MicroROS on Espressif

.gitignore

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

.gitmodules

@@ -410,3 +410,6 @@
 [submodule "ports/analog/msdk"]
 	path = ports/analog/msdk
 	url = https://github.com/analogdevicesinc/msdk.git
+[submodule "ports/espressif/microros-lib"]
+	path = ports/espressif/microros-lib
+	url = https://github.com/hierophect/microros-lib.git

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-lib/include
+CFLAGS += -isystem microros-lib/include/rcl
+CFLAGS += -isystem microros-lib/include/statistics_msgs
+CFLAGS += -isystem microros-lib/include/composition_interfaces
+CFLAGS += -isystem microros-lib/include/example_interfaces
+CFLAGS += -isystem microros-lib/include/rmw_microxrcedds_c
+CFLAGS += -isystem microros-lib/include/test_msgs
+CFLAGS += -isystem microros-lib/include/std_msgs
+CFLAGS += -isystem microros-lib/include/rcutils
+CFLAGS += -isystem microros-lib/include/lifecycle_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_interface
+CFLAGS += -isystem microros-lib/include/service_msgs
+CFLAGS += -isystem microros-lib/include/visualization_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_dynamic_typesupport
+CFLAGS += -isystem microros-lib/include/stereo_msgs
+CFLAGS += -isystem microros-lib/include/ucdr
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_c
+CFLAGS += -isystem microros-lib/include/std_srvs
+CFLAGS += -isystem microros-lib/include/rcl_lifecycle
+CFLAGS += -isystem microros-lib/include/action_msgs
+CFLAGS += -isystem microros-lib/include/micro_ros_utilities
+CFLAGS += -isystem microros-lib/include/rcl_action
+CFLAGS += -isystem microros-lib/include/rcl_logging_interface
+CFLAGS += -isystem microros-lib/include/type_description_interfaces
+CFLAGS += -isystem microros-lib/include/nav_msgs
+CFLAGS += -isystem microros-lib/include/actionlib_msgs
+CFLAGS += -isystem microros-lib/include/rmw
+CFLAGS += -isystem microros-lib/include/rclc_parameter
+CFLAGS += -isystem microros-lib/include/geometry_msgs
+CFLAGS += -isystem microros-lib/include/sensor_msgs
+CFLAGS += -isystem microros-lib/include/trajectory_msgs
+CFLAGS += -isystem microros-lib/include/shape_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_runtime_c
+CFLAGS += -isystem microros-lib/include/rclc
+CFLAGS += -isystem microros-lib/include/rosgraph_msgs
+CFLAGS += -isystem microros-lib/include/rclc_lifecycle
+CFLAGS += -isystem microros-lib/include/rcl_interfaces
+CFLAGS += -isystem microros-lib/include/diagnostic_msgs
+CFLAGS += -isystem microros-lib/include/micro_ros_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_introspection_c
+CFLAGS += -isystem microros-lib/include/uxr
+CFLAGS += -isystem microros-lib/include/unique_identifier_msgs
+CFLAGS += -isystem microros-lib/include/rosidl_typesupport_microxrcedds_c
+CFLAGS += -isystem microros-lib/include/builtin_interfaces
+CFLAGS += -isystem microros-lib/include/tracetools
+CFLAGS += -isystem microros-lib/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-lib/esp32/libmicroros.a
+else ifeq ($(IDF_TARGET),esp32s2)
+BINARY_BLOBS+= microros-lib/esp32s2/libmicroros.a
+else ifeq ($(IDF_TARGET),esp32s3)
+BINARY_BLOBS += microros-lib/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/mpconfigport.mk

@@ -66,6 +66,7 @@ CIRCUITPY_HASHLIB ?= 1
 CIRCUITPY_I2CTARGET ?= 0
 CIRCUITPY_MAX3421E ?= 1
 CIRCUITPY_MEMORYMAP ?= 1
+CIRCUITPY_MICROROS ?= 0
 CIRCUITPY_NVM ?= 1
 CIRCUITPY_PARALLELDISPLAYBUS ?= 1
 CIRCUITPY_PS2IO ?= 1