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micro-ROS / micro_ros_zephyr_module

micro-ROS Zephyr module and sample code
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Changed Zephyr code base causes compilation errors (z_impl_clock_gettime) #134

Closed danielallstar closed 8 months ago

danielallstar commented 8 months ago

Issue template

Steps to reproduce the issue

Dear micro-ROS maintainers,

Due to a recent change in Zephyr code it is no longer possible to successfully compile micro-ROS using the latest Zephyr code.

The notified problem is: " in function uxr_nanos': undefined reference toz_impl_clock_gettime' " The Zephyr developers have removed the `z_impl_clock_gettime' function and replaced it by the clock_gettime function. As far as I can tell this seems to only be a change in name with similar functionality, but you can better check that yourself as well.

The change happened in commit 95a22b1 in the lib/posix/clock.c file.

https://github.com/zephyrproject-rtos/zephyr/commit/95a22b12174621aeba8ca3e0e61f7c66f03202bf#diff-d6e991eb8b553cb6e536ec823096cee7c24036762da9876a91884d9eefcd1160

Proposed solution

As far as I can see this function is only used in the micro-ROS Micro-XRCE-DDS-Client/src/c/util/time.c file (https://github.com/eProsima/Micro-XRCE-DDS-Client/blob/master/src/c/util/time.c) As a temporary fix I could use a wrapper in my main file for the new function name and could get my code compiling again. 

int z_impl_clock_gettime(clockid_t clock_id, struct timespec *ts){ return clock_gettime(clock_id, ts); }

It would however be nice to have this change incorporated in the general micro-ROS code.

I hope to have provided sufficient information.

Kind regards

pablogs9 commented 8 months ago

Latest supported version is v3.1.0 as you can see in the readme.

Please feel free to create a PR with a proposed solution.

danielallstar commented 8 months ago

I created a PR with a proposed solution: https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/378

pablogs9 commented 8 months ago

Closing this as https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/378 was merged.

BTW @danielallstar are you using 3.5.99 seamlessly with this repo? Can we add support to this version without any major problems? Would you mind reporting if there are any other changes required to add official support to this version?

danielallstar commented 7 months ago

@pablogs9 , besides the problem noted in this issue there are no changes required as far as I know. For some boards it might be needed to label usart3 as UART_1, because in micro-ROS the communication channel is coded as UART_1 instead of usart3. In previous versions of Zephyr this did not seem to be an issue, but in the newer versions you have to specify it in the overlay file.

pablogs9 commented 7 months ago

@danielallstar could you propose a solution for that? micro-ROS transport setter offers a "user argument" so maybe we can use it to define at the app level the USART used