CLI improvements

[RobertWilbrandt]

This contains a set of cli improvements for the build step, mainly centered around the zephyr RTOS:

• Add option to pass arbitrary commands to cmake for zephyr builds. This uses the following syntax: ros2 run micro_ros_setup build_firmware.sh -f -- -DCMAKE_EXPORT_COMPILE_COMMANDS=on. This is consistent with the way west handles these arguments. Use cases are:

  • Passing -DCMAKE_EXPORT_COMPILE_COMMANDS=on is useful to provide better ide integration
  • Passing -DZEPHYR_EXTRA_MODULES=/path/to/module can be useful if you rely on e.g. out-of-tree zephyr device drivers.

  While both these could get implemented as extra flags to build_firmware.sh, i think this is the more versatile approach (after all, micro_ros_setup shouldn't have to know about every possibly useful west argument). It might make sense to add support for this feature to other RTOSes too, even for make-based build systems passing things like -j 4 might be useful.

• Use getopts to parse cli arguments and provide a useful help message. This is just generally more robust then handmade parsing and allows for the feature above.

• Print build information for verbose zephyr builds (=> only done if -v is used). See example below.

• Some small cleanups.

Example help message:

Usage: ros2 run micro_ros_setup build_firmware.sh [options] -- [build_args]
Options:
  -v   Print verbose build output.
  -f   Activate Fast-Build. Without this, mcu_ws will get rebuilt completely.
Build args: These options will get directly forwarded to the build system (currently only supported for zephyr).

Example verbose build output:

> UROS_CUSTOM_APP_FOLDER=~/projects/micro-ROS_zephyr_display_demo/apps ros2 run micro_ros_setup build_firmware.sh -f -v -- -DCMAKE_EXPORT_COMPILE_COMMANDS=on
Fast-Build active, ROS workspace will not be re-built!
Building in verbose mode
Crosscompiled environment: cleaning path
Building firmware for zephyr platform stm32f429i_disc1
Selected app: display_demo
Unrecognized board: stm32f429i_disc1. Trying to build
Configuration: Using transport-specific serial.conf

-----------------------------
| Verbose build information |
-----------------------------
Fast build:                  on
App name:                    display_demo
Full app path:               /home/wilbrandt/projects/micro-ROS_zephyr_display_demo/apps/display_demo
Zephyr board:                stm32f429i_disc1
Zephyr configuration file:   /home/wilbrandt/projects/micro-ROS_zephyr_display_demo/apps/display_demo/serial.conf
Extra build arguments:       -DCMAKE_EXPORT_COMPILE_COMMANDS=on
Full build command:           west build -b stm32f429i_disc1 -p auto /home/wilbrandt/projects/micro-ROS_zephyr_display_demo/apps/display_demo -- -DCONF_FILE=/home/wilbrandt/projects/micro-ROS_zephyr_display_demo/apps/display_demo/serial.conf -G'Unix Makefiles' -DCMAKE_VERBOSE_MAKEFILE=on -DMICRO_ROS_FIRMWARE_DIR=/home/wilbrandt/projects/microros_zephyr/firmware -DCMAKE_EXPORT_COMPILE_COMMANDS=on

-- west build: generating a build system
[...]

[pablogs9]

Hello @RobertWilbrandt, this looks amazing. Thank you very much for your contributions!