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portenta h7 m7 ethernet support #852

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merged 10 commits into from
Mar 21, 2022
Merged

portenta h7 m7 ethernet support #852

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d32519f
add ethernet trasport for PORTENTA_H7_M7 in uros header
Jenifen Mar 18, 2022
064988b
add ethernet trasport for PORTENTA_H7_M7 cpp
Jenifen Mar 18, 2022
218653a
add ethernet publish example
Jenifen Mar 18, 2022
86549ef
correct error msg add
Jenifen Mar 18, 2022
f6f87e2
add comment ip
Jenifen Mar 18, 2022
a4e3e6f
change topic_name, namespace
Jenifen Mar 18, 2022
505d6ab
update mac address
Jenifen Mar 21, 2022
ab12062
remove comment
Jenifen Mar 21, 2022
7c1771f
remove not used headers
Jenifen Mar 21, 2022
9a64cf3
fix error condition
Jenifen Mar 21, 2022
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77 changes: 77 additions & 0 deletions examples/micro-ros_publisher_ethernet/micro-ros_publisher_ethernet.ino
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Original file line number Diff line number Diff line change
@@ -0,0 +1,77 @@
#include <micro_ros_arduino.h>

#include <stdio.h>
#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <std_msgs/msg/int32.h>

#if !defined(TARGET_STM32F4) || !defined(ARDUINO_TEENSY41) || !defined(TARGET_PORTENTA_H7_M7)
#error This example is only avaible for Arduino Portenta, Arduino Teensy41 and STM32F4
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#endif

rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;

#define LED_PIN 13

#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)){}}



void error_loop(){
while(1){
digitalWrite(LED_PIN, !digitalRead(LED_PIN));
delay(100);
}
}

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
RCLC_UNUSED(last_call_time);
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
msg.data++;
}
}

void setup() {
byte arduino_mac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
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// The IP address will be dependent on your local network
IPAddress arduino_ip(192, 168, 1, 177);
IPAddress agent_ip(192, 168, 1, 113);
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set_microros_native_ethernet_udp_transports(arduino_mac, arduino_ip, agent_ip, 9999);

pinMode(LED_PIN, OUTPUT);
digitalWrite(LED_PIN, HIGH);

delay(2000);

allocator = rcl_get_default_allocator();

//create init_options
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

// create node
RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_ethernet_node", "namespace", &support));

// create publisher
RCCHECK(rclc_publisher_init_best_effort(
&publisher,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
"topic_name"));

msg.data = 0;
}

void loop() {
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
msg.data++;
delay(100);
}
12 changes: 10 additions & 2 deletions src/micro_ros_arduino.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,14 @@ static inline void set_microros_transports(){
#include <NativeEthernet.h>
#endif

#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41)
#if defined(TARGET_PORTENTA_H7_M7)
#include <EthernetUdp.h>
#include <PortentaEthernet.h>
#include <uxr/client/transport.h>
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#include <rmw_microros/rmw_microros.h>
#endif

#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41) || defined(TARGET_PORTENTA_H7_M7)
extern "C" bool arduino_native_ethernet_udp_transport_open(struct uxrCustomTransport * transport);
extern "C" bool arduino_native_ethernet_udp_transport_close(struct uxrCustomTransport * transport);
extern "C" size_t arduino_native_ethernet_udp_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);
Expand Down Expand Up @@ -95,11 +102,12 @@ extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transpor
extern "C" bool arduino_wifi_transport_close(struct uxrCustomTransport * transport);
extern "C" size_t arduino_wifi_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);
extern "C" size_t arduino_wifi_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err);

#if not defined(TARGET_PORTENTA_H7_M7)
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struct micro_ros_agent_locator {
IPAddress address;
int port;
};
#endif

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

Expand Down
7 changes: 6 additions & 1 deletion src/native_ethernet_transport.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,13 @@
#include <NativeEthernet.h>
#include <micro_ros_arduino.h>
#endif
#ifdef TARGET_PORTENTA_H7_M7
#include <Arduino.h>
#include <EthernetUdp.h>
#include <micro_ros_arduino.h>
#endif

#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41)
#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41) || defined(TARGET_PORTENTA_H7_M7)
extern "C" {

#include <stdbool.h>
Expand Down