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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) #1712

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Merged
merged 19 commits into from
Nov 14, 2024
Merged

fixed time.h import, added Arduino UNO R4 minima (USB), Arduino UNO R4 WiFi (USB and WiFi), Arduino Giga R1 (USB and WiFi) #1712

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362acd4
fixes time.h import
gbr1 Mar 21, 2024
1c1e4f8
added support for Arduino GIGA R1 over WiFi
gbr1 Mar 26, 2024
baf9e16
examples with giga r1
gbr1 Mar 26, 2024
40be44a
Merge pull request #1 from gbr1/iron-giga
gbr1 Mar 27, 2024
95a5b88
uint -> uint32_t, added uno r4 wifi
gbr1 Mar 27, 2024
00d0916
added uno r4 into the example
gbr1 Mar 27, 2024
3aee142
added uno r4 family into library properties
gbr1 Mar 27, 2024
b87a23a
Merge pull request #2 from gbr1/iron-giga
gbr1 Mar 27, 2024
fae478c
led builtin check
gbr1 Mar 27, 2024
0d2ca6f
Merge pull request #3 from gbr1/iron-giga
gbr1 Mar 27, 2024
1686454
Merge branch 'micro-ROS:iron' into iron
gbr1 May 22, 2024
0899722
added boards into readme
gbr1 Jul 10, 2024
67e2139
Merge branch 'micro-ROS:iron' into iron
gbr1 Jul 10, 2024
abb2a9a
updated ci
gbr1 Jul 10, 2024
05dae2b
fix typo
gbr1 Jul 11, 2024
b5b0e74
Merge branch 'micro-ROS:iron' into iron
gbr1 Jul 11, 2024
460cd0f
updated cli version
gbr1 Jul 11, 2024
92d521e
force update index
gbr1 Jul 24, 2024
fcef038
reverted cli
gbr1 Aug 2, 2024
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27 changes: 19 additions & 8 deletions .github/workflows/ci.yml
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Expand Up @@ -35,10 +35,15 @@ jobs:
curl -fsSL https://www.pjrc.com/teensy/package_teensy_index.json -o /github/home/.arduino15/package_teensy_index.json
curl -fsSL https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json -o /github/home/.arduino15/package_seeeduino_boards_index.json
export PATH=$PATH:/github/workspace/bin:/__w/micro_ros_arduino/micro_ros_arduino/bin

arduino-cli core install OpenCR:OpenCR -v
arduino-cli core install arduino:samd -v
arduino-cli core install arduino:sam -v
arduino-cli core install arduino:mbed -v
arduino-cli core install arduino:mbed_giga -v
arduino-cli core install arduino:mbed_rp2040 -v
arduino-cli core install arduino:mbed_portenta -v
arduino-cli core install arduino:renesas_uno -v
arduino-cli core install arduino:mbed_nano -v
arduino-cli core install esp32:esp32 -v
arduino-cli core install teensy:[email protected] -v
arduino-cli core install Seeeduino:samd -v
Expand All @@ -65,10 +70,10 @@ jobs:
arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_time_sync -v
arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_types_handling -v
# Build one demo for each platform
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v
arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v
arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
arduino-cli compile --fqbn teensy:avr:teensy31 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
arduino-cli compile --fqbn teensy:avr:teensy35 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
arduino-cli compile --fqbn teensy:avr:teensy36 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
Expand All @@ -77,10 +82,16 @@ jobs:
arduino-cli compile --fqbn arduino:samd:arduino_zero_native /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
arduino-cli compile --fqbn arduino:sam:arduino_due_x /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
# arduino-cli compile --fqbn arduino:mbed:envie_m4 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
arduino-cli compile --fqbn arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
arduino-cli compile --fqbn arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
arduino-cli compile --fqbn Seeeduino:samd:seeed_wio_terminal /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
arduino-cli compile --fqbn arduino:renesas_uno:minima /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
# Build micro-ros_publisher-wifi_at for WiFi non-native board with ESP-AT
arduino-cli compile --fqbn arduino:mbed:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi_at -v
arduino-cli compile --fqbn arduino:mbed_rp2040:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi_at -v

4 changes: 4 additions & 0 deletions README.md
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Expand Up @@ -48,6 +48,10 @@ Community contributed boards are:
| [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` |
| [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` |
| [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` |
| [Arduino Giga R1](https://store.arduino.cc/products/giga-r1-wifi) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
| [Arduino UNO R4 WiFi](https://store.arduino.cc/products/uno-r4-wifi) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
| [Arduino UNO R4 Minima](https://store.arduino.cc/products/uno-r4-minima) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |


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

Expand Down
10 changes: 7 additions & 3 deletions examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino
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Expand Up @@ -8,8 +8,8 @@

#include <std_msgs/msg/int32.h>

#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL)
#error This example is only available for Arduino Portenta, Arduino Nano RP2040 Connect, ESP32 Dev module and Wio Terminal
#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_GIGA) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL) && !defined(ARDUINO_UNOR4_WIFI)
#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
#endif

rcl_publisher_t publisher;
Expand All @@ -18,7 +18,11 @@ rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;

#define LED_PIN 13
#if defined(LED_BUILTIN)
#define LED_PIN LED_BUILTIN
#else
#define LED_PIN 13
#endif

#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}
Expand Down
2 changes: 1 addition & 1 deletion examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino
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Expand Up @@ -21,7 +21,7 @@

#include <std_msgs/msg/int32.h>

#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
#define BOARD_HAS_NATIVE_WIFI
#endif

Expand Down
2 changes: 1 addition & 1 deletion library.properties
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Expand Up @@ -7,4 +7,4 @@ paragraph=micro-ROS Arduino library
url=https://github.com/micro-ROS/micro_ros_arduino
precompiled=true
category=Other
architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta
architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta,mbed_giga,renesas_uno
2 changes: 1 addition & 1 deletion src/default_transport.cpp
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Expand Up @@ -4,7 +4,7 @@ extern "C"
{
#include <stdio.h>
#include <stdbool.h>
#include <sys/time.h>
#include <time.h>

int clock_gettime(clockid_t unused, struct timespec *tp) __attribute__ ((weak));
bool arduino_transport_open(struct uxrCustomTransport * transport) __attribute__ ((weak));
Expand Down
8 changes: 5 additions & 3 deletions src/micro_ros_arduino.h
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Expand Up @@ -95,9 +95,9 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd

#endif

#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT)
#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)

#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA)
#include <WiFi.h>
#include <WiFiUdp.h>
#elif defined(ARDUINO_NANO_RP2040_CONNECT)
Expand All @@ -108,6 +108,8 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
#include <WiFiUdp.h>
#elif defined(BOARD_WITH_ESP_AT)
#include <WiFiEspAT.h>
#elif defined(ARDUINO_UNOR4_WIFI)
#include <WiFiS3.h>
#endif

extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transport);
Expand All @@ -121,7 +123,7 @@ struct micro_ros_agent_locator {
};
#endif

static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint agent_port){
static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint32_t agent_port){

#if defined(BOARD_WITH_ESP_AT)
ESP_AT_SERIAL_PORT.begin(ESP_AT_BAUDRATE);
Expand Down
6 changes: 4 additions & 2 deletions src/wifi_transport.cpp
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@@ -1,8 +1,8 @@
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT)
#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)
#include <Arduino.h>


#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA)
#include <WiFi.h>
#include <WiFiUdp.h>
#elif defined(ARDUINO_NANO_RP2040_CONNECT)
Expand All @@ -13,6 +13,8 @@
#include <WiFiUdp.h>
#elif defined(BOARD_WITH_ESP_AT)
#include <WiFiEspAT.h>
#elif defined(ARDUINO_UNOR4_WIFI)
#include <WiFiS3.h>
#endif

#include <micro_ros_arduino.h>
Expand Down
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