system/xrcedds: add eProsima Micro XRCE-DDS

examples/xrcedds/CMakeLists.txt

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+# ##############################################################################
+# apps/examples/xrcedds/CMakeLists.txt
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more contributor
+# license agreements.  See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership.  The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License.  You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+# ##############################################################################
+
+if(CONFIG_EXAMPLES_XRCEDDS_PUB)
+  nuttx_add_application(
+    NAME
+    ${CONFIG_EXAMPLES_XRCEDDS_PUB_PROGNAME}
+    SRCS
+    xrcedds_pub_main.c
+    hello_world.c
+    STACKSIZE
+    ${CONFIG_EXAMPLES_XRCEDDS_PUB_STACKSIZE}
+    PRIORITY
+    ${CONFIG_EXAMPLES_XRCEDDS_PUB_PRIORITY}
+    MODULE
+    ${CONFIG_EXAMPLES_XRCEDDS_PUB}
+    DEPENDS
+    xrcedds)
+endif()

examples/xrcedds/HelloWorld.idl

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+struct HelloWorld
+{
+  unsigned long index;
+  string message;
+};

examples/xrcedds/Kconfig

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+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+menuconfig EXAMPLES_XRCEDDS_PUB
+	tristate "XRCEDDS publisher demo"
+	default n
+	depends on SYSTEM_XRCEDDS && NET_UDP && NET_IPv4
+	---help---
+		Build the PublishHelloWorldClient command.  It connects to a
+		Micro XRCE-DDS Agent through the built-in UDP transport and
+		publishes HelloWorld samples.
+
+if EXAMPLES_XRCEDDS_PUB
+
+config EXAMPLES_XRCEDDS_PUB_PROGNAME
+	string "Publisher command name"
+	default "PublishHelloWorldClient"
+
+config EXAMPLES_XRCEDDS_PUB_PRIORITY
+	int "Publisher task priority"
+	default 100
+
+config EXAMPLES_XRCEDDS_PUB_STACKSIZE
+	int "Publisher task stack size"
+	default 4096
+
+endif

examples/xrcedds/Make.defs

@@ -0,0 +1,25 @@
+############################################################################
+# apps/examples/xrcedds/Make.defs
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_XRCEDDS_PUB),)
+CONFIGURED_APPS += $(APPDIR)/examples/xrcedds
+endif

examples/xrcedds/Makefile

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+############################################################################
+# apps/examples/xrcedds/Makefile
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(APPDIR)/Make.defs
+
+PROGNAME  = $(CONFIG_EXAMPLES_XRCEDDS_PUB_PROGNAME)
+PRIORITY  = $(CONFIG_EXAMPLES_XRCEDDS_PUB_PRIORITY)
+STACKSIZE = $(CONFIG_EXAMPLES_XRCEDDS_PUB_STACKSIZE)
+MODULE    = $(CONFIG_EXAMPLES_XRCEDDS_PUB)
+
+MAINSRC   = xrcedds_pub_main.c
+CSRCS    += hello_world.c
+
+include $(APPDIR)/Application.mk

examples/xrcedds/hello_world.c

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+/****************************************************************************
+ * apps/examples/xrcedds/hello_world.c
+ *
+ * Implements the HelloWorld type described by HelloWorld.idl.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <string.h>
+
+#include <ucdr/microcdr.h>
+
+#include "hello_world.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+bool hello_world_serialize_topic(struct ucdrBuffer *writer,
+                                 const struct hello_world_s *topic)
+{
+  ucdr_serialize_uint32_t(writer, topic->index);
+  ucdr_serialize_string(writer, topic->message);
+
+  return !writer->error;
+}
+
+bool hello_world_deserialize_topic(struct ucdrBuffer *reader,
+                                   struct hello_world_s *topic)
+{
+  ucdr_deserialize_uint32_t(reader, &topic->index);
+  ucdr_deserialize_string(reader, topic->message, 255);
+
+  return !reader->error;
+}
+
+uint32_t hello_world_topic_size(const struct hello_world_s *topic,
+                                uint32_t size)
+{
+  uint32_t previous_size = size;
+
+  size += ucdr_alignment(size, 4) + 4;
+  size += ucdr_alignment(size, 4) + 4 + strlen(topic->message) + 1;
+
+  return size - previous_size;
+}

examples/xrcedds/hello_world.h

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+/****************************************************************************
+ * apps/examples/xrcedds/hello_world.h
+ *
+ * Declares the HelloWorld type described by HelloWorld.idl.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_EXAMPLES_XRCEDDS_HELLO_WORLD_H
+#define __APPS_EXAMPLES_XRCEDDS_HELLO_WORLD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <stdbool.h>
+#include <stdint.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+struct hello_world_s
+{
+  uint32_t index;
+  char message[255];
+};
+
+struct ucdrBuffer;
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+bool hello_world_serialize_topic(struct ucdrBuffer *writer,
+                                 const struct hello_world_s *topic);
+bool hello_world_deserialize_topic(struct ucdrBuffer *reader,
+                                   struct hello_world_s *topic);
+uint32_t hello_world_topic_size(const struct hello_world_s *topic,
+                                uint32_t size);
+
+#endif /* __APPS_EXAMPLES_XRCEDDS_HELLO_WORLD_H */