Errors building for rp2040/2350: `clock_gettime` / `__atomic_test_and_set`

[snaens]

Issue template

• Hardware description: pi pico * / rp2040 / rp2350
• Installation type: platformio CLI
• Version or commit hash: microros jazzy

Steps to reproduce the issue

Try to build a simple script for rp2040 or rp2350, using…

1. https://github.com/maxgerhardt/platform-raspberrypi.git#1ab176cd4d4edd38a156e0c25e12e86ad96b21ef
2. https://github.com/maxgerhardt/platform-raspberrypi.git
3. https://github.com/hippo5329/platform-raspberrypi.git

Platformio.ini:

[env:pico]
platform = <platform link>
board = rpipico <or rpipico2>
framework = arduino
board_build.core = earlephilhower

board_microros_distro = jazzy
board_microros_transport = serial
lib_ldf_mode = chain+

lib_deps =
    https://github.com/micro-ROS/micro_ros_platformio

Code:
https://github.com/micro-ROS/micro_ros_platformio/blob/main/examples/micro-ros_publisher/src/Main.cpp

Procedure:
3 Docker debian containers, each with a fresh platformio install.

Dockerfile

FROM debian:bookworm

RUN apt update && apt install \
      git python3-venv wget nano gcc-arm-none-eabi cmake g++ gcc -y \
      && rm -rf /var/cache/apt/

RUN wget -O get-platformio.py https://raw.githubusercontent.com/platformio/platformio-core-installer/master/get-platformio.py &&\
    python3 get-platformio.py

RUN mkdir -p /usr/local/bin &&\
    ln -s ~/.platformio/penv/bin/platformio /usr/local/bin/platformio &&\
    ln -s ~/.platformio/penv/bin/pio /usr/local/bin/pio &&\
    ln -s ~/.platformio/penv/bin/piodebuggdb /usr/local/bin/piodebuggdb &&\
    mkdir -p /etc/udev/rules.d/ &&\
    wget -O /etc/udev/rules.d/99-platformio-udev.rules https://raw.githubusercontent.com/platformio/platformio-core/develop/platformio/assets/system/99-platformio-udev.rules

ENTRYPOINT ["/bin/bash"]

run:

git clone https://github.com/micro-ROS/micro_ros_platformio/
cd micro_ros_platformio/examples/micro-ros_publisher/ #use aforementioned example 
nano -n platformio.ini #replace with my `platformio.ini`
# each container uses one of the 3 platform links
pio run

Expected behavior

All 3 platforms should build fine.

Actual behavior

1. Compiles fine: https://github.com/maxgerhardt/platform-raspberrypi.git#1ab176cd4d4edd38a156e0c25e12e86ad96b21ef

Shortened log

Building in release mode
Compiling .pio/build/pico/FrameworkArduinoBootloader/boot2_w25q080_2_padded_checksum.S.o
Compiling .pio/build/pico/src/Main.cpp.o
Generating linkerscript /root/micro_ros_platformio/examples/micro-ros_publisher/.pio/build/pico/memmap_default.ld
Compiling .pio/build/pico/libd94/micro_ros_platformio/platform_code/arduino/clock_gettime.cpp.o
Compiling .pio/build/pico/libd94/micro_ros_platformio/platform_code/arduino/serial/micro_ros_transport.cpp.o
Compiling .pio/build/pico/FrameworkArduino/BluetoothDebug.cpp.o
Compiling .pio/build/pico/FrameworkArduino/Bootsel.cpp.o
Compiling .pio/build/pico/FrameworkArduino/CoreMutex.cpp.o
Compiling .pio/build/pico/FrameworkArduino/FS.cpp.o
Compiling .pio/build/pico/FrameworkArduino/PIOProgram.cpp.o
Compiling .pio/build/pico/FrameworkArduino/RP2040Support.cpp.o
Compiling .pio/build/pico/FrameworkArduino/RP2040USB.cpp.o
Compiling .pio/build/pico/FrameworkArduino/SerialPIO.cpp.o
Compiling .pio/build/pico/FrameworkArduino/SerialUART.cpp.o
Compiling .pio/build/pico/FrameworkArduino/SerialUSB.cpp.o
Compiling .pio/build/pico/FrameworkArduino/StackThunk.cpp.o
Compiling .pio/build/pico/FrameworkArduino/Tone.cpp.o
Compiling .pio/build/pico/FrameworkArduino/WMath.cpp.o
Compiling .pio/build/pico/FrameworkArduino/_freertos.cpp.o
Compiling .pio/build/pico/FrameworkArduino/api/Common.cpp.o
Compiling .pio/build/pico/FrameworkArduino/api/IPAddress.cpp.o
Compiling .pio/build/pico/FrameworkArduino/api/PluggableUSB.cpp.o
Compiling .pio/build/pico/FrameworkArduino/api/Print.cpp.o
src/Main.cpp: In function 'void setup()':
src/Main.cpp:64:34: warning: 'rcl_ret_t rclc_timer_init_default(rcl_timer_t*, rclc_support_t*, uint64_t, rcl_timer_callback_t)' is deprecated: Call rclc_timer_init_default2 instead [-Wdeprecated-declarations]
   64 |   RCCHECK(rclc_timer_init_default(
      |           ~~~~~~~~~~~~~~~~~~~~~~~^
   65 |     &timer,
      |     ~~~~~~~                       
   66 |     &support,
      |     ~~~~~~~~~                     
   67 |     RCL_MS_TO_NS(timer_timeout),
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~  
   68 |     timer_callback));
      |     ~~~~~~~~~~~~~~~               
src/Main.cpp:23:43: note: in definition of macro 'RCCHECK'
   23 | #define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
      |                                           ^~
In file included from .pio/libdeps/pico/micro_ros_platformio/libmicroros/include/rclc/rclc.h:32,
                 from src/Main.cpp:5:
.pio/libdeps/pico/micro_ros_platformio/libmicroros/include/rclc/timer.h:63:1: note: declared here
   63 | rclc_timer_init_default(
      | ^~~~~~~~~~~~~~~~~~~~~~~
Compiling .pio/build/pico/FrameworkArduino/api/Stream.cpp.o
Compiling .pio/build/pico/FrameworkArduino/api/String.cpp.o
Compiling .pio/build/pico/FrameworkArduino/cyw43_wrappers.cpp.o
Compiling .pio/build/pico/FrameworkArduino/delay.cpp.o
Archiving .pio/build/pico/libd94/libmicro_ros_platformio.a
Indexing .pio/build/pico/libd94/libmicro_ros_platformio.a
Compiling .pio/build/pico/FrameworkArduino/libb64/cdecode.cpp.o
Compiling .pio/build/pico/FrameworkArduino/libb64/cencode.cpp.o
Compiling .pio/build/pico/FrameworkArduino/lock.cpp.o
Compiling .pio/build/pico/FrameworkArduino/lwip_wrap.cpp.o
Compiling .pio/build/pico/FrameworkArduino/main.cpp.o
Compiling .pio/build/pico/FrameworkArduino/malloc-lock.cpp.o
Compiling .pio/build/pico/FrameworkArduino/posix.cpp.o
Compiling .pio/build/pico/FrameworkArduino/sdkoverride/att_db.c.o
Compiling .pio/build/pico/FrameworkArduino/sdkoverride/btstack_flash_bank.cpp.o
Compiling .pio/build/pico/FrameworkArduino/sdkoverride/hids_device.c.o
Compiling .pio/build/pico/FrameworkArduino/sdkoverride/inet_chksum.cpp.o
Compiling .pio/build/pico/FrameworkArduino/sdkoverride/pico_bootsel_via_double_reset.c.o
Compiling .pio/build/pico/FrameworkArduino/stdlib_noniso.cpp.o
Compiling .pio/build/pico/FrameworkArduino/wiring_analog.cpp.o
Compiling .pio/build/pico/FrameworkArduino/wiring_digital.cpp.o
Compiling .pio/build/pico/FrameworkArduino/wiring_private.cpp.o
Compiling .pio/build/pico/FrameworkArduino/wiring_pulse.cpp.o
Compiling .pio/build/pico/FrameworkArduino/wiring_shift.cpp.o
Archiving .pio/build/pico/libFrameworkArduino.a
Indexing .pio/build/pico/libFrameworkArduino.a
Linking .pio/build/pico/firmware.elf
Generating UF2 image
elf2uf2 ".pio/build/pico/firmware.elf" ".pio/build/pico/firmware.uf2"
Retrieving maximum program size .pio/build/pico/firmware.elf
Flash size: 2.00MB
Sketch size: 2.00MB
Filesystem size: 0.00MB
Maximium Sketch size: 2093056 EEPROM start: 0x101ff000 Filesystem start: 0x101ff000 Filesystem end: 0x101ff000
Checking size .pio/build/pico/firmware.elf
Advanced Memory Usage is available via "PlatformIO Home > Project Inspect"
RAM:   [=         ]  11.5% (used 30140 bytes from 262144 bytes)
Flash: [=         ]   5.7% (used 118272 bytes from 2093056 bytes)
Building .pio/build/pico/firmware.bin
Building .pio/build/pico/firmware.bin.signed

log_1.txt

2. Doesn't compile: https://github.com/maxgerhardt/platform-raspberrypi.git

Shortened log

Building micro-ROS library
Build mcu micro-ROS environment failed: 
--- stderr: rmw_implementation_cmake
CMake Warning:
  Manually-specified variables were not used by the project:

    BUILD_SHARED_LIBS
    CMAKE_POSITION_INDEPENDENT_CODE
    THIRDPARTY


---
--- stderr: test_interface_files
CMake Warning:
  Manually-specified variables were not used by the project:

    BUILD_SHARED_LIBS
    CMAKE_POSITION_INDEPENDENT_CODE
    THIRDPARTY


---
--- stderr: rosidl_typesupport_interface
CMake Warning:
  Manually-specified variables were not used by the project:

    CMAKE_POSITION_INDEPENDENT_CODE
    THIRDPARTY


---
--- stderr: tracetools
CMake Warning:
  Manually-specified variables were not used by the project:

    THIRDPARTY


---
--- stderr: rcutils
CMake Warning:
  Manually-specified variables were not used by the project:

    ENABLE_TESTING
    THIRDPARTY


In file included from /root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/error_handling.c:35:
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/./error_handling_helpers.h: In function '__rcutils_convert_uint64_t_into_c_str':
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/./error_handling_helpers.h:109:48: warning: unused parameter 'number' [-Wunused-parameter]
  109 | __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size)
      |                                       ~~~~~~~~~^~~~~~
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/./error_handling_helpers.h:109:63: warning: unused parameter 'buffer' [-Wunused-parameter]
  109 | __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size)
      |                                                        ~~~~~~~^~~~~~
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/./error_handling_helpers.h:109:78: warning: unused parameter 'buffer_size' [-Wunused-parameter]
  109 | __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size)
      |                                                                       ~~~~~~~^~~~~~~~~~~
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/./error_handling_helpers.h: In function '__rcutils_format_error_string':
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/./error_handling_helpers.h:142:28: warning: unused parameter 'error_string' [-Wunused-parameter]
  142 |   rcutils_error_string_t * error_string,
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/./error_handling_helpers.h:143:33: warning: unused parameter 'error_state' [-Wunused-parameter]
  143 |   const rcutils_error_state_t * error_state)
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/error_handling.c: In function 'rcutils_get_error_string':
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/error_handling.c:240:38: warning: initializer-string for array of 'char' is too long
  240 |     return (rcutils_error_string_t) {"error not set"};  // NOLINT(readability/braces)
      |                                      ^~~~~~~~~~~~~~~
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/error_handling.c:240:38: note: (near initialization for '(anonymous).str')
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/./error_handling_helpers.h: At top level:
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/./error_handling_helpers.h:109:1: warning: '__rcutils_convert_uint64_t_into_c_str' defined but not used [-Wunused-function]
  109 | __rcutils_convert_uint64_t_into_c_str(uint64_t number, char * buffer, size_t buffer_size)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/./error_handling_helpers.h:91:1: warning: '__rcutils_reverse_str' defined but not used [-Wunused-function]
   91 | __rcutils_reverse_str(char * string_in, size_t string_len)
      | ^~~~~~~~~~~~~~~~~~~~~
In function 'rcutils_strndup',
    inlined from 'rcutils_strdup' at /root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/strdup.c:35:10:
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/strdup.c:47:14: warning: 'memchr' specified bound 4294967295 exceeds maximum object size 2147483647 [-Wstringop-overread]
   47 |   char * p = memchr(str, '\0', max_length);
      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/atomic_64bits.c:53:10: warning: conflicting types for built-in function '__atomic_load_8'; expected 'long long unsigned int(const volatile void *, int)' [-Wbuiltin-declaration-mismatch]
   53 | uint64_t __atomic_load_8(uint64_t *mem, int model) {
      |          ^~~~~~~~~~~~~~~
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/atomic_64bits.c:62:6: warning: conflicting types for built-in function '__atomic_store_8'; expected 'void(volatile void *, long long unsigned int,  int)' [-Wbuiltin-declaration-mismatch]
   62 | void __atomic_store_8(uint64_t *mem, uint64_t val, int model) {
      |      ^~~~~~~~~~~~~~~~
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/atomic_64bits.c:70:10: warning: conflicting types for built-in function '__atomic_exchange_8'; expected 'long long unsigned int(volatile void *, long long unsigned int,  int)' [-Wbuiltin-declaration-mismatch]
   70 | uint64_t __atomic_exchange_8(uint64_t *mem, uint64_t val, int model) {
      |          ^~~~~~~~~~~~~~~~~~~
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/atomic_64bits.c:80:10: warning: conflicting types for built-in function '__atomic_fetch_add_8'; expected 'long long unsigned int(volatile void *, long long unsigned int,  int)' [-Wbuiltin-declaration-mismatch]
   80 | uint64_t __atomic_fetch_add_8(uint64_t *mem, uint64_t val, int model) {
      |          ^~~~~~~~~~~~~~~~~~~~
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/time_unix.c:48:4: warning: #warning before C23 is a GCC extension
   48 | #  warning no monotonic clock function available
      |    ^~~~~~~
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/time_unix.c:48:4: warning: #warning no monotonic clock function available [-Wcpp]
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/time_unix.c: In function 'rcutils_system_time_now':
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/time_unix.c:65:7: error: implicit declaration of function 'clock_gettime' [-Wimplicit-function-declaration]
   65 |   if (clock_gettime(CLOCK_REALTIME, &timespec_now) < 0) {
      |       ^~~~~~~~~~~~~
gmake[2]: *** [CMakeFiles/rcutils.dir/build.make:432: CMakeFiles/rcutils.dir/src/time_unix.c.obj] Error 1
gmake[2]: *** Waiting for unfinished jobs....
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/logging.c: In function 'rcutils_get_env_var_zero_or_one':
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/logging.c:154:35: warning: unused parameter 'zero_semantic' [-Wunused-parameter]
  154 |   const char * name, const char * zero_semantic,
      |                      ~~~~~~~~~~~~~^~~~~~~~~~~~~
/root/micro_ros_platformio/examples/micro-ros_publisher/.pio/libdeps/pico/micro_ros_platformio/build/mcu/src/rcutils/src/logging.c:155:16: warning: unused parameter 'one_semantic' [-Wunused-parameter]
  155 |   const char * one_semantic)
      |   ~~~~~~~~~~~~~^~~~~~~~~~~~
gmake[1]: *** [CMakeFiles/Makefile2:192: CMakeFiles/rcutils.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< rcutils [4.10s, exited with code 2]

log_2.txt

3. Doesn't compile: https://github.com/hippo5329/platform-raspberrypi.git

Shortened log

Linking .pio/build/pico/firmware.elf
/root/.platformio/packages/toolchain-rp2040-earlephilhower/bin/../lib/gcc/arm-none-eabi/14.2.0/../../../../arm-none-eabi/bin/ld: /root/.platformio/packages/framework-arduinopico/lib/rp2040/libpico.a(atomic.c.o): in function `__atomic_load_8':
/home/earle/Arduino/hardware/pico/rp2040/pico-sdk/src/rp2_common/pico_atomic/atomic.c:121: multiple definition of `__atomic_load_8'; .pio/libdeps/pico/micro_ros_platformio/libmicroros/libmicroros.a(librcutils__atomic_64bits.c.obj):atomic_64bits.c:(.text.__atomic_load_8+0x0): first defined here
/root/.platformio/packages/toolchain-rp2040-earlephilhower/bin/../lib/gcc/arm-none-eabi/14.2.0/../../../../arm-none-eabi/bin/ld: /root/.platformio/packages/framework-arduinopico/lib/rp2040/libpico.a(atomic.c.o): in function `__atomic_store_8':
/home/earle/Arduino/hardware/pico/rp2040/pico-sdk/src/rp2_common/pico_atomic/atomic.c:132: multiple definition of `__atomic_store_8'; .pio/libdeps/pico/micro_ros_platformio/libmicroros/libmicroros.a(librcutils__atomic_64bits.c.obj):atomic_64bits.c:(.text.__atomic_store_8+0x0): first defined here
/root/.platformio/packages/toolchain-rp2040-earlephilhower/bin/../lib/gcc/arm-none-eabi/14.2.0/../../../../arm-none-eabi/bin/ld: /root/.platformio/packages/framework-arduinopico/lib/rp2040/libpico.a(atomic.c.o): in function `__atomic_exchange_8':
/home/earle/Arduino/hardware/pico/rp2040/pico-sdk/src/rp2_common/pico_atomic/atomic.c:163: multiple definition of `__atomic_exchange_8'; .pio/libdeps/pico/micro_ros_platformio/libmicroros/libmicroros.a(librcutils__atomic_64bits.c.obj):atomic_64bits.c:(.text.__atomic_exchange_8+0x0): first defined here
/root/.platformio/packages/toolchain-rp2040-earlephilhower/bin/../lib/gcc/arm-none-eabi/14.2.0/../../../../arm-none-eabi/bin/ld: /root/.platformio/packages/framework-arduinopico/lib/rp2040/libpico.a(atomic.c.o): in function `__atomic_fetch_add_8':
/home/earle/Arduino/hardware/pico/rp2040/pico-sdk/src/rp2_common/pico_atomic/atomic.c:189: multiple definition of `__atomic_fetch_add_8'; .pio/libdeps/pico/micro_ros_platformio/libmicroros/libmicroros.a(librcutils__atomic_64bits.c.obj):atomic_64bits.c:(.text.__atomic_fetch_add_8+0x0): first defined here
/root/.platformio/packages/toolchain-rp2040-earlephilhower/bin/../lib/gcc/arm-none-eabi/14.2.0/../../../../arm-none-eabi/bin/ld: .pio/libdeps/pico/micro_ros_platformio/libmicroros/libmicroros.a(librcutils__atomic_64bits.c.obj): in function `__atomic_load_8':
atomic_64bits.c:(.text.__atomic_load_8+0x2a): undefined reference to `__atomic_test_and_set'
/root/.platformio/packages/toolchain-rp2040-earlephilhower/bin/../lib/gcc/arm-none-eabi/14.2.0/../../../../arm-none-eabi/bin/ld: .pio/libdeps/pico/micro_ros_platformio/libmicroros/libmicroros.a(librcutils__atomic_64bits.c.obj): in function `__atomic_store_8':
atomic_64bits.c:(.text.__atomic_store_8+0x2e): undefined reference to `__atomic_test_and_set'
/root/.platformio/packages/toolchain-rp2040-earlephilhower/bin/../lib/gcc/arm-none-eabi/14.2.0/../../../../arm-none-eabi/bin/ld: .pio/libdeps/pico/micro_ros_platformio/libmicroros/libmicroros.a(librcutils__atomic_64bits.c.obj): in function `__atomic_exchange_8':
atomic_64bits.c:(.text.__atomic_exchange_8+0x2e): undefined reference to `__atomic_test_and_set'
collect2: error: ld returned 1 exit status
*** [.pio/build/pico/firmware.elf] Error 1

log_3.txt

rp2040 and rp2350 fail in the exact same fashion.

Additional information

Unfortunately I cannot use the older commit version, as it is lacking features I need :(

[snaens]

After writing this down I just thought of a workaround for case 3: https://github.com/hippo5329/platform-raspberrypi.git

Once compiled for the first time, run

arm-none-eabi-ar dv .pio/libdeps/pico/micro_ros_platformio/libmicroros/libmicroros.a librcutils__atomic_64bits.c.obj

Full log

root@container:~/micro_ros_platformio/examples/micro-ros_publisher# arm-none-eabi-ar dv .pio/libdeps/pico/micro_ros_platformio/libmicroros/libmicroros.a librcutils__atomic_64bits.c.obj
d - librcutils__atomic_64bits.c.obj

root@container:~/micro_ros_platformio/examples/micro-ros_publisher# pio run
Processing pico (platform: https://github.com/hippo5329/platform-raspberrypi.git; board: rpipico2; framework: arduino)
-----------------------------------------------------------------------------------------------------------------------------------------------------
Verbose mode can be enabled via `-v, --verbose` option
CONFIGURATION: https://docs.platformio.org/page/boards/raspberrypi/rpipico2.html
PLATFORM: Raspberry Pi RP2040 (1.15.0+sha.e95c19c) > Pico 2
HARDWARE: RP2350 150MHz, 512KB RAM, 4MB Flash
DEBUG: Current (blackmagic) External (blackmagic, cmsis-dap, jlink, picoprobe, raspberrypi-swd)
PACKAGES: 
 - framework-arduinopico @ 1.40504.0+sha.7dcfe4d 
 - tool-picotool-rp2040-earlephilhower @ 5.140200.240929 (14.2.0) 
 - toolchain-rp2040-earlephilhower @ 5.140200.241213 (14.2.0)
Flash size: 4.00MB
Sketch size: 4.00MB
Filesystem size: 0.00MB
PSRAM size: 0.00MB
Maximium Sketch size: 4190208 EEPROM start: 0x103ff000 Filesystem start: 0x103ff000 Filesystem end: 0x103ff000
LDF: Library Dependency Finder -> https://bit.ly/configure-pio-ldf
LDF Modes: Finder ~ chain+, Compatibility ~ soft
Installing importlib-resources with pip at PlatformIO environment
/root/.platformio/penv/bin/python -m pip install importlib-resources
Requirement already satisfied: importlib-resources in /root/.platformio/penv/lib/python3.11/site-packages (6.5.2)
Installing pyyaml with pip at PlatformIO environment
/root/.platformio/penv/bin/python -m pip install pyyaml
Requirement already satisfied: pyyaml in /root/.platformio/penv/lib/python3.11/site-packages (6.0.2)
Installing markupsafe==2.0.1 with pip at PlatformIO environment
/root/.platformio/penv/bin/python -m pip install markupsafe==2.0.1
Requirement already satisfied: markupsafe==2.0.1 in /root/.platformio/penv/lib/python3.11/site-packages (2.0.1)
Installing empy==3.3.4 with pip at PlatformIO environment
/root/.platformio/penv/bin/python -m pip install empy==3.3.4
Requirement already satisfied: empy==3.3.4 in /root/.platformio/penv/lib/python3.11/site-packages (3.3.4)
Configuring rpipico2 with transport serial
micro-ROS already built
Found 69 compatible libraries
Scanning dependencies...
Dependency Graph
|-- micro_ros_platformio @ 0.0.1+sha.f474915
Building in release mode
Linking .pio/build/pico/firmware.elf
Generating UF2 image
picotool uf2 convert -t elf ".pio/build/pico/firmware.elf" ".pio/build/pico/firmware.uf2"
Retrieving maximum program size .pio/build/pico/firmware.elf
Flash size: 4.00MB
Sketch size: 4.00MB
Filesystem size: 0.00MB
PSRAM size: 0.00MB
Maximium Sketch size: 4190208 EEPROM start: 0x103ff000 Filesystem start: 0x103ff000 Filesystem end: 0x103ff000
Checking size .pio/build/pico/firmware.elf
Advanced Memory Usage is available via "PlatformIO Home > Project Inspect"
RAM:   [=         ]   6.1% (used 31904 bytes from 524288 bytes)
Flash: [          ]   3.1% (used 128392 bytes from 4190208 bytes)
Building .pio/build/pico/firmware.bin
Building .pio/build/pico/firmware.bin.signed
============================================================ [SUCCESS] Took 6.55 seconds ============================================================

This removes the clashing librcutils__atomic_64bits.c.obj.
No Idea if this is a good idea, but hey, the example topic works.

It results in a successful build.

[snaens]

Oh, and this is relevant:
earlephilhower/arduino-pico#2497

[hippo5329]

Yes, there are two known issues, the atomic ops and clock_gettime().

You may follow the wiki. It fixed both pico and pico2.

https://github.com/hippo5329/micro_ros_arduino_examples_platformio/wiki

[snaens]

The wiki includes platformio.ini content for stock pico, pico with Earle's core and pico2 with Earle's core:

https://github.com/hippo5329/micro_ros_arduino_examples_platformio/blob/7fc84e616d0a8e3fbadbacfd2db285e09824e996/platformio/platformio.ini#L77-L92

Following the instructions in fresh containers (literally copying them):

• Stock builds fine
• pico_el fails just like last round's hippo5329, and too can be resolved with my workaround
  (install gcc-arm-none-eabi first, and change the path to pico_el):
  arm-none-eabi-ar dv .pio/libdeps/pico_el/micro_ros_platformio/libmicroros/libmicroros.a librcutils__atomic_64bits.c.obj
• pico2 fails because the hippo5329/pico-quick-toolchain repo has disappeared. (did you delete it yesterday?)

[snaens]

I've gone ahead and asked earlephilhower to update pico-quick-toolchain to include hippo5329's PR

Once that goes through, all builds will fail the way platform = https://github.com/hippo5329/platform-raspberrypi.git did: linking problems.

Which can at least be resolved with my workaround.

[hippo5329]

Oh.. Sorry, I mistakenly removed the pico_quick_toolchain yesterday during my Spring Cleanup. I will rebuild the toolchain later.

[snaens]

No need, Earle will release a new version soon.
He was going to anyways, as coincidentally there is a new GCC version.
earlephilhower/pico-quick-toolchain#69 (comment)

But back to the linking issue,
I'm way out of my depth here, but is there a way to fix it properly?
Like, micro_ros_platformio detecting that is building for Earle's core and
if so not generating the librcutils__atomic_64bits.c.obj object?
Or, inversely, micro_ros_platformio telling the linker to
ignore the librcutils__atomic_64bits.c.obj object / go for libpico's atomic.c.o?

[hippo5329]

Thanks for the update.

There are flags in the toolchains to direct features to be used or linked. Pico2 should be fine in atomic ops. But, as far as I checked months ago, Pico still use the old sdk, which is different from the updated sdk for pico2. So the conflict in atomic ops persists in pico with updated gcc.

Though it is possible to modify the ros2/micro-ros libraries (rclc etc) to accommodate the issues of pico. We should not fix it this way. Because ros2 are more universal and compatible with gcc toolchains for most platforms.

I believe it should be Raspberry Pi 's responsibility to update pico sdk.

[hippo5329]

We should dig into pico sdk 2. May be it is toolchain building or Arduino-pico issue?

[snaens]

I reran the test for pico 1 and 2,
using platform = https://github.com/hippo5329/platform-raspberrypi.git from a cached copy I had.

You assumed correctly; pico2 builds fine, only pico1 fails (how did I miss this).
So the issue is with pico-sdk internally, correct?
fantastic 😒

[hippo5329]

For pico2, the toolchains in my repo are updated to gcc 14.3. Please try out.

I did not test pico. I think the atomic ops issue persist.

[snaens]

Following: https://github.com/hippo5329/micro_ros_arduino_examples_platformio/wiki

platformio.ini mods:

[env:pico]
platform = raspberrypi
board = pico
lib_ldf_mode = chain+

[env:pico_el]
platform = https://github.com/hippo5329/platform-raspberrypi.git
board = rpipico
board_build.core = earlephilhower
lib_ldf_mode = chain+

[env:pico2]
platform = https://github.com/hippo5329/platform-raspberrypi.git
board = rpipico2
board_build.core = earlephilhower
lib_ldf_mode = chain+

End Output:

root@c3e316351dae:~/micro_ros_arduino_examples_platformio/micro-ros_reconnection_example# pio run -e pico -e pico_el -e pico2
Environment    Status    Duration
-------------  --------  ------------
pico           SUCCESS   00:02:52.740
pico_el        FAILED    00:02:54.713
pico2          SUCCESS   00:01:52.072
======================================================= 1 failed, 2 succeeded in 00:07:39.525 =======================================================

Yep, pico_el fails with the exact same "__atomic_..." multiple definitions

actual error output

...
Compiling ...
Archiving .pio/build/pico_el/libFrameworkArduino.a  
Linking .pio/build/pico_el/firmware.elf
/root/.platformio/packages/toolchain-rp2040-earlephilhower/bin/../lib/gcc/arm-none-eabi/14.3.0/../../../../arm-none-eabi/bin/ld: /root/.platformio/packages/framework-arduinopico/lib/rp2040/libpico.a(atomic.c.o): in function `__atomic_load_8':
/home/earle/Arduino/hardware/pico/rp2040/pico-sdk/src/rp2_common/pico_atomic/atomic.c:121: multiple definition of `__atomic_load_8'; .pio/libdeps/pico_el/micro_ros_platformio/libmicroros/libmicroros.a(librcutils__atomic_64bits.c.obj):atomic_64bits.c:(.text.__atomic_load_8+0x0): first defined here
/root/.platformio/packages/toolchain-rp2040-earlephilhower/bin/../lib/gcc/arm-none-eabi/14.3.0/../../../../arm-none-eabi/bin/ld: /root/.platformio/packages/framework-arduinopico/lib/rp2040/libpico.a(atomic.c.o): in function `__atomic_store_8':
/home/earle/Arduino/hardware/pico/rp2040/pico-sdk/src/rp2_common/pico_atomic/atomic.c:132: multiple definition of `__atomic_store_8'; .pio/libdeps/pico_el/micro_ros_platformio/libmicroros/libmicroros.a(librcutils__atomic_64bits.c.obj):atomic_64bits.c:(.text.__atomic_store_8+0x0): first defined here
/root/.platformio/packages/toolchain-rp2040-earlephilhower/bin/../lib/gcc/arm-none-eabi/14.3.0/../../../../arm-none-eabi/bin/ld: /root/.platformio/packages/framework-arduinopico/lib/rp2040/libpico.a(atomic.c.o): in function `__atomic_exchange_8':
/home/earle/Arduino/hardware/pico/rp2040/pico-sdk/src/rp2_common/pico_atomic/atomic.c:163: multiple definition of `__atomic_exchange_8'; .pio/libdeps/pico_el/micro_ros_platformio/libmicroros/libmicroros.a(librcutils__atomic_64bits.c.obj):atomic_64bits.c:(.text.__atomic_exchange_8+0x0): first defined here
/root/.platformio/packages/toolchain-rp2040-earlephilhower/bin/../lib/gcc/arm-none-eabi/14.3.0/../../../../arm-none-eabi/bin/ld: /root/.platformio/packages/framework-arduinopico/lib/rp2040/libpico.a(atomic.c.o): in function `__atomic_fetch_add_8':
/home/earle/Arduino/hardware/pico/rp2040/pico-sdk/src/rp2_common/pico_atomic/atomic.c:189: multiple definition of `__atomic_fetch_add_8'; .pio/libdeps/pico_el/micro_ros_platformio/libmicroros/libmicroros.a(librcutils__atomic_64bits.c.obj):atomic_64bits.c:(.text.__atomic_fetch_add_8+0x0): first defined here
/root/.platformio/packages/toolchain-rp2040-earlephilhower/bin/../lib/gcc/arm-none-eabi/14.3.0/../../../../arm-none-eabi/bin/ld: .pio/libdeps/pico_el/micro_ros_platformio/libmicroros/libmicroros.a(librcutils__atomic_64bits.c.obj): in function `__atomic_load_8':
atomic_64bits.c:(.text.__atomic_load_8+0x2a): undefined reference to `__atomic_test_and_set'
/root/.platformio/packages/toolchain-rp2040-earlephilhower/bin/../lib/gcc/arm-none-eabi/14.3.0/../../../../arm-none-eabi/bin/ld: .pio/libdeps/pico_el/micro_ros_platformio/libmicroros/libmicroros.a(librcutils__atomic_64bits.c.obj): in function `__atomic_store_8':
atomic_64bits.c:(.text.__atomic_store_8+0x2e): undefined reference to `__atomic_test_and_set'
/root/.platformio/packages/toolchain-rp2040-earlephilhower/bin/../lib/gcc/arm-none-eabi/14.3.0/../../../../arm-none-eabi/bin/ld: .pio/libdeps/pico_el/micro_ros_platformio/libmicroros/libmicroros.a(librcutils__atomic_64bits.c.obj): in function `__atomic_exchange_8':
atomic_64bits.c:(.text.__atomic_exchange_8+0x2e): undefined reference to `__atomic_test_and_set'
collect2: error: ld returned 1 exit status
*** [.pio/build/pico_el/firmware.elf] Error 1
=========================================================== [FAILED] Took 174.71 seconds ===========================================================

---

And as with before, the workaround works

root@c3e316351dae:~/micro_ros_arduino_examples_platformio/micro-ros_reconnection_example# arm-none-eabi-ar dv .pio/libdeps/pico_el/micro_ros_platformio/libmicroros/libmicroros.a librcutils__atomic_64bits.c.obj
d - librcutils__atomic_64bits.c.obj
root@c3e316351dae:~/micro_ros_arduino_examples_platformio/micro-ros_reconnection_example# pio run -e pico -e pico_el -e pico2
...

Environment    Status    Duration
-------------  --------  ------------
pico           SUCCESS   00:00:05.952
pico_el        SUCCESS   00:00:06.927
pico2          SUCCESS   00:00:06.903
============================================================ 3 succeeded in 00:00:19.782 ============================================================

[snaens]

If this is because of pico-sdk, having a workaround is basically as far as we can get.

Maybe amend a note to the readme of this repo so people don't have to go info digging?

Also, #153 is a duplicte of this issue.

[hippo5329]

@snaens Atomic ops issues of pico is resolved with

hippo5329/micro_ros_arduino_examples_platformio@f7a15e2

maxgerhardt/platform-raspberrypi will be used when it is updated to earlephilhower/pico-quick-toolchain 4.1.0 .

[snaens]

Verified,
The newly released version of pico-quick-toolchain fixes the compile issues.

However the workaround is still needed to finish the build process.
I propose we append this to the 'known limitations' section of this repo's readme

Something like this:

• For pico board, edit colcon meta file to use atomic64:

          "rcutils": {
          "cmake-args": [
  -            "-DRCUTILS_NO_64_ATOMIC=ON",
  +            "-DRCUTILS_NO_64_ATOMIC=OFF",
          ]
      },