ESP32 Wifi

microros_esp32_extensions/esp32_toolchain.cmake.in

@@ -4,7 +4,7 @@ set(CMAKE_SYSTEM_NAME Generic)
 set(CMAKE_SYSTEM_PROCESSOR xtensa)
 set(CMAKE_CROSSCOMPILING 1)
 set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
-set(PLATFORM_NAME "ESP32")
+set(PLATFORM_NAME "LwIP")
 
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
@@ -18,6 +18,8 @@ set(CMAKE_CXX_FLAGS_INIT "@CXXFLAGS@" CACHE STRING "" FORCE)
 
 set(idf_path "@IDF_PATH@")
 
+add_definitions(-DLWIP_IPV4 -DLWIP_IPV6)
+
 include_directories(
         "@BUILD_CONFIG_DIR@"
         ${idf_path}/components/newlib/platform_include
@@ -35,9 +37,6 @@ include_directories(
         ${idf_path}/components/coap/libcoap/include
         ${idf_path}/components/tcp_transport/include
         ${idf_path}/components/unity/include
-        ${idf_path}/components/lwip/port/esp32/include
-        ${idf_path}/components/lwip/lwip/src/include
-        ${idf_path}/components/lwip/include
         ${idf_path}/components/esp32/include
         ${idf_path}/components/asio/port/include
         ${idf_path}/components/asio/asio/asio/include
@@ -72,4 +71,9 @@ include_directories(
         ${idf_path}/components/sdmmc/include
         ${idf_path}/components/esp_local_ctrl/include
         ${idf_path}/components/esp_common/include
+
+        ${idf_path}/components/lwip/lwip/src/include/lwip/apps
+        ${idf_path}/components/lwip/lwip/src/include/compat/posix
+        ${idf_path}/components/lwip/lwip/src/include
+        ${idf_path}/components/lwip/port/esp32/include
     )

microros_esp32_extensions/main/Kconfig.projbuild

@@ -1,4 +1,4 @@
-menu "MicroRos Transport Settings"
+menu "micro-ROS Transport Settings"
 
 menu "UART Settings (for serial transport)"
 
@@ -32,5 +32,25 @@ config MICROROS_UART_CTS
 
 endmenu
 
+menu "WiFi Configuration"
+
+    config ESP_WIFI_SSID
+        string "WiFi SSID"
+        default "myssid"
+        help
+            SSID (network name) for the example to connect to.
+
+    config ESP_WIFI_PASSWORD
+        string "WiFi Password"
+        default "mypassword"
+        help
+            WiFi password (WPA or WPA2) for the example to use.
+
+    config ESP_MAXIMUM_RETRY
+        int "Maximum retry"
+        default 5
+        help
+            Set the Maximum retry to avoid station reconnecting to the AP unlimited when the AP is really inexistent.
+endmenu
 
 endmenu

microros_esp32_extensions/main/main.c

@@ -1,14 +1,127 @@
 #include "app.h"
 
+#include "uxr/client/config.h"
+
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
-#include "esp_system.h"
 
 #include <driver/uart.h>
 #include <driver/gpio.h>
 
-void app_main(void)
+#include <string.h>
+#include "freertos/event_groups.h"
+#include "esp_system.h"
+#include "esp_wifi.h"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "esp_system.h"
+#include "nvs_flash.h"
+
+#include "lwip/err.h"
+#include "lwip/sys.h"
+
+#define ESP_WIFI_SSID      CONFIG_ESP_WIFI_SSID
+#define ESP_WIFI_PASS      CONFIG_ESP_WIFI_PASSWORD
+#define ESP_MAXIMUM_RETRY  CONFIG_ESP_MAXIMUM_RETRY
+
+static EventGroupHandle_t s_wifi_event_group;
+
+#define WIFI_CONNECTED_BIT BIT0
+#define WIFI_FAIL_BIT      BIT1
+
+static const char *TAG = "wifi station";
+static int s_retry_num = 0;
+
+static void event_handler(void* arg, esp_event_base_t event_base,
+                                int32_t event_id, void* event_data)
 {
+    if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
+        esp_wifi_connect();
+    } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
+        if (s_retry_num < ESP_MAXIMUM_RETRY) {
+            esp_wifi_connect();
+            s_retry_num++;
+            ESP_LOGI(TAG, "retry to connect to the AP");
+        } else {
+            xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT);
+        }
+        ESP_LOGI(TAG,"connect to the AP fail");
+    } else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
+        ip_event_got_ip_t* event = (ip_event_got_ip_t*) event_data;
+        ESP_LOGI(TAG, "got ip:%s",
+                 ip4addr_ntoa(&event->ip_info.ip));
+        s_retry_num = 0;
+        xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
+    }
+}
+
+void wifi_init_sta()
+{
+    s_wifi_event_group = xEventGroupCreate();
+
+    tcpip_adapter_init();
+
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+
+    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(esp_wifi_init(&cfg));
+
+    ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &event_handler, NULL));
+    ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &event_handler, NULL));
+
+    wifi_config_t wifi_config = {
+        .sta = {
+            .ssid = ESP_WIFI_SSID,
+            .password = ESP_WIFI_PASS
+        },
+    };
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) );
+    ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_config) );
+    ESP_ERROR_CHECK(esp_wifi_start() );
+
+    ESP_LOGI(TAG, "wifi_init_sta finished.");
+
+    /* Waiting until either the connection is established (WIFI_CONNECTED_BIT) or connection failed for the maximum
+     * number of re-tries (WIFI_FAIL_BIT). The bits are set by event_handler() (see above) */
+    EventBits_t bits = xEventGroupWaitBits(s_wifi_event_group,
+            WIFI_CONNECTED_BIT | WIFI_FAIL_BIT,
+            pdFALSE,
+            pdFALSE,
+            portMAX_DELAY);
+
+    /* xEventGroupWaitBits() returns the bits before the call returned, hence we can test which event actually
+     * happened. */
+    if (bits & WIFI_CONNECTED_BIT) {
+        ESP_LOGI(TAG, "connected to ap SSID:%s", ESP_WIFI_SSID);
+    } else if (bits & WIFI_FAIL_BIT) {
+        ESP_LOGI(TAG, "Failed to connect to SSID:%s", ESP_WIFI_SSID);
+    } else {
+        ESP_LOGE(TAG, "UNEXPECTED EVENT");
+    }
+
+    ESP_ERROR_CHECK(esp_event_handler_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, &event_handler));
+    ESP_ERROR_CHECK(esp_event_handler_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, &event_handler));
+    vEventGroupDelete(s_wifi_event_group);
+}
+
+
+
+void app_main(void)
+{   
+    // Start networkign if required
+#ifdef UCLIENT_PROFILE_UDP
+    //Initialize NVS
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+      ESP_ERROR_CHECK(nvs_flash_erase());
+      ret = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(ret);
+
+    ESP_LOGI(TAG, "ESP_WIFI_MODE_STA");
+    wifi_init_sta();
+#endif  // UCLIENT_PROFILE_UDP
+
     // start microROS task
     xTaskCreate(appMain, "uros_task", 12*2048, NULL, 5, NULL);
 }

microros_esp32_extensions/sdkconfig.defaults

@@ -1,3 +1,3 @@
-CONFIG_ESP_MAIN_TASK_STACK_SIZE=25000
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=3000
 CONFIG_FREERTOS_UNICORE=y
 CONFIG_ESP_TASK_WDT=n