Add IDF 5 support and deprecate versions 4.1 and 4.2

.github/workflows/ci.yml

@@ -13,18 +13,8 @@ jobs:
       fail-fast: false
       matrix:
         idf_target: [ esp32, esp32s2, esp32s3, esp32c3]
-        idf_version: [ "espressif/idf:release-v4.1", "espressif/idf:release-v4.2", "espressif/idf:release-v4.3", "espressif/idf:release-v4.4" ]
+        idf_version: [ "espressif/idf:release-v4.3", "espressif/idf:release-v4.4", "espressif/idf:release-v5.0" ]
         exclude:
-          - idf_target: esp32s2
-            idf_version: "espressif/idf:release-v4.1"
-          - idf_target: esp32c3
-            idf_version: "espressif/idf:release-v4.1"
-          - idf_target: esp32c3
-            idf_version: "espressif/idf:release-v4.2"
-          - idf_target: esp32s3
-            idf_version: "espressif/idf:release-v4.1"
-          - idf_target: esp32s3
-            idf_version: "espressif/idf:release-v4.2"
           - idf_target: esp32s3
             idf_version: "espressif/idf:release-v4.3"
 
@@ -46,6 +36,8 @@ jobs:
           pip3 install catkin_pkg lark-parser empy colcon-common-extensions
           # This line avoids the error when using Python < 3.7 https://importlib-resources.readthedocs.io/en/latest/
           pip3 install importlib-resources
+          # this installs the modules also for global python interpreter, needed for IDF v5
+          /usr/bin/pip3 install catkin_pkg lark-parser empy colcon-common-extensions importlib-resources
 
       - name: Build sample - int32_publisher
         shell: bash

.github/workflows/nightly.yml

@@ -14,20 +14,10 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        branch: [foxy, main, galactic]
+        branch: [foxy, main, humble]
         idf_target: [ esp32, esp32s2, esp32c3, esp32s3]
-        idf_version: [ "espressif/idf:release-v4.1", "espressif/idf:release-v4.2", "espressif/idf:release-v4.3", "espressif/idf:release-v4.4" ]
+        idf_version: [ "espressif/idf:release-v4.3", "espressif/idf:release-v4.4", "espressif/idf:release-v5.0" ]
         exclude:
-          - idf_target: esp32s2
-            idf_version: "espressif/idf:release-v4.1"
-          - idf_target: esp32c3
-            idf_version: "espressif/idf:release-v4.1"
-          - idf_target: esp32c3
-            idf_version: "espressif/idf:release-v4.2"
-          - idf_target: esp32s3
-            idf_version: "espressif/idf:release-v4.1"
-          - idf_target: esp32s3
-            idf_version: "espressif/idf:release-v4.2"
           - idf_target: esp32s3
             idf_version: "espressif/idf:release-v4.3"
     container:
@@ -49,6 +39,8 @@ jobs:
           pip3 install catkin_pkg lark-parser empy colcon-common-extensions
           # This line avoids the error when using Python < 3.7 https://importlib-resources.readthedocs.io/en/latest/
           pip3 install importlib-resources
+          # this installs the modules also for global python interpreter, needed for IDF v5
+          /usr/bin/pip3 install catkin_pkg lark-parser empy colcon-common-extensions importlib-resources
 
       - name: Build sample - int32_publisher
         shell: bash
@@ -79,7 +71,7 @@ jobs:
           idf.py build
 
       - name: EmbeddedRTPS
-        if: ${{ matrix.branch == 'galactic' }}
+        if: ${{ matrix.branch == 'humble' }}
         shell: bash
         run: |
           . $IDF_PATH/export.sh

CMakeLists.txt

@@ -1,13 +1,19 @@
 idf_component_register(SRCS "network_interfaces/uros_ethernet_netif.c" "network_interfaces/uros_wlan_netif.c"
                        INCLUDE_DIRS "network_interfaces"
-                       REQUIRES nvs_flash)
+                       REQUIRES nvs_flash esp_wifi esp_eth lwip)
 
 if(CMAKE_GENERATOR STREQUAL "Unix Makefiles")
 set(submake "$(MAKE)")
 else()
 set(submake "make")
 endif()
 
+if (${IDF_VERSION_MAJOR} EQUAL 5)
+    set(CMAKE_C_STANDARD 17)
+else()
+    set(CMAKE_C_STANDARD 11)
+endif()
+
 set(APP_COLCON_META "${PROJECT_DIR}/app-colcon.meta")
 if(NOT EXISTS "${APP_COLCON_META}")
 set(APP_COLCON_META "")
@@ -26,6 +32,22 @@ message(STATUS "Using Micro XRCE-DDS middleware")
 set(MIDDLEWARE "microxrcedds")
 endif()
 
+# Create a list of packages to get includes
+idf_build_get_property(PACKAGES BUILD_COMPONENTS)
+
+# Add includes for each package
+foreach(package ${PACKAGES})
+    idf_component_get_property(${package}_dir ${package} COMPONENT_DIR)
+    idf_component_get_property(${package}_includes ${package} INCLUDE_DIRS)
+    list(TRANSFORM ${package}_includes PREPEND " -I${${package}_dir}/")
+    string(REPLACE ";" "" ${package}_includes_string "${${package}_includes}")
+endforeach()
+
+# Create a string with all packages with a for loop
+foreach(package ${PACKAGES})
+    string(APPEND IDF_INCLUDES "${${package}_includes_string}")
+endforeach()
+
 execute_process(
     WORKING_DIRECTORY ${COMPONENT_DIR}
     COMMAND
@@ -36,8 +58,10 @@ execute_process(
                 X_CFLAGS=${CMAKE_C_FLAGS}
                 X_CXX=${CMAKE_CXX_COMPILER}
                 X_CXXFLAGS=${CMAKE_CXX_FLAGS}
+                C_STANDARD=${CMAKE_C_STANDARD}
                 MIDDLEWARE=${MIDDLEWARE}
                 BUILD_DIR=${CMAKE_BINARY_DIR}
+                IDF_INCLUDES=${IDF_INCLUDES}
                 IDF_PATH=${IDF_PATH}
                 IDF_TARGET=${IDF_TARGET}
                 APP_COLCON_META=${APP_COLCON_META}

README.md

@@ -3,7 +3,7 @@
 
 # micro-ROS component for ESP-IDF
 
-This component has been tested in ESP-IDF v4.1, v4.2, v4.3 and v4.4 with ESP32, ESP32-S2, ESP32-S3 and ESP32-C3.
+This component has been tested in ESP-IDF v4.3, v4.4, and v5.0 with ESP32, ESP32-S2, ESP32-S3 and ESP32-C3.
 
 ## Dependencies
 
@@ -64,7 +64,7 @@ It's possible to build this example application using preconfigured docker conta
 docker run -it --rm --user espidf --volume="/etc/timezone:/etc/timezone:ro" -v  $(pwd):/micro_ros_espidf_component -v  /dev:/dev --privileged --workdir /micro_ros_espidf_component microros/esp-idf-microros:latest /bin/bash  -c "cd examples/int32_publisher; idf.py menuconfig build flash monitor"
 ```
 
-Dockerfile for this container is provided in the ./docker directory and available in dockerhub.
+Dockerfile for this container is provided in the ./docker directory and available in dockerhub. This approach uses ESP-IDF v5.
 
 ## Using serial transport
 

docker/Dockerfile

@@ -1,6 +1,6 @@
 
 
-FROM espressif/idf:release-v4.3
+FROM espressif/idf:release-v5.0
 
 ENV DEBIAN_FRONTEND noninteractive
 RUN echo "Set disable_coredump false" >> /etc/sudo.conf
@@ -16,9 +16,10 @@ RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
 COPY ./install_micro_ros_deps_script.sh /install_micro_ros_deps_script.sh
 
 RUN mkdir -p /tmp/install_micro_ros_deps_script && mv /install_micro_ros_deps_script.sh /tmp/install_micro_ros_deps_script/ && \
-    /tmp/install_micro_ros_deps_script/install_micro_ros_deps_script.sh && \
+    IDF_EXPORT_QUIET=1 /tmp/install_micro_ros_deps_script/install_micro_ros_deps_script.sh && \
     rm -rf /var/lib/apt/lists/*
-
+
+RUN /usr/bin/pip3 --no-cache-dir install catkin_pkg lark-parser empy colcon-common-extensions importlib-resources
 ARG USER_ID=espidf
 
 RUN useradd --create-home --home-dir /home/$USER_ID --shell /bin/bash --user-group --groups adm,sudo $USER_ID && \

esp32_toolchain.cmake.in

@@ -7,8 +7,10 @@ set(idf_path "@IDF_PATH@")
 
 if("${idf_target}" STREQUAL "esp32c3")
     set(CMAKE_SYSTEM_PROCESSOR riscv)
+    set(FLAGS "-ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
 else()
     set(CMAKE_SYSTEM_PROCESSOR xtensa)
+    set(FLAGS "-mlongcalls -ffunction-sections -fdata-sections" CACHE STRING "" FORCE)
 endif()
 
 set(CMAKE_CROSSCOMPILING 1)
@@ -22,121 +24,12 @@ set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
 set(CMAKE_C_COMPILER @CMAKE_C_COMPILER@)
 set(CMAKE_CXX_COMPILER @CMAKE_CXX_COMPILER@)
 
-set(CMAKE_C_FLAGS_INIT "@CFLAGS@" CACHE STRING "" FORCE)
-set(CMAKE_CXX_FLAGS_INIT "@CXXFLAGS@" CACHE STRING "" FORCE)
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${FLAGS} ${IDF_INCLUDES}")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-exceptions -fno-rtti ${FLAGS} ${IDF_INCLUDES}")
 
-add_definitions(-DESP_PLATFORM -DLWIP_IPV4 -DLWIP_IPV6 -DPLATFORM_NAME_FREERTOS)
+add_compile_definitions(ESP_PLATFORM LWIP_IPV4 LWIP_IPV6 PLATFORM_NAME_FREERTOS)
 
 include_directories(
         "@BUILD_CONFIG_DIR@"
-        ${idf_path}/components/newlib/platform_include
-        ${idf_path}/components/freertos/include
-        ${idf_path}/components/freertos/${CMAKE_SYSTEM_PROCESSOR}/include
-        ${idf_path}/components/freertos/port/${CMAKE_SYSTEM_PROCESSOR}/include
-        ${idf_path}/components/esp_hw_support/include
-        ${idf_path}/components/hal/include
-        ${idf_path}/components/hal/${idf_target}/include
-        ${idf_path}/components/heap/include
-        ${idf_path}/components/log/include
-        ${idf_path}/components/lwip/include/apps
-        ${idf_path}/components/lwip/include/apps/sntp
-        ${idf_path}/components/lwip/lwip/src/include
-        ${idf_path}/components/lwip/port/esp32/include
-        ${idf_path}/components/lwip/port/esp32/include/arch
-        ${idf_path}/components/lwip/port/esp32/tcp_isn
-        ${idf_path}/components/soc/src/${idf_target}/.
-        ${idf_path}/components/soc/src/${idf_target}/include
-        ${idf_path}/components/soc/include
         ${idf_path}/components/soc/${idf_target}/include
-        ${idf_path}/components/esp_rom/include
-        ${idf_path}/components/esp_common/include
-        ${idf_path}/components/esp_system/include
-        ${idf_path}/components/${CMAKE_SYSTEM_PROCESSOR}/include
-        ${idf_path}/components/${CMAKE_SYSTEM_PROCESSOR}/${idf_target}/include
-        ${idf_path}/components/${idf_target}/include
-        ${idf_path}/components/driver/include
-        ${idf_path}/components/driver/${idf_target}/include
-        ${idf_path}/components/esp_ringbuf/include
-        ${idf_path}/components/efuse/include
-        ${idf_path}/components/efuse/${idf_target}/include
-        ${idf_path}/components/espcoredump/include
-        ${idf_path}/components/esp_timer/include
-        ${idf_path}/components/esp_ipc/include
-        ${idf_path}/components/soc/soc/${idf_target}/include
-        ${idf_path}/components/soc/soc/${idf_target}/../include
-        ${idf_path}/components/soc/soc/${idf_target}/private_include
-        ${idf_path}/components/vfs/include
-        ${idf_path}/components/esp_wifi/include
-        ${idf_path}/components/esp_wifi/${idf_target}/include
-        ${idf_path}/components/esp_event/include
-        ${idf_path}/components/esp_netif/include
-        ${idf_path}/components/esp_eth/include
-        ${idf_path}/components/tcpip_adapter/include
-        ${idf_path}/components/app_trace/include
-        ${idf_path}/components/mbedtls/port/include
-        ${idf_path}/components/mbedtls/mbedtls/include
-        ${idf_path}/components/mbedtls/esp_crt_bundle/include
-        ${idf_path}/components/bootloader_support/include
-        ${idf_path}/components/app_update/include
-        ${idf_path}/components/spi_flash/include
-        ${idf_path}/components/wpa_supplicant/include
-        ${idf_path}/components/wpa_supplicant/port/include
-        ${idf_path}/components/wpa_supplicant/include/esp_supplicant
-        ${idf_path}/components/nvs_flash/include
-        ${idf_path}/components/pthread/include
-        ${idf_path}/components/perfmon/include
-        ${idf_path}/components/asio/asio/asio/include
-        ${idf_path}/components/asio/port/include
-        ${idf_path}/components/cbor/port/include
-        ${idf_path}/components/coap/port/include
-        ${idf_path}/components/coap/port/include/coap
-        ${idf_path}/components/coap/libcoap/include
-        ${idf_path}/components/coap/libcoap/include/coap2
-        ${idf_path}/components/console
-        ${idf_path}/components/nghttp/port/include
-        ${idf_path}/components/nghttp/nghttp2/lib/includes
-        ${idf_path}/components/esp-tls
-        ${idf_path}/components/esp_adc_cal/include
-        ${idf_path}/components/esp_gdbstub/include
-        ${idf_path}/components/esp_hid/include
-        ${idf_path}/components/tcp_transport/include
-        ${idf_path}/components/esp_http_client/include
-        ${idf_path}/components/esp_http_server/include
-        ${idf_path}/components/esp_https_ota/include
-        ${idf_path}/components/protobuf-c/protobuf-c
-        ${idf_path}/components/protocomm/include/common
-        ${idf_path}/components/protocomm/include/security
-        ${idf_path}/components/protocomm/include/transports
-        ${idf_path}/components/mdns/include
-        ${idf_path}/components/esp_local_ctrl/include
-        ${idf_path}/components/sdmmc/include
-        ${idf_path}/components/esp_serial_slave_link/include
-        ${idf_path}/components/esp_websocket_client/include
-        ${idf_path}/components/expat/expat/expat/lib
-        ${idf_path}/components/expat/port/include
-        ${idf_path}/components/wear_levelling/include
-        ${idf_path}/components/fatfs/diskio
-        ${idf_path}/components/fatfs/vfs
-        ${idf_path}/components/fatfs/src
-        ${idf_path}/components/freemodbus/common/include
-        ${idf_path}/components/idf_test/include
-        ${idf_path}/components/idf_test/include/${idf_target}
-        ${idf_path}/components/jsmn/include
-        ${idf_path}/components/json/cJSON
-        ${idf_path}/components/libsodium/libsodium/src/libsodium/include
-        ${idf_path}/components/libsodium/port_include
-        ${idf_path}/components/mqtt/esp-mqtt/include
-        ${idf_path}/components/openssl/include
-        ${idf_path}/components/spiffs/include
-        ${idf_path}/components/ulp/include
-        ${idf_path}/components/unity/include
-        ${idf_path}/components/unity/unity/src
-        ${idf_path}/components/wifi_provisioning/include
-
-        ${idf_path}/components/freertos/include/esp_additions/freertos
-        ${idf_path}/components/freertos/include/esp_additions
-        ${idf_path}/components/esp_hw_support/include
-        ${idf_path}/components/esp_hw_support/include/soc
-        ${idf_path}/components/esp_hw_support/include/soc/${idf_target}
-        ${idf_path}/components/esp_hw_support/port/${idf_target}/.
     )

examples/int32_publisher/main/main.c

@@ -28,7 +28,7 @@ void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
 {
 	RCLC_UNUSED(last_call_time);
 	if (timer != NULL) {
-		printf("Publishing: %d\n", msg.data);
+		printf("Publishing: %d\n", (int) msg.data);
 		RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
 		msg.data++;
 	}

examples/int32_publisher_custom_transport/main/esp32_serial_transport.c

@@ -49,6 +49,6 @@ size_t esp32_serial_write(struct uxrCustomTransport* transport, const uint8_t *
 
 size_t esp32_serial_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err){
     size_t * uart_port = (size_t*) transport->args;
-    const int rxBytes = uart_read_bytes(*uart_port, buf, len, timeout / portTICK_RATE_MS);
+    const int rxBytes = uart_read_bytes(*uart_port, buf, len, timeout / portTICK_PERIOD_MS);
     return rxBytes;
 }

examples/int32_publisher_embeddedrtps/main/main.c

@@ -24,7 +24,7 @@ void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
 {
 	RCLC_UNUSED(last_call_time);
 	if (timer != NULL) {
-		printf("Publishing: %d\n", msg.data);
+		printf("Publishing: %d\n", (int) msg.data);
 		RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
 		msg.data++;
 	}

examples/int32_sub_pub/main/main.c

@@ -31,15 +31,15 @@ void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
 	(void) last_call_time;
 	if (timer != NULL) {
 		RCSOFTCHECK(rcl_publish(&publisher, &send_msg, NULL));
-		printf("Sent: %d\n", send_msg.data);
+		printf("Sent: %d\n",  (int)  send_msg.data);
 		send_msg.data++;
 	}
 }
 
 void subscription_callback(const void * msgin)
 {
 	const std_msgs__msg__Int32 * msg = (const std_msgs__msg__Int32 *)msgin;
-	printf("Received: %d\n", msg->data);
+	printf("Received: %d\n",  (int)  msg->data);
 }
 
 void micro_ros_task(void * arg)

libmicroros.mk

@@ -101,7 +101,10 @@ $(EXTENSIONS_DIR)/micro_ros_src/install: $(EXTENSIONS_DIR)/esp32_toolchain.cmake
 		-DBUILD_TESTING=OFF \
 		-DCMAKE_BUILD_TYPE=$(BUILD_TYPE) \
 		-DCMAKE_TOOLCHAIN_FILE=$(EXTENSIONS_DIR)/esp32_toolchain.cmake \
-		-DCMAKE_VERBOSE_MAKEFILE=OFF; \
+		-DCMAKE_VERBOSE_MAKEFILE=OFF \
+        -DIDF_INCLUDES='${IDF_INCLUDES}' \
+		-DCMAKE_C_STANDARD=$(C_STANDARD) \
+		-DUCLIENT_C_STANDARD=$(C_STANDARD);
 
 patch_atomic:$(EXTENSIONS_DIR)/micro_ros_src/install
 # Workaround https://github.com/micro-ROS/micro_ros_espidf_component/issues/18
@@ -119,6 +122,11 @@ ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32s2 esp32c3))
 			$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_load_8; \
 			$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_store_8; \
 		fi; \
+		if [ $(IDF_VERSION_MAJOR) -ge 5 ] && [ $(IDF_VERSION_MINOR) -ge 0 ]; then \
+			$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_load_8; \
+			$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_store_8; \
+			$(X_STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_exchange_8; \
+		fi; \
 		$(X_AR) rc -s librcutils.a *.obj; \
 		cp -rf librcutils.a  $(UROS_DIR)/install/lib/librcutils.a; \
 		rm -rf $(UROS_DIR)/atomic_workaround; \