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New external transport approach #84

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merged 2 commits into from
Mar 13, 2020
Merged

New external transport approach #84

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04188ad
New external transport approach
pablogs9 Mar 13, 2020
0a19902
Updated custom serial transport selections
pablogs9 Mar 13, 2020
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2 changes: 1 addition & 1 deletion micro_ros_setup/config/freertos/crazyflie21/client-colcon.meta
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
},
"rmw_microxrcedds":{
"cmake-args":[
"-DRMW_UXRCE_TRANSPORT=custom"
"-DRMW_UXRCE_TRANSPORT=custom_serial"
]
}
}
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5 changes: 3 additions & 2 deletions micro_ros_setup/config/freertos/crazyflie21/configure.sh
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Expand Up @@ -5,5 +5,6 @@ EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_crazyflie21_extensions

echo $CONFIG_NAME > $FW_TARGETDIR/APP

update_meta "microxrcedds_client" "EXTERNAL_TRANSPORT_HEADER="$EXTENSIONS_DIR"/src/crazyflie_transport.h"
update_meta "microxrcedds_client" "EXTERNAL_TRANSPORT_SRC="$EXTENSIONS_DIR"/src/crazyflie_transport.c"
cp -f $EXTENSIONS_DIR/src/crazyflie_transport.c $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/src/c/profile/transport/serial/serial_transport_external.c
cp -f $EXTENSIONS_DIR/src/crazyflie_transport.h $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/include/uxr/client/profile/transport/serial/serial_transport_external.h
update_meta "microxrcedds_client" "UCLIENT_EXTERNAL_SERIAL=ON"
2 changes: 1 addition & 1 deletion micro_ros_setup/config/freertos/olimex-stm32-e407/client-colcon.meta
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Expand Up @@ -17,7 +17,7 @@
"rmw_microxrcedds": {
"cmake-args": [
"-DRMW_UXRCE_XML_BUFFER_LENGTH=400",
"-DRMW_UXRCE_TRANSPORT=custom",
"-DRMW_UXRCE_TRANSPORT=custom_serial",
"-DRMW_UXRCE_DEFAULT_SERIAL_DEVICE=3"
]
}
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22 changes: 19 additions & 3 deletions micro_ros_setup/config/freertos/olimex-stm32-e407/configure.sh
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Expand Up @@ -5,7 +5,7 @@ EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_olimex_e407_extensions

function help {
echo "Configure script need an argument."
echo " --transport -t udp, tcp, serial or serialusb"
echo " --transport -t udp, tcp, serial or serial-usb"
echo " --dev -d agent string descriptor in a serial-like transport"
echo " --ip -i agent IP in a network-like transport"
echo " --port -p agent port in a network-like transport"
Expand All @@ -28,15 +28,31 @@ if [ "$UROS_TRANSPORT" == "udp" ] || [ "$UROS_TRANSPORT" == "tcp" ]; then
elif [ "$UROS_TRANSPORT" == "serial" ]; then
echo "Using serial device USART$UROS_AGENT_DEVICE."

cp -f $EXTENSIONS_DIR/Src/olimex_e407_serial_transport.c $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/src/c/profile/transport/serial/serial_transport_external.c
cp -f $EXTENSIONS_DIR/Inc/olimex_e407_serial_transport.h $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/include/uxr/client/profile/transport/serial/serial_transport_external.h
update_meta "microxrcedds_client" "UCLIENT_EXTERNAL_SERIAL=ON"

update_meta "rmw_microxrcedds" "RMW_UXRCE_TRANSPORT=custom"
update_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_SERIAL_DEVICE="$UROS_AGENT_DEVICE
update_meta "microxrcedds_client" "EXTERNAL_TRANSPORT_HEADER_SERIAL="$EXTENSIONS_DIR"/Inc/olimex_e407_serial_transport.h"
update_meta "microxrcedds_client" "EXTERNAL_TRANSPORT_SRC_SERIAL="$EXTENSIONS_DIR"/Src/olimex_e407_serial_transport.c"

remove_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_IP"
remove_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_PORT"

echo "Configured $UROS_TRANSPORT mode with agent at USART$UROS_AGENT_DEVICE"

elif [ "$UROS_TRANSPORT" == "serial-usb" ]; then
echo "Using serial USB device. EXPERIMENTAL."

cp -f $EXTENSIONS_DIR/Src/olimex_e407_usb_transport.c $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/src/c/profile/transport/serial/serial_transport_external.c
cp -f $EXTENSIONS_DIR/Inc/olimex_e407_usb_transport.h $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/include/uxr/client/profile/transport/serial/serial_transport_external.h
update_meta "microxrcedds_client" "UCLIENT_EXTERNAL_SERIAL=ON"

update_meta "rmw_microxrcedds" "RMW_UXRCE_TRANSPORT=custom_serial"

remove_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_IP"
remove_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_PORT"

echo "Configured $UROS_TRANSPORT mode with agent"
else
help
fi
8 changes: 5 additions & 3 deletions micro_ros_setup/config/zephyr/generic/configure.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -27,9 +27,11 @@ elif [ "$UROS_TRANSPORT" == "serial" ]; then
elif [ "$UROS_TRANSPORT" == "serial-usb" ]; then
echo "Using USB serial device."

update_meta "rmw_microxrcedds" "RMW_UXRCE_TRANSPORT=custom"
update_meta "microxrcedds_client" "EXTERNAL_TRANSPORT_HEADER="$EXTENSIONS_DIR"/microros_extensions/zephyr_usb_serial_transport.h"
update_meta "microxrcedds_client" "EXTERNAL_TRANSPORT_SRC="$EXTENSIONS_DIR"/microros_extensions/zephyr_usb_serial_transport.c"
cp -f $EXTENSIONS_DIR/microros_extensions/zephyr_usb_serial_transport.c $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/src/c/profile/transport/serial/serial_transport_external.c
cp -f $EXTENSIONS_DIR/microros_extensions/zephyr_usb_serial_transport.h $FW_TARGETDIR/mcu_ws/eProsima/Micro-XRCE-DDS-Client/include/uxr/client/profile/transport/serial/serial_transport_external.h
update_meta "microxrcedds_client" "UCLIENT_EXTERNAL_SERIAL=ON"

update_meta "rmw_microxrcedds" "RMW_UXRCE_TRANSPORT=custom_serial"

remove_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_IP"
remove_meta "rmw_microxrcedds" "RMW_UXRCE_DEFAULT_UDP_PORT"
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