implemented microros

src/Blind_esp/IRIS_microros/IRIS_microros.ino

@@ -0,0 +1,73 @@
+#include <micro_ros_arduino.h>
+#include <ESP32Servo.h>
+#include <stdio.h>
+#include <rcl/rcl.h>
+#include <rcl/error_handling.h>
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+
+#include <std_msgs/msg/int32.h> 
+
+rcl_subscription_t subscriber;
+std_msgs__msg__Int32 msg;
+rclc_executor_t executor;
+rcl_allocator_t allocator;
+rclc_support_t support;
+rcl_node_t node;
+
+#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();}}
+
+void error_loop(){
+  while(1){
+    digitalWrite(LED_PIN, !digitalRead(LED_PIN));
+    delay(100);
+  }
+}
+
+void subscription_callback(const void *msgin) {
+  const std_msgs__msg__Int32 *msg = (const std_msgs__msg__Int32 *)msgin;  
+  digitalWrite(LED_PIN, (msg->data == 0) ? LOW : HIGH);
+}
+
+void setup() {
+  pinMode(18, OUTPUT);
+  pinMode(19, OUTPUT);
+  set_microros_wifi_transports("Redmi Note 11", "1234atom", "192.168.157.152", 8888);
+  Serial.begin(9600);
+
+  pinMode(LED_PIN, OUTPUT);
+  digitalWrite(LED_PIN, HIGH);  
+
+  delay(2000);
+
+  allocator = rcl_get_default_allocator();
+
+  // Create init_options
+  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
+
+  // Create node
+  RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_node", "", &support));
+
+  // Create subscriber
+  RCCHECK(rclc_subscription_init_default(
+    &subscriber,
+    &node,
+    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+    "/IRIS_data"));
+
+  // Create executor
+  RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
+  RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &msg, &subscription_callback, ON_NEW_DATA));
+}
+
+void loop() {
+  delay(100);
+
+  Serial.print("Received data: ");
+  Serial.println(msg.data);
+
+  RCCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
+}