+
#endif
33+
34+
#ifndef ROS_SECURITY_LOOKUP_TYPE_VAR_NAME
35+
#define ROS_SECURITY_LOOKUP_TYPE_VAR_NAME "ROS_SECURITY_LOOKUP_TYPE"
36+
#endif
37+
38+
/// Return the secure root directory associated with a node given its validated name and namespace.
39+
/**
40+
* E.g. for a node named "c" in namespace "/a/b", the secure root path will be
41+
* "a/b/c", where the delimiter "/" is native for target file system (e.g. "\\" for _WIN32).
42+
* If no exact match is found for the node name, a best match would be used instead
43+
* (by performing longest-prefix matching).
44+
*
45+
* However, this expansion can be overridden by setting the secure node directory environment
46+
* variable, allowing users to explicitly specify the exact secure root directory to be utilized.
47+
* Such an override is useful for where the FQN of a node is non-deterministic before runtime,
48+
* or when testing and using additional tools that may not otherwise be easily provisioned.
49+
*
50+
* \param[in] node_name validated node name (a single token)
51+
* \param[in] node_namespace validated, absolute namespace (starting with "/")
52+
* \param[in] allocator the allocator to use for allocation
53+
* \returns machine specific (absolute) node secure root path or NULL on failure
54+
* returned pointer must be deallocated by the caller of this function
55+
*/
56+
RCUTILS_PUBLIC
57+
char * rcutils_get_secure_root(
58+
const char * node_name,
59+
const char * node_namespace,
60+
const rcutils_allocator_t * allocator
61+
);
62+
63+
#ifdef __cplusplus
64+
}
65+
#endif
66+
67+
#endif // RCUTILS__SECURITY_DIRECTORY_H_

‎include/rcutils/testing/fault_injection.h

Lines changed: 13 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -83,6 +83,8 @@ RCUTILS_WARN_UNUSED
8383
int_least64_t
8484
_rcutils_fault_injection_maybe_fail(void);
8585

86+
#ifdef RCUTILS_ENABLE_FAULT_INJECTION
87+
8688
/**
8789
* \def RCUTILS_FAULT_INJECTION_MAYBE_RETURN_ERROR
8890
* \brief This macro checks and decrements a static global variable atomic counter and returns
@@ -199,6 +201,17 @@ _rcutils_fault_injection_maybe_fail(void);
199201
rcutils_fault_injection_set_count(no_fault_injection_count); \
200202
} while (0)
201203

204+
#else
205+
206+
// Mocks for micro-ROS when fault injection not enabled
207+
208+
#define RCUTILS_FAULT_INJECTION_MAYBE_RETURN_ERROR(return_value_on_error)
209+
#define RCUTILS_FAULT_INJECTION_MAYBE_FAIL(failure_code)
210+
#define RCUTILS_FAULT_INJECTION_TEST(code)
211+
#define RCUTILS_NO_FAULT_INJECTION(code)
212+
213+
#endif
214+
202215
#ifdef __cplusplus
203216
}
204217
#endif

‎src/allocator.c

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@@ -79,6 +79,25 @@ rcutils_get_default_allocator(void)
7979
.zero_allocate = __default_zero_allocate,
8080
.state = NULL,
8181
};
82+
}
83+
84+
bool
85+
rcutils_set_default_allocator(rcutils_allocator_t * allocator){
86+
if (rcutils_allocator_is_valid(allocator))
87+
{
88+
default_allocator.allocate = allocator->allocate;
89+
default_allocator.deallocate = allocator->deallocate;
90+
default_allocator.reallocate = allocator->reallocate;
91+
default_allocator.zero_allocate = allocator->zero_allocate;
92+
default_allocator.state = NULL;
93+
return true;
94+
}
95+
return false;
96+
}
97+
98+
rcutils_allocator_t
99+
rcutils_get_default_allocator()
100+
{
82101
return default_allocator;
83102
}
84103

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