Update external transports API (micro-ROS#38)

* Update external transports API

* Revert branches

* Fix

* Update

* Update

* Update CI

.github/workflows/ci.yml

@@ -52,4 +52,15 @@ jobs:
           . $IDF_PATH/export.sh
           cd micro_ros_espidf_component/examples/low_consumption
           idf.py set-target ${{ matrix.idf_target }}
+          idf.py build
+      
+      - name: Build sample - int32_publisher_custom_transport
+        shell: bash
+        run: |
+          . $IDF_PATH/export.sh
+          cd micro_ros_espidf_component
+          make -f libmicroros.mk clean
+          sed -i 's/DRMW_UXRCE_TRANSPORT=udp/DRMW_UXRCE_TRANSPORT=custom/' colcon.meta
+          cd examples/int32_publisher_custom_transport
+          idf.py set-target ${{ matrix.idf_target }}
           idf.py build

.github/workflows/nightly.yml

@@ -59,4 +59,14 @@ jobs:
           cd micro_ros_espidf_component/examples/low_consumption
           idf.py set-target ${{ matrix.idf_target }}
           idf.py build
-  
+    
+      - name: Build sample - int32_publisher_custom_transport
+        shell: bash
+        run: |
+          . $IDF_PATH/export.sh
+          cd micro_ros_espidf_component
+          make -f libmicroros.mk clean
+          sed -i 's/DRMW_UXRCE_TRANSPORT=udp/DRMW_UXRCE_TRANSPORT=custom/' colcon.meta
+          cd examples/int32_publisher_custom_transport
+          idf.py set-target ${{ matrix.idf_target }}
+          idf.py build

README.md

@@ -64,15 +64,14 @@ Dockerfile for this container is provided in the ./docker directory and availabl
 
 ## Using serial transport
 
-By default, micro-ROS component uses UDP transport, but is possible to enable UART transport setting the `colcon.meta` like:
+By default, micro-ROS component uses UDP transport, but is possible to enable UART transport or any other custom transport setting the `colcon.meta` like:
 
 ```json
 ...
 "rmw_microxrcedds": {
     "cmake-args": [
         ...
-        "-DRMW_UXRCE_TRANSPORT=custom_serial",
-        "-DRMW_UXRCE_DEFAULT_SERIAL_DEVICE=1",
+        "-DRMW_UXRCE_TRANSPORT=custom",
         ...
     ]
 },

colcon.meta

@@ -25,7 +25,9 @@
             "cmake-args": [
                 "-DUCLIENT_PIC=OFF",
                 "-DUCLIENT_PROFILE_DISCOVERY=ON",
-                "-DUCLIENT_EXTERNAL_SERIAL=ON",
+                "-DUCLIENT_PROFILE_UDP=ON",
+                "-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON",
+                "-DUCLIENT_PROFILE_SERIAL=OFF",
                 "-DUCLIENT_PROFILE_TCP=OFF"
             ]
         },

examples/int32_publisher_custom_transport/.gitignore

@@ -0,0 +1,3 @@
+build
+sdkconfig
+sdkconfig.old

examples/int32_publisher_custom_transport/CMakeLists.txt

@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.5)
+
+set (EXTRA_COMPONENT_DIRS "./../../.")
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(int32_publisher)
+

examples/int32_publisher_custom_transport/main/CMakeLists.txt

@@ -0,0 +1 @@
+idf_component_register(SRCS main.c esp32_serial_transport.c INCLUDE_DIRS "")

examples/int32_publisher_custom_transport/main/Kconfig.projbuild

@@ -0,0 +1,15 @@
+menu "micro-ROS example-app settings"
+
+    config MICRO_ROS_APP_STACK
+        int "Stack the micro-ROS app (Bytes)"
+        default 15000
+        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_publisher_custom_transport/main/component.mk

@@ -0,0 +1,5 @@
+#
+# "main" pseudo-component makefile.
+#
+# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)
+

examples/int32_publisher_custom_transport/main/esp32_serial_transport.c

@@ -0,0 +1,54 @@
+#include <uxr/client/transport.h>
+
+#include <driver/uart.h>
+#include <driver/gpio.h>
+
+#define UART_TXD  (CONFIG_MICROROS_UART_TXD)
+#define UART_RXD  (CONFIG_MICROROS_UART_RXD)
+#define UART_RTS  (CONFIG_MICROROS_UART_RTS)
+#define UART_CTS  (CONFIG_MICROROS_UART_CTS)
+
+// --- micro-ROS Transports ---
+#define UART_BUFFER_SIZE (512)
+
+bool esp32_serial_open(struct uxrCustomTransport * transport){
+    size_t * uart_port = (size_t*) transport->args;
+
+    uart_config_t uart_config = {
+        .baud_rate = 115200,
+        .data_bits = UART_DATA_8_BITS,
+        .parity    = UART_PARITY_DISABLE,
+        .stop_bits = UART_STOP_BITS_1,
+        .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+    };
+
+    if (uart_param_config(*uart_port, &uart_config) == ESP_FAIL) {
+        return false;
+    }
+    if (uart_set_pin(*uart_port, UART_TXD, UART_RXD, UART_RTS, UART_CTS) == ESP_FAIL) {
+        return false;
+    }
+    if (uart_driver_install(*uart_port, UART_BUFFER_SIZE * 2, 0, 0, NULL, 0) == ESP_FAIL) {
+        return false;
+    }
+
+    return true;
+}
+
+bool esp32_serial_close(struct uxrCustomTransport * transport){
+    size_t * uart_port = (size_t*) transport->args;
+
+    return uart_driver_delete(*uart_port) == ESP_OK;
+}
+
+size_t esp32_serial_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err){
+    size_t * uart_port = (size_t*) transport->args;
+    const int txBytes = uart_write_bytes(*uart_port, (const char*) buf, len);
+    return txBytes;
+}
+
+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);
+    return rxBytes;
+}

examples/int32_publisher_custom_transport/main/esp32_serial_transport.h

@@ -0,0 +1,32 @@
+// Copyright 2021 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef _MICROROS_CLIENT_ESP32_SERIAL_TRANSPORT_H_
+#define _MICROROS_CLIENT_ESP32_SERIAL_TRANSPORT_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+bool esp32_serial_open(struct uxrCustomTransport * transport);
+bool esp32_serial_close(struct uxrCustomTransport * transport);
+size_t esp32_serial_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);
+size_t esp32_serial_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //_MICROROS_CLIENT_ESP32_SERIAL_TRANSPORT_H_

examples/int32_publisher_custom_transport/main/main.c

@@ -0,0 +1,114 @@
+#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 "driver/uart.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_microxrcedds_c/config.h>
+#include <rmw_uros/options.h>
+#include "esp32_serial_transport.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;
+std_msgs__msg__Int32 msg;
+
+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 micro_ros_task(void * arg)
+{
+	rcl_allocator_t allocator = rcl_get_default_allocator();
+	rclc_support_t support;
+
+	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);
+
+	// Static Agent IP and port can be used instead of autodisvery.
+	RCCHECK(rmw_uros_options_set_udp_address(CONFIG_MICRO_ROS_AGENT_IP, CONFIG_MICRO_ROS_AGENT_PORT, rmw_options));
+	//RCCHECK(rmw_uros_discover_agent(rmw_options));
+
+	// create init_options
+	RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
+
+	// create node
+	rcl_node_t node;
+	RCCHECK(rclc_node_init_default(&node, "esp32_int32_publisher", "", &support));
+
+	// create publisher
+	RCCHECK(rclc_publisher_init_default(
+		&publisher,
+		&node,
+		ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+		"freertos_int32_publisher"));
+
+	// create timer,
+	rcl_timer_t 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;
+	RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
+	RCCHECK(rclc_executor_add_timer(&executor, &timer));
+
+	msg.data = 0;
+
+	while(1){
+		rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100));
+		usleep(10000);
+	}
+
+	// free resources
+	RCCHECK(rcl_publisher_fini(&publisher, &node));
+	RCCHECK(rcl_node_fini(&node));
+
+  	vTaskDelete(NULL);
+}
+
+void app_main(void)
+{   
+#if defined(RMW_UXRCE_TRANSPORT_CUSTOM)
+	size_t uart_port = UART_NUM_1;
+	rmw_uros_set_custom_transport(
+		true,
+		(void *) &uart_port,
+		esp32_serial_open,
+		esp32_serial_close,
+		esp32_serial_write,
+		esp32_serial_read
+	);
+#else
+#error micro-ROS transports misconfigured
+#endif  // RMW_UXRCE_TRANSPORT_CUSTOM
+
+    //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_publisher_custom_transport/sdkconfig.defaults

@@ -0,0 +1,3 @@
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=3000
+CONFIG_ESP_TASK_WDT=n
+

libmicroros.mk

@@ -70,8 +70,6 @@ $(EXTENSIONS_DIR)/micro_ros_src/src:
     touch src/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE; \
     touch src/rclc/rclc_examples/COLCON_IGNORE; \
 	touch src/rcl/rcl_yaml_param_parser/COLCON_IGNORE; \
-	cp -f ../serial_transport_external/esp32_serial_transport.c src/Micro-XRCE-DDS-Client/src/c/profile/transport/serial/serial_transport_external.c; \
-    cp -f ../serial_transport_external/esp32_serial_transport.h src/Micro-XRCE-DDS-Client/include/uxr/client/profile/transport/serial/serial_transport_external.h; \
 	cp -rf ../extra_packages src/extra_packages || :;