Export Threads dependency (backport #63)

.github/workflows/fork_checker.yml

@@ -0,0 +1,36 @@
+name: micro-ROS fork Update Checker
+on:
+  workflow_dispatch:
+    inputs:
+      name:
+        description: "Manual trigger"
+  schedule:
+    - cron:  '0 4 * * *'
+
+jobs:
+    micro_ros_fork_update_check:
+        runs-on: ubuntu-latest
+        container: ubuntu:20.04
+        strategy:
+          fail-fast: false
+          matrix:
+            branches: [humble, jazzy, kilted, lyrical, rolling]
+        steps:
+          - name: Check
+            id: check
+            shell: bash
+            run: |
+              apt update; apt install -y git
+              REPO=$(echo ${{ github.repository }} | awk '{split($0,a,"/"); print a[2]}')
+              git clone -b ${{ matrix.branches }} https://github.com/micro-ros/$REPO
+              cd $REPO
+              git remote add ros2 https://github.com/ros2/$REPO
+              git fetch ros2
+              git fetch origin
+              echo "::set-output name=merge_required::true"
+              CMP=$(git rev-list --left-right --count ros2/${{ matrix.branches }}...origin/${{ matrix.branches }} | awk '{print $1}')
+              if [ $CMP = "0" ]; then echo "::set-output name=merge_required::false"; fi
+
+          - name: Alert
+            if: ${{ steps.check.outputs.merge_required  == 'true' }}
+            run: exit 1

.github/workflows/humble-ci.yml

@@ -0,0 +1,15 @@
+name: rcutils CI Humble
+
+on:
+  push:
+    branches: [ humble ]
+  pull_request:
+    branches: [ humble ]
+
+jobs:
+  humble-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      os: ubuntu-22.04
+      docker-image: ubuntu:jammy
+      ros-distribution: humble

.github/workflows/jazzy-ci.yml

@@ -0,0 +1,15 @@
+name: rcutils CI Jazzy
+
+on:
+  push:
+    branches: [ jazzy ]
+  pull_request:
+    branches: [ jazzy ]
+
+jobs:
+  jazzy-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      os: ubuntu-24.04
+      docker-image: ubuntu:noble
+      ros-distribution: jazzy

.github/workflows/kilted-ci.yml

@@ -0,0 +1,15 @@
+name: rcutils CI Kilted
+
+on:
+  push:
+    branches: [ kilted ]
+  pull_request:
+    branches: [ kilted ]
+
+jobs:
+  kilted-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      os: ubuntu-24.04
+      docker-image: ubuntu:noble
+      ros-distribution: kilted

.github/workflows/lyrical-ci.yml

@@ -0,0 +1,15 @@
+name: rcutils CI Lyrical
+
+on:
+  push:
+    branches: [ lyrical ]
+  pull_request:
+    branches: [ lyrical ]
+
+jobs:
+  lyrical-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      os: ubuntu-26.04
+      docker-image: ubuntu:resolute
+      ros-distribution: lyrical

.github/workflows/reusable-ci.yml

@@ -0,0 +1,54 @@
+name: Reusable rcutils CI
+
+on:
+  workflow_call:
+    inputs:
+      branch:
+        description: "The rcutils branch to build. Leave unset for push and pull_request."
+        required: false
+        default: ""
+        type: string
+      os:
+        description: "The OS to use for the workflow"
+        required: true
+        type: string
+      docker-image:
+        description: "The docker image to use for the workflow"
+        required: true
+        type: string
+      ros-distribution:
+        description: "The ROS distribution to use for the workflow"
+        required: true
+        type: string
+
+jobs:
+  build:
+    runs-on: ${{ inputs.os }}
+    strategy:
+      fail-fast: false
+    container:
+      image: ${{ inputs.docker-image }}
+    steps:
+
+    - run: |
+        apt-get update && apt-get install -y git
+      shell: bash
+
+    - name: Setup ROS 2
+      uses: ros-tooling/setup-ros@0.7.19
+      with:
+        required-ros-distributions: ${{ inputs.ros-distribution }}
+
+    - name : Download and install rcutils-dependencies
+      run: |
+        apt-get install ros-${{ inputs.ros-distribution }}-mimick-vendor
+        apt-get -y install ros-${{ inputs.ros-distribution }}-performance-test-fixture
+
+    # This action clones the repository itself, so no checkout step is needed.
+    # When ref is empty it uses the branch that triggered the run.
+    - uses : ros-tooling/action-ros-ci@0.4.8
+      with:
+        package-name: "rcutils"
+        target-ros2-distro: ${{ inputs.ros-distribution }}
+        ref: ${{ inputs.branch }}
+        skip-tests: true

.github/workflows/rolling-ci.yml

@@ -0,0 +1,15 @@
+name: rcutils CI Rolling
+
+on:
+  push:
+    branches: [ rolling ]
+  pull_request:
+    branches: [ rolling ]
+
+jobs:
+  rolling-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      os: ubuntu-24.04
+      docker-image: ubuntu:noble
+      ros-distribution: rolling

.github/workflows/weekly-ci.yml

@@ -0,0 +1,44 @@
+name: rcutils weekly CI (all distributions)
+
+on:
+  schedule:
+    # Run once per week to detect broken dependencies.
+    - cron: '59 23 * * 0'
+  workflow_dispatch:
+
+jobs:
+  humble-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: humble
+      os: ubuntu-22.04
+      docker-image: ubuntu:jammy
+      ros-distribution: humble
+  jazzy-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: jazzy
+      os: ubuntu-24.04
+      docker-image: ubuntu:noble
+      ros-distribution: jazzy
+  kilted-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: kilted
+      os: ubuntu-24.04
+      docker-image: ubuntu:noble
+      ros-distribution: kilted
+  lyrical-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: lyrical
+      os: ubuntu-26.04
+      docker-image: ubuntu:resolute
+      ros-distribution: lyrical
+  rolling-ci:
+    uses: ./.github/workflows/reusable-ci.yml
+    with:
+      branch: rolling
+      os: ubuntu-24.04
+      docker-image: ubuntu:noble
+      ros-distribution: rolling

CMakeLists.txt

@@ -1,7 +1,14 @@
-cmake_minimum_required(VERSION 3.20)
+cmake_minimum_required(VERSION 3.12)
 
 project(rcutils)
 
+option(RCUTILS_NO_THREAD_SUPPORT "Disable thread support." OFF)
+option(RCUTILS_NO_FILESYSTEM "Disable filesystem usage." OFF)
+option(RCUTILS_NO_PROCESS_SUPPORT "Disable process support." OFF)
+option(RCUTILS_AVOID_DYNAMIC_ALLOCATION "Disable dynamic allocations." OFF)
+option(RCUTILS_NO_64_ATOMIC "Enable alternative support for 64 bits atomic operations in platforms with no native support." OFF)
+option(RCUTILS_MICROROS "Flag for building micro-ROS." ON)
+
 include(CheckLibraryExists)
 
 find_package(ament_cmake REQUIRED)
@@ -17,7 +24,7 @@ if(UNIX AND NOT APPLE)
   endif()
 endif()
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(NOT RCUTILS_MICROROS AND (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang"))
   # enables building a static library but later link it into a dynamic library
   add_compile_options(-fPIC)
 endif()
@@ -38,7 +45,7 @@ endif()
 set(rcutils_sources
   src/allocator.c
   src/array_list.c
-  src/base64.c
+  $<$<NOT:$<BOOL:${RCUTILS_MICROROS}>>:src/base64.c>
   src/char_array.c
   src/cmdline_parser.c
   src/env.c
@@ -66,6 +73,7 @@ set(rcutils_sources
   src/time.c
   ${time_impl_c}
   src/uint8_array.c
+  $<$<BOOL:${RCUTILS_NO_64_ATOMIC}>:src/atomic_64bits.c>
 )
 set_source_files_properties(
   ${rcutils_sources}
@@ -76,6 +84,7 @@ add_library(
   ${rcutils_sources})
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 
 # Causes the visibility macros to use dllexport rather than dllimport,
@@ -85,11 +94,17 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_BUILDING_DLL")
 if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
   target_compile_definitions(${PROJECT_NAME} PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
 endif()
+configure_file(
+    "${PROJECT_SOURCE_DIR}/include/rcutils/configuration_flags.h.in"
+    "${PROJECT_BINARY_DIR}/include/rcutils/configuration_flags.h"
+)
 
 target_link_libraries(${PROJECT_NAME}
-  ${CMAKE_DL_LIBS}
   ament_cmake_ros_core::ament_ros_defaults
 )
+if(NOT RCUTILS_NO_FILESYSTEM)
+  target_link_libraries(${PROJECT_NAME} ${CMAKE_DL_LIBS})
+endif()
 
 check_library_exists(atomic __atomic_load_8 "" HAVE_LIBATOMICS)
 
@@ -549,17 +564,19 @@ if(BUILD_TESTING)
     )
   endif()
 
-  ament_add_gtest(test_process
-    test/test_process.cpp
-  )
-  if(TARGET test_process)
-    target_link_libraries(test_process
-      ${PROJECT_NAME}
-      ament_cmake_ros_core::ament_ros_defaults
+  if(NOT RCUTILS_NO_PROCESS_SUPPORT)
+    ament_add_gtest(test_process
+      test/test_process.cpp
     )
-    target_compile_definitions(test_process PRIVATE
-      "CMAKE_COMMAND=${CMAKE_COMMAND}")
-    file(TOUCH "${CMAKE_CURRENT_BINARY_DIR}/file with space.txt")
+    if(TARGET test_process)
+      target_link_libraries(test_process
+        ${PROJECT_NAME}
+        ament_cmake_ros_core::ament_ros_defaults
+      )
+      target_compile_definitions(test_process PRIVATE
+        "CMAKE_COMMAND=${CMAKE_COMMAND}")
+      file(TOUCH "${CMAKE_CURRENT_BINARY_DIR}/file with space.txt")
+    endif()
   endif()
 
   ament_add_gtest(test_logging_custom_env test/test_logging_custom_env.cpp
@@ -676,11 +693,13 @@ if(BUILD_TESTING)
     target_link_libraries(benchmark_err_handle ${PROJECT_NAME} ament_cmake_ros_core::ament_ros_defaults)
   endif()
 
-  ament_add_gtest(test_base64
-    test/test_base64.cpp
-  )
-  if(TARGET test_base64)
-    target_link_libraries(test_base64 ${PROJECT_NAME} ament_cmake_ros_core::ament_ros_defaults)
+  if(NOT RCUTILS_MICROROS)
+    ament_add_gtest(test_base64
+      test/test_base64.cpp
+    )
+    if(TARGET test_base64)
+      target_link_libraries(test_base64 ${PROJECT_NAME} ament_cmake_ros_core::ament_ros_defaults)
+    endif()
   endif()
 endif()
 
@@ -693,8 +712,13 @@ ament_export_targets(${PROJECT_NAME})
 
 ament_export_dependencies(ament_cmake ament_cmake_ros_core)
 
+if (NOT RCUTILS_NO_THREAD_SUPPORT)
+  # Needed because micro-ROS is built statically
+  ament_export_dependencies(Threads)
+endif()
+
 ament_package()
 
 install(
-  DIRECTORY include/
+  DIRECTORY include/ ${CMAKE_CURRENT_BINARY_DIR}/include/
   DESTINATION include/${PROJECT_NAME})

include/rcutils/allocator.h

@@ -85,6 +85,21 @@ RCUTILS_WARN_UNUSED
 rcutils_allocator_t
 rcutils_get_zero_initialized_allocator(void);
 
+/// Set rcutils default allocators.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+bool
+rcutils_set_default_allocator(rcutils_allocator_t * allocator);
+
 /// Return a properly initialized rcutils_allocator_t with default values.
 /**
  * This defaults to:

include/rcutils/configuration_flags.h.in

@@ -0,0 +1,20 @@
+
+#ifndef RCUTILS__CONFIGURATION_FLAGS_H_
+#define RCUTILS__CONFIGURATION_FLAGS_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#cmakedefine RCUTILS_NO_FILESYSTEM
+#cmakedefine RCUTILS_NO_PROCESS_SUPPORT
+#cmakedefine RCUTILS_AVOID_DYNAMIC_ALLOCATION
+#cmakedefine RCUTILS_NO_THREAD_SUPPORT
+#cmakedefine RCUTILS_MICROROS
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCUTILS__CONFIGURATION_FLAGS_H_