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Adding ESP32 wifi ROS Project
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NEWIR295 committed Nov 10, 2024

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5 changes: 5 additions & 0 deletions ESP32 - Projects/ROS_ESP32_WIFI/.gitignore
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.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch
10 changes: 10 additions & 0 deletions ESP32 - Projects/ROS_ESP32_WIFI/.vscode/extensions.json
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{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
],
"unwantedRecommendations": [
"ms-vscode.cpptools-extension-pack"
]
}
79 changes: 79 additions & 0 deletions ESP32 - Projects/ROS_ESP32_WIFI/include/ESP32Hardware.h
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/*
File Name: ESP32Hardware.h
Author: Mohamed Newir
Project Description: Class construction for esp32 wifi connection with ROS
*/

#ifndef ESP32HARDWARE_H
#define ESP32HARDWARE_H

/*
Wifi library compatible with ESP32
*/
#include "WiFi.h"

class Esp32Hardware
{
public:
/*
ESP32 Hardware constructor
*/
Esp32Hardware()
{
}

/*
ESP32 setting connection with wifi
*/
void setConnection(IPAddress &server, int port)
{
this->server = server;
this->serverPort = port;
}

IPAddress getLocalIP()
{
return tcp.localIP();
}

/*
ESP32 wifi init
*/
void init()
{
this->tcp.connect(this->server, this->serverPort);
}

/*
ESP32 wifi read data
*/
int read()
{
if (this->tcp.connected())
{
return tcp.read();
}
else
{
this->tcp.connect(this->server, this->serverPort);
}
return -1;
};

/*
ESP32 wifi write data
*/
void write(const uint8_t *data, size_t length)
{
tcp.write(data, length);
}

unsigned long time() { return millis(); }

protected:
WiFiClient tcp;
IPAddress server;
uint16_t serverPort = 11411;
};

#endif // ESP32HARDWARE_H
39 changes: 39 additions & 0 deletions ESP32 - Projects/ROS_ESP32_WIFI/include/README
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This directory is intended for project header files.

A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.

```src/main.c

#include "header.h"

int main (void)
{
...
}
```

Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.

In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.

Read more about using header files in official GCC documentation:

* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes

https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
106 changes: 106 additions & 0 deletions ESP32 - Projects/ROS_ESP32_WIFI/include/WiFiHardware.h
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/*
Author: Mohamed Newir
File Description: This file contains the implementation of Wifi Node class.
For further information, please refer repo
*/


#ifndef ROS_ARDUINO_WIFI_HARDWARE_H_NEWIR
#define ROS_ARDUINO_WIFI_HARDWARE_H_NEWIR

#include <Arduino.h>
#include <WiFi.h>

class WiFiHardware {
public:

/*
Constructor that accepts WiFi credentials and ROS server information
*/
WiFiHardware() : server_ip(), server_port(0), ssid(nullptr), password(nullptr) {}

/*
Set connection with Newir Access Point
*/
void setConnection(const char* ssid, const char* password, IPAddress server_ip, uint16_t server_port) {
this->ssid = ssid;
this->password = password;
this->server_ip = server_ip;
this->server_port = server_port;
}

/*
Initialize Newir ESP32
*/
void init() {
// Start Wi-Fi connection
WiFi.begin(ssid, password);
int retries = 0;

while (WiFi.status() != WL_CONNECTED) {
delay(1000); // Increase delay for retries
retries++;

// Limit the number of retries for connection
if (retries > 20) { // Adjust as needed
ESP.restart(); // Restart the ESP if it fails to connect
}
}

// Connect to ROS server
connectToServer();
}

/*
read data from Newir Machine
*/
int read() {
if (client.connected() && client.available()) {
return client.read();
}
return -1;
}

/*
write data to send to Newir Machine
*/
void write(const uint8_t* data, int length) {
if (client.connected()) {
client.write(data, length);
} else {
reconnect();
}
}

unsigned long time() {
return millis();
}

protected:
WiFiClient client;
IPAddress server_ip;
uint16_t server_port;
const char* ssid;
const char* password;

/*
Connect with Newir Hotspot
*/
void connectToServer() {
while (!client.connect(server_ip, server_port)) {
delay(1000);
}
}

/*
in case we lost connection with Newir Hotspot
*/
void reconnect() {
if (!client.connected()) {
client.stop();
connectToServer();
}
}
};

#endif
46 changes: 46 additions & 0 deletions ESP32 - Projects/ROS_ESP32_WIFI/lib/README
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This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into executable file.

The source code of each library should be placed in an own separate directory
("lib/your_library_name/[here are source files]").

For example, see a structure of the following two libraries `Foo` and `Bar`:

|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c

and a contents of `src/main.c`:
```
#include <Foo.h>
#include <Bar.h>

int main (void)
{
...
}

```

PlatformIO Library Dependency Finder will find automatically dependent
libraries scanning project source files.

More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html
16 changes: 16 additions & 0 deletions ESP32 - Projects/ROS_ESP32_WIFI/platformio.ini
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; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html

[env:nodemcu-32s]
platform = espressif32
board = nodemcu-32s
framework = arduino
lib_deps =
frankjoshua/Rosserial Arduino [email protected]
91 changes: 91 additions & 0 deletions ESP32 - Projects/ROS_ESP32_WIFI/src/main.cpp
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/*
File Name: main.cpp
Author: Mohamed Newir
Project Description: Publish String over ESP32 WiFi to ROS
*/

#include <Arduino.h>

/* essential libraries */
#include "WiFi.h"
#include <ros.h>
#include <std_msgs/String.h>
#include <ESP32Hardware.h>

/* WiFi credentials and ROS master IP */
const char *ssid = "BLACK_KNIGHT529"; // Replace with your WiFi SSID
const char *password = "N_2024_B"; // Replace with your WiFi password
IPAddress server_ip(192, 168, 140, 86); // Replace with your ROS master's IP
const uint16_t server_port = 11411; // Port of ROS master

/* time interval */
#define INTERVAL 1000
unsigned long prevTime = 0;

/* ros node handle */
ros::NodeHandle_<Esp32Hardware> nh; /* node handle instance for WiFi connection with ros */

std_msgs::String msg; /* string data type */
ros::Publisher espPub("newir", &msg); /* Publisher definition */

/* String to be Published */
char NEWIR[] = "Yeah, Newir made it over WiFi!";

/* counter */
static char count_s[20];
static int count = 0;

void setupWiFi();

void setup()
{
setCpuFrequencyMhz(80); /* set ESP32 frequency to 80MHz */

// Set Wi-Fi credentials and ROS server details
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED)
{
delay(500);
}

nh.getHardware()->setConnection(server_ip, server_port); /* Set ROS server details */

// Initialize ROS
nh.initNode(); /* initialize ROS node */
nh.advertise(espPub); /* advertise the publisher */

/* Wait till our ESP32 node connects to our ROS Master */
while (!nh.connected())
{
nh.spinOnce();
delay(100);
}
}

void loop()
{
/* Check if ESP32 node is connected to ROS master before publishing */
if (nh.connected())
{
unsigned long currentTime = millis(); // get the current time
if (currentTime - prevTime > INTERVAL)
{ // check if enough time has elapsed since the last publish
msg.data = itoa(count, count_s, 10);
espPub.publish(&msg);
msg.data = NEWIR;
espPub.publish(&msg); /* publishing string msg */
count++;
prevTime = currentTime;
}
}
else
{
/*
in case ESP32 Node is not connected to ROS Master
*/
WiFi.reconnect(); /* try to reconnect */
}

nh.spinOnce();
}

11 changes: 11 additions & 0 deletions ESP32 - Projects/ROS_ESP32_WIFI/test/README
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This directory is intended for PlatformIO Test Runner and project tests.

Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.

More information about PlatformIO Unit Testing:
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html

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