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fixed time.h import, added Arduino UNO R4 minima (USB), Arduino UNO R4 WiFi (USB and WiFi), Arduino Giga R1 (USB and WiFi) (backport #1712) (#1864)
* fixed time.h import, added Arduino UNO R4 minima (USB), Arduino UNO R4 WiFi (USB and WiFi), Arduino Giga R1 (USB and WiFi) (#1712) * fixes time.h import * added support for Arduino GIGA R1 over WiFi * examples with giga r1 * uint -> uint32_t, added uno r4 wifi * added uno r4 into the example * added uno r4 family into library properties * led builtin check * added boards into readme * updated ci * fix typo * updated cli version * force update index * reverted cli (cherry picked from commit e347a4a) # Conflicts: # .github/workflows/ci.yml # README.md # examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino # examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino # src/micro_ros_arduino.h # src/wifi_transport.cpp * Fix rebase * Update ci.yml --------- Co-authored-by: Giovanni Bruno <[email protected]> Co-authored-by: Pablo Garrido <[email protected]>
1 parent d7a6e11 commit 41bc42c

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‎.github/workflows/ci.yml

+21-7
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@@ -35,10 +35,15 @@ jobs:
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curl -fsSL https://www.pjrc.com/teensy/package_teensy_index.json -o /github/home/.arduino15/package_teensy_index.json
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curl -fsSL https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json -o /github/home/.arduino15/package_seeeduino_boards_index.json
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export PATH=$PATH:/github/workspace/bin:/__w/micro_ros_arduino/micro_ros_arduino/bin
38+
3839
arduino-cli core install OpenCR:OpenCR -v
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arduino-cli core install arduino:samd -v
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arduino-cli core install arduino:sam -v
41-
arduino-cli core install arduino:mbed -v
42+
arduino-cli core install arduino:mbed_giga -v
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arduino-cli core install arduino:mbed_rp2040 -v
44+
arduino-cli core install arduino:mbed_portenta -v
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arduino-cli core install arduino:renesas_uno -v
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arduino-cli core install arduino:mbed_nano -v
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arduino-cli core install esp32:esp32 -v
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arduino-cli core install teensy:[email protected] -v
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arduino-cli core install Seeeduino:samd -v
@@ -54,6 +59,7 @@ jobs:
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arduino-cli lib install WiFiNINA
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arduino-cli lib install "STM32duino X-NUCLEO-IKS01A3"
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arduino-cli lib install "Seeed Arduino rpcWiFi" # Dependent libraries(e.g. "Seeed Arduino rpcUnified") will be installed together. See https://wiki.seeedstudio.com/Wio-Terminal-Network-Overview/#needed-libraries-for-wi-fi for more details.
62+
arduino-cli lib install WiFiEspAT
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# Build all demos
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arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_addtwoints_service -v
@@ -64,10 +70,10 @@ jobs:
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arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_time_sync -v
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arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_types_handling -v
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# Build one demo for each platform
67-
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
68-
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v
69-
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v
70-
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
73+
arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v
75+
arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v
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arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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arduino-cli compile --fqbn teensy:avr:teensy31 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn teensy:avr:teensy35 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn teensy:avr:teensy36 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
@@ -76,8 +82,16 @@ jobs:
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arduino-cli compile --fqbn arduino:samd:arduino_zero_native /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:sam:arduino_due_x /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
7884
# arduino-cli compile --fqbn arduino:mbed:envie_m4 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
79-
arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
80-
arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
85+
arduino-cli compile --fqbn arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
86+
arduino-cli compile --fqbn arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
8389
arduino-cli compile --fqbn Seeeduino:samd:seeed_wio_terminal /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
90+
arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
91+
arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
92+
arduino-cli compile --fqbn arduino:renesas_uno:minima /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
93+
arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
94+
arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
95+
# Build micro-ros_publisher-wifi_at for WiFi non-native board with ESP-AT
96+
arduino-cli compile --fqbn arduino:mbed_rp2040:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi_at -v
97+

‎README.md

+14-7
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@@ -38,13 +38,20 @@ Supported boards are:
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Community contributed boards are:
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41-
| Board | Min version | Contributor | Details | .meta file |
42-
| ---------------------------------------------------------------------------------------- | ----------- | ---------------------------------------------- | ------- | ------------------------ |
43-
| [Arduino Due](https://store.arduino.cc/arduino-due) | - | [@lukicdarkoo](https://github.com/lukicdarkoo) | | `colcon_verylowmem.meta` |
44-
| [Arduino Zero](https://store.arduino.cc/arduino-zero) | - | [@lukicdarkoo](https://github.com/lukicdarkoo) | | `colcon_verylowmem.meta` |
45-
| [Kakute F7](http://www.holybro.com/product/kakute-f7-aio-v1-5/) | - | [@amfern](https://github.com/amfern) | | `colcon.meta` |
46-
| [STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/resources/STM32-E407.pdf) | - | [@dominikn](https://github.com/dominikn) | | `colcon.meta` |
47-
| [Wio Terminal](https://wiki.seeedstudio.com/Wio-Terminal-Getting-Started/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | | `colcon.meta` |
41+
| Board | Min version | Contributor | Details | .meta file |
42+
| ---------------------------------------------------------------------------------------- | ----------- | ------------------------------------------------------ | ------------------------------------------------------------------------- | ------------------------ |
43+
| [Arduino Due](https://store.arduino.cc/arduino-due) | - | [@lukicdarkoo](https://github.com/lukicdarkoo) | | `colcon_verylowmem.meta` |
44+
| [Arduino Zero](https://store.arduino.cc/arduino-zero) | - | [@lukicdarkoo](https://github.com/lukicdarkoo) | | `colcon_verylowmem.meta` |
45+
| [Kakute F7](http://www.holybro.com/product/kakute-f7-aio-v1-5/) | - | [@amfern](https://github.com/amfern) | | `colcon.meta` |
46+
| [STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/resources/STM32-E407.pdf) | - | [@dominikn](https://github.com/dominikn) | | `colcon.meta` |
47+
| [Wio Terminal](https://wiki.seeedstudio.com/Wio-Terminal-Getting-Started/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | | `colcon.meta` |
48+
| [Raspberry Pi Pico](https://www.raspberrypi.com/documentation/microcontrollers/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` |
49+
| [Seeed Studio XIAO SAMD21](https://wiki.seeedstudio.com/Seeeduino-XIAO/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` |
50+
| [Seeed Studio XIAO RP2040](https://wiki.seeedstudio.com/XIAO-RP2040/) | - | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` |
51+
| [Arduino Giga R1](https://store.arduino.cc/products/giga-r1-wifi) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
52+
| [Arduino UNO R4 WiFi](https://store.arduino.cc/products/uno-r4-wifi) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
53+
| [Arduino UNO R4 Minima](https://store.arduino.cc/products/uno-r4-minima) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
54+
4855

4956
You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types).
5057

‎examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino

+7-3
Original file line numberDiff line numberDiff line change
@@ -8,8 +8,8 @@
88

99
#include <std_msgs/msg/int32.h>
1010

11-
#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL)
12-
#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect, ESP32 Dev module and Wio Terminal
11+
#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_GIGA) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL) && !defined(ARDUINO_UNOR4_WIFI)
12+
#error This example is only available for Arduino Portenta, Arduino Giga R1, Arduino Nano RP2040 Connect, ESP32 Dev module, Wio Terminal and Arduino Uno R4 WiFi
1313
#endif
1414

1515
rcl_publisher_t publisher;
@@ -18,7 +18,11 @@ rclc_support_t support;
1818
rcl_allocator_t allocator;
1919
rcl_node_t node;
2020

21-
#define LED_PIN 13
21+
#if defined(LED_BUILTIN)
22+
#define LED_PIN LED_BUILTIN
23+
#else
24+
#define LED_PIN 13
25+
#endif
2226

2327
#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
2428
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}

‎examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino

+89
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,89 @@
1+
// To use "ESP-AT External WiFi module"(hereinafter called "ESP-AT") with your board, install "WiFiEspAT" from Library Manager.
2+
// See https://www.espressif.com/en/products/sdks/esp-at/overview for more details about ESP-AT.
3+
4+
#define BOARD_WITH_ESP_AT
5+
// Configurations about communication between Host MCU and ESP-AT.
6+
// In most cases, you would burn ESP-AT firmware v2 or later. And you should uncomment "#define WIFIESPAT1" in EspAtDrvTypes.h
7+
// See https://github.com/JAndrassy/WiFiEspAT/tree/7f398e14f331fc845c4af671f1946fe3f29a744f#getting-started for more details.
8+
#define ESP_AT_SERIAL_PORT Serial1 // Serial port object to ESP-AT
9+
#define ESP_AT_BAUDRATE 115200 // Baudrate setting in ESP-AT firmware(default is 115200)
10+
#define ESP_AT_RESET_PIN -1 // GPIO_PIN connected to ESP-AT's reset pin(-1 means not to use hardware reset)
11+
12+
#include <micro_ros_arduino.h>
13+
14+
#include <wifi_transport.cpp>
15+
16+
#include <stdio.h>
17+
#include <rcl/rcl.h>
18+
#include <rcl/error_handling.h>
19+
#include <rclc/rclc.h>
20+
#include <rclc/executor.h>
21+
22+
#include <std_msgs/msg/int32.h>
23+
24+
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
25+
#define BOARD_HAS_NATIVE_WIFI
26+
#endif
27+
28+
#if defined(BOARD_HAS_NATIVE_WIFI)
29+
#error This example is not available for boards that have native WiFi.
30+
#endif
31+
32+
rcl_publisher_t publisher;
33+
std_msgs__msg__Int32 msg;
34+
rclc_support_t support;
35+
rcl_allocator_t allocator;
36+
rcl_node_t node;
37+
38+
#define LED_PIN 13
39+
40+
#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
41+
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}
42+
43+
44+
void error_loop(){
45+
while(1){
46+
digitalWrite(LED_PIN, !digitalRead(LED_PIN));
47+
delay(100);
48+
}
49+
}
50+
51+
void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
52+
{
53+
RCLC_UNUSED(last_call_time);
54+
if (timer != NULL) {
55+
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
56+
msg.data++;
57+
}
58+
}
59+
60+
void setup() {
61+
set_microros_wifi_transports("WIFI SSID", "WIFI PASS", "192.168.1.57", 8888);
62+
63+
pinMode(LED_PIN, OUTPUT);
64+
digitalWrite(LED_PIN, HIGH);
65+
66+
delay(2000);
67+
68+
allocator = rcl_get_default_allocator();
69+
70+
//create init_options
71+
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
72+
73+
// create node
74+
RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_wifi_node", "", &support));
75+
76+
// create publisher
77+
RCCHECK(rclc_publisher_init_best_effort(
78+
&publisher,
79+
&node,
80+
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
81+
"topic_name"));
82+
83+
msg.data = 0;
84+
}
85+
86+
void loop() {
87+
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
88+
msg.data++;
89+
}

‎library.properties

+1-1
Original file line numberDiff line numberDiff line change
@@ -7,4 +7,4 @@ paragraph=micro-ROS Arduino library
77
url=https://github.com/micro-ROS/micro_ros_arduino
88
precompiled=true
99
category=Other
10-
architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta
10+
architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta,mbed_giga,renesas_uno

‎src/default_transport.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@ extern "C"
44
{
55
#include <stdio.h>
66
#include <stdbool.h>
7-
#include <sys/time.h>
7+
#include <time.h>
88

99
int clock_gettime(clockid_t unused, struct timespec *tp) __attribute__ ((weak));
1010
bool arduino_transport_open(struct uxrCustomTransport * transport) __attribute__ ((weak));

‎src/micro_ros_arduino.h

+7-3
Original file line numberDiff line numberDiff line change
@@ -95,9 +95,9 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
9595

9696
#endif
9797

98-
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
98+
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT) || defined(ARDUINO_UNOR4_WIFI)
9999

100-
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
100+
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA)
101101
#include <WiFi.h>
102102
#include <WiFiUdp.h>
103103
#elif defined(ARDUINO_NANO_RP2040_CONNECT)
@@ -106,6 +106,10 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
106106
#elif defined(ARDUINO_WIO_TERMINAL)
107107
#include <rpcWiFi.h>
108108
#include <WiFiUdp.h>
109+
#elif defined(BOARD_WITH_ESP_AT)
110+
#include <WiFiEspAT.h>
111+
#elif defined(ARDUINO_UNOR4_WIFI)
112+
#include <WiFiS3.h>
109113
#endif
110114

111115
extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transport);
@@ -119,7 +123,7 @@ struct micro_ros_agent_locator {
119123
};
120124
#endif
121125

122-
static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint agent_port){
126+
static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint32_t agent_port){
123127

124128
WiFi.begin(ssid, pass);
125129

‎src/wifi_transport.cpp

+6-2
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,8 @@
1-
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
1+
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT) || defined(ARDUINO_UNOR4_WIFI)
22
#include <Arduino.h>
33

44

5-
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
5+
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA)
66
#include <WiFi.h>
77
#include <WiFiUdp.h>
88
#elif defined(ARDUINO_NANO_RP2040_CONNECT)
@@ -11,6 +11,10 @@
1111
#elif defined(ARDUINO_WIO_TERMINAL)
1212
#include <rpcWiFi.h>
1313
#include <WiFiUdp.h>
14+
#elif defined(BOARD_WITH_ESP_AT)
15+
#include <WiFiEspAT.h>
16+
#elif defined(ARDUINO_UNOR4_WIFI)
17+
#include <WiFiS3.h>
1418
#endif
1519

1620
#include <micro_ros_arduino.h>

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