Merge pull request #11 from fanhuafeng/master

Add Esp32 support

Author: frankjoshua

src/Esp32Hardware.h

@@ -0,0 +1,78 @@
+/* 
+ * Software License Agreement (BSD License)
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ESP32HARDWARE_H
+#define ESP32HARDWARE_H
+
+#include <WiFi.h>
+
+class Esp32Hardware {
+  public:
+    Esp32Hardware()
+    {
+    }
+    
+    void setConnection(IPAddress &server, int port) {
+      this->server = server;
+      this->serverPort = port;
+    }
+    
+    IPAddress getLocalIP() {
+      return tcp.localIP();
+    }
+
+    void init() { 
+      this->tcp.connect(this->server, this->serverPort);
+    }
+
+    int read() {
+      if (this->tcp.connected()) {
+        return tcp.read();
+      } else {
+        this->tcp.connect(this->server, this->serverPort);
+      }
+      return -1;
+    };
+    
+    void write(const uint8_t* data, size_t length) {
+      tcp.write(data, length);
+    }
+
+    unsigned long time() {return millis();}
+
+  protected:
+    WiFiClient tcp;
+    IPAddress server; 
+    uint16_t serverPort = 11411;
+};
+
+#endif  // ESP8266HARDWARE_H

src/ros.h

@@ -37,10 +37,13 @@
 
 #include "ros/node_handle.h"
 #include "ArduinoHardware.h"
-#include <avr/pgmspace.h>
+//#include <avr/pgmspace.h>
 #if defined(ESP8266)
   #include "Esp8266Hardware.h"
 #endif
+#if defined(ESP32)
+  #include "Esp32Hardware.h"
+#endif
 #if defined(MKR1000)
   #include "MKR1000Hardware.h"
 #endif