MicroROS on Espressif

.gitignore

@@ -9,6 +9,7 @@
 *.o
 *.a
 !atmel-samd/asf/**/*.a
+!ports/espressif/microros-ext/**/*.a
 *.elf
 *.bin
 !*.toml.bin

ports/espressif/Makefile

@@ -422,6 +422,55 @@ CFLAGS += -isystem esp-camera/driver/include
 CFLAGS += -isystem esp-camera/conversions/include
 endif
 
+ifneq ($(CIRCUITPY_MICROROS),0)
+CFLAGS += -isystem microros-ext/include
+CFLAGS += -isystem microros-ext/include/rcl
+CFLAGS += -isystem microros-ext/include/statistics_msgs
+CFLAGS += -isystem microros-ext/include/composition_interfaces
+CFLAGS += -isystem microros-ext/include/example_interfaces
+CFLAGS += -isystem microros-ext/include/rmw_microxrcedds_c
+CFLAGS += -isystem microros-ext/include/test_msgs
+CFLAGS += -isystem microros-ext/include/std_msgs
+CFLAGS += -isystem microros-ext/include/rcutils
+CFLAGS += -isystem microros-ext/include/lifecycle_msgs
+CFLAGS += -isystem microros-ext/include/rosidl_typesupport_interface
+CFLAGS += -isystem microros-ext/include/service_msgs
+CFLAGS += -isystem microros-ext/include/visualization_msgs
+CFLAGS += -isystem microros-ext/include/rosidl_dynamic_typesupport
+CFLAGS += -isystem microros-ext/include/stereo_msgs
+CFLAGS += -isystem microros-ext/include/ucdr
+CFLAGS += -isystem microros-ext/include/rosidl_typesupport_c
+CFLAGS += -isystem microros-ext/include/std_srvs
+CFLAGS += -isystem microros-ext/include/rcl_lifecycle
+CFLAGS += -isystem microros-ext/include/action_msgs
+CFLAGS += -isystem microros-ext/include/micro_ros_utilities
+CFLAGS += -isystem microros-ext/include/rcl_action
+CFLAGS += -isystem microros-ext/include/rcl_logging_interface
+CFLAGS += -isystem microros-ext/include/type_description_interfaces
+CFLAGS += -isystem microros-ext/include/nav_msgs
+CFLAGS += -isystem microros-ext/include/actionlib_msgs
+CFLAGS += -isystem microros-ext/include/rmw
+CFLAGS += -isystem microros-ext/include/rclc_parameter
+CFLAGS += -isystem microros-ext/include/geometry_msgs
+CFLAGS += -isystem microros-ext/include/sensor_msgs
+CFLAGS += -isystem microros-ext/include/trajectory_msgs
+CFLAGS += -isystem microros-ext/include/shape_msgs
+CFLAGS += -isystem microros-ext/include/rosidl_runtime_c
+CFLAGS += -isystem microros-ext/include/rclc
+CFLAGS += -isystem microros-ext/include/rosgraph_msgs
+CFLAGS += -isystem microros-ext/include/rclc_lifecycle
+CFLAGS += -isystem microros-ext/include/rcl_interfaces
+CFLAGS += -isystem microros-ext/include/diagnostic_msgs
+CFLAGS += -isystem microros-ext/include/micro_ros_msgs
+CFLAGS += -isystem microros-ext/include/rosidl_typesupport_introspection_c
+CFLAGS += -isystem microros-ext/include/uxr
+CFLAGS += -isystem microros-ext/include/unique_identifier_msgs
+CFLAGS += -isystem microros-ext/include/rosidl_typesupport_microxrcedds_c
+CFLAGS += -isystem microros-ext/include/builtin_interfaces
+CFLAGS += -isystem microros-ext/include/tracetools
+CFLAGS += -isystem microros-ext/include/rmw_microros
+endif
+
 ifneq ($(CIRCUITPY_ESPIDF),0)
 SRC_ESPIDF := \
 	$(wildcard common-hal/espidf/*.c) \
@@ -664,6 +713,16 @@ ESP_IDF_COMPONENTS_EXPANDED += $(BUILD)/esp-idf/esp-idf/esp-camera/libesp-camera
 #$(error $(ESP_IDF_COMPONENTS_EXPANDED))
 endif
 
+ifeq ($(CIRCUITPY_MICROROS),1)
+ifeq ($(IDF_TARGET),esp32)
+BINARY_BLOBS += microros-ext/esp32/libmicroros.a
+else ifeq ($(IDF_TARGET),esp32s2)
+BINARY_BLOBS+= microros-ext/esp32s2/libmicroros.a
+else ifeq ($(IDF_TARGET),esp32s3)
+BINARY_BLOBS += microros-ext/esp32s3/libmicroros.a
+endif
+endif
+
 ifneq ($(VALID_BOARD),)
 # From esp-idf/components/bootloader/Kconfig.projbuild
 # BOOTLOADER_OFFSET is determined by chip type, based on the ROM bootloader, and is not changeable.

ports/espressif/boards/m5stack_cardputer/board.c

@@ -17,6 +17,16 @@
 #include "py/ringbuf.h"
 #include "shared/runtime/interrupt_char.h"
 
+// ROS TESTING
+// #include <uros_network_interfaces.h>
+#include <rcl/rcl/rcl.h>
+#include <rcl/rcl/error_handling.h>
+#include <std_msgs/msg/int32.h>
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+// END ROS TESTING
+
+
 
 #define DELAY 0x80
 
@@ -42,6 +52,17 @@ uint8_t display_init_sequence[] = {
 
 // Overrides the weakly linked function from supervisor/shared/board.c
 void board_init(void) {
+
+    // ROS TESTING
+    rcl_allocator_t allocator = rcl_get_default_allocator();
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_ret_t temp_rc = rcl_init_options_init(&init_options, allocator);
+    if ((temp_rc != RCL_RET_OK)) {
+        common_hal_board_create_spi(0);
+    }
+    // END ROS TESTING
+
+
     busio_spi_obj_t *spi = common_hal_board_create_spi(0);
     fourwire_fourwire_obj_t *bus = &allocate_display_bus()->fourwire_bus;
     bus->base.type = &fourwire_fourwire_type;

ports/espressif/boards/m5stack_cardputer/mpconfigboard.mk

@@ -9,6 +9,7 @@ CIRCUITPY_ESP_FLASH_MODE = qio
 CIRCUITPY_ESP_FLASH_FREQ = 80m
 CIRCUITPY_ESP_FLASH_SIZE = 8MB
 CIRCUITPY_ESPCAMERA = 0
+CIRCUITPY_MICROROS = 1
 
 CIRCUITPY_GIFIO = 1
 CIRCUITPY_MAX3421E = 0

ports/espressif/microros-ext/include/action_msgs/action_msgs/msg/detail/goal_info__description.c

@@ -0,0 +1,149 @@
+// generated from rosidl_generator_c/resource/idl__description.c.em
+// with input from action_msgs:msg/GoalInfo.idl
+// generated code does not contain a copyright notice
+
+#include "action_msgs/msg/detail/goal_info__functions.h"
+
+ROSIDL_GENERATOR_C_PUBLIC_action_msgs
+const rosidl_type_hash_t *
+action_msgs__msg__GoalInfo__get_type_hash(
+  const rosidl_message_type_support_t * type_support)
+{
+  (void)type_support;
+  static rosidl_type_hash_t hash = {1, {
+      0x63, 0x98, 0xfe, 0x76, 0x31, 0x54, 0x55, 0x43,
+      0x53, 0x93, 0x07, 0x16, 0xb2, 0x25, 0x94, 0x7f,
+      0x93, 0xb6, 0x72, 0xf0, 0xfb, 0x2e, 0x49, 0xfd,
+      0xd0, 0x1b, 0xb7, 0xa7, 0xe3, 0x79, 0x33, 0xe9,
+    }};
+  return &hash;
+}
+
+#include <assert.h>
+#include <string.h>
+
+// Include directives for referenced types
+#include "unique_identifier_msgs/msg/detail/uuid__functions.h"
+#include "builtin_interfaces/msg/detail/time__functions.h"
+
+// Hashes for external referenced types
+#ifndef NDEBUG
+static const rosidl_type_hash_t builtin_interfaces__msg__Time__EXPECTED_HASH = {1, {
+    0xb1, 0x06, 0x23, 0x5e, 0x25, 0xa4, 0xc5, 0xed,
+    0x35, 0x09, 0x8a, 0xa0, 0xa6, 0x1a, 0x3e, 0xe9,
+    0xc9, 0xb1, 0x8d, 0x19, 0x7f, 0x39, 0x8b, 0x0e,
+    0x42, 0x06, 0xce, 0xa9, 0xac, 0xf9, 0xc1, 0x97,
+  }};
+static const rosidl_type_hash_t unique_identifier_msgs__msg__UUID__EXPECTED_HASH = {1, {
+    0x1b, 0x8e, 0x8a, 0xca, 0x95, 0x8c, 0xbe, 0xa2,
+    0x8f, 0xe6, 0xef, 0x60, 0xbf, 0x6c, 0x19, 0xb6,
+    0x83, 0xc9, 0x7a, 0x9e, 0xf6, 0x0b, 0xb3, 0x47,
+    0x52, 0x06, 0x7d, 0x0f, 0x2f, 0x7a, 0xb4, 0x37,
+  }};
+#endif
+
+static char action_msgs__msg__GoalInfo__TYPE_NAME[] = "action_msgs/msg/GoalInfo";
+static char builtin_interfaces__msg__Time__TYPE_NAME[] = "builtin_interfaces/msg/Time";
+static char unique_identifier_msgs__msg__UUID__TYPE_NAME[] = "unique_identifier_msgs/msg/UUID";
+
+// Define type names, field names, and default values
+static char action_msgs__msg__GoalInfo__FIELD_NAME__goal_id[] = "goal_id";
+static char action_msgs__msg__GoalInfo__FIELD_NAME__stamp[] = "stamp";
+
+static rosidl_runtime_c__type_description__Field action_msgs__msg__GoalInfo__FIELDS[] = {
+  {
+    {action_msgs__msg__GoalInfo__FIELD_NAME__goal_id, 7, 7},
+    {
+      rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_NESTED_TYPE,
+      0,
+      0,
+      {unique_identifier_msgs__msg__UUID__TYPE_NAME, 31, 31},
+    },
+    {NULL, 0, 0},
+  },
+  {
+    {action_msgs__msg__GoalInfo__FIELD_NAME__stamp, 5, 5},
+    {
+      rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_NESTED_TYPE,
+      0,
+      0,
+      {builtin_interfaces__msg__Time__TYPE_NAME, 27, 27},
+    },
+    {NULL, 0, 0},
+  },
+};
+
+static rosidl_runtime_c__type_description__IndividualTypeDescription action_msgs__msg__GoalInfo__REFERENCED_TYPE_DESCRIPTIONS[] = {
+  {
+    {builtin_interfaces__msg__Time__TYPE_NAME, 27, 27},
+    {NULL, 0, 0},
+  },
+  {
+    {unique_identifier_msgs__msg__UUID__TYPE_NAME, 31, 31},
+    {NULL, 0, 0},
+  },
+};
+
+const rosidl_runtime_c__type_description__TypeDescription *
+action_msgs__msg__GoalInfo__get_type_description(
+  const rosidl_message_type_support_t * type_support)
+{
+  (void)type_support;
+  static bool constructed = false;
+  static const rosidl_runtime_c__type_description__TypeDescription description = {
+    {
+      {action_msgs__msg__GoalInfo__TYPE_NAME, 24, 24},
+      {action_msgs__msg__GoalInfo__FIELDS, 2, 2},
+    },
+    {action_msgs__msg__GoalInfo__REFERENCED_TYPE_DESCRIPTIONS, 2, 2},
+  };
+  if (!constructed) {
+    assert(0 == memcmp(&builtin_interfaces__msg__Time__EXPECTED_HASH, builtin_interfaces__msg__Time__get_type_hash(NULL), sizeof(rosidl_type_hash_t)));
+    description.referenced_type_descriptions.data[0].fields = builtin_interfaces__msg__Time__get_type_description(NULL)->type_description.fields;
+    assert(0 == memcmp(&unique_identifier_msgs__msg__UUID__EXPECTED_HASH, unique_identifier_msgs__msg__UUID__get_type_hash(NULL), sizeof(rosidl_type_hash_t)));
+    description.referenced_type_descriptions.data[1].fields = unique_identifier_msgs__msg__UUID__get_type_description(NULL)->type_description.fields;
+    constructed = true;
+  }
+  return &description;
+}
+
+static char toplevel_type_raw_source[] =
+  "# Goal ID\n"
+  "unique_identifier_msgs/UUID goal_id\n"
+  "\n"
+  "# Time when the goal was accepted\n"
+  "builtin_interfaces/Time stamp";
+
+static char msg_encoding[] = "msg";
+
+// Define all individual source functions
+
+const rosidl_runtime_c__type_description__TypeSource *
+action_msgs__msg__GoalInfo__get_individual_type_description_source(
+  const rosidl_message_type_support_t * type_support)
+{
+  (void)type_support;
+  static const rosidl_runtime_c__type_description__TypeSource source = {
+    {action_msgs__msg__GoalInfo__TYPE_NAME, 24, 24},
+    {msg_encoding, 3, 3},
+    {toplevel_type_raw_source, 111, 111},
+  };
+  return &source;
+}
+
+const rosidl_runtime_c__type_description__TypeSource__Sequence *
+action_msgs__msg__GoalInfo__get_type_description_sources(
+  const rosidl_message_type_support_t * type_support)
+{
+  (void)type_support;
+  static rosidl_runtime_c__type_description__TypeSource sources[3];
+  static const rosidl_runtime_c__type_description__TypeSource__Sequence source_sequence = {sources, 3, 3};
+  static bool constructed = false;
+  if (!constructed) {
+    sources[0] = *action_msgs__msg__GoalInfo__get_individual_type_description_source(NULL),
+    sources[1] = *builtin_interfaces__msg__Time__get_individual_type_description_source(NULL);
+    sources[2] = *unique_identifier_msgs__msg__UUID__get_individual_type_description_source(NULL);
+    constructed = true;
+  }
+  return &source_sequence;
+}