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1 | 1 | #include "app.h" |
2 | 2 |
|
| 3 | +#include "uxr/client/config.h" |
| 4 | + |
3 | 5 | #include "freertos/FreeRTOS.h" |
4 | 6 | #include "freertos/task.h" |
5 | | -#include "esp_system.h" |
6 | 7 |
|
7 | 8 | #include <driver/uart.h> |
8 | 9 | #include <driver/gpio.h> |
9 | 10 |
|
10 | | -void app_main(void) |
| 11 | +#include <string.h> |
| 12 | +#include "freertos/event_groups.h" |
| 13 | +#include "esp_system.h" |
| 14 | +#include "esp_wifi.h" |
| 15 | +#include "esp_event.h" |
| 16 | +#include "esp_log.h" |
| 17 | +#include "esp_system.h" |
| 18 | +#include "nvs_flash.h" |
| 19 | + |
| 20 | +#include "lwip/err.h" |
| 21 | +#include "lwip/sys.h" |
| 22 | + |
| 23 | +#define ESP_WIFI_SSID CONFIG_ESP_WIFI_SSID |
| 24 | +#define ESP_WIFI_PASS CONFIG_ESP_WIFI_PASSWORD |
| 25 | +#define ESP_MAXIMUM_RETRY CONFIG_ESP_MAXIMUM_RETRY |
| 26 | + |
| 27 | +static EventGroupHandle_t s_wifi_event_group; |
| 28 | + |
| 29 | +#define WIFI_CONNECTED_BIT BIT0 |
| 30 | +#define WIFI_FAIL_BIT BIT1 |
| 31 | + |
| 32 | +static const char *TAG = "wifi station"; |
| 33 | +static int s_retry_num = 0; |
| 34 | + |
| 35 | +static void event_handler(void* arg, esp_event_base_t event_base, |
| 36 | + int32_t event_id, void* event_data) |
11 | 37 | { |
| 38 | + if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) { |
| 39 | + esp_wifi_connect(); |
| 40 | + } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) { |
| 41 | + if (s_retry_num < ESP_MAXIMUM_RETRY) { |
| 42 | + esp_wifi_connect(); |
| 43 | + s_retry_num++; |
| 44 | + ESP_LOGI(TAG, "retry to connect to the AP"); |
| 45 | + } else { |
| 46 | + xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT); |
| 47 | + } |
| 48 | + ESP_LOGI(TAG,"connect to the AP fail"); |
| 49 | + } else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) { |
| 50 | + ip_event_got_ip_t* event = (ip_event_got_ip_t*) event_data; |
| 51 | + ESP_LOGI(TAG, "got ip:%s", |
| 52 | + ip4addr_ntoa(&event->ip_info.ip)); |
| 53 | + s_retry_num = 0; |
| 54 | + xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT); |
| 55 | + } |
| 56 | +} |
| 57 | + |
| 58 | +void wifi_init_sta() |
| 59 | +{ |
| 60 | + s_wifi_event_group = xEventGroupCreate(); |
| 61 | + |
| 62 | + tcpip_adapter_init(); |
| 63 | + |
| 64 | + ESP_ERROR_CHECK(esp_event_loop_create_default()); |
| 65 | + |
| 66 | + wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT(); |
| 67 | + ESP_ERROR_CHECK(esp_wifi_init(&cfg)); |
| 68 | + |
| 69 | + ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &event_handler, NULL)); |
| 70 | + ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &event_handler, NULL)); |
| 71 | + |
| 72 | + wifi_config_t wifi_config = { |
| 73 | + .sta = { |
| 74 | + .ssid = ESP_WIFI_SSID, |
| 75 | + .password = ESP_WIFI_PASS |
| 76 | + }, |
| 77 | + }; |
| 78 | + ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) ); |
| 79 | + ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_config) ); |
| 80 | + ESP_ERROR_CHECK(esp_wifi_start() ); |
| 81 | + |
| 82 | + ESP_LOGI(TAG, "wifi_init_sta finished."); |
| 83 | + |
| 84 | + /* Waiting until either the connection is established (WIFI_CONNECTED_BIT) or connection failed for the maximum |
| 85 | + * number of re-tries (WIFI_FAIL_BIT). The bits are set by event_handler() (see above) */ |
| 86 | + EventBits_t bits = xEventGroupWaitBits(s_wifi_event_group, |
| 87 | + WIFI_CONNECTED_BIT | WIFI_FAIL_BIT, |
| 88 | + pdFALSE, |
| 89 | + pdFALSE, |
| 90 | + portMAX_DELAY); |
| 91 | + |
| 92 | + /* xEventGroupWaitBits() returns the bits before the call returned, hence we can test which event actually |
| 93 | + * happened. */ |
| 94 | + if (bits & WIFI_CONNECTED_BIT) { |
| 95 | + ESP_LOGI(TAG, "connected to ap SSID:%s", ESP_WIFI_SSID); |
| 96 | + } else if (bits & WIFI_FAIL_BIT) { |
| 97 | + ESP_LOGI(TAG, "Failed to connect to SSID:%s", ESP_WIFI_SSID); |
| 98 | + } else { |
| 99 | + ESP_LOGE(TAG, "UNEXPECTED EVENT"); |
| 100 | + } |
| 101 | + |
| 102 | + ESP_ERROR_CHECK(esp_event_handler_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, &event_handler)); |
| 103 | + ESP_ERROR_CHECK(esp_event_handler_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, &event_handler)); |
| 104 | + vEventGroupDelete(s_wifi_event_group); |
| 105 | +} |
| 106 | + |
| 107 | + |
| 108 | + |
| 109 | +void app_main(void) |
| 110 | +{ |
| 111 | + // Start networkign if required |
| 112 | +#ifdef UCLIENT_PROFILE_UDP |
| 113 | + //Initialize NVS |
| 114 | + esp_err_t ret = nvs_flash_init(); |
| 115 | + if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) { |
| 116 | + ESP_ERROR_CHECK(nvs_flash_erase()); |
| 117 | + ret = nvs_flash_init(); |
| 118 | + } |
| 119 | + ESP_ERROR_CHECK(ret); |
| 120 | + |
| 121 | + ESP_LOGI(TAG, "ESP_WIFI_MODE_STA"); |
| 122 | + wifi_init_sta(); |
| 123 | +#endif // UCLIENT_PROFILE_UDP |
| 124 | + |
12 | 125 | // start microROS task |
13 | 126 | xTaskCreate(appMain, "uros_task", 12*2048, NULL, 5, NULL); |
14 | 127 | } |
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