fixed time.h import, added Arduino UNO R4 minima (USB), Arduino UNO R…

…4 WiFi (USB and WiFi), Arduino Giga R1 (USB and WiFi) (#1712) (#1865) * fixes time.h import * added support for Arduino GIGA R1 over WiFi * examples with giga r1 * uint -> uint32_t, added uno r4 wifi * added uno r4 into the example * added uno r4 family into library properties * led builtin check * added boards into readme * updated ci * fix typo * updated cli version * force update index * reverted cli (cherry picked from commit e347a4a) Co-authored-by: Giovanni Bruno <[email protected]>
micro-ROS · Nov 14, 2024 · 5aa9201 · 5aa9201
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commit 5aa9201
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -35,10 +35,15 @@ jobs:
             curl -fsSL https://www.pjrc.com/teensy/package_teensy_index.json -o /github/home/.arduino15/package_teensy_index.json
             curl -fsSL https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json -o /github/home/.arduino15/package_seeeduino_boards_index.json
             export PATH=$PATH:/github/workspace/bin:/__w/micro_ros_arduino/micro_ros_arduino/bin
+
             arduino-cli core install OpenCR:OpenCR -v
             arduino-cli core install arduino:samd -v
             arduino-cli core install arduino:sam -v
-            arduino-cli core install arduino:mbed -v
+            arduino-cli core install arduino:mbed_giga -v
+            arduino-cli core install arduino:mbed_rp2040 -v
+            arduino-cli core install arduino:mbed_portenta -v
+            arduino-cli core install arduino:renesas_uno -v
+            arduino-cli core install arduino:mbed_nano -v
             arduino-cli core install esp32:esp32 -v
             arduino-cli core install teensy:[email protected] -v
             arduino-cli core install Seeeduino:samd -v
@@ -65,10 +70,10 @@ jobs:
             arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_time_sync -v
             arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_types_handling -v
             # Build one demo for each platform
-            arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
-            arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v
-            arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v
-            arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v
+            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v
+            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
             arduino-cli compile --fqbn teensy:avr:teensy31 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn teensy:avr:teensy35 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn teensy:avr:teensy36 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
@@ -77,10 +82,16 @@ jobs:
             arduino-cli compile --fqbn arduino:samd:arduino_zero_native /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn arduino:sam:arduino_due_x /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             # arduino-cli compile --fqbn arduino:mbed:envie_m4 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
-            arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
-            arduino-cli compile --fqbn arduino:mbed:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            arduino-cli compile --fqbn arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
             arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
             arduino-cli compile --fqbn Seeeduino:samd:seeed_wio_terminal /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
+            arduino-cli compile --fqbn arduino:renesas_uno:minima /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
             # Build micro-ros_publisher-wifi_at for WiFi non-native board with ESP-AT
-            arduino-cli compile --fqbn arduino:mbed:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi_at -v
+            arduino-cli compile --fqbn arduino:mbed_rp2040:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi_at -v
+
diff --git a/README.md b/README.md
@@ -48,6 +48,10 @@ Community contributed boards are:
 | [Raspberry Pi Pico](https://www.raspberrypi.com/documentation/microcontrollers/)         | -           | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` |
 | [Seeed Studio XIAO SAMD21](https://wiki.seeedstudio.com/Seeeduino-XIAO/)                 | -           | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` |
 | [Seeed Studio XIAO RP2040](https://wiki.seeedstudio.com/XIAO-RP2040/)                    | -           | [@maehara-keisuke](https://github.com/maehara-keisuke) | with [ESP-AT](https://www.espressif.com/en/products/sdks/esp-at/overview) | `colcon_verylowmem.meta` |
+| [Arduino Giga R1](https://store.arduino.cc/products/giga-r1-wifi)                        | -           | [@gbr1](https://github.com/gbr1)                       |                                                                           | `colcon.meta`            |
+| [Arduino UNO R4 WiFi](https://store.arduino.cc/products/uno-r4-wifi)                     | -           | [@gbr1](https://github.com/gbr1)                       |                                                                           | `colcon.meta`            |
+| [Arduino UNO R4 Minima](https://store.arduino.cc/products/uno-r4-minima)                 | -           | [@gbr1](https://github.com/gbr1)                       |                                                                           | `colcon.meta`            |
+
 
 You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types).
 

diff --git a/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino b/examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino
@@ -8,8 +8,8 @@
 
 #include <std_msgs/msg/int32.h>
 
-#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL)
-#error This example is only available for Arduino Portenta, Arduino Nano RP2040 Connect, ESP32 Dev module and Wio Terminal
+#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_GIGA) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL) && !defined(ARDUINO_UNOR4_WIFI)
+#error This example is only available for Arduino Portenta, Arduino Giga R1, Arduino Nano RP2040 Connect, ESP32 Dev module, Wio Terminal and Arduino Uno R4 WiFi
 #endif
 
 rcl_publisher_t publisher;
@@ -18,7 +18,11 @@ rclc_support_t support;
 rcl_allocator_t allocator;
 rcl_node_t node;
 
-#define LED_PIN 13
+#if defined(LED_BUILTIN)
+  #define LED_PIN LED_BUILTIN
+#else
+  #define LED_PIN 13
+#endif
 
 #define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
 #define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}

diff --git a/examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino b/examples/micro-ros_publisher_wifi_at/micro-ros_publisher_wifi_at.ino
@@ -21,7 +21,7 @@
 
 #include <std_msgs/msg/int32.h>
 
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL)
 #define BOARD_HAS_NATIVE_WIFI
 #endif
 

diff --git a/library.properties b/library.properties
@@ -7,4 +7,4 @@ paragraph=micro-ROS Arduino library
 url=https://github.com/micro-ROS/micro_ros_arduino
 precompiled=true
 category=Other
-architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta
+architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta,mbed_giga,renesas_uno
diff --git a/src/default_transport.cpp b/src/default_transport.cpp
@@ -4,7 +4,7 @@ extern "C"
 {
   #include <stdio.h>
   #include <stdbool.h>
-  #include <sys/time.h>
+  #include <time.h>
 
   int clock_gettime(clockid_t unused, struct timespec *tp) __attribute__ ((weak));
   bool arduino_transport_open(struct uxrCustomTransport * transport) __attribute__ ((weak));

diff --git a/src/micro_ros_arduino.h b/src/micro_ros_arduino.h
@@ -95,9 +95,9 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
 
 #endif
 
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT) || defined(ARDUINO_UNOR4_WIFI)
 
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA)
 #include <WiFi.h>
 #include <WiFiUdp.h>
 #elif defined(ARDUINO_NANO_RP2040_CONNECT)
@@ -108,6 +108,8 @@ static inline void set_microros_native_ethernet_udp_transports(byte mac[], IPAdd
 #include <WiFiUdp.h>
 #elif defined(BOARD_WITH_ESP_AT)
 #include <WiFiEspAT.h>
+#elif defined(ARDUINO_UNOR4_WIFI)
+#include <WiFiS3.h>
 #endif
 
 extern "C" bool arduino_wifi_transport_open(struct uxrCustomTransport * transport);
@@ -121,7 +123,7 @@ struct micro_ros_agent_locator {
 };
 #endif
 
-static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint agent_port){
+static inline void set_microros_wifi_transports(char * ssid, char * pass, char * agent_ip, uint32_t agent_port){
 
 	#if defined(BOARD_WITH_ESP_AT)
 	ESP_AT_SERIAL_PORT.begin(ESP_AT_BAUDRATE);

diff --git a/src/wifi_transport.cpp b/src/wifi_transport.cpp
@@ -1,8 +1,8 @@
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_WIO_TERMINAL) || defined(BOARD_WITH_ESP_AT) || defined(ARDUINO_UNOR4_WIFI)
 #include <Arduino.h>
 
 
-#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7)
+#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA)
 #include <WiFi.h>
 #include <WiFiUdp.h>
 #elif defined(ARDUINO_NANO_RP2040_CONNECT)
@@ -13,6 +13,8 @@
 #include <WiFiUdp.h>
 #elif defined(BOARD_WITH_ESP_AT)
 #include <WiFiEspAT.h>
+#elif defined(ARDUINO_UNOR4_WIFI)
+#include <WiFiS3.h>
 #endif
 
 #include <micro_ros_arduino.h>