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Adding ESP32 wifi ROS Project
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.pio | ||
.vscode/.browse.c_cpp.db* | ||
.vscode/c_cpp_properties.json | ||
.vscode/launch.json | ||
.vscode/ipch |
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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" | ||
] | ||
} |
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/* | ||
File Name: ESP32Hardware.h | ||
Author: Mohamed Newir | ||
Project Description: Class construction for esp32 wifi connection with ROS | ||
*/ | ||
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#ifndef ESP32HARDWARE_H | ||
#define ESP32HARDWARE_H | ||
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/* | ||
Wifi library compatible with ESP32 | ||
*/ | ||
#include "WiFi.h" | ||
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class Esp32Hardware | ||
{ | ||
public: | ||
/* | ||
ESP32 Hardware constructor | ||
*/ | ||
Esp32Hardware() | ||
{ | ||
} | ||
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/* | ||
ESP32 setting connection with wifi | ||
*/ | ||
void setConnection(IPAddress &server, int port) | ||
{ | ||
this->server = server; | ||
this->serverPort = port; | ||
} | ||
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IPAddress getLocalIP() | ||
{ | ||
return tcp.localIP(); | ||
} | ||
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/* | ||
ESP32 wifi init | ||
*/ | ||
void init() | ||
{ | ||
this->tcp.connect(this->server, this->serverPort); | ||
} | ||
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/* | ||
ESP32 wifi read data | ||
*/ | ||
int read() | ||
{ | ||
if (this->tcp.connected()) | ||
{ | ||
return tcp.read(); | ||
} | ||
else | ||
{ | ||
this->tcp.connect(this->server, this->serverPort); | ||
} | ||
return -1; | ||
}; | ||
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/* | ||
ESP32 wifi write data | ||
*/ | ||
void write(const uint8_t *data, size_t length) | ||
{ | ||
tcp.write(data, length); | ||
} | ||
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unsigned long time() { return millis(); } | ||
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protected: | ||
WiFiClient tcp; | ||
IPAddress server; | ||
uint16_t serverPort = 11411; | ||
}; | ||
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#endif // ESP32HARDWARE_H |
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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'. | ||
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```src/main.c | ||
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#include "header.h" | ||
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int main (void) | ||
{ | ||
... | ||
} | ||
``` | ||
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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 | ||
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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. | ||
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Read more about using header files in official GCC documentation: | ||
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* Include Syntax | ||
* Include Operation | ||
* Once-Only Headers | ||
* Computed Includes | ||
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https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html |
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/* | ||
Author: Mohamed Newir | ||
File Description: This file contains the implementation of Wifi Node class. | ||
For further information, please refer repo | ||
*/ | ||
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#ifndef ROS_ARDUINO_WIFI_HARDWARE_H_NEWIR | ||
#define ROS_ARDUINO_WIFI_HARDWARE_H_NEWIR | ||
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#include <Arduino.h> | ||
#include <WiFi.h> | ||
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class WiFiHardware { | ||
public: | ||
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/* | ||
Constructor that accepts WiFi credentials and ROS server information | ||
*/ | ||
WiFiHardware() : server_ip(), server_port(0), ssid(nullptr), password(nullptr) {} | ||
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/* | ||
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; | ||
} | ||
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/* | ||
Initialize Newir ESP32 | ||
*/ | ||
void init() { | ||
// Start Wi-Fi connection | ||
WiFi.begin(ssid, password); | ||
int retries = 0; | ||
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while (WiFi.status() != WL_CONNECTED) { | ||
delay(1000); // Increase delay for retries | ||
retries++; | ||
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// Limit the number of retries for connection | ||
if (retries > 20) { // Adjust as needed | ||
ESP.restart(); // Restart the ESP if it fails to connect | ||
} | ||
} | ||
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// Connect to ROS server | ||
connectToServer(); | ||
} | ||
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/* | ||
read data from Newir Machine | ||
*/ | ||
int read() { | ||
if (client.connected() && client.available()) { | ||
return client.read(); | ||
} | ||
return -1; | ||
} | ||
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/* | ||
write data to send to Newir Machine | ||
*/ | ||
void write(const uint8_t* data, int length) { | ||
if (client.connected()) { | ||
client.write(data, length); | ||
} else { | ||
reconnect(); | ||
} | ||
} | ||
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unsigned long time() { | ||
return millis(); | ||
} | ||
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protected: | ||
WiFiClient client; | ||
IPAddress server_ip; | ||
uint16_t server_port; | ||
const char* ssid; | ||
const char* password; | ||
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/* | ||
Connect with Newir Hotspot | ||
*/ | ||
void connectToServer() { | ||
while (!client.connect(server_ip, server_port)) { | ||
delay(1000); | ||
} | ||
} | ||
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/* | ||
in case we lost connection with Newir Hotspot | ||
*/ | ||
void reconnect() { | ||
if (!client.connected()) { | ||
client.stop(); | ||
connectToServer(); | ||
} | ||
} | ||
}; | ||
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#endif |
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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. | ||
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The source code of each library should be placed in an own separate directory | ||
("lib/your_library_name/[here are source files]"). | ||
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For example, see a structure of the following two libraries `Foo` and `Bar`: | ||
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|--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 | ||
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and a contents of `src/main.c`: | ||
``` | ||
#include <Foo.h> | ||
#include <Bar.h> | ||
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int main (void) | ||
{ | ||
... | ||
} | ||
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``` | ||
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PlatformIO Library Dependency Finder will find automatically dependent | ||
libraries scanning project source files. | ||
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More information about PlatformIO Library Dependency Finder | ||
- https://docs.platformio.org/page/librarymanager/ldf.html |
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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 | ||
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[env:nodemcu-32s] | ||
platform = espressif32 | ||
board = nodemcu-32s | ||
framework = arduino | ||
lib_deps = | ||
frankjoshua/Rosserial Arduino [email protected] |
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/* | ||
File Name: main.cpp | ||
Author: Mohamed Newir | ||
Project Description: Publish String over ESP32 WiFi to ROS | ||
*/ | ||
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#include <Arduino.h> | ||
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/* essential libraries */ | ||
#include "WiFi.h" | ||
#include <ros.h> | ||
#include <std_msgs/String.h> | ||
#include <ESP32Hardware.h> | ||
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/* 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 | ||
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/* time interval */ | ||
#define INTERVAL 1000 | ||
unsigned long prevTime = 0; | ||
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/* ros node handle */ | ||
ros::NodeHandle_<Esp32Hardware> nh; /* node handle instance for WiFi connection with ros */ | ||
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std_msgs::String msg; /* string data type */ | ||
ros::Publisher espPub("newir", &msg); /* Publisher definition */ | ||
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/* String to be Published */ | ||
char NEWIR[] = "Yeah, Newir made it over WiFi!"; | ||
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/* counter */ | ||
static char count_s[20]; | ||
static int count = 0; | ||
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void setupWiFi(); | ||
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void setup() | ||
{ | ||
setCpuFrequencyMhz(80); /* set ESP32 frequency to 80MHz */ | ||
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// Set Wi-Fi credentials and ROS server details | ||
WiFi.begin(ssid, password); | ||
while (WiFi.status() != WL_CONNECTED) | ||
{ | ||
delay(500); | ||
} | ||
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nh.getHardware()->setConnection(server_ip, server_port); /* Set ROS server details */ | ||
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// Initialize ROS | ||
nh.initNode(); /* initialize ROS node */ | ||
nh.advertise(espPub); /* advertise the publisher */ | ||
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/* Wait till our ESP32 node connects to our ROS Master */ | ||
while (!nh.connected()) | ||
{ | ||
nh.spinOnce(); | ||
delay(100); | ||
} | ||
} | ||
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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 */ | ||
} | ||
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nh.spinOnce(); | ||
} | ||
|
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This directory is intended for PlatformIO Test Runner and project tests. | ||
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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. | ||
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More information about PlatformIO Unit Testing: | ||
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html |