fixed time.h import, added Arduino UNO R4 minima (USB), Arduino UNO R…

…4 WiFi (USB and WiFi), Arduino Giga R1 (USB and WiFi) (backport #1712) (#1864) * fixed time.h import, added Arduino UNO R4 minima (USB), Arduino UNO R4 WiFi (USB and WiFi), Arduino Giga R1 (USB and WiFi) (#1712) * fixes time.h import * added support for Arduino GIGA R1 over WiFi * examples with giga r1 * uint -> uint32_t, added uno r4 wifi * added uno r4 into the example * added uno r4 family into library properties * led builtin check * added boards into readme * updated ci * fix typo * updated cli version * force update index * reverted cli (cherry picked from commit e347a4a) # Conflicts: # .github/workflows/ci.yml # README.md # examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino # examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino # src/micro_ros_arduino.h # src/wifi_transport.cpp * Fix rebase * Update ci.yml --------- Co-authored-by: Giovanni Bruno <[email protected]> Co-authored-by: Pablo Garrido <[email protected]>
micro-ROS · Nov 15, 2024 · 41bc42c · 41bc42c
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -35,10 +35,15 @@ jobs:
             curl -fsSL https://www.pjrc.com/teensy/package_teensy_index.json -o /github/home/.arduino15/package_teensy_index.json
             curl -fsSL https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json -o /github/home/.arduino15/package_seeeduino_boards_index.json
             export PATH=$PATH:/github/workspace/bin:/__w/micro_ros_arduino/micro_ros_arduino/bin
+
             arduino-cli core install OpenCR:OpenCR -v
             arduino-cli core install arduino:samd -v
             arduino-cli core install arduino:sam -v
-            arduino-cli core install arduino:mbed -v
+            arduino-cli core install arduino:mbed_giga -v
+            arduino-cli core install arduino:mbed_rp2040 -v
+            arduino-cli core install arduino:mbed_portenta -v
+            arduino-cli core install arduino:renesas_uno -v
+            arduino-cli core install arduino:mbed_nano -v
             arduino-cli core install esp32:esp32 -v
             arduino-cli core install teensy:[email protected] -v
             arduino-cli core install Seeeduino:samd -v
@@ -54,6 +59,7 @@ jobs:
             arduino-cli lib install WiFiNINA
             arduino-cli lib install "STM32duino X-NUCLEO-IKS01A3"
             arduino-cli lib install "Seeed Arduino rpcWiFi" # Dependent libraries(e.g. "Seeed Arduino rpcUnified") will be installed together. See https://wiki.seeedstudio.com/Wio-Terminal-Network-Overview/#needed-libraries-for-wi-fi for more details.
+            arduino-cli lib install WiFiEspAT
             # Build all demos
             arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_addtwoints_service -v
@@ -64,10 +70,10 @@ jobs:
             arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_time_sync -v
             arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_types_handling -v
             # Build one demo for each platform
-            arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
-            arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v
-            arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v
-            arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v
+            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v
+            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
             arduino-cli compile --fqbn teensy:avr:teensy31 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn teensy:avr:teensy35 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn teensy:avr:teensy36 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
@@ -76,8 +82,16 @@ jobs:
             arduino-cli compile --fqbn arduino:samd:arduino_zero_native /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn arduino:sam:arduino_due_x /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             # arduino-cli compile --fqbn arduino:mbed:envie_m4 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
-            arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
-            arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            arduino-cli compile --fqbn arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
             arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
             arduino-cli compile --fqbn Seeeduino:samd:seeed_wio_terminal /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            arduino-cli compile --fqbn arduino:renesas_uno:minima /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            # Build micro-ros_publisher-wifi_at for WiFi non-native board with ESP-AT
+            arduino-cli compile --fqbn arduino:mbed_rp2040:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi_at -v
+
diff --git a/README.md b/README.md
@@ -38,13 +38,20 @@ Supported boards are:
 
 Community contributed boards are:
 
-| Board                                                                                    | Min version | Contributor                                    | Details | .meta file               |
-| ---------------------------------------------------------------------------------------- | ----------- | ---------------------------------------------- | ------- | ------------------------ |
-| [Arduino Due](https://store.arduino.cc/arduino-due)                                      | -           | [@lukicdarkoo](https://github.com/lukicdarkoo) |         | `colcon_verylowmem.meta` |
-| [Arduino Zero](https://store.arduino.cc/arduino-zero)                                    | -           | [@lukicdarkoo](https://github.com/lukicdarkoo) |         | `colcon_verylowmem.meta` |
-| [Kakute F7](http://www.holybro.com/product/kakute-f7-aio-v1-5/)                          | -           | [@amfern](https://github.com/amfern)           |         | `colcon.meta`            |
-| [STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/resources/STM32-E407.pdf) | -           | [@dominikn](https://github.com/dominikn)       |         | `colcon.meta`            |
-| [Wio Terminal](https://wiki.seeedstudio.com/Wio-Terminal-Getting-Started/) | -           | [@maehara-keisuke](https://github.com/maehara-keisuke)       |         | `colcon.meta`            |
+| Board                                                                                    | Min version | Contributor                                            | Details                                                                   | .meta file               |
+| ---------------------------------------------------------------------------------------- | ----------- | ------------------------------------------------------ | ------------------------------------------------------------------------- | ------------------------ |
+| [Arduino Due](https://store.arduino.cc/arduino-due)                                      | -           | [@lukicdarkoo](https://github.com/lukicdarkoo)         |                                                                           | `colcon_verylowmem.meta` |
+| [Arduino Zero](https://store.arduino.cc/arduino-zero)                                    | -           | [@lukicdarkoo](https://github.com/lukicdarkoo)         |                                                                           | `colcon_verylowmem.meta` |
+| [Kakute F7](http://www.holybro.com/product/kakute-f7-aio-v1-5/)                          | -           | [@amfern](https://github.com/amfern)                   |                                                                           | `colcon.meta`            |
+| [STM32-E407](https://www.olimex.com/Products/ARM/ST/STM32-E407/resources/STM32-E407.pdf) | -           | [@dominikn](https://github.com/dominikn)               |                                                                           | `colcon.meta`            |
+| [Wio Terminal](https://wiki.seeedstudio.com/Wio-Terminal-Getting-Started/)               | -           | [@maehara-keisuke](https://github.com/maehara-keisuke) |                                                                           | `colcon.meta`            |
+| [Raspberry Pi Pico](https://www.raspberrypi.com/documentation/microcontrollers/)         | -           | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` |
+| [Seeed Studio XIAO SAMD21](https://wiki.seeedstudio.com/Seeeduino-XIAO/)                 | -           | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` |
+| [Seeed Studio XIAO RP2040](https://wiki.seeedstudio.com/XIAO-RP2040/)                    | -           | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` |
+| [Arduino Giga R1](https://store.arduino.cc/products/giga-r1-wifi)                        | -           | [@gbr1](https://github.com/gbr1)                       |                                                                           | `colcon.meta`            |
+| [Arduino UNO R4 WiFi](https://store.arduino.cc/products/uno-r4-wifi)                     | -           | [@gbr1](https://github.com/gbr1)                       |                                                                           | `colcon.meta`            |
+| [Arduino UNO R4 Minima](https://store.arduino.cc/products/uno-r4-minima)                 | -           | [@gbr1](https://github.com/gbr1)                       |                                                                           | `colcon.meta`            |
+
 
 You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types).
 

diff --git a/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino b/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino
@@ -8,8 +8,8 @@
 
 #include <std_msgs/msg/int32.h>
 
-#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL)
-#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect, ESP32 Dev module and Wio Terminal
+#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_GIGA) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL) && !defined(ARDUINO_UNOR4_WIFI)
+#error This example is only available for Arduino Portenta, Arduino Giga R1, Arduino Nano RP2040 Connect, ESP32 Dev module, Wio Terminal and Arduino Uno R4 WiFi
 #endif
 
 rcl_publisher_t publisher;
@@ -18,7 +18,11 @@ rclc_support_t support;
 rcl_allocator_t allocator;
 rcl_node_t node;
 
-#define LED_PIN 13
+#if defined(LED_BUILTIN)
+  #define LED_PIN LED_BUILTIN
+#else
+  #define LED_PIN 13
+#endif
 
 #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)){}}

diff --git a/examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino b/examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino
@@ -0,0 +1,89 @@
+// To use "ESP-AT External WiFi module"(hereinafter called "ESP-AT") with your board, install "WiFiEspAT" from Library Manager.
+// See https://www.espressif.com/en/products/sdks/esp-at/overview for more details about ESP-AT.
+
+#define BOARD_WITH_ESP_AT
+// Configurations about communication between Host MCU and ESP-AT.
+// In most cases, you would burn ESP-AT firmware v2 or later. And you should uncomment "#define WIFIESPAT1" in EspAtDrvTypes.h
+// See https://github.com/JAndrassy/WiFiEspAT/tree/7f398e14f331fc845c4af671f1946fe3f29a744f#getting-started for more details.
+#define ESP_AT_SERIAL_PORT Serial1 // Serial port object to ESP-AT
+#define ESP_AT_BAUDRATE 115200 // Baudrate setting in ESP-AT firmware(default is 115200)
+#define ESP_AT_RESET_PIN -1 // GPIO_PIN connected to ESP-AT's reset pin(-1 means not to use hardware reset)
+
+#include <micro_ros_arduino.h>
+
+#include <wifi_transport.cpp>
+
+#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(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
+#define BOARD_HAS_NATIVE_WIFI
+#endif
+
+#if defined(BOARD_HAS_NATIVE_WIFI)
+#error This example is not available for boards that have native WiFi.
+#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() {
+  set_microros_wifi_transports("WIFI SSID", "WIFI PASS", "192.168.1.57", 8888);
+
+  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_wifi_node", "", &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++;
+}
diff --git a/library.properties b/library.properties
@@ -7,4 +7,4 @@ paragraph=micro-ROS Arduino library
 url=https://github.com/micro-ROS/micro_ros_arduino
 precompiled=true
 category=Other
-architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta
+architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta,mbed_giga,renesas_uno
diff --git a/src/default_transport.cpp b/src/default_transport.cpp
@@ -4,7 +4,7 @@ extern "C"
 {
   #include <stdio.h>
   #include <stdbool.h>
-  #include <sys/time.h>
+  #include <time.h>
 
   int clock_gettime(clockid_t unused, struct timespec *tp) __attribute__ ((weak));
   bool arduino_transport_open(struct uxrCustomTransport * transport) __attribute__ ((weak));

diff --git a/src/micro_ros_arduino.h b/src/micro_ros_arduino.h
@@ -95,9 +95,9 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
 
 #endif
 
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT) || defined(ARDUINO_UNOR4_WIFI)
 
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA)
 #include <WiFi.h>
 #include <WiFiUdp.h>
 #elif defined(ARDUINO_NANO_RP2040_CONNECT)
@@ -106,6 +106,10 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
 #elif defined(ARDUINO_WIO_TERMINAL)
 #include <rpcWiFi.h>
 #include <WiFiUdp.h>
+#elif defined(BOARD_WITH_ESP_AT)
+#include <WiFiEspAT.h>
+#elif defined(ARDUINO_UNOR4_WIFI)
+#include <WiFiS3.h>
 #endif
 
 extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transport);
@@ -119,7 +123,7 @@ struct micro_ros_agent_locator {
 };
 #endif
 
-static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint agent_port){
+static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint32_t agent_port){
 
 	WiFi.begin(ssid, pass);
 

diff --git a/src/wifi_transport.cpp b/src/wifi_transport.cpp
@@ -1,8 +1,8 @@
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT) || defined(ARDUINO_UNOR4_WIFI)
 #include <Arduino.h>
 
 
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA)
 #include <WiFi.h>
 #include <WiFiUdp.h>
 #elif defined(ARDUINO_NANO_RP2040_CONNECT)
@@ -11,6 +11,10 @@
 #elif defined(ARDUINO_WIO_TERMINAL)
 #include <rpcWiFi.h>
 #include <WiFiUdp.h>
+#elif defined(BOARD_WITH_ESP_AT)
+#include <WiFiEspAT.h>
+#elif defined(ARDUINO_UNOR4_WIFI)
+#include <WiFiS3.h>
 #endif
 
 #include <micro_ros_arduino.h>