Open nikitax75 opened 9 months ago
nikitax75
commented
9 months ago Also, here is the callstack for this second 36-byte packet that I suspect to be the closing the session on micro-ros-agent side:
I've tried to find the code for send_custom_msg to better understand what's happenning but sadly cound'nt find it anywhere.
Thanks
pablogs9
commented
9 months ago Hello @nikitax75 which is the main application you are using?
nikitax75
commented
9 months ago Hello @pablogs9 , thanks a lot for your very prompt reply!
Here is the application code :
/* USER CODE BEGIN Header_StartDefaultTask */
/**
* @brief Function implementing the defaultTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
/* init code for LWIP */
MX_LWIP_Init();
/* USER CODE BEGIN 5 */
/* ETH_CODE: Adding lwiperf to measure TCP/IP performance.
* iperf 2.0.6 (or older?) is required for the tests. Newer iperf2 versions
* might work without data check, but they send different headers.
* iperf3 is not compatible at all.
* Adding lwiperf.c file to the project is necessary.
* The default include path should already contain
* 'lwip/apps/lwiperf.h'
*/
printf("[i] Locking TCP/IP core\n");
/* USER CODE BEGIN 5 */
// micro-ROS configuration
printf("[i] Setting custom transport\n");
rmw_uros_set_custom_transport(
false, //Framing disable here. Udp should Use Packet-oriented mode.
"192.168.10.121", //your Agent's ip address
cubemx_transport_open,
cubemx_transport_close,
cubemx_transport_write,
cubemx_transport_read);
// micro-ROS app
rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;
// sett-up default allocator (heap allocated rather than FreeRTOS allocated)
printf("[i] Setting default allocator\n");
allocator = rcl_get_default_allocator();
rcl_ret_t ret;
// initialize micro-ROS (in a loop as it sometimes fail)
printf("[i] RCLC support init... start\n");
do{
ret = rclc_support_init(&support, 0, NULL, &allocator);
osDelay(100);
printf("[i] RCLC support init failed... retry\n");
} while (ret != RCL_RET_OK);
printf("[+] RCLC support done\n");
// // create node
rclc_node_init_default(&node, "stm32", "", &support);
printf("[+] RCLC node init done\n");
osDelay(100);
// create publisher
rclc_publisher_init_default(
&publisher,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
"stm32pub");
printf("[+] RCLC publisher init done\n");
osDelay(100);
msg.data = 0;
for(;;)
{
rcl_ret_t ret = rcl_publish(&publisher, &msg, NULL);
if (ret != RCL_RET_OK)
{
printf("Error publishing (line %d)\n", __LINE__);
}
msg.data++;
printf("Sent: %d\n", msg.data);
osDelay(1000);
}
/* USER CODE END 5 */
}And here is the entirety of the main.c code:
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "lwip.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <micro_ros_platformio.h>
#include <microros_extra.h> //header containing custom memory management functions
#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <uxr/client/transport.h>
#include <rmw_microxrcedds_c/config.h>
#include <rmw_microros/rmw_microros.h>
#include <std_msgs/msg/int32.h>
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
volatile int uxTopUsedPriority;
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
UART_HandleTypeDef huart1;
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
.name = "defaultTask",
.stack_size = 3500 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MPU_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
void StartDefaultTask(void *argument);
/* USER CODE BEGIN PFP */
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
uxTopUsedPriority = configMAX_PRIORITIES - 1;
/* USER CODE END 1 */
/* MPU Configuration--------------------------------------------------------*/
MPU_Config();
/* Enable the CPU Cache */
/* Enable I-Cache---------------------------------------------------------*/
SCB_EnableICache();
/* Enable D-Cache---------------------------------------------------------*/
SCB_EnableDCache();
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Init scheduler */
osKernelInitialize();
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */
/* creation of defaultTask */
defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_EVENTS */
/* add events, ... */
/* USER CODE END RTOS_EVENTS */
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Supply configuration update enable
*/
HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
/** Configure the main internal regulator output voltage
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 32;
RCC_OscInitStruct.PLL.PLLN = 400;
RCC_OscInitStruct.PLL.PLLP = 2;
RCC_OscInitStruct.PLL.PLLQ = 2;
RCC_OscInitStruct.PLL.PLLR = 2;
RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_1;
RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
RCC_OscInitStruct.PLL.PLLFRACN = 0;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
|RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, LD1_Pin|LD3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(USB_OTG_FS_PWR_EN_GPIO_Port, USB_OTG_FS_PWR_EN_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : B1_Pin */
GPIO_InitStruct.Pin = B1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : LD1_Pin LD3_Pin */
GPIO_InitStruct.Pin = LD1_Pin|LD3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : STLINK_RX_Pin STLINK_TX_Pin */
GPIO_InitStruct.Pin = STLINK_RX_Pin|STLINK_TX_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/*Configure GPIO pin : USB_OTG_FS_PWR_EN_Pin */
GPIO_InitStruct.Pin = USB_OTG_FS_PWR_EN_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(USB_OTG_FS_PWR_EN_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : USB_OTG_FS_OVCR_Pin */
GPIO_InitStruct.Pin = USB_OTG_FS_OVCR_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(USB_OTG_FS_OVCR_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PA8 PA11 PA12 */
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG1_FS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : LD2_Pin */
GPIO_InitStruct.Pin = LD2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
PUTCHAR_PROTOTYPE
{
/* Place your implementation of fputc here */
/* e.g. write a character to the USART1 and Loop until the end of transmission */
HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
return ch;
}
/* USER CODE END 4 */
/* USER CODE BEGIN Header_StartDefaultTask */
/**
* @brief Function implementing the defaultTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
/* init code for LWIP */
MX_LWIP_Init();
/* USER CODE BEGIN 5 */
/* ETH_CODE: Adding lwiperf to measure TCP/IP performance.
* iperf 2.0.6 (or older?) is required for the tests. Newer iperf2 versions
* might work without data check, but they send different headers.
* iperf3 is not compatible at all.
* Adding lwiperf.c file to the project is necessary.
* The default include path should already contain
* 'lwip/apps/lwiperf.h'
*/
printf("[i] Locking TCP/IP core\n");
/* USER CODE BEGIN 5 */
// micro-ROS configuration
printf("[i] Setting custom transport\n");
rmw_uros_set_custom_transport(
false, //Framing disable here. Udp should Use Packet-oriented mode.
"192.168.10.121", //your Agent's ip address
cubemx_transport_open,
cubemx_transport_close,
cubemx_transport_write,
cubemx_transport_read);
// micro-ROS app
rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;
// sett-up default allocator (heap allocated rather than FreeRTOS allocated)
printf("[i] Setting default allocator\n");
allocator = rcl_get_default_allocator();
rcl_ret_t ret;
// initialize micro-ROS (in a loop as it sometimes fail)
printf("[i] RCLC support init... start\n");
do{
ret = rclc_support_init(&support, 0, NULL, &allocator);
osDelay(100);
printf("[i] RCLC support init failed... retry\n");
} while (ret != RCL_RET_OK);
printf("[+] RCLC support done\n");
// // create node
rclc_node_init_default(&node, "stm32", "", &support);
printf("[+] RCLC node init done\n");
osDelay(100);
// create publisher
rclc_publisher_init_default(
&publisher,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
"stm32pub");
printf("[+] RCLC publisher init done\n");
osDelay(100);
msg.data = 0;
for(;;)
{
rcl_ret_t ret = rcl_publish(&publisher, &msg, NULL);
if (ret != RCL_RET_OK)
{
printf("Error publishing (line %d)\n", __LINE__);
}
msg.data++;
printf("Sent: %d\n", msg.data);
osDelay(1000);
}
/* USER CODE END 5 */
}
/* MPU Configuration */
void MPU_Config(void)
{
MPU_Region_InitTypeDef MPU_InitStruct = {0};
/* Disables the MPU */
HAL_MPU_Disable();
/** Initializes and configures the Region and the memory to be protected
*/
MPU_InitStruct.Enable = MPU_REGION_ENABLE;
MPU_InitStruct.Number = MPU_REGION_NUMBER0;
MPU_InitStruct.BaseAddress = 0x0;
MPU_InitStruct.Size = MPU_REGION_SIZE_4GB;
MPU_InitStruct.SubRegionDisable = 0x87;
MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
MPU_InitStruct.AccessPermission = MPU_REGION_NO_ACCESS;
MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE;
MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
HAL_MPU_ConfigRegion(&MPU_InitStruct);
/** Initializes and configures the Region and the memory to be protected
*/
MPU_InitStruct.Number = MPU_REGION_NUMBER1;
MPU_InitStruct.BaseAddress = 0x30020000;
MPU_InitStruct.Size = MPU_REGION_SIZE_128KB;
MPU_InitStruct.SubRegionDisable = 0x0;
MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1;
MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS;
MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
HAL_MPU_ConfigRegion(&MPU_InitStruct);
/** Initializes and configures the Region and the memory to be protected
*/
MPU_InitStruct.Number = MPU_REGION_NUMBER2;
MPU_InitStruct.BaseAddress = 0x30040000;
MPU_InitStruct.Size = MPU_REGION_SIZE_512B;
MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
MPU_InitStruct.IsBufferable = MPU_ACCESS_BUFFERABLE;
HAL_MPU_ConfigRegion(&MPU_InitStruct);
/* Enables the MPU */
HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
}
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM6 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM6) {
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */
}
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
I am using the default allocators
Also, about the extra LOCK_TCPIP_CORE thing, it owe an apology as it doesn't seem to be from the main examples, it seems that I took this from somewhere else, will re-read all the examples I used to understand were that error came from this afternoon.
Finally, please note that I am getting an incompatbile point type compilation warning for the cubemx_transport_write function, but I have zero idea if this is a source of problem:
Core/Src/main.c: In function 'StartDefaultTask': Core/Src/main.c:413:5: warning: passing argument 5 of 'rmw_uros_set_custom_transport' from incompatible pointer type [-Wincompatible-pointer-types] cubemx_transport_write, ^~~~~~~~~~~~~~~~~~~~~~ In file included from .pio/libdeps/nucleo_h743zi/micro_ros_platformio/libmicroros/include/rmw_microros/rmw_microros.h:35:0, from .pio/libdeps/nucleo_h743zi/micro_ros_platformio/platform_code/micro_ros_platformio.h:13, from Core/Src/main.c:27: .pio/libdeps/nucleo_h743zi/micro_ros_platformio/libmicroros/include/rmw_microros/custom_transport.h:54:11: note: expected 'write_custom_func {aka unsigned int (*)(struct uxrCustomTransport *, const unsigned char *, unsigned int, unsigned char *)}' but argument is of type 'size_t (*)(struct uxrCustomTransport *, uint8_t *, size_t, uint8_t *) {aka unsigned int (*)(struct uxrCustomTransport *, unsigned char *, unsigned int, unsigned char *)}' rmw_ret_t rmw_uros_set_custom_transport( ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Thanks again
nikitax75
commented
9 months ago The udp transport function are as per the standard udp_transport.c:
#include <uxr/client/transport.h>
#include <rmw_microxrcedds_c/config.h>
#include "main.h"
#include "cmsis_os.h"
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include <stdbool.h>
// --- LWIP ---
#include "lwip/opt.h"
#include "lwip/sys.h"
#include "lwip/api.h"
#include <lwip/sockets.h>
#ifdef RMW_UXRCE_TRANSPORT_CUSTOM
// --- micro-ROS Transports ---
#define UDP_PORT 9999
static int sock_fd = -1;
bool cubemx_transport_open(struct uxrCustomTransport * transport){
sock_fd = socket(AF_INET, SOCK_DGRAM, 0);
struct sockaddr_in addr;
addr.sin_family = AF_INET;
addr.sin_port = htons(UDP_PORT);
addr.sin_addr.s_addr = htonl(INADDR_ANY);
if (bind(sock_fd, (struct sockaddr *)&addr, sizeof(addr)) == -1)
{
return false;
}
return true;
}
bool cubemx_transport_close(struct uxrCustomTransport * transport){
if (sock_fd != -1)
{
closesocket(sock_fd);
sock_fd = -1;
}
return true;
}
size_t cubemx_transport_write(struct uxrCustomTransport* transport, uint8_t * buf, size_t len, uint8_t * err){
if (sock_fd == -1)
{
return 0;
}
const char * ip_addr = (const char*) transport->args;
struct sockaddr_in addr;
addr.sin_family = AF_INET;
addr.sin_port = htons(UDP_PORT);
addr.sin_addr.s_addr = inet_addr(ip_addr);
int ret = 0;
ret = sendto(sock_fd, buf, len, 0, (struct sockaddr *)&addr, sizeof(addr));
size_t writed = ret>0? ret:0;
return writed;
}
size_t cubemx_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err){
int ret = 0;
//set timeout
struct timeval tv_out;
tv_out.tv_sec = timeout / 1000;
tv_out.tv_usec = (timeout % 1000) * 1000;
setsockopt(sock_fd, SOL_SOCKET, SO_RCVTIMEO,&tv_out, sizeof(tv_out));
ret = recv(sock_fd, buf, len, MSG_WAITALL);
size_t readed = ret > 0 ? ret : 0;
return readed;
}
#endif
With the prototypes declared in a custom header:
#ifndef MICROROS_EXTRA_H
#define MICROROS_EXTRA_H
#include <unistd.h>
#include "cmsis_os.h"
#include <uxr/client/transport.h>
#include <rmw_microxrcedds_c/config.h>
#include "main.h"
#include "cmsis_os.h"
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include <stdbool.h>
// --- LWIP ---
#include "lwip/opt.h"
#include "lwip/sys.h"
#include "lwip/api.h"
#include <lwip/sockets.h>
#include <stdlib.h>
#include <string.h>
#include "FreeRTOS.h"
#include "task.h"
bool cubemx_transport_open(struct uxrCustomTransport * transport);
bool cubemx_transport_close(struct uxrCustomTransport * transport);
size_t cubemx_transport_write(struct uxrCustomTransport* transport, uint8_t * buf, size_t len, uint8_t * err);
size_t cubemx_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err);
#endif // MICROROS_EXTRA_H
Try to use an executor with a timer and also follow an approach where you control the client-agent connection status. More info here: https://docs.vulcanexus.org/en/latest/rst/tutorials/micro/handle_reconnections/handle_reconnections.html#state-machine-approach
pablogs9
commented
9 months ago nikitax75
commented
9 months ago Hi @pablogs9, thanks for your reply.
Took the time to put together a code with a state machine to control client-agent connection and an executor tonight. The result is slightly different but still no connection:
And then the board keeps sending those A5 A5 A5 A5 A5 A5 A5 A5 A5 A5 A5 A5 A5 A5 A5 A5 packets in a loop. On the board side, I am getting one agent_connected log and that's it.
I have to admit I have no idea what I am trying to debug as I have no knowledge of the underlying UDP protocol connecting the nodes and the agent protocol. Any place where I could find details on that?
Also, any idea what's happening here? I am also seeing deserialization_error and incompatible_version on the agent's log from time to time. Anyway, interested in any hints you might have... We are building a product here in Paris and thought about using micro-ros to interconnect all our subsystems.
For reference, please see my code below:
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "lwip.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <micro_ros_platformio.h>
#include <microros_extra.h> //header containing custom memory management functions
#include <rcl/rcl.h>
#include <rcl/error_handling.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <uxr/client/transport.h>
#include <rmw_microxrcedds_c/config.h>
#include <rmw_microros/rmw_microros.h>
#include <std_msgs/msg/int32.h>
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){return false;}}
#define EXECUTE_EVERY_N_MS(MS, X) do { \
static volatile int64_t init = -1; \
if (init == -1) { init = uxr_millis();} \
if (uxr_millis() - init > MS) { X; init = uxr_millis();} \
} while (0)\
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
volatile int uxTopUsedPriority;
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
UART_HandleTypeDef huart1;
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
.name = "defaultTask",
.stack_size = 2500 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
rclc_support_t support;
rcl_node_t node;
rcl_timer_t timer;
rclc_executor_t executor;
rcl_allocator_t allocator;
rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;
bool micro_ros_init_successful;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MPU_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
void StartDefaultTask(void *argument);
/* USER CODE BEGIN PFP */
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
uxTopUsedPriority = configMAX_PRIORITIES - 1;
/* USER CODE END 1 */
/* MPU Configuration--------------------------------------------------------*/
MPU_Config();
/* Enable the CPU Cache */
/* Enable I-Cache---------------------------------------------------------*/
SCB_EnableICache();
/* Enable D-Cache---------------------------------------------------------*/
SCB_EnableDCache();
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Init scheduler */
osKernelInitialize();
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */
/* creation of defaultTask */
defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_EVENTS */
/* add events, ... */
/* USER CODE END RTOS_EVENTS */
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Supply configuration update enable
*/
HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
/** Configure the main internal regulator output voltage
*/
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 32;
RCC_OscInitStruct.PLL.PLLN = 400;
RCC_OscInitStruct.PLL.PLLP = 2;
RCC_OscInitStruct.PLL.PLLQ = 2;
RCC_OscInitStruct.PLL.PLLR = 2;
RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_1;
RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
RCC_OscInitStruct.PLL.PLLFRACN = 0;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
|RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, LD1_Pin|LD3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(USB_OTG_FS_PWR_EN_GPIO_Port, USB_OTG_FS_PWR_EN_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : B1_Pin */
GPIO_InitStruct.Pin = B1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : LD1_Pin LD3_Pin */
GPIO_InitStruct.Pin = LD1_Pin|LD3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : STLINK_RX_Pin STLINK_TX_Pin */
GPIO_InitStruct.Pin = STLINK_RX_Pin|STLINK_TX_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/*Configure GPIO pin : USB_OTG_FS_PWR_EN_Pin */
GPIO_InitStruct.Pin = USB_OTG_FS_PWR_EN_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(USB_OTG_FS_PWR_EN_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : USB_OTG_FS_OVCR_Pin */
GPIO_InitStruct.Pin = USB_OTG_FS_OVCR_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(USB_OTG_FS_OVCR_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PA8 PA11 PA12 */
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG1_FS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : LD2_Pin */
GPIO_InitStruct.Pin = LD2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
PUTCHAR_PROTOTYPE
{
/* Place your implementation of fputc here */
/* e.g. write a character to the USART1 and Loop until the end of transmission */
HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
return ch;
}
void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
(void) last_call_time;
if (timer != NULL) {
rcl_publish(&publisher, &msg, NULL);
msg.data++;
}
};
void destroy_entities()
{
rmw_context_t * rmw_context = rcl_context_get_rmw_context(&support.context);
(void) rmw_uros_set_context_entity_destroy_session_timeout(rmw_context, 0);
rcl_publisher_fini(&publisher, &node);
rcl_timer_fini(&timer);
rclc_executor_fini(&executor);
rcl_node_fini(&node);
rclc_support_fini(&support);
}
bool create_entities()
{
allocator = rcl_get_default_allocator();
// create init_options
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
// create node
RCCHECK(rclc_node_init_default(&node, "int32_publisher_rclc", "", &support));
// create publisher
RCCHECK(rclc_publisher_init_best_effort(
&publisher,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
"std_msgs_msg_Int32"));
// create timer,
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
&timer,
&support,
RCL_MS_TO_NS(timer_timeout),
timer_callback));
// create executor
executor = rclc_executor_get_zero_initialized_executor();
RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
RCCHECK(rclc_executor_add_timer(&executor, &timer));
return true;
}
/* USER CODE END 4 */
/* USER CODE BEGIN Header_StartDefaultTask */
/**
* @brief Function implementing the defaultTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
enum states {
WAITING_AGENT,
AGENT_AVAILABLE,
AGENT_CONNECTED,
AGENT_DISCONNECTED
} state;
/* init code for LWIP */
MX_LWIP_Init();
/* USER CODE BEGIN 5 */
// micro-ROS configuration
printf("[i] Setting custom transport\n");
rmw_uros_set_custom_transport(
false, //Framing disable here. Udp should Use Packet-oriented mode.
"192.168.10.121", //your Agent's ip address
cubemx_transport_open,
cubemx_transport_close,
cubemx_transport_write,
cubemx_transport_read);
// initialize micro-ROS (in a loop as it sometimes fail)
printf("[i] RCLC support init... start\n");
state = WAITING_AGENT;
do
{
switch (state)
{
case WAITING_AGENT:
EXECUTE_EVERY_N_MS(100, state = (RMW_RET_OK == rmw_uros_ping_agent(100, 1)) ? AGENT_AVAILABLE : WAITING_AGENT;);
break;
case AGENT_AVAILABLE:
printf("[i] Agent available\n");
state = (true == create_entities()) ? AGENT_CONNECTED : WAITING_AGENT;
if (state == WAITING_AGENT)
{
destroy_entities();
};
break;
case AGENT_CONNECTED:
printf("[i] Agent connected\n");
EXECUTE_EVERY_N_MS(200, state = (RMW_RET_OK == rmw_uros_ping_agent(100, 1)) ? AGENT_CONNECTED : AGENT_DISCONNECTED;);
if (state == AGENT_CONNECTED)
{
rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100));
}
break;
case AGENT_DISCONNECTED:
printf("[i] Agent disconnected\n");
destroy_entities();
state = WAITING_AGENT;
break;
default:
break;
}
} while (true);
/* USER CODE END 5 */
}
/* MPU Configuration */
void MPU_Config(void)
{
MPU_Region_InitTypeDef MPU_InitStruct = {0};
/* Disables the MPU */
HAL_MPU_Disable();
/** Initializes and configures the Region and the memory to be protected
*/
MPU_InitStruct.Enable = MPU_REGION_ENABLE;
MPU_InitStruct.Number = MPU_REGION_NUMBER0;
MPU_InitStruct.BaseAddress = 0x0;
MPU_InitStruct.Size = MPU_REGION_SIZE_4GB;
MPU_InitStruct.SubRegionDisable = 0x87;
MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
MPU_InitStruct.AccessPermission = MPU_REGION_NO_ACCESS;
MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE;
MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
HAL_MPU_ConfigRegion(&MPU_InitStruct);
/** Initializes and configures the Region and the memory to be protected
*/
MPU_InitStruct.Number = MPU_REGION_NUMBER1;
MPU_InitStruct.BaseAddress = 0x30020000;
MPU_InitStruct.Size = MPU_REGION_SIZE_128KB;
MPU_InitStruct.SubRegionDisable = 0x0;
MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1;
MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS;
MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
HAL_MPU_ConfigRegion(&MPU_InitStruct);
/** Initializes and configures the Region and the memory to be protected
*/
MPU_InitStruct.Number = MPU_REGION_NUMBER2;
MPU_InitStruct.BaseAddress = 0x30040000;
MPU_InitStruct.Size = MPU_REGION_SIZE_512B;
MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
MPU_InitStruct.IsBufferable = MPU_ACCESS_BUFFERABLE;
HAL_MPU_ConfigRegion(&MPU_InitStruct);
/* Enables the MPU */
HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
}
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM6 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM6) {
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */
}
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
nguyenlam185
commented
5 months ago Hello guys,
Have anybody made any progress on this issue? I got the same problem on Nucleo H723ZG. On the terminal of Nucleo, the publish function reports error code 300
void StartDefaultTask(void *argument)
{
/* init code for LWIP */
MX_LWIP_Init();
/* USER CODE BEGIN 5 */
// micro-ROS configuration
rmw_uros_set_custom_transport(
false, //Framing disable here. Udp should Use Packet-oriented mode.
"192.168.0.111", //your Agent's ip address
cubemx_transport_open, cubemx_transport_close, cubemx_transport_write,
cubemx_transport_read);
rcl_allocator_t freeRTOS_allocator = rcutils_get_zero_initialized_allocator();
freeRTOS_allocator.allocate = microros_allocate;
freeRTOS_allocator.deallocate = microros_deallocate;
freeRTOS_allocator.reallocate = microros_reallocate;
freeRTOS_allocator.zero_allocate = microros_zero_allocate;
if (!rcutils_set_default_allocator(&freeRTOS_allocator))
{
log_e("Error on default allocators");
}
// micro-ROS app
rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;
allocator = rcl_get_default_allocator();
//create init_options
rclc_support_init(&support, 0, NULL, &allocator);
// create node
rclc_node_init_default(&node, "cubemx_node", "", &support);
// create publisher
rclc_publisher_init_default(&publisher, &node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
"cubemx_publisher");
msg.data = 0;
for (;;)
{
rcl_ret_t ret = rcl_publish(&publisher, &msg, NULL);
if (ret != RCL_RET_OK)
{
log_e("Error (code: %d) publishing", ret);
}
msg.data++;
osDelay(1000);
}
/* USER CODE END 5 */
}
Hello,
First of all, thanks for the very detailed tutorials and explanations. Thanks to all the information available online, I was able to sucessfully build a firmware on our stm32h743 board that runs and attemps a connection micro-ros agent (there was an issue with the udp transport example resulting in a deadlock on
LOCK_TCPIP_CORE()but that's another story.It feels like I am almost there, but I am encountering a new problem when the board attemps to connect to the micro-ros-agent. It seems that the board is sending unexpected data which results in micro-ros-agent shutting fown the session.
Please see debug below:
I am seeing those packets being send by the board through the live debugger, which makes me think the problem is not due to a connection problem and likely resides on the board itself. I have zero knowledge of the underlying protocol thus zero understanding if these packets are normal at all.
I have been trying to debug the libmicroros lib itself to understand where these packets are coming from but sadly Platformio only shows the assembler for what's inside libmicroros, and I have no idea about how to add the symbols / sources to debug within the lib.
Thanks for your help in advance