init

.gitignore

+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

include/README

+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

include/pins.hpp

+#ifndef PINS_HPP
+#define PINS_HPP
+
+#define BUTTON_LEFT 2
+#define BUTTON_MIDDLE 3
+#define BUTTON_RIGHT 10
+
+#define TIRETTE 16
+
+
+#define LED_PIN 25
+
+#endif
\ No newline at end of file

lib/README

+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

platformio.ini

+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+
+;[env:esp32]
+;platform = espressif32
+;board = esp32dev
+;framework = arduino
+;lib_deps =
+;    https://github.com/micro-ROS/micro_ros_platformio
+;board_microros_distro = foxy
+;board_microros_transport = serial
+
+[env:pico]
+platform = raspberrypi
+board = pico
+framework = arduino
+lib_deps =
+    https://github.com/micro-ROS/micro_ros_platformio
+board_microros_distro = foxy
+board_microros_transport = serial
+upload_protocol = picotool
+upload_port = /dev/ttyACM0
+
+monitor_speed  = 115200
\ No newline at end of file

src/main.cpp

+#include <Arduino.h>
+#include <micro_ros_platformio.h>
+
+#include "pins.hpp"
+
+#include <rcl/rcl.h>
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+
+#include <std_msgs/msg/int32.h>
+
+#if !defined(MICRO_ROS_TRANSPORT_ARDUINO_SERIAL)
+#error This example is only avaliable for Arduino framework with serial transport.
+#endif
+
+//rcl_subscription_t subscriber;
+
+
+rcl_publisher_t button_left_publisher;
+rcl_publisher_t button_middle_publisher;
+rcl_publisher_t button_right_publisher;
+rcl_publisher_t tirette_publisher;
+
+std_msgs__msg__Int32 msg;
+
+rclc_executor_t executor;
+rclc_support_t support;
+rcl_allocator_t allocator;
+rcl_node_t node;
+rcl_timer_t timer;
+
+#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)){}}
+
+// Error handle loop
+void error_loop() {
+  while(1) {
+    delay(100);
+  }
+}
+
+int mult = 0;
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time) {
+  msg.data = !digitalRead(BUTTON_LEFT);
+  RCSOFTCHECK(rcl_publish(&button_left_publisher, &msg, NULL));
+  msg.data = !digitalRead(BUTTON_MIDDLE);
+  RCSOFTCHECK(rcl_publish(&button_middle_publisher, &msg, NULL));
+  msg.data = !digitalRead(BUTTON_RIGHT);
+  RCSOFTCHECK(rcl_publish(&button_right_publisher, &msg, NULL));
+  msg.data = !digitalRead(TIRETTE);
+  RCSOFTCHECK(rcl_publish(&tirette_publisher, &msg, NULL));
+}
+
+void setup() {
+  // Configure serial transport
+  Serial.begin(115200);
+  set_microros_serial_transports(Serial);
+  delay(2000);
+
+  pinMode(BUTTON_LEFT, INPUT_PULLUP);
+  pinMode(BUTTON_MIDDLE, INPUT_PULLUP);
+  pinMode(BUTTON_RIGHT, INPUT_PULLUP);
+  pinMode(TIRETTE, INPUT_PULLUP);
+
+  allocator = rcl_get_default_allocator();
+
+  //create init_options
+  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
+
+  // create node
+  RCCHECK(rclc_node_init_default(&node, "ctrl_panel_ucontroller", "", &support));
+
+
+
+  RCCHECK(rclc_publisher_init_default(
+    &button_left_publisher,
+    &node,
+    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+    "ctrl_panel/left_button"));
+
+  RCCHECK(rclc_publisher_init_default(
+    &button_middle_publisher,
+    &node,
+    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+    "ctrl_panel/middle_button"));
+
+  RCCHECK(rclc_publisher_init_default(
+    &button_right_publisher,
+    &node,
+    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+    "ctrl_panel/right_button"));
+
+  RCCHECK(rclc_publisher_init_default(
+    &tirette_publisher,
+    &node,
+    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+    "ctrl_panel/tirette"));
+
+  const unsigned int timer_timeout = 10;
+  RCCHECK(rclc_timer_init_default(
+    &timer,
+    &support,
+    RCL_MS_TO_NS(timer_timeout),
+    timer_callback));
+
+  // create executor
+  RCCHECK(rclc_executor_init(&executor, &support.context, 2, &allocator));
+  RCCHECK(rclc_executor_add_timer(&executor, &timer));
+  //RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &msg, &subscription_callback, ON_NEW_DATA));
+  msg.data = 0;
+}
+
+void loop() {
+  RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_US_TO_NS(1000)));
+}
\ No newline at end of file

test/README

+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html