Manually merged changes from old branch (micro-ROS#56)

Signed-off-by: Andy Blight <[email protected]>

Co-authored-by: Andy Blight <[email protected]>

examples/int32_sub_pub/.gitignore

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+build
+sdkconfig
+sdkconfig.old

examples/int32_sub_pub/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+
+set (EXTRA_COMPONENT_DIRS "./../../.")
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(int32_pub_sub)
+

examples/int32_sub_pub/main/CMakeLists.txt

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+idf_component_register(SRCS main.c  
+                    INCLUDE_DIRS ""
+                    )

examples/int32_sub_pub/main/Kconfig.projbuild

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+menu "micro-ROS example-app settings"
+
+    config MICRO_ROS_APP_STACK
+        int "Stack the micro-ROS app (Bytes)"
+        default 16000
+        help
+        Stack size in Bytes of the micro-ROS app
+
+    config MICRO_ROS_APP_TASK_PRIO
+        int "Priority of the micro-ROS app"
+        default 5
+        help
+        Priority of micro-ros task higher value means higher priority
+
+endmenu

examples/int32_sub_pub/main/component.mk

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+#
+# "main" pseudo-component makefile.
+#
+# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)
+

examples/int32_sub_pub/main/main.c

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+#include <string.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "esp_system.h"
+
+#include <uros_network_interfaces.h>
+#include <rcl/rcl.h>
+#include <rcl/error_handling.h>
+#include <std_msgs/msg/int32.h>
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+#include <rmw_uros/options.h>
+#include "uxr/client/config.h"
+
+#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);vTaskDelete(NULL);}}
+#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}
+
+rcl_publisher_t publisher;
+rcl_subscription_t subscriber;
+std_msgs__msg__Int32 send_msg;
+std_msgs__msg__Int32 recv_msg;
+
+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);
+		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);
+}
+
+void micro_ros_task(void * arg)
+{
+	rcl_allocator_t allocator = rcl_get_default_allocator();
+	rclc_support_t support;
+
+	// Create init_options.
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	RCCHECK(rcl_init_options_init(&init_options, allocator));
+	rmw_init_options_t* rmw_options = rcl_init_options_get_rmw_init_options(&init_options);
+	// Use static agent IP and port.
+	RCCHECK(rmw_uros_options_set_udp_address(CONFIG_MICRO_ROS_AGENT_IP, CONFIG_MICRO_ROS_AGENT_PORT, rmw_options));
+
+	// Setup support structure.
+	RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
+
+	// Create node.
+	rcl_node_t node = rcl_get_zero_initialized_node();
+	RCCHECK(rclc_node_init_default(&node, "int32_publisher_subscriber_rclc", "", &support));
+
+	// Create publisher.
+	RCCHECK(rclc_publisher_init_default(
+		&publisher,
+		&node,
+		ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+		"int32_publisher"));
+
+	// Create subscriber.
+	RCCHECK(rclc_subscription_init_default(
+		&subscriber,
+		&node,
+		ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+		"int32_subscriber"));
+
+	// Create timer.
+	rcl_timer_t timer = rcl_get_zero_initialized_timer();
+	const unsigned int timer_timeout = 1000;
+	RCCHECK(rclc_timer_init_default(
+		&timer,
+		&support,
+		RCL_MS_TO_NS(timer_timeout),
+		timer_callback));
+
+	// Create executor.
+	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
+	RCCHECK(rclc_executor_init(&executor, &support.context, 2, &allocator));
+	unsigned int rcl_wait_timeout = 1000;   // in ms
+	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
+
+	// Add timer and subscriber to executor.
+	RCCHECK(rclc_executor_add_timer(&executor, &timer));
+	RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &recv_msg, &subscription_callback, ON_NEW_DATA));
+
+	// Spin forever.
+	send_msg.data = 0;
+	while(1){
+		rclc_executor_spin_some(&executor, 100);
+		usleep(100000);
+	}
+
+	// Free resources.
+	RCCHECK(rcl_subscription_fini(&subscriber, &node));
+	RCCHECK(rcl_publisher_fini(&publisher, &node));
+	RCCHECK(rcl_node_fini(&node));
+
+  	vTaskDelete(NULL);
+}
+
+void app_main(void)
+{
+#ifdef UCLIENT_PROFILE_UDP
+    // Start the networking if required
+    ESP_ERROR_CHECK(uros_network_interface_initialize());
+#endif  // UCLIENT_PROFILE_UDP
+
+    //pin micro-ros task in APP_CPU to make PRO_CPU to deal with wifi:
+    xTaskCreate(micro_ros_task,
+            "uros_task",
+            CONFIG_MICRO_ROS_APP_STACK,
+            NULL,
+            CONFIG_MICRO_ROS_APP_TASK_PRIO,
+            NULL);
+}

examples/int32_sub_pub/sdkconfig.defaults

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+CONFIG_ESP_MAIN_TASK_STACK_SIZE=3000
+CONFIG_ESP_TASK_WDT=n
+