follow bumps of mros2 v0.5.1-3, and revert filename as the default in idf.py create-project

Author: takasehideki

workspace/echoback_string/main/echoback_string.cpp

@@ -21,41 +21,41 @@
 
 void userCallback(std_msgs::msg::String *msg)
 {
-  printf("subscribed msg: '%s'\r\n", msg->data.c_str());
+  MROS2_INFO("subscribed msg: '%s'", msg->data.c_str());
 }
 
 extern "C" void app_main(void)
 {
-  printf("mbed mros2 start!\r\n");
-  printf("app name: echoback_string\r\n");
-
   /* connect to the network */
   if (mros2_platform_network_connect())
   {
-    MROS2_INFO("successfully connect and setup network\r\n");
+    MROS2_INFO("successfully connect and setup network\r\n---");
   }
   else
   {
-    MROS2_ERROR("failed to connect and setup network! aborting,,,\r\n");
+    MROS2_ERROR("failed to connect and setup network! aborting,,,");
     return;
   }
 
+  MROS2_INFO("%s start!", MROS2_PLATFORM_NAME);
+  MROS2_INFO("app name: echoback_string");
+
   mros2::init(0, NULL);
-  MROS2_DEBUG("mROS 2 initialization is completed\r\n");
+  MROS2_DEBUG("mROS 2 initialization is completed");
 
   mros2::Node node = mros2::Node::create_node("mros2_node");
   mros2::Publisher pub = node.create_publisher<std_msgs::msg::String>("to_linux", 10);
   mros2::Subscriber sub = node.create_subscription<std_msgs::msg::String>("to_stm", 10, userCallback);
 
   osDelay(100);
-  MROS2_INFO("ready to pub/sub message\r\n");
+  MROS2_INFO("ready to pub/sub message\r\n---");
 
   auto count = 0;
   while (1)
   {
     auto msg = std_msgs::msg::String();
     msg.data = "Hello from " + std::string(MROS2_PLATFORM_NAME) + " onto " + quote(TARGET_NAME) + ": " + std::to_string(count++);
-    printf("publishing msg: '%s'\r\n", msg.data.c_str());
+    MROS2_INFO("publishing msg: '%s'", msg.data.c_str());
     pub.publish(msg);
     osDelay(1000);
   }

workspace/echoreply_string/CMakeLists.txt

@@ -2,7 +2,7 @@
 # CMakeLists in this exact order for cmake to work correctly
 cmake_minimum_required(VERSION 3.16)
 
-set(EXTRA_COMPONENT_DIRS ../../ ../../platform)
+set(EXTRA_COMPONENT_DIRS ../..)
 add_compile_options(-w)
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)

workspace/echoreply_string/main/CMakeLists.txt

@@ -1,3 +1,3 @@
-idf_component_register(SRCS "app.cpp"
+idf_component_register(SRCS "echoreply_string.cpp"
                     INCLUDE_DIRS "."
-                    PRIV_REQUIRES "mros2-esp32" "wifi")
+                    PRIV_REQUIRES "mros2-esp32")

workspace/echoreply_string/main/app.cpp renamed to workspace/echoreply_string/main/echoreply_string.cpp

@@ -1,5 +1,5 @@
 /* mros2 example
- * Copyright (c) 2021 smorita_emb
+ * Copyright (c) 2023 mROS-base
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -15,36 +15,44 @@
  */
 
 #include "mros2.h"
+#include "mros2-platform.h"
 #include "std_msgs/msg/string.hpp"
 
-#include "cmsis_os.h"
-#include "wifi.h"
-
 mros2::Subscriber sub;
 mros2::Publisher pub;
 
+
 void userCallback(std_msgs::msg::String *msg)
 {
-  printf("subscribed msg: '%s'\r\n", msg->data.c_str());
-  printf("publishing msg: '%s'\r\n", msg->data.c_str());
+  MROS2_INFO("subscribed msg: '%s'", msg->data.c_str());
+  MROS2_INFO("publishing msg: '%s'", msg->data.c_str());
   pub.publish(*msg);
 }
 
 extern "C" void app_main(void)
 {
-  init_wifi();
-  osKernelStart();
+  /* connect to the network */
+  if (mros2_platform_network_connect())
+  {
+    MROS2_INFO("successfully connect and setup network\r\n---");
+  }
+  else
+  {
+    MROS2_ERROR("failed to connect and setup network! aborting,,,");
+    return;
+  }
+
+  MROS2_INFO("mbed mros2 start!");
+  MROS2_INFO("app name: echoreply_string");
 
-  printf("mbed mros2 start!\r\n");
-  printf("app name: echoreply_string\r\n");
   mros2::init(0, NULL);
-  MROS2_DEBUG("mROS 2 initialization is completed\r\n");
+  MROS2_DEBUG("mROS 2 initialization is completed");
 
   mros2::Node node = mros2::Node::create_node("mros2_node");
   pub = node.create_publisher<std_msgs::msg::String>("to_linux", 10);
   sub = node.create_subscription<std_msgs::msg::String>("to_stm", 10, userCallback);
   osDelay(100);
-  MROS2_INFO("ready to pub/sub message\r\n");
+  MROS2_INFO("ready to pub/sub message\r\n---");
 
   mros2::spin();
   return;

workspace/m5stack_sample/CMakeLists.txt

@@ -2,7 +2,7 @@
 # CMakeLists in this exact order for cmake to work correctly
 cmake_minimum_required(VERSION 3.16)
 
-set(EXTRA_COMPONENT_DIRS ../../ ../../platform)
+set(EXTRA_COMPONENT_DIRS ../..)
 add_compile_options(-w)
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)

workspace/m5stack_sample/main/CMakeLists.txt

@@ -1,3 +1,3 @@
-idf_component_register(SRCS "app.cpp"
+idf_component_register(SRCS "m5stack_sample.cpp"
                     INCLUDE_DIRS "."
-                    PRIV_REQUIRES "mros2-esp32" "wifi" "M5Unified")
+                    PRIV_REQUIRES "mros2-esp32" "M5Unified")

workspace/m5stack_sample/main/app.cpp renamed to workspace/m5stack_sample/main/m5stack_sample.cpp

@@ -1,5 +1,5 @@
 /* mros2 example
- * Copyright (c) 2022 mROS-base
+ * Copyright (c) 2023 mROS-base
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -15,50 +15,59 @@
  */
 
 #include "mros2.h"
+#include "mros2-platform.h"
 #include "std_msgs/msg/string.hpp"
 
-#include "cmsis_os.h"
-#include "wifi.h"
-
 #include "M5Unified.h"
-/* convert TARGET_NAME to put into message */
-#define quote(x) std::string(q(x))
-#define q(x) #x
+
 
 void userCallback(std_msgs::msg::String *msg)
 {
-  printf("subscribed msg: '%s'\r\n", msg->data.c_str());
+  MROS2_INFO("subscribed msg: '%s'", msg->data.c_str());
   M5.Lcd.printf("subscribed msg: '%s'\r\n", msg->data.c_str());
 }
 
 extern "C" void app_main(void)
 {
-  init_wifi();
-  osKernelStart();
+  /* connect to the network */
+  if (mros2_platform_network_connect())
+  {
+    MROS2_INFO("successfully connect and setup network\r\n---");
+  }
+  else
+  {
+    MROS2_ERROR("failed to connect and setup network! aborting,,,");
+    return;
+  }
+
+  MROS2_INFO("%s start!", MROS2_PLATFORM_NAME);
+  MROS2_INFO("app name: echoback_string");
 
   auto cfg = M5.config();
   M5.begin(cfg);
   M5.Lcd.setTextSize(2);
-  M5.Lcd.println("mbed mros2 start!\r\n");
+  M5.Lcd.println("");
+  M5.Lcd.printf("%s start!\r\n", MROS2_PLATFORM_NAME);
   M5.Lcd.printf("app name: m5stack_sample\r\n");
 
   mros2::init(0, NULL);
-  MROS2_DEBUG("mROS 2 initialization is completed\r\n");
+  MROS2_DEBUG("mROS 2 initialization is completed");
 
   mros2::Node node = mros2::Node::create_node("mros2_node");
   mros2::Publisher pub = node.create_publisher<std_msgs::msg::String>("to_linux", 10);
   mros2::Subscriber sub = node.create_subscription<std_msgs::msg::String>("to_stm", 10, userCallback);
 
   osDelay(100);
-  MROS2_INFO("ready to pub/sub message\r\n");
+  MROS2_INFO("ready to pub/sub message\r\n---");
 
   auto count = 0;
   while (1)
   {
     auto msg = std_msgs::msg::String();
     msg.data = "Hello from mros2-mbed onto " + quote(TARGET_NAME) + ": " + std::to_string(count++);
-    printf("publishing msg: '%s'\r\n", msg.data.c_str());
+    MROS2_INFO("publishing msg: '%s'", msg.data.c_str());
     pub.publish(msg);
+    M5.Lcd.printf("publishing msg: '%s'\r\n", msg.data.c_str());
     osDelay(1000);
   }
 

workspace/pub_float32/CMakeLists.txt

@@ -2,7 +2,7 @@
 # CMakeLists in this exact order for cmake to work correctly
 cmake_minimum_required(VERSION 3.16)
 
-set(EXTRA_COMPONENT_DIRS ../../ ../../platform)
+set(EXTRA_COMPONENT_DIRS ../..)
 add_compile_options(-w)
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)

workspace/pub_float32/main/CMakeLists.txt

@@ -1,3 +1,3 @@
-idf_component_register(SRCS "app.cpp"
+idf_component_register(SRCS "pub_float32.cpp"
                     INCLUDE_DIRS "."
-                    PRIV_REQUIRES "mros2-esp32" "wifi")
+                    PRIV_REQUIRES "mros2-esp32")

workspace/pub_float32/main/app.cpp renamed to workspace/pub_float32/main/pub_float32.cpp

@@ -1,5 +1,5 @@
 /* mros2 example
- * Copyright (c) 2021 smorita_emb
+ * Copyright (c) 2023 mROS-base
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -15,25 +15,33 @@
  */
 
 #include "mros2.h"
+#include "mros2-platform.h"
 #include "std_msgs/msg/float32.hpp"
 
-#include "cmsis_os.h"
-#include "wifi.h"
 
 extern "C" void app_main(void)
 {
-  init_wifi();
-  osKernelStart();
+  /* connect to the network */
+  if (mros2_platform_network_connect())
+  {
+    MROS2_INFO("successfully connect and setup network\r\n---");
+  }
+  else
+  {
+    MROS2_ERROR("failed to connect and setup network! aborting,,,");
+    return;
+  }
+
+  MROS2_INFO("mbed mros2 start!");
+  MROS2_INFO("app name: pub_float32");
 
-  printf("mbed mros2 start!\r\n");
-  printf("app name: pub_float32\r\n");
   mros2::init(0, NULL);
-  MROS2_DEBUG("mROS 2 initialization is completed\r\n");
+  MROS2_DEBUG("mROS 2 initialization is completed");
 
   mros2::Node node = mros2::Node::create_node("mros2_node");
   mros2::Publisher pub = node.create_publisher<std_msgs::msg::Float32>("to_linux", 10);
   osDelay(100);
-  MROS2_INFO("ready to pub/sub message\r\n");
+  MROS2_INFO("ready to pub/sub message\r\n---");
 
   std_msgs::msg::Float32 msg;
   auto publish_count = -0.5;
@@ -44,17 +52,13 @@ extern "C" void app_main(void)
     pub.publish(msg);
 
     if (0.0 >= msg.data)
-      printf("msg <= 0.0\r\n");
+      MROS2_INFO("msg <= 0.0");
     else if (0.0 < msg.data && msg.data < 0.5)
-      printf("0.0 < msg < 0.5\r\n");
+      MROS2_INFO("0.0 < msg < 0.5");
     else if (0.5 < msg.data && msg.data < 1.0)
-      printf("0.5 < msg < 1.0\r\n");
+      MROS2_INFO("0.5 < msg < 1.0");
     else
-      printf("msg >= 1.0\r\n");
-    /*
-     * you need to add `"target.printf_lib": "std"` into mbed_app.json
-    printf("publishing msg: '%f'\r\n", msg.data);
-     */
+      MROS2_INFO("msg >= 1.0");
 
     publish_count = publish_count + 0.1;
     osDelay(1000);