Added Disco wifi sample

apps/int32_wifi_publisher/CMakeLists.txt

@@ -0,0 +1,83 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.13.1)
+
+set(COMPATIBLE_BOARDS disco_l475_iot1)
+if(NOT ${BOARD} IN_LIST COMPATIBLE_BOARDS)
+    message(FATAL_ERROR "App $ENV{UROS_APP} not compatible with board ${BOARD}")
+endif()
+
+include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)
+project(microrosapp C CXX)
+
+FILE(GLOB app_sources src/*.c ../../microros_extensions/libatomic.c)
+
+target_sources(app PRIVATE ${app_sources})
+
+zephyr_get_include_directories_for_lang_as_string(       C includes)
+zephyr_get_system_include_directories_for_lang_as_string(C system_includes)
+zephyr_get_compile_definitions_for_lang_as_string(       C definitions)
+zephyr_get_compile_options_for_lang_as_string(           C options)
+
+zephyr_get_include_directories_for_lang_as_string(       CXX includes_cxx)
+zephyr_get_system_include_directories_for_lang_as_string(CXX system_includes_cxx)
+zephyr_get_compile_definitions_for_lang_as_string(       CXX definitions_cxx)
+zephyr_get_compile_options_for_lang_as_string(           CXX options_cxx)
+
+set(external_project_cflags
+    "${includes} ${definitions} ${options} ${system_includes}"
+    )
+
+set(external_project_cxxflags
+    "${includes_cxx} ${definitions_cxx} ${options_cxx} ${system_includes_cxx}" 
+    )
+
+include(ExternalProject)
+
+set(microros_src_dir   ${CMAKE_CURRENT_SOURCE_DIR}/../../microros_extensions)
+set(microros_build_dir ${CMAKE_CURRENT_BINARY_DIR}/microros_extensions)
+
+if(CMAKE_GENERATOR STREQUAL "Unix Makefiles")
+set(submake "$(MAKE)")
+else()
+set(submake "make")
+endif()
+
+ExternalProject_Add(
+    microroslib_project                 # Name for custom target
+    PREFIX     ${microros_build_dir}    # Root dir for entire project
+    SOURCE_DIR ${microros_src_dir}
+    BINARY_DIR ${microros_src_dir}      # This particular build system is invoked from the root
+    CONFIGURE_COMMAND ""                # Skip configuring the project, e.g. with autoconf
+    BUILD_COMMAND
+        ${submake}
+            PREFIX=${microros_src_dir}
+            CC=${CMAKE_C_COMPILER}
+            AR=${CMAKE_AR}
+            CFLAGS=${external_project_cflags}
+            CXX=${CMAKE_CXX_COMPILER}
+            CXXFLAGS=${external_project_cxxflags}
+            APP_META=$ENV{UROS_APP_FOLDER}/app-colcon.meta
+
+    INSTALL_COMMAND ""      # This particular build system has no install command
+    BUILD_BYPRODUCTS ${MICROROS_LIB_DIR}/libmicroros.a
+    )
+
+file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../../../mcu_ws/install)
+file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../../../mcu_ws/install/include)
+
+set(MICROROS_LIB_DIR     ${CMAKE_CURRENT_SOURCE_DIR}/../../../mcu_ws/install)
+set(MICROROS_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../../mcu_ws/install/include)
+
+add_library(microroslib STATIC IMPORTED GLOBAL)
+add_dependencies(
+    microroslib
+    microroslib_project
+    )
+
+add_dependencies(microroslib_project offsets_h)
+
+set_target_properties(microroslib PROPERTIES IMPORTED_LOCATION             ${MICROROS_LIB_DIR}/libmicroros.a)
+set_target_properties(microroslib PROPERTIES INTERFACE_INCLUDE_DIRECTORIES ${MICROROS_INCLUDE_DIR})
+
+target_link_libraries(app PUBLIC microroslib)

apps/int32_wifi_publisher/app-colcon.meta

@@ -0,0 +1,14 @@
+{
+    "names": {
+        "rmw_microxrcedds": {
+            "cmake-args": [
+                "-DRMW_UXRCE_MAX_NODES=1",
+                "-DRMW_UXRCE_MAX_PUBLISHERS=1",
+                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=0",
+                "-DRMW_UXRCE_MAX_SERVICES=0",
+                "-DRMW_UXRCE_MAX_CLIENTS=0",
+                "-DRMW_UXRCE_MAX_HISTORY=1"
+            ]
+        }
+    }
+}

apps/int32_wifi_publisher/prj.conf

@@ -0,0 +1,36 @@
+CONFIG_MAIN_STACK_SIZE=25000
+CONFIG_MAIN_THREAD_PRIORITY=3
+
+CONFIG_NEWLIB_LIBC=y
+CONFIG_NEWLIB_LIBC_NANO=n
+CONFIG_CPLUSPLUS=y
+CONFIG_LIB_CPLUSPLUS=y
+CONFIG_PTHREAD_IPC=n
+
+CONFIG_POSIX_API=y
+CONFIG_NATIVE_POSIX_TIMER=y
+CONFIG_APP_LINK_WITH_POSIX_SUBSYS=y
+CONFIG_POSIX_CLOCK=y
+
+CONFIG_HEAP_MEM_POOL_SIZE=8192
+CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=2048
+CONFIG_NET_IPV4=y
+CONFIG_NET_CONFIG_NEED_IPV4=y
+CONFIG_NET_IPV6=n
+CONFIG_NET_DHCPV4=y
+CONFIG_SHELL=y
+CONFIG_LOG=y
+CONFIG_WIFI=y
+CONFIG_NET_L2_WIFI_MGMT=y
+CONFIG_NETWORKING=y
+CONFIG_NET_SOCKETS=y
+CONFIG_NET_SOCKETS_POSIX_NAMES=y
+CONFIG_DNS_RESOLVER=y
+
+CONFIG_NET_TX_STACK_SIZE=2048
+CONFIG_NET_RX_STACK_SIZE=2048
+CONFIG_NET_PKT_RX_COUNT=10
+CONFIG_NET_PKT_TX_COUNT=10
+CONFIG_NET_BUF_RX_COUNT=20
+CONFIG_NET_BUF_TX_COUNT=20
+CONFIG_NET_MAX_CONTEXTS=10

apps/int32_wifi_publisher/src/main.c

@@ -0,0 +1,100 @@
+#include <zephyr.h>
+#include <device.h>
+#include <stdio.h>
+#include <sys/util.h>
+#include <string.h>
+#include <sys/printk.h>
+
+#include <net/net_if.h>
+#include <net/wifi_mgmt.h>
+#include <net/net_event.h>
+
+#include <rcl/rcl.h>
+#include <rcl_action/rcl_action.h>
+#include <rcl/error_handling.h>
+#include <std_msgs/msg/int32.h>
+#include <std_msgs/msg/bool.h>
+
+#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printk("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);}}
+#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printk("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}
+
+static struct net_mgmt_event_callback wifi_shell_mgmt_cb;
+static bool connected = 0;
+
+static void wifi_mgmt_event_handler(struct net_mgmt_event_callback *cb,
+				    u32_t mgmt_event, struct net_if *iface)
+{	
+	if(NET_EVENT_IPV4_ADDR_ADD == mgmt_event){
+			printf("DHCP Connected\n");
+			connected = 1;
+	}
+}
+
+void main(void)
+{	
+	// Wifi Configuration
+	net_mgmt_init_event_callback(&wifi_shell_mgmt_cb,
+					wifi_mgmt_event_handler,
+					NET_EVENT_IPV4_ADDR_ADD);
+
+	net_mgmt_add_event_callback(&wifi_shell_mgmt_cb);
+
+	struct net_if *iface = net_if_get_default();
+	static struct wifi_connect_req_params cnx_params;
+
+
+	cnx_params.ssid = "WIFI_SSID_HERE";
+	cnx_params.ssid_length = strlen(cnx_params.ssid);
+	cnx_params.channel = 0;
+	cnx_params.psk = "WIFI_PSK_HERE";
+	cnx_params.psk_length = strlen(cnx_params.psk);
+	cnx_params.security = WIFI_SECURITY_TYPE_PSK;
+
+	if (net_mgmt(NET_REQUEST_WIFI_CONNECT, iface, &cnx_params, sizeof(struct wifi_connect_req_params))) {
+		printf("Connection request failed\n");
+	} else {
+		printf("Connection requested\n");
+	}
+
+	while (!connected)
+	{
+		printf("Waiting for connection\n");
+		usleep(10000);
+	}
+	printf("Connection OK\n");
+
+	// micro-ROS
+	rcl_init_options_t options = rcl_get_zero_initialized_init_options();
+
+	RCCHECK(rcl_init_options_init(&options, rcl_get_default_allocator()))
+
+	// Optional RMW configuration 
+	rmw_init_options_t* rmw_options = rcl_init_options_get_rmw_init_options(&options);
+	RCCHECK(rmw_uros_options_set_client_key(0xDEADBEEF, rmw_options))
+
+	rcl_context_t context = rcl_get_zero_initialized_context();
+	RCCHECK(rcl_init(0, NULL, &options, &context))
+
+	rcl_node_options_t node_ops = rcl_node_get_default_options();
+
+	rcl_node_t node = rcl_get_zero_initialized_node();
+	RCCHECK(rcl_node_init(&node, "zephyr_int32_wifi_publisher", "", &context, &node_ops))
+
+	rcl_publisher_options_t publisher_ops = rcl_publisher_get_default_options();
+	publisher_ops.qos.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+	rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
+	RCCHECK(rcl_publisher_init(&publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "zephyr_int32_publisher", &publisher_ops))
+
+	std_msgs__msg__Int32 msg;
+	msg.data = 0;
+
+	rcl_ret_t rc;
+	do {
+		rc = rcl_publish(&publisher, (const void*)&msg, NULL);
+		msg.data++;
+		// usleep(10000);
+	} while (true);
+
+	RCCHECK(rcl_publisher_fini(&publisher, &node))
+	RCCHECK(rcl_node_fini(&node))
+}

microros_extensions/arm_toolchain.cmake.in

@@ -4,7 +4,7 @@ set(CMAKE_SYSTEM_NAME Generic)
 # set(CMAKE_SYSTEM_PROCESSOR arm)
 set(CMAKE_CROSSCOMPILING 1)
 set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
-# set(PLATFORM_NAME "Zephyr")
+set(PLATFORM_NAME "nuttx")
 
 set(CMAKE_SYSROOT @CMAKE_SYSROOT@)