support for ESP32 ethernet

niktwo17 commented 3 years ago

Adds support for ESP32 boards using ethernet such as the Olimex ESP32-EVB.

romainreignier commented 3 years ago

Hi @niktwo17

Thank you for your contribution.

I have tried to use Ethernet on Olimex ESP32-EVB board without your patch on melodic-devel branch and it already works. So I am wondering why did you need this patch? First of all, I did not find the ESP32_ETH definition in the arduino-esp32 repo. Where does it come from?

To test it, I have used this sketch adapted from TcpBlink:

/*
 * rosserial Subscriber Example using Ethernet on ESP32
 * Blinks an LED on callback
 */

#include <ETH.h>

#include <ros.h>
#include <std_msgs/Empty.h>

ros::NodeHandle  nh;

// Shield settings
IPAddress ip(192, 168, 10, 177);
IPAddress gateway(192, 168, 10, 1);
IPAddress subnet(255, 255, 0, 0);

// Server settings
IPAddress server(192, 168, 10, 24);
uint16_t serverPort = 11411;

const uint8_t ledPin = 12;

void messageCb( const std_msgs::Empty&){
  digitalWrite(ledPin, HIGH-digitalRead(ledPin));   // blink the led
}

ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb );

static bool eth_connected = false;

void WiFiEvent(WiFiEvent_t event)
{
  switch (event) {
    case SYSTEM_EVENT_ETH_START:
      Serial.println("ETH Started");
      //set eth hostname here
      ETH.setHostname("esp32-ethernet");
      break;
    case SYSTEM_EVENT_ETH_CONNECTED:
      Serial.println("ETH Connected");
      break;
    case SYSTEM_EVENT_ETH_GOT_IP:
      Serial.print("ETH MAC: ");
      Serial.print(ETH.macAddress());
      Serial.print(", IPv4: ");
      Serial.print(ETH.localIP());
      if (ETH.fullDuplex()) {
        Serial.print(", FULL_DUPLEX");
      }
      Serial.print(", ");
      Serial.print(ETH.linkSpeed());
      Serial.println("Mbps");
      eth_connected = true;
      break;
    case SYSTEM_EVENT_ETH_DISCONNECTED:
      Serial.println("ETH Disconnected");
      eth_connected = false;
      break;
    case SYSTEM_EVENT_ETH_STOP:
      Serial.println("ETH Stopped");
      eth_connected = false;
      break;
    default:
      break;
  }
}

void setup()
{
  Serial.begin(115200);
  WiFi.onEvent(WiFiEvent);
  ETH.begin();
  ETH.config(ip, gateway, subnet);

  pinMode(ledPin, OUTPUT);

  nh.getHardware()->setConnection(server, serverPort);
  nh.initNode();
  nh.subscribe(sub);
}

void loop()
{
  nh.spinOnce();
  delay(1);
}

niktwo17 commented 3 years ago

Hi, thanks for coming back and checking so fast.

Using the ETH.h gave me quite a headache for some time, so I ended up adapting the arduinotcphardware file to make it work. The definition was derived from my project, so in this context not useful I have to admit, your example is more efficient and consistent.

Would be glad if you could add an TcpBlink_ESP32 example then.

ros-drivers / rosserial

support for ESP32 ethernet #539