Add ESP32 support (backport #680)

.github/workflows/ci.yml

@@ -19,18 +19,21 @@ jobs:
         - name: Build
           run: |
             apt update
-            apt install -y git curl lib32z1 wget libfontconfig libxft2 xz-utils rsync
+            apt install -y git curl lib32z1 wget libfontconfig libxft2 xz-utils rsync python-is-python3 python3-pip
+            pip3 install pyserial
             curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh
             mkdir -p /github/home/Arduino/libraries/micro_ros_arduino/
             cp -R checkout/* /github/home/Arduino/libraries/micro_ros_arduino/
             echo '''board_manager:
               additional_urls:
-                - https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json''' > arduino-cli.yaml
+                - https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json
+                - https://github.com/espressif/arduino-esp32/releases/download/2.0.2/package_esp32_index.json''' > arduino-cli.yaml
             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 esp32:esp32 -v
             #
             # INSTALLING TEENSY SUPPORT
             wget https://downloads.arduino.cc/arduino-1.8.13-linux64.tar.xz
@@ -78,4 +81,6 @@ jobs:
             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: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

README.md

@@ -31,6 +31,7 @@ Supported boards are:
 | [Teensy 3.2/3.1](https://www.pjrc.com/store/teensy32.html)                          | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html)                                | `colcon_lowmem.meta`     |
 | [Teensy 3.5](https://www.pjrc.com/store/teensy35.html)                              | v1.8.5      | Not tested | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html)                                | `colcon_lowmem.meta`     |
 | [Teensy 3.6](https://www.pjrc.com/store/teensy36.html)                              | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/teensy/td_download.html)                                | `colcon_lowmem.meta`     |
+| [ESP32 Dev Module](https://docs.espressif.com/projects/arduino-esp32/en/latest/boards/ESP32-DevKitC-1.html) | v1.8.5  | Supported  | [Arduino core for the ESP32 (v2.0.2)](https://github.com/espressif/arduino-esp32/releases/tag/2.0.2) | `colcon.meta`   |
 
 Community contributed boards are:
 
@@ -135,3 +136,4 @@ see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
 - When using provided precompiled libraries, users should take into account the already configured static memory pools in middleware layers. [More info here](https://micro-ros.github.io/docs/tutorials/core/microxrcedds_rmw_configuration/).
 - micro-ROS transports should be refactored in order to provide a pluggable mechanims. Only USB serial transports are provided.
 - Teensyduino support files have to be patched in order to use precompiled libraries.
+- To solve Python errors on ESP32 compilation: `apt install python-is-python3 && pip3 install pyserial`

examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino

@@ -8,8 +8,8 @@
 
 #include <std_msgs/msg/int32.h>
 
-#if !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT)
-#error This example is only avaible for Arduino Portenta and Arduino Nano RP2040 Connect
+#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT)
+#error This example is only avaible for Arduino Portenta, Arduino Nano RP2040 Connect and ESP32 Dev module
 #endif
 
 rcl_publisher_t publisher;

extras/library_generation/esp32_toolchain.cmake

@@ -0,0 +1,16 @@
+SET(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_CROSSCOMPILING 1)
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+set(CMAKE_C_COMPILER $ENV{TOOLCHAIN_PREFIX}gcc)
+set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++)
+
+SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
+SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
+
+set(FLAGS "-Os -mlongcalls -ffunction-sections -fdata-sections -D'RCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_NONE'" CACHE STRING "" FORCE)
+
+set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_INIT "-std=c++14 ${FLAGS} -DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
+
+set(__BIG_ENDIAN__ 0)

extras/library_generation/library_generation.sh

@@ -21,6 +21,7 @@ if [ $OPTIND -eq 1 ]; then
     # PLATFORMS+=("portenta-m4")
     PLATFORMS+=("portenta-m7")
     PLATFORMS+=("kakutef7-m7")
+    PLATFORMS+=("esp32")
 fi
 
 shift $((OPTIND-1))
@@ -53,6 +54,20 @@ pushd firmware/mcu_ws > /dev/null
 
 popd > /dev/null
 
+cd firmware
+echo "" > /project/built_packages
+for f in $(find $(pwd) -name .git -type d); do pushd $f > /dev/null; echo $(git config --get remote.origin.url) $(git rev-parse HEAD) >> /project/built_packages; popd > /dev/null; done;
+
+cd /project
+if [[ `git diff-index --name-only HEAD | grep built_packages` ]]; then
+    echo "Changes detected"
+else
+    echo "No changes detected"
+    exit 0
+fi
+
+cd /uros_ws
+
 ######## Clean and source ########
 find /project/src/ ! -name micro_ros_arduino.h ! -name *.c ! -name *.cpp ! -name *.c.in -delete
 
@@ -215,13 +230,23 @@ if [[ " ${PLATFORMS[@]} " =~ " kakutef7-m7 " ]]; then
     cp -R firmware/build/libmicroros.a /project/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a
 fi
 
+######## Build for ESP 32  ########
+if [[ " ${PLATFORMS[@]} " =~ " esp32 " ]]; then
+    rm -rf firmware/build
+
+    export TOOLCHAIN_PREFIX=/uros_ws/xtensa-esp32-elf/bin/xtensa-esp32-elf-
+    ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/esp32_toolchain.cmake /project/extras/library_generation/colcon.meta
+
+    find firmware/build/include/ -name "*.c"  -delete
+    cp -R firmware/build/include/* /project/src/
+
+    mkdir -p /project/src/esp32
+    cp -R firmware/build/libmicroros.a /project/src/esp32/libmicroros.a
+fi
+
 ######## Generate extra files ########
 find firmware/mcu_ws/ros2 \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' > /project/available_ros2_types
 find firmware/mcu_ws/extra_packages \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' >> /project/available_ros2_types
 
-cd firmware
-echo "" > /project/built_packages
-for f in $(find $(pwd) -name .git -type d); do pushd $f > /dev/null; echo $(git config --get remote.origin.url) $(git rev-parse HEAD) >> /project/built_packages; popd > /dev/null; done;
-
 ######## Fix permissions ########
 sudo chmod -R 777 .

library.properties

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

src/micro_ros_arduino.h

@@ -81,12 +81,12 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
 
 #endif
 
-#if defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT)
 
-#if defined(TARGET_PORTENTA_H7_M7)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
 #include <WiFi.h>
 #include <WiFiUdp.h>
-#else defined(ARDUINO_NANO_RP2040_CONNECT)
+#elif defined(ARDUINO_NANO_RP2040_CONNECT)
 #include <SPI.h>
 #include <WiFiNINA.h>
 #endif
@@ -102,10 +102,12 @@ struct micro_ros_agent_locator {
 };
 
 static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint agent_port){
-	while (WiFi.begin(ssid, pass) != WL_CONNECTED)
-	{
-    	delay(500);
-	}
+
+	WiFi.begin(ssid, pass);
+
+    while (WiFi.status() != WL_CONNECTED) {
+      delay(500);
+    }
 
 	static struct micro_ros_agent_locator locator;
 	locator.address.fromString(agent_ip);

src/wifi_transport.cpp

@@ -1,12 +1,12 @@
-#if defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT)
 
 #include <Arduino.h>
 
 
-#if defined(TARGET_PORTENTA_H7_M7)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
 #include <WiFi.h>
 #include <WiFiUdp.h>
-#else defined(ARDUINO_NANO_RP2040_CONNECT)
+#elif defined(ARDUINO_NANO_RP2040_CONNECT)
 #include <SPI.h>
 #include <WiFiNINA.h>
 #endif