Add int32_publisher_custom_transport_usbcdc example

This example demonstrates how to enable ROS2 communication via USB CDC and log output on the ESP32-S2.

Reviewed-by: Leandro Mendes do Santos <[email protected]>

Signed-off-by: Samuel Henrique Guimarães Alencar <[email protected]>

examples/int32_publisher_custom_transport_usbcdc/.gitignore

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+build
+sdkconfig
+sdkconfig.old
+managed_components
+.vscode

examples/int32_publisher_custom_transport_usbcdc/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+
+set (EXTRA_COMPONENT_DIRS "./../../.")
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(int32_publisher)
+

examples/int32_publisher_custom_transport_usbcdc/README.md

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+
+# USB-CDC Custom Transport Example
+
+| Supported Targets | ESP32-S2 | ESP32-S3 |
+|-------------------|----------|----------|
+
+This example demonstrates how to set up the ESP32-S2/S3 to function as a USB Serial Device (CDC-ACM) and communicate with micro-ROS agent using USB-CDC custom transport.
+
+The [TinyUSB component](https://components.espressif.com/components/espressif/esp_tinyusb) is used as the USB stack.
+
+This example is based on the [int32_publisher_custom_transport](https://github.com/micro-ROS/micro_ros_espidf_component/tree/jazzy/examples/int32_publisher_custom_transport), the [TinyUSB Serial Device Example](https://github.com/espressif/esp-idf/tree/master/examples/peripherals/usb/device/tusb_serial_device), and the [TinyUSB Console Example](https://github.com/espressif/esp-idf/tree/master/examples/peripherals/usb/device/tusb_console) for log output.
+
+## How to use example
+
+This example is configured to use the two interfaces of USB-CDC. One interface is used for the micro-ROS communication, and the other interface is used for the log output.
+
+### Hardware Required
+
+This example can be run on any development board that has a USB-CDC interface.
+
+### Configure the project
+
+Set the target device in the project configuration:
+
+```bash
+idf.py set-target esp32s2 # or esp32s3
+```
+
+If you want to use only the micro-ROS communication interface, you need to turn off log output in menuconfig. Run `idf.py menuconfig` and navigate to `Component config → Log output → Default log verbosity` and set it to `No output`. You should also set `Component config → TinyUSB Stack → Communication Device Class (CDC) → CDC Channel Count` to 1.
+
+### Build and Flash
+
+> [!NOTE]
+> The ESP32-S2/S3 chip needs to be in bootloader mode before it can be detected as a DFU device and flash. This can be achieved by pulling GPIO0 down (e.g., pressing the BOOT button), pulling RESET down for a moment, and releasing GPIO0.
+
+#### Build the project
+
+Build DFU image:
+
+```bash
+idf.py dfu
+```
+
+#### Flash the project
+
+Put the ESP32-S2/S3 into bootloader mode and run the following command:
+
+```bash
+idf.py dfu-flash
+```
+
+### Run micro-ROS Agent
+
+```bash
+export ROS_DOMAIN_ID=100 # Set the ROS2 domain ID
+ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0
+```
+
+Output expected:
+
+```bash
+[1724443525.673894] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
+[1724443525.674071] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
+[1724443529.936542] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
+[1724443531.062646] info     | Root.cpp           | create_client            | create                 | client_key: 0x3E801A05, session_id: 0x81
+[1724443531.062805] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x3E801A05, address: 0
+[1724443531.107532] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x3E801A05, participant_id: 0x000(1)
+[1724443531.137064] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x3E801A05, topic_id: 0x000(2), participant_id: 0x000(1)
+[1724443531.167351] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x3E801A05, publisher_id: 0x000(3), participant_id: 0x000(1)
+[1724443531.237811] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x3E801A05, datawriter_id: 0x000(5), publisher_id: 0x000(3)
+```
+
+After connecting the ESP32-S2/S3 and the micro-ROS agent, you can list the topics:
+
+```bash
+export ROS_DOMAIN_ID=100 # Set the ROS2 domain ID
+ros2 topic list
+```
+
+Output expected:
+
+```bash
+/esp32s2/int32_publisher_usbcdc
+/parameter_events
+/rosout
+```
+
+And see if the `esp32s2/int32_publisher_usbcdc` topic is available. You can echo the topic to see the messages:
+
+```bash
+export ROS_DOMAIN_ID=100 # Set the ROS2 domain ID
+ros2 topic echo esp32s2/int32_publisher_usbcdc
+```
+
+Output expected:
+
+```bash
+data: 1
+---
+data: 2
+---
+data: 3
+---
+data: 4
+---
+data: 5
+.
+.
+.
+```
+
+To see the log output, you can use the following command:
+
+```bash
+minicom -D /dev/ttyACM1 -b 115200
+```
+
+Output expected:
+
+```bash
+Welcome to minicom 2.8
+
+OPTIONS: I18n
+Port /dev/ttyACM1
+Press CTRL-A Z for help on special keys
+
+I (2688) MAIN: micro-ROS task created
+I (2688) main_task: Returned from app_main()
+I (3708) TIMER_CALLBACK: Message published: 0
+I (4708) TIMER_CALLBACK: Message published: 1
+I (5708) TIMER_CALLBACK: Message published: 2
+I (6708) TIMER_CALLBACK: Message published: 3
+I (7708) TIMER_CALLBACK: Message published: 4
+I (8708) TIMER_CALLBACK: Message published: 5
+.
+.
+.
+```

examples/int32_publisher_custom_transport_usbcdc/app-colcon.meta

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+{
+    "names": {
+        "rmw_microxrcedds": {
+            "cmake-args": [
+                "-DRMW_UXRCE_TRANSPORT=custom"
+            ]
+        }
+    }
+}

examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/CMakeLists.txt

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+idf_component_register(SRCS "esp32s2_usbcdc_logging.c" INCLUDE_DIRS ".")

examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/esp32s2_usbcdc_logging.c

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+#include "esp32s2_usbcdc_logging.h"
+
+// Initialize USB-CDC logging
+esp_err_t esp32s2_usbcdc_logging_init(void)
+{
+    const tinyusb_config_t tinyusb_config = {
+        .descriptor = NULL,
+        .string_descriptor = NULL,
+        .external_phy = false,
+        .configuration_descriptor = NULL,
+    };
+
+    esp_err_t ret = tinyusb_driver_install(&tinyusb_config);
+
+    if (ret == ESP_ERR_INVALID_ARG || ret == ESP_FAIL) {
+        return ret;
+    }
+
+    tinyusb_config_cdcacm_t acm_config = {
+        .usb_dev = TINYUSB_USBDEV_0,
+        .cdc_port = TINYUSB_CDC_ACM_1,
+        .rx_unread_buf_sz = CONFIG_TINYUSB_CDC_RX_BUFSIZE,
+        .callback_rx = NULL,
+        .callback_rx_wanted_char = NULL,
+        .callback_line_state_changed = NULL,
+        .callback_line_coding_changed = NULL,
+    };
+
+    ret = tusb_cdc_acm_init(&acm_config);
+
+    if (ret != ESP_OK) {
+        return ret;
+    }
+
+    ret = esp_tusb_init_console(TINYUSB_CDC_ACM_1);
+
+    return ret;
+}
+
+// Deinitialize USB-CDC logging
+esp_err_t esp32s2_usbcdc_logging_deinit(void)
+{
+    esp_err_t ret = esp_tusb_deinit_console(TINYUSB_CDC_ACM_1);
+
+    return ret;
+}

examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/esp32s2_usbcdc_logging.h

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+#ifndef ESP32S2_USBCDC_LOGGING_H
+#define ESP32S2_USBCDC_LOGGING_H
+
+#include "esp_err.h"
+#include "tinyusb.h"
+#include "tusb_cdc_acm.h"
+#include "tusb_console.h"
+#include "sdkconfig.h"
+
+#if (CONFIG_TINYUSB_CDC_COUNT < 2) 
+    #warning "Define CONFIG_TINYUSB_CDC_COUNT to 2 in menuconfig if you want log over USBCDC. Otherwise, disable log output in menuconfig."
+#endif
+
+#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
+
+#ifdef __cplusplus
+extern "C" 
+{
+#endif
+
+esp_err_t esp32s2_usbcdc_logging_init(void);
+esp_err_t esp32s2_usbcdc_logging_deinit(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#else
+#error "Logging over USB-CDC is only supported on ESP32-S2 or ESP32-S3 targets"
+#endif
+
+#endif // ESP32S2_USBCDC_LOGGING_H

examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_logging/idf_component.yml

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+## IDF Component Manager Manifest File
+dependencies:
+  espressif/esp_tinyusb: "^1.4.4"
+  ## Required IDF version
+  idf:
+    version: ">=5.0"

examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/CMakeLists.txt

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+idf_component_register(SRCS "esp32s2_usbcdc_transport.c"
+    INCLUDE_DIRS "."
+    REQUIRES micro_ros_espidf_component # include <uxr/client/transport.h>
+)

examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/esp32s2_usbcdc_transport.c

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+#include "esp32s2_usbcdc_transport.h"
+
+// Open USB-CDC
+bool esp32s2_usbcdc_open(struct uxrCustomTransport* transport) {
+    const tinyusb_config_t tinyusb_config = {
+        .device_descriptor = NULL,
+        .string_descriptor = NULL,
+        .external_phy = false,
+        .configuration_descriptor = NULL,
+    };
+
+    esp_err_t ret = tinyusb_driver_install(&tinyusb_config);
+
+    if (ret == ESP_ERR_INVALID_ARG || ret == ESP_FAIL) {
+        return ret;
+    }
+
+    tinyusb_cdcacm_itf_t* cdc_port = (tinyusb_cdcacm_itf_t*)transport->args;
+
+    tinyusb_config_cdcacm_t acm_cfg = {
+        .usb_dev = TINYUSB_USBDEV_0,
+        .cdc_port = *cdc_port,
+        .rx_unread_buf_sz = CONFIG_TINYUSB_CDC_RX_BUFSIZE,
+        .callback_rx = NULL,
+        .callback_rx_wanted_char = NULL,
+        .callback_line_state_changed = NULL,
+        .callback_line_coding_changed = NULL
+    };
+
+    if (tusb_cdc_acm_init(&acm_cfg) != ESP_OK) {
+        return false;
+    }
+
+    return true;
+}
+
+// Close USB-CDC
+bool esp32s2_usbcdc_close(struct uxrCustomTransport* transport) {
+    tinyusb_cdcacm_itf_t* cdc_port = (tinyusb_cdcacm_itf_t*)transport->args;
+    return (tusb_cdc_acm_deinit(*cdc_port) == ESP_OK) ? true : false;
+}
+
+// Write to USB-CDC
+size_t esp32s2_usbcdc_write(struct uxrCustomTransport* transport, const uint8_t* buf, size_t len, uint8_t* err) {
+    tinyusb_cdcacm_itf_t* cdc_port = (tinyusb_cdcacm_itf_t*)transport->args;
+    size_t tx_size = tinyusb_cdcacm_write_queue(*cdc_port, buf, len);
+    tinyusb_cdcacm_write_flush(*cdc_port, 0);
+    return tx_size;
+}
+
+// Read from USB-CDC
+size_t esp32s2_usbcdc_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err) {
+    tinyusb_cdcacm_itf_t* cdc_port = (tinyusb_cdcacm_itf_t*)transport->args;
+    size_t rx_size = 0;
+    esp_err_t ret = tinyusb_cdcacm_read(*cdc_port, buf, len, &rx_size);
+    return (ret == ESP_OK) ? rx_size : 0;
+}

examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/esp32s2_usbcdc_transport.h

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+#ifndef ESP32S2_USBCDC_TRANSPORT_H
+#define ESP32S2_USBCDC_TRANSPORT_H
+
+#include <uxr/client/transport.h>
+
+#include "tinyusb.h"
+#include "tusb_cdc_acm.h"
+
+#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
+
+#ifdef __cplusplus
+extern "C" 
+{
+#endif
+
+bool esp32s2_usbcdc_open(struct uxrCustomTransport* transport);
+bool esp32s2_usbcdc_close(struct uxrCustomTransport* transport);
+size_t esp32s2_usbcdc_write(struct uxrCustomTransport* transport, const uint8_t* buf, size_t len, uint8_t* err);
+size_t esp32s2_usbcdc_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err);
+
+#ifdef __cplusplus
+}
+#endif
+
+#else
+#error "This transport is only supported on ESP32-S2 or ESP32-S3 targets"
+#endif // CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+
+#endif // ESP32S2_USBCDC_TRANSPORT_H

examples/int32_publisher_custom_transport_usbcdc/components/esp32s2_usbcdc_transport/idf_component.yml

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+## IDF Component Manager Manifest File
+dependencies:
+  espressif/esp_tinyusb: "^1.4.4"
+  ## Required IDF version
+  idf:
+    version: ">=5.0"

examples/int32_publisher_custom_transport_usbcdc/dependencies.lock

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+dependencies:
+  espressif/esp_tinyusb:
+    component_hash: f151d680d6847bfcfd5d8eb6d1c3ff926c208e6b963b2e83643a141bc70baa15
+    source:
+      service_url: https://api.components.espressif.com/
+      type: service
+    version: 1.4.4
+  espressif/tinyusb:
+    component_hash: 214989d502fc168241a4a4f83b097d8ac44a93cd6f1787b4ac10069a8b3bebd3
+    source:
+      service_url: https://api.components.espressif.com/
+      type: service
+    version: 0.15.0~10
+  idf:
+    component_hash: null
+    source:
+      type: idf
+    version: 5.1.2
+manifest_hash: 7f60fd8da9b1e2b73aafbc324107a75ce3928aa50666473c15511b764484240c
+target: esp32s2
+version: 1.0.0

examples/int32_publisher_custom_transport_usbcdc/main/CMakeLists.txt

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+idf_component_register(SRCS main.c INCLUDE_DIRS ".")

examples/int32_publisher_custom_transport_usbcdc/main/Kconfig.projbuild

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+menu "micro-ROS example-app settings"
+
+    config MICRO_ROS_APP_STACK
+        int "Stack the micro-ROS app (Bytes)"
+        default 16000
+        help
+        Stack size in Bytes of the micro-ROS app
+
+    config MICRO_ROS_APP_TASK_PRIO
+        int "Priority of the micro-ROS app"
+        default 5
+        help
+        Priority of micro-ros task higher value means higher priority
+
+endmenu