Add configurable Arduino Serial (#6)

* Update

Signed-off-by: Pablo Garrido <[email protected]>

* Update

Signed-off-by: Pablo Garrido <[email protected]>

* Update

Signed-off-by: Pablo Garrido <[email protected]>

Author: pablogs9

ci/src/main.cpp

@@ -42,16 +42,17 @@ void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
 
 void setup() {
 
-#if defined(MICRO_ROS_TRANSPORT_SERIAL)
-  set_microros_serial_transports();
-#elif defined(MICRO_ROS_TRANSPORT_NATIVE_ETHERNET)
+#if defined(MICRO_ROS_TRANSPORT_ARDUINO_SERIAL)
+  Serial.begin(115200);
+  set_microros_serial_transports(Serial);
+#elif defined(MICRO_ROS_TRANSPORT_ARDUINO_NATIVE_ETHERNET)
   byte local_mac[] = { 0xAA, 0xBB, 0xCC, 0xEE, 0xDD, 0xFF };
   IPAddress local_ip(192, 168, 1, 177);
   IPAddress agent_ip(192, 168, 1, 113);
   size_t agent_port = 8888;
 
   set_microros_native_ethernet_transports(local_mac, local_ip, agent_ip, agent_port);
-#elif defined(MICRO_ROS_TRANSPORT_WIFI)
+#elif defined(MICRO_ROS_TRANSPORT_ARDUINO_WIFI)
   IPAddress agent_ip(192, 168, 1, 113);
   size_t agent_port = 8888;
 

extra_script.py

@@ -106,7 +106,7 @@
 env['_CPPDEFFLAGS'] += ' -I{}/platform_code/{}/{} '.format(main_path, framework, microros_transport)
 
 # Add micro-ROS defines to user application
-global_env['_CPPDEFFLAGS'] += ' -DMICRO_ROS_TRANSPORT_{} '.format(microros_transport.upper())
+global_env['_CPPDEFFLAGS'] += ' -DMICRO_ROS_TRANSPORT_{}_{} '.format(framework.upper(), microros_transport.upper())
 global_env['_CPPDEFFLAGS'] += ' -DMICRO_ROS_DISTRO_ '.format(microros_distro.upper())
 
 # Add platformio library for Arduino framework

platform_code/arduino/serial/micro_ros_transport.cpp

@@ -3,32 +3,36 @@
 #include <stdbool.h>
 #include <sys/time.h>
 
+#include <uxr/client/profile/transport/custom/custom_transport.h>
+
 extern "C" {
 
 bool platformio_transport_open(struct uxrCustomTransport * transport)
 {
-  Serial.begin(115200);
   return true;
 }
 
 bool platformio_transport_close(struct uxrCustomTransport * transport)
 {
-  Serial.end();
   return true;
 }
 
 size_t platformio_transport_write(struct uxrCustomTransport * transport, uint8_t *buf, size_t len, uint8_t *errcode)
 {
   (void)errcode;
-  size_t sent = Serial.write(buf, len);
+
+  Stream * stream = (Stream *) transport->args;
+  size_t sent = stream->write(buf, len);
   return sent;
 }
 
 size_t platformio_transport_read(struct uxrCustomTransport * transport, uint8_t *buf, size_t len, int timeout, uint8_t *errcode)
 {
   (void)errcode;
-  Serial.setTimeout(timeout);
-  return Serial.readBytes((char *)buf, len);
+
+  Stream * stream = (Stream *) transport->args;
+  stream->setTimeout(timeout);
+  return stream->readBytes((char *)buf, len);
 }
 
 }

platform_code/arduino/serial/micro_ros_transport.h

@@ -1,7 +1,9 @@
-static inline void set_microros_serial_transports(){
+#include <Stream.h>
+
+static inline void set_microros_serial_transports(Stream & stream){
 	rmw_uros_set_custom_transport(
 		true,
-		NULL,
+		&stream,
 		platformio_transport_open,
 		platformio_transport_close,
 		platformio_transport_write,