support for esp32 (#12)

* esp32 extensions

* start mainApp as new task

* fix typo

Signed-off-by: Raphael Vogelgsang <Raphael.Vogelgsang@de.bosch.com>

* config uart pins with menuconfig

Signed-off-by: Raphael Vogelgsang <Raphael.Vogelgsang@de.bosch.com>

Author: donRaphaco

apps/int32_publisher/app.c

@@ -1,4 +1,5 @@
 #include <stdio.h>
+#include <unistd.h>
 
 #include <rcl/rcl.h>
 #include <rcl/error_handling.h>
@@ -7,6 +8,11 @@
 #include <rclc/rclc.h>
 #include <rclc/executor.h>
 
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#endif
+
 #define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);vTaskDelete(NULL);}}
 #define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}
 
@@ -70,4 +76,4 @@ void appMain(void * arg)
 	RCCHECK(rcl_node_fini(&node))
 
   	vTaskDelete(NULL);
-}
+}

apps/ping_pong/app-colcon.meta

@@ -11,4 +11,4 @@
             ]
         }
     }
-}
+}

apps/ping_pong/app.c

@@ -9,6 +9,11 @@
 #include <unistd.h>
 #include <time.h>
 
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#endif
+
 #define STRING_BUFFER_LEN 50
 
 #define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc); vTaskDelete(NULL);}}

microros_esp32_extensions/.gitignore

@@ -0,0 +1,4 @@
+build/
+sdkconfig
+sdkconfig.old
+esp32_toolchain.cmake

microros_esp32_extensions/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.5)
+
+if(NOT DEFINED IDF_PATH)
+    message(FATAL_ERROR "The CMake varible IDF_PATH was not set!")
+endif()
+
+if(NOT DEFINED UROS_APP)
+    message(FATAL_ERROR "The CMake varible UROS_APP was not set!")
+endif()
+
+include(${IDF_PATH}/tools/cmake/project.cmake)
+project(${UROS_APP})

microros_esp32_extensions/components/libatomic/CMakeLists.txt

@@ -0,0 +1,3 @@
+file(GLOB SRCS ${CMAKE_CURRENT_LIST_DIR}/*.c*)
+idf_component_register(SRCS ${SRCS}
+                    INCLUDE_DIRS ".")