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Arduino Opta support (#1867)
* added opta, wifi test needed * added ci * updated readme * fix example * fix define ARDUINO_OPTA * added ethernet (cherry picked from commit 1ce09cc)
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‎.github/workflows/ci.yml‎

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arduino-cli core install arduino:mbed_giga -v
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arduino-cli core install arduino:mbed_rp2040 -v
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arduino-cli core install arduino:mbed_portenta -v
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arduino-cli core install arduino:mbed_opta -v
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arduino-cli core install arduino:renesas_uno -v
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arduino-cli core install arduino:mbed_nano -v
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arduino-cli core install esp32:esp32 -v
@@ -92,6 +93,10 @@ jobs:
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arduino-cli compile --fqbn arduino:renesas_uno:minima /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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arduino-cli compile --fqbn arduino:mbed_opta:opta /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:mbed_opta:opta /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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arduino-cli compile --fqbn arduino:mbed_opta:opta /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_ethernet -v
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# Build micro-ros_publisher-wifi_at for WiFi non-native board with ESP-AT
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arduino-cli compile --fqbn arduino:mbed_rp2040:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi_at -v
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‎README.md‎

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@@ -51,6 +51,7 @@ Community contributed boards are:
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| [Arduino Giga R1](https://store.arduino.cc/products/giga-r1-wifi) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
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| [Arduino UNO R4 WiFi](https://store.arduino.cc/products/uno-r4-wifi) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
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| [Arduino UNO R4 Minima](https://store.arduino.cc/products/uno-r4-minima) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
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| [Arduino Opta](https://store.arduino.cc/products/opta-wifi) | - | [@gbr1](https://github.com/gbr1) | | `colcon.meta` |
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You can find the available precompiled ROS 2 types for messages and services in [available_ros2_types](available_ros2_types).

‎examples/micro-ros_publisher_ethernet/micro-ros_publisher_ethernet.ino‎

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#include <rclc/executor.h>
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#include <std_msgs/msg/int32.h>
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#if !defined(TARGET_STM32F4) && !defined(ARDUINO_TEENSY41) && !defined(TARGET_PORTENTA_H7_M7)
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#error This example is only available for Arduino Portenta, Arduino Teensy41 and STM32F4
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#if !defined(TARGET_STM32F4) && !defined(ARDUINO_TEENSY41) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_OPTA)
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#error This example is only available for Arduino Portenta, Arduino Teensy41, STM32F4 and Arduino OPTA
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#endif
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#if defined(ARDUINO_TEENSY41)

‎examples/micro-ros_publisher_wifi/micro-ros_publisher_wifi.ino‎

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#include <std_msgs/msg/int32.h>
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#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_GIGA) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL) && !defined(ARDUINO_UNOR4_WIFI)
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#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
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#if !defined(ESP32) && !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_GIGA) && !defined(ARDUINO_NANO_RP2040_CONNECT) && !defined(ARDUINO_WIO_TERMINAL) && !defined(ARDUINO_UNOR4_WIFI) && !defined(ARDUINO_OPTA)
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#error This example is only available for Arduino Portenta, Arduino Giga R1, Arduino Nano RP2040 Connect, ESP32 Dev module, Wio Terminal, Arduino Uno R4 WiFi and Arduino OPTA WiFi
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#endif
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rcl_publisher_t publisher;

‎library.properties‎

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@@ -7,4 +7,4 @@ paragraph=micro-ROS Arduino library
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url=https://github.com/micro-ROS/micro_ros_arduino
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precompiled=true
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category=Other
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architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta,mbed_giga,renesas_uno
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architectures=stm32,OpenCR,Teensyduino,samd,sam,mbed,esp32,mbed_portenta,mbed_giga,renesas_uno,mbed_opta

‎src/micro_ros_arduino.h‎

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#include <NativeEthernet.h>
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#endif
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#if defined(TARGET_PORTENTA_H7_M7)
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#if defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_OPTA)
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#include <PortentaEthernet.h>
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#endif
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#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41) || defined(TARGET_PORTENTA_H7_M7)
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#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_OPTA)
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extern "C" bool arduino_native_ethernet_udp_transport_open(struct uxrCustomTransport * transport);
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extern "C" bool arduino_native_ethernet_udp_transport_close(struct uxrCustomTransport * transport);
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extern "C" size_t arduino_native_ethernet_udp_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);
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#endif
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#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)
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#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) || defined(ARDUINO_OPTA)
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#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA)
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#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_OPTA)
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#include <WiFi.h>
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#include <WiFiUdp.h>
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#elif defined(ARDUINO_NANO_RP2040_CONNECT)
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extern "C" bool arduino_wifi_transport_close(struct uxrCustomTransport * transport);
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extern "C" size_t arduino_wifi_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err);
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extern "C" size_t arduino_wifi_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err);
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#ifndef TARGET_PORTENTA_H7_M7
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#if !defined(TARGET_PORTENTA_H7_M7) && !defined(ARDUINO_OPTA)
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struct micro_ros_agent_locator {
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IPAddress address;
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int port;

‎src/native_ethernet_transport.cpp‎

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#include <NativeEthernet.h>
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#include <micro_ros_arduino.h>
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#endif
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#ifdef TARGET_PORTENTA_H7_M7
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#if defined(TARGET_PORTENTA_H7_M7 ) || defined(ARDUINO_OPTA)
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#include <Arduino.h>
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#include <EthernetUdp.h>
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#include <micro_ros_arduino.h>
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#endif
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#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41) || defined(TARGET_PORTENTA_H7_M7)
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#if defined(TARGET_STM32F4) || defined(ARDUINO_TEENSY41) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_OPTA)
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extern "C" {
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#include <stdbool.h>

‎src/wifi_transport.cpp‎

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#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)
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#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) || defined(ARDUINO_OPTA)
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#include <Arduino.h>
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#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA)
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#if defined(ESP32) || defined(TARGET_PORTENTA_H7_M7) || defined(ARDUINO_GIGA) || defined(ARDUINO_OPTA)
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#include <WiFi.h>
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#include <WiFiUdp.h>
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#elif defined(ARDUINO_NANO_RP2040_CONNECT)

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