move config.h from mros2/embeddedRTPS/include/rtps/

CMakeLists.txt

@@ -26,6 +26,13 @@ execute_process(COMMAND git submodule update --init --recursive
 add_library(mros2 INTERFACE)
 add_subdirectory(mros2)
 
+set(RTPS_CONFIG_INCLUDE_DIR "${PROJECT_SOURCE_DIR}/include")
+
+target_include_directories(
+  mros2-mbed
+  PRIVATE ${RTPS_CONFIG_INCLUDE_DIR}
+)
+
 mbed_set_post_build(${APP_TARGET})
 
 option(VERBOSE_BUILD "Have a verbose build process")

README.md

@@ -14,7 +14,7 @@ Please also check [mros2 repository](https://github.com/mROS-base/mros2) for mor
     For now, these boards below are confirmed to run the example on them.  
     - [STM32 NUCLEO-F429ZI](https://www.st.com/en/evaluation-tools/nucleo-f429zi.html)
     - [STM32 NUCLEO-F767ZI](https://www.st.com/en/evaluation-tools/nucleo-f767zi.html)
-
+    - [Seeed Arch Max V1.1](https://wiki.seeedstudio.com/Arch_Max_v1.1/)
   - Kernel: [Mbed OS 6](https://github.com/ARMmbed/mbed-os)
 - Host environment
   - [ROS 2 Foxy Fitzroy](https://docs.ros.org/en/foxy/index.html) on Ubuntu 20.04 LTS
@@ -25,22 +25,29 @@ Please also check [mros2 repository](https://github.com/mROS-base/mros2) for mor
 - PC having an Ethernet port whose IP address is 192.168.11.x(x is not 2) and a docker environment.
 - Mbed board having an Ethernet port(listed above).
 2. Build Mbed executable binary using Mbed CLI2.
-(Please replace F429ZI with F767ZI if you use F767ZI)
 ```
 git clone https://github.com/mROS-base/mros2-mbed
 cd mros2-mbed
+#(Please replace the [TARGET] with the ones as below.)
+# +-------------------+---------------+
+# | Your target board | [TARGET]      |
+# +-------------------+---------------+
+# | NUCLEO-F429ZI     | NUCLEO_F429ZI |
+# | NUCLEO-F767ZI     | NUCLEO_F767ZI |
+# | Arch Max v1.1     | ARCH_MAX      |
+# +-------------------+---------------+
 docker run --rm -it --mount=type=bind,source="$(pwd)",destination=/var/mbed -w /var/mbed \
   ghcr.io/armmbed/mbed-os-env \
-  /bin/bash -c "mbed-tools deploy && mbed-tools compile -m NUCLEO_F429ZI -t GCC_ARM"
+  /bin/bash -c "mbed-tools deploy && mbed-tools compile -m [TARGET] -t GCC_ARM"
 ```
 After that, you will find an executable binary is created in the path below.
 ```
-cmake_build/NUCLEO_F429ZI/develop/GCC_ARM/mros2-mbed.bin
+cmake_build/[TARGET]/develop/GCC_ARM/mros2-mbed.bin
 ```
 3. Connect the PC and Mbed Board with USB and LAN cables.
 4. Open Serial Console of the Mbed board. (115200bps)
 5. Copy the executable binary above to the Mbed Board.
-    (you may find it in the Nautilus file manager as NODE_F429ZI or F767ZI).
+   (you may find it in the Nautilus file manager as NODE_F429ZI, F767ZI or DAPLINK.)
 ```
 mbed mros2 start!
 [MROS2LIB] mros2_init task start

include/rtps/config.h

@@ -0,0 +1,83 @@
+/*
+The MIT License
+Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE
+
+This file is part of embeddedRTPS.
+
+Author: i11 - Embedded Software, RWTH Aachen University
+*/
+
+#ifndef RTPS_CONFIG_H
+#define RTPS_CONFIG_H
+
+#include "rtps/common/types.h"
+
+namespace rtps {
+
+#define IS_LITTLE_ENDIAN 1
+
+
+    namespace Config {
+        const VendorId_t VENDOR_ID = {13, 37};
+        const std::array<uint8_t, 4> IP_ADDRESS = {192,168,11,2};  // Needs to be set in Src/lwip.c too.
+        const GuidPrefix_t BASE_GUID_PREFIX{1,2,3,4,5,6,7,8,9,10,12};
+
+        const uint8_t DOMAIN_ID = 0; // 230 possible with UDP
+        const uint8_t NUM_STATELESS_WRITERS = 2;
+        const uint8_t NUM_STATELESS_READERS = 2;
+        const uint8_t NUM_STATEFUL_READERS = 8;
+        const uint8_t NUM_STATEFUL_WRITERS = 8;
+        const uint8_t MAX_NUM_PARTICIPANTS = 1;
+        const uint8_t NUM_WRITERS_PER_PARTICIPANT = 16;
+        const uint8_t NUM_READERS_PER_PARTICIPANT = 16;
+        const uint8_t NUM_WRITER_PROXIES_PER_READER = 3;
+        const uint8_t NUM_READER_PROXIES_PER_WRITER = 3;
+
+        const uint8_t HISTORY_SIZE = 10;
+
+        const uint8_t MAX_TYPENAME_LENGTH = 40;
+        const uint8_t MAX_TOPICNAME_LENGTH = 40;
+
+        const int HEARTBEAT_STACKSIZE = 4096; // byte
+        const int THREAD_POOL_WRITER_STACKSIZE = 4096; // byte
+        const int THREAD_POOL_READER_STACKSIZE = 4096; // byte
+        const uint16_t SPDP_WRITER_STACKSIZE = 4096; // byte
+
+        const uint16_t SF_WRITER_HB_PERIOD_MS = 4000;
+        const uint16_t SPDP_RESEND_PERIOD_MS = 10000;
+        const uint8_t SPDP_WRITER_PRIO = 24;
+        const uint8_t SPDP_MAX_NUMBER_FOUND_PARTICIPANTS = 5;
+        const uint8_t SPDP_MAX_NUM_LOCATORS = 5;
+        const Duration_t SPDP_LEASE_DURATION = {100, 0};
+
+        const int MAX_NUM_UDP_CONNECTIONS = 10;
+
+        const int THREAD_POOL_NUM_WRITERS = 1;
+        const int THREAD_POOL_NUM_READERS = 1;
+        const int THREAD_POOL_WRITER_PRIO = 24;
+        const int THREAD_POOL_READER_PRIO = 24;
+        const int THREAD_POOL_WORKLOAD_QUEUE_LENGTH = 20;
+
+        constexpr int OVERALL_HEAP_SIZE = 	THREAD_POOL_NUM_WRITERS * THREAD_POOL_WRITER_STACKSIZE +
+											THREAD_POOL_NUM_READERS * THREAD_POOL_READER_STACKSIZE +
+											MAX_NUM_PARTICIPANTS * SPDP_WRITER_STACKSIZE +
+											NUM_STATEFUL_WRITERS * HEARTBEAT_STACKSIZE;
+    }
+}
+
+#endif //RTPS_CONFIG_H

mros2.lib

@@ -1 +1 @@
-https://github.com/mROS-base/mros2#v0.2.3
+https://github.com/mROS-base/mros2#v0.2.3.1