From 8c04fee2f2223a0f2296542a1065b2a58dba6ffe Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Mon, 1 Apr 2024 14:34:06 +0200
Subject: [PATCH] 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 8d6b8d49ff8f106f14df2a5641ae08dbfae8c9aa)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
---
 .github/workflows/ci.yml      | 11 +++++++++++
 .github/workflows/nightly.yml | 19 +++++++++++++++++++
 include_override/FreeRTOS.h   |  2 ++
 include_override/esp_macros.h |  1 +
 include_override/semphr.h     |  2 ++
 5 files changed, 35 insertions(+)
 create mode 100644 include_override/FreeRTOS.h
 create mode 100644 include_override/esp_macros.h
 create mode 100644 include_override/semphr.h

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 55d97344..f0ad7a12 100755
--- 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
index 5216c43d..4cd2dd2a 100644
--- 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
new file mode 100644
index 00000000..3e5f338e
--- /dev/null
+++ 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
new file mode 100644
index 00000000..cc75b5d9
--- /dev/null
+++ 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
new file mode 100644
index 00000000..4ed09675
--- /dev/null
+++ b/include_override/semphr.h
@@ -0,0 +1,2 @@
+// Include proper path to FreeRTOS header file
+#include "freertos/semphr.h"
\ No newline at end of file