Feature/ros2 tcp

config/buildmode.ini

@@ -0,0 +1,32 @@
+; ********************************************************************************
+; Build mode log configurations
+;   * debug: Standard debugging purposes during development.
+;   * release: The release build contains only the relevant user informations.
+;   * trace: Hardcore debugging by following e.g. method call hierarchy.
+; ********************************************************************************
+[mode:debug_log]
+build_flags =
+    -D LOG_DEBUG_ENABLE=1
+    -D LOG_TRACE_ENABLE=0
+    -D CONFIG_LOG_SEVERITY=Logging::LOG_LEVEL_DEBUG
+
+[mode:release_log]
+build_flags =
+    -D LOG_DEBUG_ENABLE=0
+    -D LOG_TRACE_ENABLE=0
+    -D CONFIG_LOG_SEVERITY=Logging::LOG_LEVEL_INFO
+
+[mode:trace_log]
+build_flags =
+    -D LOG_DEBUG_ENABLE=1
+    -D LOG_TRACE_ENABLE=1
+    -D CONFIG_LOG_SEVERITY=Logging::LOG_LEVEL_TRACE
+
+[mode:debug_native]
+build_flags =
+    -O0
+    -ggdb
+
+[mode:release_native]
+build_flags =
+    -O2

doc/ROS2/setup/Agent.md

@@ -6,6 +6,7 @@ Sources: [here](https://micro-xrce-dds.docs.eprosima.com/en/latest/index.html)
   * [Installation](#installation)
   * [Using the agent with the serial interface](#using-the-agent-with-the-serial-interface)
   * [Using the agent with the UDP interface](#using-the-agent-with-the-udp-interface)
+  * [Using the agent with the TCP interface](#using-the-agent-with-the-tcp-interface)
   * [Troubleshooting on WSL environment](#troubleshooting-on-wsl-environment)
   * [Testing the node](#testing-the-node)
 
@@ -37,9 +38,32 @@ Once the Agent and the Client are connected, the terminal should show something
 [1723186868.574254] info     | ProxyClient.cpp       | create_datawriter        | datawriter created     | client_key: 0x64C59DFF, datawriter_id: 0x000(5), publisher_id: 0x000(3)
 ```
 
+## Using the agent with the TCP interface
+
+Start the MicroXRCEAgent binary to listen to **TCP** connections:
+
+```bash
+./MicroXRCEAgent tcp4 -p 8888 -v 6
+[1730295182.773705] info     | TCPv4AgentLinux.cpp | init                     | running...             | port: 8888
+[1730295182.774347] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 6
+[1730295187.775068] debug    | TCPv4AgentLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0x00000000, len: 16, data:
+0000: 80 00 00 00 02 01 08 00 00 0A FF FD 02 00 00 00
+[1730295187.775861] debug    | TCPv4AgentLinux.cpp | send_message             | [** <<TCP>> **]        | client_key: 0x00000000, len: 36, data:
+0000: 80 00 00 00 06 01 1C 00 00 0A FF FD 00 00 01 0D 58 52 43 45 01 00 01 0F 00 01 0D 00 01 00 00 00
+0020: 00 00 00 00
+[1730295188.777062] debug    | TCPv4AgentLinux.cpp | recv_message             | [==>> TCP <<==]        | client_key: 0x00000000, len: 24, data:
+...
+```
+
 ## Using the agent with the UDP interface
 
-Start the MicroXRCEAgent binary to listen to UDP connections
+> [!WARNING]  
+> Note: UDP ports on WSL are not working properly if you need to access them outside of the WSL VM (Status 2024-10-31). Use TCP with WSL instead.
+> See [https://github.com/micro-ROS/micro-ROS-Agent/issues/194](https://github.com/micro-ROS/micro-ROS-Agent/issues/194) for further details.
+> The mentioned ```netsh`` tool for port proxy forwarding only supports TCP.
+
+Start the MicroXRCEAgent binary to listen to UDP connections:
+
 ```bash
 ./MicroXRCEAgent udp4 -p 8888 -v 6
 [1724834512.980210] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
@@ -56,6 +80,8 @@ Start the MicroXRCEAgent binary to listen to UDP connections
 
 UDP connections [setup wsl](./wsl.md#exposing-wsl-udp-ports-to-the-network) (Requires Win 11).
 
+Update: 2024-10-30: TCP transport is available in DroidControlShip, making UDP usage optional. Use TCP on WSL to avoid the trouble.
+
 ## Testing the node
 
 In order to test your node, you can use `ros2 topic list` to list all topics used, or `ros2 topic echo <topic_name>` to listen to incoming data in a specific topic.

lib/APPTurtle/src/CustomRosTransport.h

@@ -25,8 +25,8 @@
     DESCRIPTION
 *******************************************************************************/
 /**
- * @brief  Custom Micro-ROS transport.
- * @author Gabryel Reyes <[email protected]>
+ * @brief  Custom Micro-ROS transport class selector.
+ * @author Norbert Schulz <[email protected]>
  *
  * @addtogroup Application
  *
@@ -38,185 +38,11 @@
 /******************************************************************************
  * Compile Switches
  *****************************************************************************/
-
-/******************************************************************************
- * Includes
- *****************************************************************************/
-#include <IPAddress.h>
-#include <rmw_microros/rmw_microros.h>
-#include <WiFiUdp.h>
-
-/******************************************************************************
- * Macros
- *****************************************************************************/
-
-/******************************************************************************
- * Types and Classes
- *****************************************************************************/
-
-/**
- * Micro-ROS custom transport adaption.
- *
- * The static functions are used as these are called from C-language
- */
-class CustomRosTransport
-{
-public:
-    /**
-     * Constructs a custom Micro-ROS transport.
-     */
-    CustomRosTransport() : m_udpClient(), m_address(), m_port(DEFAULT_PORT)
-    {
-    }
-
-    /**
-     * Destroys custom Micro-ROS transport.
-     *
-     */
-    ~CustomRosTransport()
-    {
-    }
-
-    /**
-     * Initialize custom ROS transport with agent address and port.
-     *
-     * @param[in] addr  Micro-ROS agent IP-address
-     * @param[in] port  Micro-ROS agent port
-     */
-    void init(const IPAddress& addr, uint16_t port)
-    {
-        m_address = addr;
-        m_port    = port;
-    }
-
-    /**
-     * Get IP-address of Micro-ROS agent.
-     *
-     * @return IP-address
-     */
-    const IPAddress& getIPAddress() const
-    {
-        return m_address;
-    }
-
-    /**
-     * Get IP-address of Micro-ROS agent as string
-     *
-     * @return IP-address as string
-     */
-    const String getIPAddressAsStr() const
-    {
-        return m_address.toString();
-    }
-
-    /**
-     * Get port of Micro-ROS agent.
-     *
-     * @return Port
-     */
-    uint16_t getPort() const
-    {
-        return m_port;
-    }
-
-    /**
-     * Open and initialize the custom transport (C-Entry Point).
-     * https://micro.ros.org/docs/tutorials/advanced/create_custom_transports/
-     *
-     * @param[in] transport The arguments passed through uxr_init_custom_transport.
-     *
-     * @return A boolean indicating if the opening was successful.
-     */
-    static bool open(uxrCustomTransport* transport);
-
-    /**
-     * Close the custom transport (C-Entry Point).
-     * https://micro.ros.org/docs/tutorials/advanced/create_custom_transports/
-     *
-     * @param[in] transport The arguments passed through uxr_init_custom_transport.
-     *
-     * @return A boolean indicating if the closing was successful.
-     */
-    static bool close(uxrCustomTransport* transport);
-
-    /**
-     * Write data to the custom transport (C-Entry Point).
-     * https://micro.ros.org/docs/tutorials/advanced/create_custom_transports/
-     *
-     * @param[in]  transport The arguments passed through uxr_init_custom_transport.
-     * @param[in]  buffer The buffer to write.
-     * @param[in]  size The size of the buffer.
-     * @param[out] errorCode The error code.
-     *
-     * @return The number of bytes written.
-     */
-    static size_t write(uxrCustomTransport* transport, const uint8_t* buffer, size_t size, uint8_t* errorCode);
-
-    /**
-     * Read data from the custom transport (C-Entry Point).
-     * https://micro.ros.org/docs/tutorials/advanced/create_custom_transports/
-     *
-     * @param[in]  transport The arguments passed through uxr_init_custom_transport.
-     * @param[out] buffer The buffer to read into.
-     * @param[in]  size The size of the buffer.
-     * @param[in]  timeout The timeout in milliseconds.
-     * @param[out] errorCode The error code.
-     *
-     * @return The number of bytes read.
-     */
-    static size_t read(uxrCustomTransport* transport, uint8_t* buffer, size_t size, int timeout, uint8_t* errorCode);
-
-private:
-    /**
-     * Open and initialize the custom transport.
-     *
-     * @return A boolean indicating if the opening was successful.
-     */
-    bool open(void);
-
-    /**
-     * Close the custom transport.
-     *
-     * @return A boolean indicating if the closing was successful.
-     */
-    bool close(void);
-
-    /**
-     * Write data to the custom transport.
-     *
-     * @param[in]  buffer The buffer to write.
-     * @param[in]  size The size of the buffer.
-     * @param[out] errorCode The error code.
-     *
-     * @return The number of bytes written.
-     */
-    size_t write(const uint8_t* buffer, size_t size, uint8_t* errorCode);
-
-    /**
-     * Read data from the custom transport.
-     *
-     * @param[out] buffer The buffer to read into.
-     * @param[in]  size The size of the buffer.
-     * @param[in]  timeout The timeout in milliseconds.
-     * @param[out] errorCode The error code.
-     *
-     * @return The number of bytes read.
-     */
-    size_t read(uint8_t* buffer, size_t size, int timeout, uint8_t* errorCode);
-
-    /**
-     * Default Micro-ROS agent port.
-     */
-    static const int DEFAULT_PORT = 8888;
-
-    WiFiUDP   m_udpClient; /**< UDP client */
-    IPAddress m_address;   /**< IP address of the Micro-ROS agent */
-    uint16_t  m_port;      /**< Port of the Micro-ROS agent */
-};
-
-/******************************************************************************
- * Functions
- *****************************************************************************/
+#if defined(TRANSPORT_USE_TCP) && TRANSPORT_USE_TCP != 0
+#include "Transports/CustomRosTransportTcp.h"
+#else
+#include "Transports/CustomRosTransportUdp.h"
+#endif /* else defined(TRANSPORT_USE_TCP) && TRANSPORT_USE_TCP != 0 */
 
 #endif /* CUSTOM_ROS_TRANSPORT_H */
 /** @} */

lib/APPTurtle/src/MicroRosClient.cpp

@@ -171,9 +171,13 @@ bool MicroRosClient::setupCustomTransport(const IPAddress& ipAddress, uint16_t p
 
     m_customRosTransport.init(ipAddress, port);
 
-    if (RCL_RET_OK != rmw_uros_set_custom_transport(false, (void*)&m_customRosTransport, CustomRosTransport::open,
-                                                    CustomRosTransport::close, CustomRosTransport::write,
-                                                    CustomRosTransport::read))
+    if (RCL_RET_OK != rmw_uros_set_custom_transport(
+            false, 
+            &m_customRosTransport,
+            CustomRosTransportBase::open,
+            CustomRosTransportBase::close, 
+            CustomRosTransportBase::write,
+            CustomRosTransportBase::read))
     {
         LOG_ERROR("Failed to set custom transport for Micro-ROS.");
     }
@@ -284,7 +288,10 @@ void MicroRosClient::waitingForAgentState()
         if ((false == m_timer.isTimerRunning()) || (true == m_timer.isTimeout()))
         {
             String ipAddStr = m_customRosTransport.getIPAddressAsStr();
-            LOG_INFO("Ping Micro-ROS agent %s:%u ...", ipAddStr.c_str(), m_customRosTransport.getPort());
+            LOG_INFO("Ping Micro-ROS agent %s:%s:%u ...",
+                m_customRosTransport.getProtocolName().c_str(),
+                ipAddStr.c_str(), 
+                m_customRosTransport.getPort());
 
             if (RMW_RET_OK == rmw_uros_ping_agent(MICRO_ROS_AGENT_PING_TIMEOUT, MICRO_ROS_AGENT_PING_ATTEMPTS))
             {
@@ -307,16 +314,22 @@ void MicroRosClient::connectingState()
 {
     String ipAddStr = m_customRosTransport.getIPAddressAsStr();
 
-    LOG_INFO("Connecting to Micro-ROS agent %s:%u ...", ipAddStr.c_str(), m_customRosTransport.getPort());
+    LOG_INFO("Connecting to Micro-ROS agent %s:%s:%u ...",
+                m_customRosTransport.getProtocolName().c_str(),
+                ipAddStr.c_str(), 
+                m_customRosTransport.getPort());
 
     if (false == createEntities())
     {
         m_state = STATE_WAIT_FOR_AGENT;
     }
     else
     {
-        LOG_INFO("Connected with Micro-ROS agent %s:%u.", ipAddStr.c_str(), m_customRosTransport.getPort());
-
+        LOG_INFO("Connected with Micro-ROS agent %s:%s:%u ...",
+                m_customRosTransport.getProtocolName().c_str(),
+                ipAddStr.c_str(), 
+                m_customRosTransport.getPort());
+
         subscribe();
 
         /* Periodically verify that the connection is still established. */

lib/APPTurtle/src/MicroRosClient.h

@@ -118,7 +118,7 @@ class MicroRosClient
     /**
      * The Micro-ROS agent ping operation timeout is ms.
      */
-    static const int32_t MICRO_ROS_AGENT_PING_TIMEOUT = 100;
+    static const int32_t MICRO_ROS_AGENT_PING_TIMEOUT = 200;
 
     /**
      * The Micro-ROS agent ping operation attempts. Keep 1, because the