Support no display (#19)

sktometometo · Oct 8, 2023 · d7ceb85 · d7ceb85
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diff --git a/.github/workflows/catkin_build.yml b/.github/workflows/catkin_build.yml
@@ -14,6 +14,18 @@ jobs:
       CATKIN_WS: /home/runner/work/catkin_ws
     steps:
     - uses: actions/checkout@v2
+    - name: Cache pip
+      uses: actions/cache@v2
+      with:
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-${{ hashFiles('**/package.xml') }}-${{ hashFiles('**/requirements.txt') }}
+        restore-keys: ${{ runner.os }}-pip-${{ hashFiles('**/package.xml') }}-${{ hashFiles('**/requirements.txt') }}
+    - name: Cache apt
+      uses: actions/cache@v2
+      with:
+        path: /var/cache/apt/archives
+        key: ${{ runner.os }}-apt-${{ github.run_id }}
+        restore-keys: ${{ runner.os }}-apt-${{ github.run_id }}
     - name: Setup ROS
       uses: ros-tooling/[email protected]
       with:

diff --git a/.github/workflows/platformio.yml b/.github/workflows/platformio.yml
@@ -9,47 +9,53 @@ on:
 jobs:
   build:
     runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        target_project:
+          - enr_dps310_interface
+          - enr_message_board
+          - enr_stickv2_interface
+          - m5atoms3_sesami_client
+          - m5atoms3_switchbot_client
+          - sample_aes_cmac
+          - sample_esp_now_broadcaster
+          - sample_esp_now_receiver
+          - sample_sesami
+          - sample_uwb
+          - sdp_debug_board
+          - sdp_elevator_status_broadcaster
+          - sdp_example
+          - sdp_landmark_information
+          - sdp_sesami_host
+          - sdp_stickv2_interface
+          - smart_device_protocol_interface
     env:
       CATKIN_WS: /home/runner/work/catkin_ws
     steps:
     - uses: actions/checkout@v2
-    - name: Setup ROS
-      uses: ros-tooling/[email protected]
+    - name: Cache pip
+      uses: actions/cache@v2
       with:
-        required-ros-distributions: noetic
-    - name: Install catkin tool
-      run: sudo apt-get install python3-catkin-tools
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-${{ hashFiles('${GITHUB_WORKSPACE}/package.xml') }}-${{ hashFiles('${GITHUB_WORKSPACE}/requirements.txt') }}
+        restore-keys: ${{ runner.os }}-pip-${{ hashFiles('${GITHUB_WORKSPACE}/package.xml') }}-${{ hashFiles('${GITHUB_WORKSPACE}/requirements.txt') }}
+    - name: Cache PlatformIO global ${{ matrix.target_project }}
+      uses: actions/cache@v2
+      with:
+        path: ~/.platformio
+        key: ${{ runner.os }}-platformio-global-${{ matrix.target_project }}-${{ hashFiles('${GITHUB_WORKSPACE}/sketchbooks/${{ matrix.target_project }}/platformio.ini') }}
+        restore-keys: ${{ runner.os }}-platformio-global-${{ matrix.target_project }}-${{ hashFiles('${GITHUB_WORKSPACE}/sketchbooks/${{ matrix.target_project }}/platformio.ini') }}
+    - name: Cache PlatformIO local ${{ matrix.target_project }}
+      uses: actions/cache@v2
+      with:
+        path: ${{ github.workspace }}/sketchbooks/${{ matrix.target_project }}/.pio
+        key: ${{ runner.os }}-platformio-local-${{ matrix.target_project }}-${{ hashFiles('${GITHUB_WORKSPACE}/sketchbooks/${{ matrix.target_project }}/platformio.ini') }}
+        restore-keys: ${{ runner.os }}-platformio-local-${{ matrix.target_project }}-${{ hashFiles('${GITHUB_WORKSPACE}/sketchbooks/${{ matrix.target_project }}/platformio.ini') }}
     - name: Update pip and install pip package
       run: |
         pip3 install pip --upgrade
         pip3 install pyopenssl --upgrade
         pip3 install platformio
-    - name: Init workspace
-      run: |
-        source /opt/ros/noetic/setup.bash
-        mkdir -p ${CATKIN_WS}/src
-        ln -s ${GITHUB_WORKSPACE} ${CATKIN_WS}/src/
-    - name: pre build
-      run: |
-        source /opt/ros/noetic/setup.bash
-        rosdep update
-        rosdep install -i -y --from-paths ./
-    - name: build
-      run: |
-        source /opt/ros/noetic/setup.bash
-        cd ${CATKIN_WS}
-        catkin build
-    - name: Update ros_lib
-      run: |
-        source ${CATKIN_WS}/devel/setup.bash
-        rm -rf $(rospack find esp_now_ros)/ros_lib
-        rosrun rosserial_arduino make_libraries.py $(rospack find esp_now_ros)/ros_lib
-    - name: build sketches esp_now_ros
+    - name: build sketch ${{ matrix.target_project }}
       run: |
-        source ${CATKIN_WS}/devel/setup.bash
-        find $(rospack find esp_now_ros)/sketchbooks -maxdepth 1 -type d | while read dir; do
-            if [ "$dir" != "$(rospack find esp_now_ros)/sketchbooks" ]; then
-                echo "Building $dir"
-                pio run -d $dir
-            fi
-        done
+        pio run -d ${{ github.workspace }}/sketchbooks/${{ matrix.target_project }}
diff --git a/.github/workflows/platformio_full.yml b/.github/workflows/platformio_full.yml
@@ -0,0 +1,91 @@
+name: Cakin Build and PlatformIO Build Workflow
+
+on:
+  push:
+    branches: [master]
+
+jobs:
+  build:
+    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        target_project:
+          - enr_dps310_interface
+          - enr_message_board
+          - enr_stickv2_interface
+          - m5atoms3_sesami_client
+          - m5atoms3_switchbot_client
+          - sample_aes_cmac
+          - sample_esp_now_broadcaster
+          - sample_esp_now_receiver
+          - sample_sesami
+          - sample_uwb
+          - sdp_debug_board
+          - sdp_elevator_status_broadcaster
+          - sdp_example
+          - sdp_landmark_information
+          - sdp_sesami_host
+          - sdp_stickv2_interface
+          - smart_device_protocol_interface
+    env:
+      CATKIN_WS: /home/runner/work/catkin_ws
+    steps:
+    - uses: actions/checkout@v2
+    - name: Cache pip
+      uses: actions/cache@v2
+      with:
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-${{ hashFiles('${GITHUB_WORKSPACE}/package.xml') }}-${{ hashFiles('${GITHUB_WORKSPACE}/requirements.txt') }}
+        restore-keys: ${{ runner.os }}-pip-${{ hashFiles('${GITHUB_WORKSPACE}/package.xml') }}-${{ hashFiles('${GITHUB_WORKSPACE}/requirements.txt') }}
+    - name: Cache apt
+      uses: actions/cache@v2
+      with:
+        path: /var/cache/apt/archives
+        key: ${{ runner.os }}-apt-${{ hashFiles('${GITHUB_WORKSPACE}/package.xml') }}
+        restore-keys: ${{ runner.os }}-apt-${{ hashFiles('${GITHUB_WORKSPACE}/package.xml') }}
+    - name: Cache PlatformIO global ${{ matrix.target_project }}
+      uses: actions/cache@v2
+      with:
+        path: ~/.platformio
+        key: ${{ runner.os }}-platformio-global-${{ matrix.target_project }}-${{ hashFiles('${GITHUB_WORKSPACE}/sketchbooks/${{ matrix.target_project }}/platformio.ini') }}
+        restore-keys: ${{ runner.os }}-platformio-global-${{ matrix.target_project }}-${{ hashFiles('${GITHUB_WORKSPACE}/sketchbooks/${{ matrix.target_project }}/platformio.ini') }}
+    - name: Cache PlatformIO local ${{ matrix.target_project }}
+      uses: actions/cache@v2
+      with:
+        path: ${{ github.workspace }}/sketchbooks/${{ matrix.target_project }}/.pio
+        key: ${{ runner.os }}-platformio-local-${{ matrix.target_project }}-${{ hashFiles('${GITHUB_WORKSPACE}/sketchbooks/${{ matrix.target_project }}/platformio.ini') }}
+        restore-keys: ${{ runner.os }}-platformio-local-${{ matrix.target_project }}-${{ hashFiles('${GITHUB_WORKSPACE}/sketchbooks/${{ matrix.target_project }}/platformio.ini') }}
+    - name: Setup ROS
+      uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: noetic
+    - name: Install catkin tool
+      run: sudo apt-get install python3-catkin-tools
+    - name: Update pip and install pip package
+      run: |
+        pip3 install pip --upgrade
+        pip3 install pyopenssl --upgrade
+        pip3 install platformio
+    - name: Init workspace
+      run: |
+        source /opt/ros/noetic/setup.bash
+        mkdir -p ${CATKIN_WS}/src
+        ln -s ${{ github.workspace }} ${CATKIN_WS}/src/
+    - name: pre build
+      run: |
+        source /opt/ros/noetic/setup.bash
+        rosdep update
+        rosdep install -i -y --from-paths ./
+    - name: catkin build
+      run: |
+        source /opt/ros/noetic/setup.bash
+        cd ${CATKIN_WS}
+        catkin build
+    - name: Update ros_lib
+      run: |
+        source ${CATKIN_WS}/devel/setup.bash
+        rm -rf ${{ github.workspace }}/ros_lib
+        rosrun rosserial_arduino make_libraries.py ${{ github.workspace }}/ros_lib
+    - name: build sketch ${{ matrix.target_project }}
+      run: |
+        pio run -d ${{ github.workspace }}/sketchbooks/${{ matrix.target_project }}
diff --git a/README.md b/README.md
@@ -49,11 +49,7 @@ Second, you have to make an ESP32 device which is connected to your PC via USB.
 This device will be the interface to Smart Device Protocol communication of your PC.
 Basically, you can use any ESP32 device, but this package is tested with M5Stack-Fire, M5Stack-Core2, and M5Atom-S3.
 
-There are two types of smart device protocol interface device. In this tutorial, we will use [esp_now_ros_interface](./sketchbooks/esp_now_ros/).
-
-- [esp_now_ros_interface](./sketchbooks/esp_now_ros/): This is the basic interface device. You can send and receive packet via ROS topic.
-- [enr_interface_with_uwb](./sketchbooks/enr_interface_with_uwb/): This is the interface device with [UWB module](https://shop.m5stack.com/products/ultra-wideband-uwb-unit-indoor-positioning-module-dw1000). You can send and receive packet via ROS topic, and also you can get UWB ranging result via ROS topic.
-
+We will use [smart_device_protocol_interface](./sketchbooks/smart_device_protocol_interface) project.
 This code is developed with [PlatformIO](https://platformio.org/). So you can build and burn firmware with it.
 
 You can execute `pio` command.
@@ -102,7 +98,7 @@ Then, connect M5Stack-Core2 to your PC. You can check which port is connected to
 So let's build firmware and burn it to M5Stack-Core2
 
   ```bash
-  roscd esp_now_ros/sketchbooks/esp_now_ros/
+  roscd esp_now_ros/sketchbooks/smart_device_protocol_interface/
   pio run -e m5stack-core2 --target upload --upload-port /dev/ttyACM0
   ```
 

diff --git a/arduino_lib/sdp/esp_now.h b/arduino_lib/sdp/esp_now.h
@@ -0,0 +1,23 @@
+#include <esp_system.h>
+#include <esp_now.h>
+#include <WiFi.h>
+
+#include <esp_now_ros/Packet.h>
+
+bool init_esp_now(uint8_t *mac_address, esp_now_recv_cb_t callback_receive)
+{
+    // Read device mac address
+    esp_read_mac(mac_address, ESP_MAC_WIFI_STA);
+
+    WiFi.mode(WIFI_STA);
+    WiFi.disconnect();
+    if (esp_now_init() != ESP_OK)
+    {
+        return false;
+    }
+    if (callback_receive != NULL)
+    {
+        esp_now_register_recv_cb(callback_receive);
+    }
+    return true;
+}
diff --git a/arduino_lib/sdp/sdp_util.h b/arduino_lib/sdp/sdp_util.h
@@ -6,8 +6,6 @@
  *
  * To use these functions, you need to include the following libraries:
  * - esp_now_ros/Packet.h
- * - packet_creator.h
- * - packet_parser.h
  */
 
 #include <esp_system.h>
@@ -16,6 +14,7 @@
 
 #include <esp_now_ros/Packet.h>
 
+#include "sdp/esp_now.h"
 #include "sdp/packet_util.h"
 #include "sdp/packet_creator.h"
 #include "sdp/packet_parser.h"
@@ -24,8 +23,10 @@ String _sdp_device_name;
 esp_now_peer_info_t _peer_broadcast;
 
 typedef void (*sdp_data_if_recv_cb_t)(const uint8_t *mac_addr, const std::vector<SDPData> &body);
-typedef void (*sdp_data_recv_cb_t)(const uint8_t *mac_addr, const SDPInterfaceDescription &interface_description, const std::vector<SDPData> &body);
-typedef void (*sdp_meta_recv_cb_t)(const uint8_t *mac_addr, const std::string &device_name, const std::vector<SDPInterfaceDescription> &interfaces);
+typedef void (*sdp_data_recv_cb_t)(const uint8_t *mac_addr, const SDPInterfaceDescription &interface_description,
+                                   const std::vector<SDPData> &body);
+typedef void (*sdp_meta_recv_cb_t)(const uint8_t *mac_addr, const std::string &device_name,
+                                   const std::vector<SDPInterfaceDescription> &interfaces);
 typedef std::tuple<SDPInterfaceDescription, sdp_data_if_recv_cb_t> SDPInterfaceCallbackEntry;
 
 std::vector<SDPInterfaceCallbackEntry> _sdp_interface_data_callbacks;
@@ -75,7 +76,8 @@ bool _broadcast_sdp_meta_packet(const SDPInterfaceDescription &packet_descriptio
     uint8_t buf[245];
     const std::string &packet_description = std::get<0>(packet_description_and_serialization_format);
     const std::string &serialization_format = std::get<1>(packet_description_and_serialization_format);
-    generate_meta_frame(buf, _sdp_device_name.c_str(), packet_description.c_str(), serialization_format.c_str(), "", "", "", "");
+    generate_meta_frame(buf, _sdp_device_name.c_str(), packet_description.c_str(), serialization_format.c_str(), "", "",
+                        "", "");
     bool success = esp_now_send(_peer_broadcast.peer_addr, buf, sizeof(buf)) == ESP_OK;
     return success;
 }
@@ -125,7 +127,8 @@ bool init_sdp(uint8_t *mac_address, const String &device_name)
     return true;
 }
 
-bool register_sdp_interface_callback(SDPInterfaceDescription packet_description_and_serialization_format, sdp_data_if_recv_cb_t callback)
+bool register_sdp_interface_callback(SDPInterfaceDescription packet_description_and_serialization_format,
+                                     sdp_data_if_recv_cb_t callback)
 {
     // Check if the callback is already registered
     for (auto &entry : _sdp_interface_data_callbacks)
@@ -182,4 +185,4 @@ bool send_sdp_data_packet(const SDPInterfaceDescription &interface_description,
     }
 }
 
-#endif // ESP_NOW_ROS_SDP_UTIL_H
+#endif // ESP_NOW_ROS_SDP_UTIL_H
diff --git a/arduino_lib/utils/ros_util.h b/arduino_lib/utils/ros_util.h
diff --git a/sketchbooks/enr_interface_with_uwb/platformio.ini b/sketchbooks/enr_interface_with_uwb/platformio.ini