Add Zenoh pico support

.gitmodules

@@ -62,3 +62,13 @@
 	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
 	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
 	branch = px4
+[submodule "src/lib/cdrstream/cyclonedds"]
+	path = src/lib/cdrstream/cyclonedds
+	url = https://github.com/px4/cyclonedds
+[submodule "src/lib/cdrstream/rosidl"]
+	path = src/lib/cdrstream/rosidl
+	url = https://github.com/px4/rosidl
+[submodule "src/modules/zenoh/zenoh-pico"]
+	path = src/modules/zenoh/zenoh-pico
+	url = https://github.com/px4/zenoh-pico
+	branch = pr-zubf-werror-fix

Kconfig

@@ -205,3 +205,5 @@ menu "platforms"
 depends on PLATFORM_QURT || PLATFORM_POSIX
 source "platforms/common/Kconfig"
 endmenu
+
+source "src/lib/*/Kconfig"

ROMFS/px4fmu_common/init.d/rcS

@@ -537,6 +537,10 @@ else
 			cyphal start
 		fi
 	fi
+	if param greater -s ZENOH_ENABLE 0
+	then
+		zenoh start
+	fi
 
 #
 # End of autostart.

Tools/astyle/files_to_check_code_style.sh

@@ -26,4 +26,7 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/libtomcrypt -prune -o \
     -path src/lib/crypto/libtommath -prune -o \
     -path src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client -prune -o \
+    -path src/lib/cdrstream/cyclonedds -prune -o \
+    -path src/lib/cdrstream/rosidl -prune -o \
+    -path src/drivers/zenoh/zenoh-pico -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/msg/px_generate_uorb_topic_files.py

@@ -70,9 +70,9 @@
 __email__ = "[email protected]"
 
 
-TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
+TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em', 'uorb_idl_header.h.em']
 TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
-OUTPUT_FILE_EXT = ['.h', '.cpp']
+OUTPUT_FILE_EXT = ['.h', '.cpp', '.h']
 INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
 PACKAGE = 'px4'
 TOPICS_TOKEN = '# TOPICS '
@@ -150,6 +150,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
     em_globals = {
         "name_snake_case": full_type_name_snake,
         "file_name_in": filename,
+        "file_base_name": file_base_name,
         "search_path": search_path,
         "msg_context": msg_context,
         "spec": spec,
@@ -161,7 +162,10 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
         os.makedirs(outputdir)
 
     template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
-    output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
+    if format_idx == 2:
+        output_file = os.path.join(outputdir, file_base_name + OUTPUT_FILE_EXT[format_idx])
+    else:
+        output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
 
     return generate_by_template(output_file, template_file, em_globals)
 
@@ -217,6 +221,7 @@ def append_to_include_path(path_to_append, curr_include, package):
     parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
     parser.add_argument('--headers', help='Generate header files', action='store_true')
     parser.add_argument('--sources', help='Generate source files', action='store_true')
+    parser.add_argument('--uorb-idl-header', help='Generate uORB compatible idl header', action='store_true')
     parser.add_argument('-f', dest='file',
                         help="files to convert (use only without -d)",
                         nargs="+")
@@ -241,6 +246,11 @@ def append_to_include_path(path_to_append, curr_include, package):
         generate_idx = 0
     elif args.sources:
         generate_idx = 1
+    elif args.uorb_idl_header:
+        for f in args.file:
+            print(f)
+            generate_output_from_file(2, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
+        exit(0)
     else:
         print('Error: either --headers or --sources must be specified')
         exit(-1)

Tools/msg/templates/cdrstream/uorb_idl_header.h.em

@@ -0,0 +1,65 @@
+@{
+import genmsg.msgs
+import re
+
+from px_generate_uorb_topic_helper import * # this is in Tools/
+
+uorb_struct = '%s_s'%name_snake_case
+uorb_struct_upper = name_snake_case.upper()
+}@
+
+/****************************************************************
+
+  PX4 Cyclone DDS IDL to C Translator compatible idl struct
+  Source:  @file_name_in
+  Compatible with Cyclone DDS: V0.11.0
+
+*****************************************************************/
+#ifndef DDSC_IDL_UORB_@(uorb_struct_upper)_H
+#define DDSC_IDL_UORB_@(uorb_struct_upper)_H
+
+#include "dds/ddsc/dds_public_impl.h"
+#include "dds/cdr/dds_cdrstream.h"
+#include <uORB/topics/@(name_snake_case).h>
+
+@##############################
+@# Includes for dependencies
+@##############################
+@{
+for field in spec.parsed_fields():
+    if (not field.is_builtin):
+        if (not field.is_header):
+            (package, name) = genmsg.names.package_resource_name(field.base_type)
+            package = package or spec.package # convert '' to package
+
+            print('#include "%s.h"'%(name))
+            name = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
+            print('#include <uORB/topics/%s.h>'%(name))
+}@
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+@{
+for field in spec.parsed_fields():
+    if (not field.is_builtin):
+        if (not field.is_header):
+            (package, name) = genmsg.names.package_resource_name(field.base_type)
+            package = package or spec.package # convert '' to package
+
+            print('typedef px4_msg_%s px4_msg_px4__msg__%s;' % (name,name))
+}@
+
+
+
+typedef struct @uorb_struct px4_msg_@(file_base_name);
+
+extern const struct dds_cdrstream_desc px4_msg_@(file_base_name)_cdrstream_desc;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* DDSC_IDL_UORB_@(uorb_struct_upper)_H */

Tools/zenoh/px_generate_zenoh_topic_files.py

@@ -0,0 +1,175 @@
+#!/usr/bin/env python3
+#############################################################################
+#
+#   Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+#############################################################################
+
+"""
+px_generate_zenoh_topic_files.py
+Generates c/cpp header/source files for use with zenoh
+message files
+"""
+
+import os
+import argparse
+import re
+import sys
+
+try:
+    import em
+except ImportError as e:
+    print("Failed to import em: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user empy")
+    print("")
+    sys.exit(1)
+
+try:
+    import genmsg.template_tools
+except ImportError as e:
+    print("Failed to import genmsg: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyros-genmsg")
+    print("")
+    sys.exit(1)
+
+
+__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
+__copyright__ = "Copyright (C) 2013-2022 PX4 Development Team."
+__license__ = "BSD"
+__email__ = "[email protected]"
+
+ZENOH_TEMPLATE_FILE = ['Kconfig.topics.em', 'uorb_pubsub_factory.hpp.em']
+TOPICS_TOKEN = '# TOPICS '
+
+
+def get_topics(filename):
+    """
+    Get TOPICS names from a "# TOPICS" line
+    """
+    ofile = open(filename, 'r')
+    text = ofile.read()
+    result = []
+    for each_line in text.split('\n'):
+        if each_line.startswith(TOPICS_TOKEN):
+            topic_names_str = each_line.strip()
+            topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
+            topic_names_list = topic_names_str.split(" ")
+            for topic in topic_names_list:
+                # topic name PascalCase (file name) to snake_case (topic name)
+                topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
+                result.append(topic_name)
+    ofile.close()
+
+    if len(result) == 0:
+        # topic name PascalCase (file name) to snake_case (topic name)
+        file_base_name = os.path.basename(filename).replace(".msg", "")
+        topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
+        result.append(topic_name)
+
+    return result
+
+def generate_by_template(output_file, template_file, em_globals):
+    """
+    Invokes empy intepreter to geneate output_file by the
+    given template_file and predefined em_globals dict
+    """
+    # check if folder exists:
+    folder_name = os.path.dirname(output_file)
+    if not os.path.exists(folder_name):
+        os.makedirs(folder_name)
+
+    ofile = open(output_file, 'w')
+    # todo, reuse interpreter
+    interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
+                                 em.RAW_OPT: True, em.BUFFERED_OPT: True})
+    try:
+        interpreter.file(open(template_file))
+    except OSError as e:
+        ofile.close()
+        os.remove(output_file)
+        raise
+    interpreter.shutdown()
+    ofile.close()
+    return True
+
+
+def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
+    # generate cpp file with topics list
+    filenames = []
+    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
+        filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
+
+    datatypes = []
+    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
+        datatypes.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower().replace(".msg",""))
+
+    full_base_names = []
+    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
+        full_base_names.append(filename.replace(".msg",""))
+
+    topics = []
+    for msg_filename in files:
+        topics.extend(get_topics(msg_filename))
+
+    tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names}
+    tl_template_file = os.path.join(templatedir, template_filename)
+    tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
+
+    generate_by_template(tl_out_file, tl_template_file, tl_globals)
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
+    parser.add_argument('--zenoh-config', help='Generate Zenoh Kconfig file', action='store_true')
+    parser.add_argument('--zenoh-pub-sub', help='Generate Zenoh Pubsub factory', action='store_true')
+    parser.add_argument('-f', dest='file',
+                        help="files to convert (use only without -d)",
+                        nargs="+")
+    parser.add_argument('-e', dest='templatedir',
+                        help='directory with template files',)
+    parser.add_argument('-o', dest='outputdir',
+                        help='output directory for header files')
+    parser.add_argument('-p', dest='prefix', default='',
+                        help='string added as prefix to the output file '
+                        ' name when converting directories')
+    args = parser.parse_args()
+
+    if args.zenoh_config:
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir)
+        exit(0)
+    elif args.zenoh_pub_sub:
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir)
+        exit(0)
+    else:
+        print('Error: either --headers or --sources must be specified')
+        exit(-1)

Tools/zenoh/templates/zenoh/Kconfig.topics.em

@@ -0,0 +1,25 @@
+@{
+topics_count = len(topics)
+topic_names_all = list(set(topics)) # set() filters duplicates
+topic_names_all.sort()
+
+datatypes = list(set(datatypes)) # set() filters duplicates
+datatypes.sort()
+}@
+
+menu "Zenoh publishers/subscribers"
+	depends on MODULES_ZENOH
+@[for idx, topic_name in enumerate(datatypes)]@
+	config ZENOH_PUBSUB_@(topic_name.upper())
+		bool "@(topic_name)"
+		default n
+
+@[end for]
+
+config ZENOH_PUBSUB_ALL_SELECTION
+	bool
+	default y if ZENOH_PUBSUB_ALL
+@[for idx, topic_name in enumerate(datatypes)]@
+	select ZENOH_PUBSUB_@(topic_name.upper())
+@[end for]
+endmenu