Update OpenCR transports & examples (#31)

Author: pablogs9

examples/micro-ros_publisher/micro-ros_publisher.ino

@@ -19,7 +19,7 @@ rcl_timer_t timer;
 #define LED_PIN 13
 
 #define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
-#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
+#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}
 
 
 void error_loop(){
@@ -83,5 +83,5 @@ void setup() {
 
 void loop() {
   delay(100);
-  RCCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
+  RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
 }

examples/micro-ros_subscriber/micro-ros_subscriber.ino

@@ -19,7 +19,7 @@ rcl_timer_t timer;
 #define LED_PIN 13
 
 #define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
-#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
+#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}
 
 
 void error_loop(){

examples/micro-ros_tf_publisher/micro-ros_tf_publisher.ino

@@ -25,7 +25,7 @@ rcl_timer_t timer;
 #define LED_PIN 13
 
 #define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
-#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
+#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}
 
 extern "C" int clock_gettime(clockid_t unused, struct timespec *tp);
 cIMU    IMU;

extras/library_generation/Dockerfile

@@ -6,6 +6,7 @@ RUN git clone https://github.com/micro-ROS/micro-ros-build.git src/micro-ros-bui
     &&  . /opt/ros/$ROS_DISTRO/setup.sh \
     &&  apt update \
     &&  apt install -y python3-pip wget\
+    &&  apt install -y python3-pip clang-format pyflakes3 python3-mypy python3-pytest-mock gperf ros-foxy-osrf-testing-tools-cpp python3-lttng ros-foxy-mimick-vendor ros-foxy-rmw-cyclonedds-cpp python3-babeltrace \
     &&  rosdep update \
     &&  rosdep install --from-paths src --ignore-src -y \
     &&  colcon build \

src/opencr_transports.c.in

@@ -16,40 +16,29 @@ bool arduino_serial_platform_open()
 {
     // Place here your initialization platform code
     // Return true if success
+    while(!vcp_is_connected()){}
     return vcp_is_connected();
 }
 
 bool arduino_serial_platform_close()
 {
-    // Place here your closing platform code
-    // Return true if success
     return true;
-
 }
 
 size_t arduino_serial_platform_write(uint8_t* buf, size_t len, uint8_t* errcode)
 {
-    // Place here your writing bytes platform code
-    // Return number of bytes written
     (void) errcode;
-    for(size_t i = 0; i < len; i++){
-      vcp_putch(buf[i]);
-      while( vcp_is_transmitted() == 0 );
-    }
-    
-    return len;
+    return  vcp_write(buf, len);;
 }
 
 size_t arduino_serial_platform_read(uint8_t* buf, size_t len, int timeout, uint8_t* errcode)
 {
-    // Place here your reading bytes platform code
-    // Return number of bytes read (max bytes: len)
     (void) errcode;
     uint32_t start_time = drv_micros() * 1000;
     size_t readed = 0;
 
-    while(((drv_micros()*1000) - start_time) < (uint32_t) timeout){
-      while(vcp_is_available()){
+    while((readed < len) && (((drv_micros()*1000) - start_time) < (uint32_t) timeout)){
+      while((readed < len) && vcp_is_available()){
         buf[readed++] = vcp_getch();
       }
     }