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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
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‎.github/workflows/ci.yml

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@@ -35,10 +35,15 @@ jobs:
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curl -fsSL https://www.pjrc.com/teensy/package_teensy_index.json -o /github/home/.arduino15/package_teensy_index.json
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curl -fsSL https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json -o /github/home/.arduino15/package_seeeduino_boards_index.json
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export PATH=$PATH:/github/workspace/bin:/__w/micro_ros_arduino/micro_ros_arduino/bin
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arduino-cli core install OpenCR:OpenCR -v
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arduino-cli core install arduino:samd -v
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arduino-cli core install arduino:sam -v
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arduino-cli core install arduino:mbed -v
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arduino-cli core install arduino:mbed_giga -v
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arduino-cli core install arduino:mbed_rp2040 -v
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arduino-cli core install arduino:mbed_portenta -v
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arduino-cli core install arduino:renesas_uno -v
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arduino-cli core install arduino:mbed_nano -v
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arduino-cli core install esp32:esp32 -v
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arduino-cli core install teensy:[email protected] -v
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arduino-cli core install Seeeduino:samd -v
@@ -65,10 +70,10 @@ jobs:
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arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_time_sync -v
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arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_types_handling -v
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# Build one demo for each platform
68-
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
69-
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v
70-
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v
71-
arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v
75+
arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v
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arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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arduino-cli compile --fqbn teensy:avr:teensy31 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn teensy:avr:teensy35 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn teensy:avr:teensy36 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
@@ -77,10 +82,16 @@ jobs:
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arduino-cli compile --fqbn arduino:samd:arduino_zero_native /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:sam:arduino_due_x /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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# arduino-cli compile --fqbn arduino:mbed:envie_m4 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
80-
arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
81-
arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
85+
arduino-cli compile --fqbn arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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arduino-cli compile --fqbn Seeeduino:samd:seeed_wio_terminal /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
90+
arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
91+
arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
92+
arduino-cli compile --fqbn arduino:renesas_uno:minima /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
93+
arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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# Build micro-ros_publisher-wifi_at for WiFi non-native board with ESP-AT
86-
arduino-cli compile --fqbn arduino:mbed:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi_at -v
96+
arduino-cli compile --fqbn arduino:mbed_rp2040:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi_at -v
97+

‎README.md

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@@ -48,6 +48,10 @@ Community contributed boards are:
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| [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` |
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| [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` |
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| [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` |
51+
| [Arduino Giga R1](https://store.arduino.cc/products/giga-r1-wifi) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
52+
| [Arduino UNO R4 WiFi](https://store.arduino.cc/products/uno-r4-wifi) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
53+
| [Arduino UNO R4 Minima](https://store.arduino.cc/products/uno-r4-minima) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
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You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types).
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‎examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino

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@@ -8,8 +8,8 @@
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#include <std_msgs/msg/int32.h>
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11-
#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL)
12-
#error This example is only available for Arduino Portenta, Arduino Nano RP2040 Connect, ESP32 Dev module and Wio Terminal
11+
#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_GIGA) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL) && !defined(ARDUINO_UNOR4_WIFI)
12+
#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
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#endif
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rcl_publisher_t publisher;
@@ -18,7 +18,11 @@ rclc_support_t support;
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rcl_allocator_t allocator;
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rcl_node_t node;
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21-
#define LED_PIN 13
21+
#if defined(LED_BUILTIN)
22+
#define LED_PIN LED_BUILTIN
23+
#else
24+
#define LED_PIN 13
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#endif
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#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
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#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}

‎examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino

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@@ -21,7 +21,7 @@
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#include <std_msgs/msg/int32.h>
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24-
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
24+
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
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#define BOARD_HAS_NATIVE_WIFI
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#endif
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‎library.properties

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@@ -7,4 +7,4 @@ paragraph=micro-ROS Arduino library
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url=https://github.com/micro-ROS/micro_ros_arduino
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precompiled=true
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category=Other
10-
architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta
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architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta,mbed_giga,renesas_uno

‎src/default_transport.cpp

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@@ -4,7 +4,7 @@ extern "C"
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{
55
#include <stdio.h>
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#include <stdbool.h>
7-
#include <sys/time.h>
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#include <time.h>
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99
int clock_gettime(clockid_t unused, struct timespec *tp) __attribute__ ((weak));
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bool arduino_transport_open(struct uxrCustomTransport * transport) __attribute__ ((weak));

‎src/micro_ros_arduino.h

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@@ -95,9 +95,9 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
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#endif
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98-
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT)
98+
#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)
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100-
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
100+
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA)
101101
#include <WiFi.h>
102102
#include <WiFiUdp.h>
103103
#elif defined(ARDUINO_NANO_RP2040_CONNECT)
@@ -108,6 +108,8 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
108108
#include <WiFiUdp.h>
109109
#elif defined(BOARD_WITH_ESP_AT)
110110
#include <WiFiEspAT.h>
111+
#elif defined(ARDUINO_UNOR4_WIFI)
112+
#include <WiFiS3.h>
111113
#endif
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113115
extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transport);
@@ -121,7 +123,7 @@ struct micro_ros_agent_locator {
121123
};
122124
#endif
123125

124-
static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint agent_port){
126+
static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint32_t agent_port){
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126128
#if defined(BOARD_WITH_ESP_AT)
127129
ESP_AT_SERIAL_PORT.begin(ESP_AT_BAUDRATE);

‎src/wifi_transport.cpp

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@@ -1,8 +1,8 @@
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#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT)
1+
#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)
22
#include <Arduino.h>
33

44

5-
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
5+
#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA)
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#include <WiFi.h>
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#include <WiFiUdp.h>
88
#elif defined(ARDUINO_NANO_RP2040_CONNECT)
@@ -13,6 +13,8 @@
1313
#include <WiFiUdp.h>
1414
#elif defined(BOARD_WITH_ESP_AT)
1515
#include <WiFiEspAT.h>
16+
#elif defined(ARDUINO_UNOR4_WIFI)
17+
#include <WiFiS3.h>
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#endif
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#include <micro_ros_arduino.h>

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