Add serial port support

README.md

@@ -34,7 +34,7 @@ Currently, zenoh-pico provides support for the following (RT)OSs and protocols:
 |      **OpenCR**       | UDP (unicast and multicast), TCP |         IPv4        |                        WiFi                        |
 |    **Emscripten**     |             Websocket            |      IPv4, IPv6     |                   WiFi, Ethernet                   |
 | **FreeRTOS-Plus-TCP** |         UDP (unicast), TCP       |         IPv4        |                      Ethernet                      |
-|**Raspberry Pi Pico W**| UDP (unicast and multicast), TCP |         IPv4        |                        WiFi                        |
+|**Raspberry Pi Pico W**| UDP (unicast and multicast), TCP |         IPv4        |                    WiFi, Serial                    |
 
 Check the website [zenoh.io](http://zenoh.io) and the [roadmap](https://github.com/eclipse-zenoh/roadmap) for more detailed information.
 

examples/rpi_pico_w/CMakeLists.txt

@@ -19,6 +19,11 @@ message(STATUS "ZENOH_CONFIG_MODE: ${ZENOH_CONFIG_MODE}")
 message(STATUS "ZENOH_CONFIG_CONNECT: ${ZENOH_CONFIG_CONNECT}")
 message(STATUS "ZENOH_CONFIG_LISTEN: ${ZENOH_CONFIG_LISTEN}")
 
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/include/config.h.in"
+  "${CMAKE_CURRENT_SOURCE_DIR}/include/config.h"
+)
+
 set(CMAKE_C_STANDARD 11)
 
 # Include Raspberry Pi Pico SDK
@@ -46,6 +51,7 @@ set(WITH_RPI_PICO_W ON)
 configure_include_project(ZENOHPICO zenohpico zenohpico::lib "../.." zenohpico "https://github.com/eclipse-zenoh/zenoh-pico" "")
 
 target_link_libraries(zenohpico_static
+  hardware_uart 
   pico_stdlib
   pico_cyw43_arch_lwip_sys_freertos
   FreeRTOS-Kernel-Heap4
@@ -59,10 +65,6 @@ target_include_directories(zenohpico_static PRIVATE
 
 add_library(main STATIC main.c)
 
-target_compile_definitions(main PRIVATE
-  WIFI_SSID=\"${WIFI_SSID}\"
-  WIFI_PASSWORD=\"${WIFI_PASSWORD}\"
-)
 target_include_directories(main PRIVATE 
   ${CMAKE_CURRENT_LIST_DIR}
   ${CMAKE_CURRENT_LIST_DIR}/include
@@ -77,16 +79,12 @@ function(add_example name)
   add_executable(${name} ${name}.c)
   target_link_libraries(${name}
     main
+    hardware_uart 
     pico_stdlib
     pico_cyw43_arch_lwip_sys_freertos
     FreeRTOS-Kernel-Heap4
     zenohpico::lib
   )
-  target_compile_definitions(${name} PRIVATE
-    ZENOH_CONFIG_MODE=\"${ZENOH_CONFIG_MODE}\"
-    ZENOH_CONFIG_CONNECT=\"${ZENOH_CONFIG_CONNECT}\"
-    ZENOH_CONFIG_LISTEN=\"${ZENOH_CONFIG_LISTEN}\"
-  )
   target_include_directories(${name} PRIVATE 
     ${CMAKE_CURRENT_LIST_DIR}
     ${CMAKE_CURRENT_LIST_DIR}/include

examples/rpi_pico_w/include/config.h

@@ -0,0 +1,10 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#define WIFI_SSID ""
+#define WIFI_PASSWORD ""
+#define ZENOH_CONFIG_MODE "client"
+#define ZENOH_CONFIG_CONNECT "serial/uart1_0#baudrate=38400"
+#define ZENOH_CONFIG_LISTEN ""
+
+#endif // CONFIG_H

examples/rpi_pico_w/include/config.h.in

@@ -0,0 +1,10 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#define WIFI_SSID "@WIFI_SSID@"
+#define WIFI_PASSWORD "@WIFI_PASSWORD@"
+#define ZENOH_CONFIG_MODE "@ZENOH_CONFIG_MODE@"
+#define ZENOH_CONFIG_CONNECT "@ZENOH_CONFIG_CONNECT@"
+#define ZENOH_CONFIG_LISTEN "@ZENOH_CONFIG_LISTEN@"
+
+#endif // CONFIG_H

examples/rpi_pico_w/main.c

@@ -13,6 +13,7 @@
 //
 
 #include "FreeRTOS.h"
+#include "config.h"
 #include "pico/cyw43_arch.h"
 #include "pico/stdlib.h"
 #include "task.h"
@@ -35,19 +36,27 @@ void print_ip_address() {
 
 void main_task(void *params) {
     (void)params;
+
+    vTaskDelay(pdMS_TO_TICKS(1000));
+
     if (cyw43_arch_init()) {
         printf("Failed to initialise\n");
         return;
     }
 
-    cyw43_arch_enable_sta_mode();
-    printf("Connecting to Wi-Fi...\n");
-    if (cyw43_arch_wifi_connect_timeout_ms(WIFI_SSID, WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, WIFI_TIMEOUT) == 0) {
-        printf("Wi-Fi connected.\n");
-        print_ip_address();
-        app_main();
+    if (strlen(WIFI_SSID) != 0) {
+        cyw43_arch_enable_sta_mode();
+        printf("Connecting to Wi-Fi...\n");
+        if (cyw43_arch_wifi_connect_timeout_ms(WIFI_SSID, WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, WIFI_TIMEOUT) == 0) {
+            printf("Wi-Fi connected.\n");
+            print_ip_address();
+            app_main();
+        } else {
+            printf("Failed to connect Wi-Fi\n");
+        }
     } else {
-        printf("Failed to connect Wi-Fi\n");
+        printf("Offline mode\n");
+        app_main();
     }
 
     printf("Terminate.\n");

examples/rpi_pico_w/z_get.c

@@ -15,9 +15,10 @@
 #include <stdio.h>
 #include <zenoh-pico.h>
 
+#include "config.h"
+
 #if Z_FEATURE_QUERY == 1
 
-#define IFACE "#iface=lo"  // Not used by this platform, but should be present
 #define KEYEXPR "demo/example/**"
 #define VALUE ""
 
@@ -52,8 +53,8 @@ void app_main(void) {
         zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, ZENOH_CONFIG_CONNECT);
     }
     if (strcmp(ZENOH_CONFIG_LISTEN, "") != 0) {
-        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN IFACE);
-        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN IFACE);
+        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN);
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN);
     }
 
     printf("Opening %s session ...\n", ZENOH_CONFIG_MODE);

examples/rpi_pico_w/z_pub.c

@@ -15,9 +15,10 @@
 #include <stdio.h>
 #include <zenoh-pico.h>
 
+#include "config.h"
+
 #if Z_FEATURE_PUBLICATION == 1
 
-#define IFACE "#iface=lo"  // Not used by this platform, but should be present
 #define KEYEXPR "demo/example/zenoh-pico-pub"
 #define VALUE "[RPI] Pub from Zenoh-Pico!"
 
@@ -30,8 +31,8 @@ void app_main(void) {
         zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, ZENOH_CONFIG_CONNECT);
     }
     if (strcmp(ZENOH_CONFIG_LISTEN, "") != 0) {
-        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN IFACE);
-        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN IFACE);
+        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN);
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN);
     }
 
     printf("Opening %s session ...\n", ZENOH_CONFIG_MODE);

examples/rpi_pico_w/z_pub_st.c

@@ -15,9 +15,10 @@
 #include <stdio.h>
 #include <zenoh-pico.h>
 
+#include "config.h"
+
 #if Z_FEATURE_PUBLICATION == 1
 
-#define IFACE "#iface=lo"  // Not used by this platform, but should be present
 #define KEYEXPR "demo/example/zenoh-pico-pub"
 #define VALUE "[RPI] Pub from Zenoh-Pico!"
 
@@ -30,8 +31,8 @@ void app_main(void) {
         zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, ZENOH_CONFIG_CONNECT);
     }
     if (strcmp(ZENOH_CONFIG_LISTEN, "") != 0) {
-        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN IFACE);
-        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN IFACE);
+        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN);
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN);
     }
 
     printf("Opening %s session ...\n", ZENOH_CONFIG_MODE);

examples/rpi_pico_w/z_pub_thr.c

@@ -15,9 +15,10 @@
 #include <stdio.h>
 #include <zenoh-pico.h>
 
+#include "config.h"
+
 #if Z_FEATURE_PUBLICATION == 1
 
-#define IFACE "#iface=lo"  // Not used by this platform, but should be present
 #define KEYEXPR "test/thr"
 #define PAYLOAD_SIZE 8
 
@@ -39,8 +40,8 @@ void app_main(void) {
         zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, ZENOH_CONFIG_CONNECT);
     }
     if (strcmp(ZENOH_CONFIG_LISTEN, "") != 0) {
-        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN IFACE);
-        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN IFACE);
+        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN);
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN);
     }
 
     printf("Opening %s session ...\n", ZENOH_CONFIG_MODE);

examples/rpi_pico_w/z_pull.c

@@ -15,9 +15,10 @@
 #include <stdio.h>
 #include <zenoh-pico.h>
 
+#include "config.h"
+
 #if Z_FEATURE_SUBSCRIPTION == 1
 
-#define IFACE "#iface=lo"  // Not used by this platform, but should be present
 #define KEYEXPR "demo/example/**"
 
 const size_t INTERVAL = 5000;
@@ -32,8 +33,8 @@ void app_main(void) {
         zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, ZENOH_CONFIG_CONNECT);
     }
     if (strcmp(ZENOH_CONFIG_LISTEN, "") != 0) {
-        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN IFACE);
-        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN IFACE);
+        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN);
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN);
     }
 
     printf("Opening %s session ...\n", ZENOH_CONFIG_MODE);

examples/rpi_pico_w/z_put.c

@@ -15,9 +15,10 @@
 #include <stdio.h>
 #include <zenoh-pico.h>
 
+#include "config.h"
+
 #if Z_FEATURE_PUBLICATION == 1
 
-#define IFACE "#iface=lo"  // Not used by this platform, but should be present
 #define KEYEXPR "demo/example/zenoh-pico-pub"
 #define VALUE "[RPI] Pub from Zenoh-Pico!"
 
@@ -30,8 +31,8 @@ void app_main(void) {
         zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, ZENOH_CONFIG_CONNECT);
     }
     if (strcmp(ZENOH_CONFIG_LISTEN, "") != 0) {
-        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN IFACE);
-        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN IFACE);
+        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN);
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN);
     }
 
     printf("Opening %s session ...\n", ZENOH_CONFIG_MODE);

examples/rpi_pico_w/z_queryable.c

@@ -15,9 +15,10 @@
 #include <stdio.h>
 #include <zenoh-pico.h>
 
+#include "config.h"
+
 #if Z_FEATURE_QUERYABLE == 1
 
-#define IFACE "#iface=lo"  // Not used by this platform, but should be present
 #define KEYEXPR "demo/example/zenoh-pico-queryable"
 #define VALUE "[RPI] Queryable from Zenoh-Pico!"
 
@@ -56,8 +57,8 @@ void app_main(void) {
         zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, ZENOH_CONFIG_CONNECT);
     }
     if (strcmp(ZENOH_CONFIG_LISTEN, "") != 0) {
-        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN IFACE);
-        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN IFACE);
+        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN);
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN);
     }
 
     printf("Opening %s session ...\n", ZENOH_CONFIG_MODE);

examples/rpi_pico_w/z_scout.c

@@ -18,6 +18,8 @@
 #include <unistd.h>
 #include <zenoh-pico.h>
 
+#include "config.h"
+
 void fprintzid(FILE *stream, z_id_t zid) {
     unsigned int zidlen = _z_id_len(zid);
     if (zidlen == 0) {

examples/rpi_pico_w/z_sub.c

@@ -15,9 +15,10 @@
 #include <stdio.h>
 #include <zenoh-pico.h>
 
+#include "config.h"
+
 #if Z_FEATURE_SUBSCRIPTION == 1
 
-#define IFACE "#iface=lo"  // Not used by this platform, but should be present
 #define KEYEXPR "demo/example/**"
 
 void data_handler(z_loaned_sample_t *sample, void *ctx) {
@@ -40,8 +41,8 @@ void app_main(void) {
         zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, ZENOH_CONFIG_CONNECT);
     }
     if (strcmp(ZENOH_CONFIG_LISTEN, "") != 0) {
-        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN IFACE);
-        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN IFACE);
+        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN);
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN);
     }
 
     printf("Opening %s session ...\n", ZENOH_CONFIG_MODE);

examples/rpi_pico_w/z_sub_st.c

@@ -15,9 +15,10 @@
 #include <stdio.h>
 #include <zenoh-pico.h>
 
+#include "config.h"
+
 #if Z_FEATURE_SUBSCRIPTION == 1
 
-#define IFACE "#iface=lo"  // Not used by this platform, but should be present
 #define KEYEXPR "demo/example/zenoh-pico-pub"
 #define VALUE "[RPI] Pub from Zenoh-Pico!"
 int msg_nb = 0;
@@ -43,8 +44,8 @@ void app_main(void) {
         zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, ZENOH_CONFIG_CONNECT);
     }
     if (strcmp(ZENOH_CONFIG_LISTEN, "") != 0) {
-        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN IFACE);
-        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN IFACE);
+        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN);
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN);
     }
 
     printf("Opening %s session ...\n", ZENOH_CONFIG_MODE);

examples/rpi_pico_w/z_sub_thr.c

@@ -19,9 +19,10 @@
 #include <unistd.h>
 #include <zenoh-pico.h>
 
+#include "config.h"
+
 #if Z_FEATURE_SUBSCRIPTION == 1
 
-#define IFACE "#iface=lo"  // Not used by this platform, but should be present
 #define KEYEXPR "test/thr"
 
 #define PACKET_NB 1000000
@@ -78,8 +79,8 @@ void app_main(void) {
         zp_config_insert(z_loan_mut(config), Z_CONFIG_CONNECT_KEY, ZENOH_CONFIG_CONNECT);
     }
     if (strcmp(ZENOH_CONFIG_LISTEN, "") != 0) {
-        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN IFACE);
-        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN IFACE);
+        printf("Listen endpoint: %s\n", ZENOH_CONFIG_LISTEN);
+        zp_config_insert(z_loan_mut(config), Z_CONFIG_LISTEN_KEY, ZENOH_CONFIG_LISTEN);
     }
 
     printf("Opening %s session ...\n", ZENOH_CONFIG_MODE);

include/zenoh-pico/config.h

@@ -34,7 +34,7 @@
 #define Z_FEATURE_LINK_TCP 1
 #define Z_FEATURE_LINK_BLUETOOTH 0
 #define Z_FEATURE_LINK_WS 0
-#define Z_FEATURE_LINK_SERIAL 0
+#define Z_FEATURE_LINK_SERIAL 1
 #define Z_FEATURE_SCOUTING_UDP 1
 #define Z_FEATURE_LINK_UDP_MULTICAST 1
 #define Z_FEATURE_LINK_UDP_UNICAST 1

include/zenoh-pico/system/platform/rpi_pico_w.h

@@ -17,7 +17,13 @@
 
 #include "FreeRTOS.h"
 #include "event_groups.h"
+#if Z_FEATURE_LINK_TCP == 1 || Z_FEATURE_LINK_UDP_MULTICAST == 1 || Z_FEATURE_LINK_UDP_UNICAST == 1
 #include "lwip/ip4_addr.h"
+#endif
+#if Z_FEATURE_LINK_SERIAL == 1
+#include "hardware/gpio.h"
+#include "hardware/uart.h"
+#endif
 #include "semphr.h"
 
 #ifdef __cplusplus
@@ -51,6 +57,9 @@ typedef struct {
     union {
 #if Z_FEATURE_LINK_TCP == 1 || Z_FEATURE_LINK_UDP_MULTICAST == 1 || Z_FEATURE_LINK_UDP_UNICAST == 1
         int _fd;
+#endif
+#if Z_FEATURE_LINK_SERIAL == 1
+        uart_inst_t *_serial;
 #endif
     };
 } _z_sys_net_socket_t;