Add multithread to CI (#238) (#240)

* Add multithread to CI Signed-off-by: Pablo Garrido <pablogs9@gmail.com> * Fix multithread example * Override esp_macros fro micro-ROS build --------- Signed-off-by: Pablo Garrido <pablogs9@gmail.com> (cherry picked from commit 8d6b8d4) Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
micro-ROS · Apr 1, 2024 · 8c04fee · 8c04fee
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commit 8c04fee
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -80,6 +80,17 @@ jobs:
           idf.py set-target ${{ matrix.idf_target }}
           idf.py build
 
+      - name: Build sample - multithread_publisher
+        shell: bash
+        run: |
+          . $IDF_PATH/export.sh
+          cd micro_ros_espidf_component
+          make -f libmicroros.mk clean
+          sed -i 's/DRMW_UXRCE_TRANSPORT=udp/DRMW_UXRCE_TRANSPORT=custom/' colcon.meta
+          cd examples/multithread_publisher
+          idf.py set-target ${{ matrix.idf_target }}
+          idf.py build
+
       - name: EmbeddedRTPS
         shell: bash
         run: |

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
@@ -65,6 +65,14 @@ jobs:
           idf.py set-target ${{ matrix.idf_target }}
           idf.py build
 
+      - name: Build sample - handle_static_types
+        shell: bash
+        run: |
+          . $IDF_PATH/export.sh
+          cd micro_ros_espidf_component/examples/handle_static_types
+          idf.py set-target ${{ matrix.idf_target }}
+          idf.py build
+
       - name: Build sample - int32_publisher_custom_transport
         shell: bash
         run: |
@@ -76,6 +84,17 @@ jobs:
           idf.py set-target ${{ matrix.idf_target }}
           idf.py build
 
+      - name: Build sample - multithread_publisher
+        shell: bash
+        run: |
+          . $IDF_PATH/export.sh
+          cd micro_ros_espidf_component
+          make -f libmicroros.mk clean
+          sed -i 's/DRMW_UXRCE_TRANSPORT=udp/DRMW_UXRCE_TRANSPORT=custom/' colcon.meta
+          cd examples/multithread_publisher
+          idf.py set-target ${{ matrix.idf_target }}
+          idf.py build
+
       - name: EmbeddedRTPS
         if: ${{ matrix.branch == 'humble' }}
         shell: bash

diff --git a/include_override/FreeRTOS.h b/include_override/FreeRTOS.h
@@ -0,0 +1,2 @@
+// Include proper path to FreeRTOS header file
+#include "freertos/FreeRTOS.h"
diff --git a/include_override/esp_macros.h b/include_override/esp_macros.h
@@ -0,0 +1 @@
+// This is very overkill, but it's a workaround for the fact that the ESP_STATIC_ASSERT fails when building micro-ROS in IDF >v5.0.0
diff --git a/include_override/semphr.h b/include_override/semphr.h
@@ -0,0 +1,2 @@
+// Include proper path to FreeRTOS header file
+#include "freertos/semphr.h"