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feature/ethernet: Enable support of the microROS over the ethernet in…
…terface (micro-ROS#24) * enet: added microros ethernet support inrastructurre * network: enable support for microROS over ethernet in ESP32 Co-authored-by: Felipe Neves <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,125 +1,27 @@ | ||
| #include <string.h> | ||
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| #include "uxr/client/config.h" | ||
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| #include "freertos/FreeRTOS.h" | ||
| #include "freertos/task.h" | ||
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| #include <driver/uart.h> | ||
| #include <driver/gpio.h> | ||
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| #include <string.h> | ||
| #include "freertos/event_groups.h" | ||
| #include "esp_system.h" | ||
| #include "esp_wifi.h" | ||
| #include "esp_event.h" | ||
| #include "esp_log.h" | ||
| #include "esp_system.h" | ||
| #include "nvs_flash.h" | ||
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| #include "lwip/err.h" | ||
| #include "lwip/sys.h" | ||
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| void appMain(void *argument); | ||
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| #define ESP_WIFI_SSID CONFIG_ESP_WIFI_SSID | ||
| #define ESP_WIFI_PASS CONFIG_ESP_WIFI_PASSWORD | ||
| #define ESP_MAXIMUM_RETRY CONFIG_ESP_MAXIMUM_RETRY | ||
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| static EventGroupHandle_t s_wifi_event_group; | ||
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| #define WIFI_CONNECTED_BIT BIT0 | ||
| #define WIFI_FAIL_BIT BIT1 | ||
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| static const char *TAG = "wifi station"; | ||
| static int s_retry_num = 0; | ||
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| static void event_handler(void* arg, esp_event_base_t event_base, | ||
| int32_t event_id, void* event_data) | ||
| { | ||
| if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) { | ||
| esp_wifi_connect(); | ||
| } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) { | ||
| if (s_retry_num < ESP_MAXIMUM_RETRY) { | ||
| esp_wifi_connect(); | ||
| s_retry_num++; | ||
| ESP_LOGI(TAG, "retry to connect to the AP"); | ||
| } else { | ||
| xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT); | ||
| } | ||
| ESP_LOGI(TAG,"connect to the AP fail"); | ||
| } else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) { | ||
| ip_event_got_ip_t* event = (ip_event_got_ip_t*) event_data; | ||
| ESP_LOGI(TAG, "got ip:" IPSTR, IP2STR(&event->ip_info.ip)); | ||
| s_retry_num = 0; | ||
| xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT); | ||
| } | ||
| } | ||
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| void wifi_init_sta() | ||
| { | ||
| s_wifi_event_group = xEventGroupCreate(); | ||
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| ESP_ERROR_CHECK(esp_netif_init()); | ||
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| ESP_ERROR_CHECK(esp_event_loop_create_default()); | ||
| esp_netif_create_default_wifi_sta(); | ||
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| wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT(); | ||
| ESP_ERROR_CHECK(esp_wifi_init(&cfg)); | ||
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| ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &event_handler, NULL)); | ||
| ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &event_handler, NULL)); | ||
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| wifi_config_t wifi_config = { | ||
| .sta = { | ||
| .ssid = ESP_WIFI_SSID, | ||
| .password = ESP_WIFI_PASS | ||
| }, | ||
| }; | ||
| ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) ); | ||
| ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_config) ); | ||
| ESP_ERROR_CHECK(esp_wifi_start() ); | ||
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| ESP_LOGI(TAG, "wifi_init_sta finished."); | ||
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| /* Waiting until either the connection is established (WIFI_CONNECTED_BIT) or connection failed for the maximum | ||
| * number of re-tries (WIFI_FAIL_BIT). The bits are set by event_handler() (see above) */ | ||
| EventBits_t bits = xEventGroupWaitBits(s_wifi_event_group, | ||
| WIFI_CONNECTED_BIT | WIFI_FAIL_BIT, | ||
| pdFALSE, | ||
| pdFALSE, | ||
| portMAX_DELAY); | ||
| #include <driver/uart.h> | ||
| #include <driver/gpio.h> | ||
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| /* xEventGroupWaitBits() returns the bits before the call returned, hence we can test which event actually | ||
| * happened. */ | ||
| if (bits & WIFI_CONNECTED_BIT) { | ||
| ESP_LOGI(TAG, "connected to ap SSID:%s", ESP_WIFI_SSID); | ||
| } else if (bits & WIFI_FAIL_BIT) { | ||
| ESP_LOGI(TAG, "Failed to connect to SSID:%s", ESP_WIFI_SSID); | ||
| } else { | ||
| ESP_LOGE(TAG, "UNEXPECTED EVENT"); | ||
| } | ||
| #include <uros_network_interfaces.h> | ||
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| ESP_ERROR_CHECK(esp_event_handler_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, &event_handler)); | ||
| ESP_ERROR_CHECK(esp_event_handler_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, &event_handler)); | ||
| vEventGroupDelete(s_wifi_event_group); | ||
| } | ||
| extern void appMain(void *argument); | ||
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| void app_main(void) | ||
| { | ||
| // Start networkign if required | ||
| #ifdef UCLIENT_PROFILE_UDP | ||
| //Initialize NVS | ||
| esp_err_t ret = nvs_flash_init(); | ||
| if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) { | ||
| ESP_ERROR_CHECK(nvs_flash_erase()); | ||
| ret = nvs_flash_init(); | ||
| } | ||
| ESP_ERROR_CHECK(ret); | ||
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| ESP_LOGI(TAG, "ESP_WIFI_MODE_STA"); | ||
| wifi_init_sta(); | ||
| // Start the networking if required | ||
| ESP_ERROR_CHECK(uros_network_interface_initialize()); | ||
| #endif // UCLIENT_PROFILE_UDP | ||
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| // start microROS task | ||
| //start microROS task | ||
| xTaskCreate(appMain, "uros_task", CONFIG_MICRO_ROS_APP_STACK, NULL, 5, NULL); | ||
| } |
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