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| # | ||
| # Copyright (c) 2024 ZettaScale Technology | ||
| # | ||
| # This program and the accompanying materials are made available under the | ||
| # terms of the Eclipse Public License 2.0 which is available at | ||
| # http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0 | ||
| # which is available at https://www.apache.org/licenses/LICENSE-2.0. | ||
| # | ||
| # SPDX-License-Identifier: EPL-2.0 OR Apache-2.0 | ||
| # | ||
| # Contributors: | ||
| # ZettaScale Zenoh Team, <[email protected]> | ||
| # | ||
| name: rpi_pico | ||
|
|
||
| on: | ||
| push: | ||
| branches: [ '**' ] | ||
| pull_request: | ||
| branches: [ '**' ] | ||
|
|
||
| jobs: | ||
| build: | ||
| name: Build on ${{ matrix.os }} for ${{ matrix.pico_board }} | ||
| runs-on: ${{ matrix.os }} | ||
| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| os: [ubuntu-latest] | ||
| pico_board: ["pico", "pico_w", "pico2", "pico2_w"] | ||
| steps: | ||
| - uses: actions/checkout@v4 | ||
| - uses: jwlawson/[email protected] | ||
| - name: Install requirements | ||
| run: | | ||
| sudo apt update | ||
| sudo apt install -y cmake gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential g++ libstdc++-arm-none-eabi-newlib | ||
| - name: Install Raspberry Pico SDK | ||
| run: | | ||
| export PICO_SDK_PATH=$HOME/work/pico-sdk | ||
| mkdir -p $PICO_SDK_PATH | ||
| cd $PICO_SDK_PATH | ||
| git clone https://github.com/raspberrypi/pico-sdk.git --branch 2.1.0 . | ||
| git submodule update --init | ||
| - name: Install FreeRTOS SDK | ||
| run: | | ||
| export FREERTOS_KERNEL_PATH=$HOME/work/FreeRTOS-Kernel/ | ||
| mkdir -p $FREERTOS_KERNEL_PATH | ||
| cd $FREERTOS_KERNEL_PATH | ||
| git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git . | ||
| git submodule update --init | ||
| - name: Build examples | ||
| run: | | ||
| export PICO_SDK_PATH=$HOME/work/pico-sdk | ||
| export FREERTOS_KERNEL_PATH=$HOME/work/FreeRTOS-Kernel/ | ||
| cd $HOME/work/zenoh-pico/zenoh-pico/examples/rpi_pico | ||
| cmake -Bbuild -DWIFI_SSID=wifi_network_ssid -DWIFI_PASSWORD=wifi_network_password -DPICO_BOARD="$PICO_BOARD" | ||
| cmake --build ./build | ||
| env: | ||
| PICO_BOARD: ${{ matrix.pico_board}} |
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| cmake_minimum_required(VERSION 3.13) | ||
|
|
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| set(PICO_BOARD "pico_w" CACHE STRING "Raspberry Pi Pico board: pico, pico_w, pico2, pico2_w") | ||
|
|
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| set(WIFI_SUPPORT_ENABLED 0) | ||
| if(PICO_BOARD STREQUAL "pico_w" OR PICO_BOARD STREQUAL "pico2_w") | ||
| set(WIFI_SUPPORT_ENABLED 1) | ||
| endif() | ||
|
|
||
| # Set options | ||
| set(WIFI_SSID "" CACHE STRING "WiFi SSID") | ||
| set(WIFI_PASSWORD "" CACHE STRING "WiFi Password") | ||
|
|
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| set(ZENOH_CONFIG_MODE "client" CACHE STRING "ZENOH_CONFIG_MODE") | ||
| set(ZENOH_CONFIG_CONNECT CACHE STRING "ZENOH_CONFIG_CONNECT") | ||
| set(ZENOH_CONFIG_LISTEN CACHE STRING "ZENOH_CONFIG_LISTEN") | ||
| option(ZENOH_USB_UART "Enable USB UART" OFF) | ||
|
|
||
| message(STATUS "PICO_BOARD: ${PICO_BOARD}") | ||
| message(STATUS "WIFI_SSID: ${WIFI_SSID}") | ||
| if(WIFI_PASSWORD STREQUAL "") | ||
| message(STATUS "WIFI_PASSWORD is empty") | ||
| else() | ||
| message(STATUS "WIFI_PASSWORD is set") | ||
| endif() | ||
|
|
||
| message(STATUS "ZENOH_CONFIG_MODE: ${ZENOH_CONFIG_MODE}") | ||
| message(STATUS "ZENOH_CONFIG_CONNECT: ${ZENOH_CONFIG_CONNECT}") | ||
| message(STATUS "ZENOH_CONFIG_LISTEN: ${ZENOH_CONFIG_LISTEN}") | ||
| message(STATUS "ZENOH_USB_UART: ${ZENOH_USB_UART}") | ||
|
|
||
| configure_file( | ||
| "${CMAKE_CURRENT_SOURCE_DIR}/include/config.h.in" | ||
| "${CMAKE_CURRENT_SOURCE_DIR}/include/config.h" | ||
| ) | ||
|
|
||
| set(CMAKE_C_STANDARD 11) | ||
|
|
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| # Include Raspberry Pi Pico SDK | ||
| if(NOT DEFINED ENV{PICO_SDK_PATH}) | ||
| message(FATAL_ERROR "PICO_SDK_PATH environment variable is not set. Please set it to the location of the Pico SDK.") | ||
| endif() | ||
| include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake) | ||
|
|
||
| # Include FreeRTOS SDK | ||
| include(FreeRTOS_Kernel_import.cmake) | ||
|
|
||
| # Configure project | ||
| project(zenohpico_rpi_pico_examples C CXX ASM) | ||
|
|
||
| if(WIFI_SUPPORT_ENABLED) | ||
| set(WIFI_LIB pico_cyw43_arch_lwip_sys_freertos) | ||
| else() | ||
| set(WIFI_LIB "") | ||
| endif() | ||
|
|
||
| if(ZENOH_USB_UART) | ||
| set(USB_LIBS | ||
| tinyusb_host | ||
| tinyusb_device | ||
| tinyusb_board | ||
| ) | ||
| set(USB_INCLUDE | ||
| ${CMAKE_CURRENT_LIST_DIR}/include/tusb | ||
| ) | ||
| else() | ||
| set(USB_LIBS "") | ||
| set(USB_INCLUDE "") | ||
| endif() | ||
|
|
||
| add_compile_definitions(LWIP_TIMEVAL_PRIVATE=0) | ||
| pico_sdk_init() | ||
|
|
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| # Include Zenoh Pico library | ||
| include(../../cmake/helpers.cmake) | ||
| set_default_build_type(Release) | ||
|
|
||
| if (NOT WIFI_SUPPORT_ENABLED) | ||
| declare_cache_var(Z_FEATURE_LINK_TCP 0 STRING "TCP support") | ||
| declare_cache_var(Z_FEATURE_LINK_UDP_MULTICAST 0 STRING "UDP multicast support") | ||
| declare_cache_var(Z_FEATURE_LINK_UDP_UNICAST 0 STRING "UDP unicast support") | ||
| declare_cache_var(Z_FEATURE_SCOUTING_UDP 0 STRING "Scouting support") | ||
| endif() | ||
|
|
||
| declare_cache_var(Z_FEATURE_LINK_SERIAL 1 STRING "Serial support") | ||
| if(ZENOH_USB_UART) | ||
| declare_cache_var(Z_FEATURE_LINK_SERIAL_USB 1 STRING "Serial USB support") | ||
| else() | ||
| declare_cache_var(Z_FEATURE_LINK_SERIAL_USB 0 STRING "Serial USB support") | ||
| endif() | ||
|
|
||
| set(BUILD_SHARED_LIBS OFF) | ||
| set(WITH_RPI_PICO ON) | ||
|
|
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| configure_include_project(ZENOHPICO zenohpico zenohpico::lib "../.." zenohpico "https://github.com/eclipse-zenoh/zenoh-pico" "") | ||
|
|
||
| target_link_libraries(zenohpico_static | ||
| hardware_uart | ||
| pico_stdlib | ||
| pico_rand | ||
| FreeRTOS-Kernel-Heap4 | ||
| ${WIFI_LIB} | ||
| ${USB_LIBS} | ||
| ) | ||
|
|
||
| # Configure build | ||
| target_include_directories(zenohpico_static PRIVATE | ||
| ${CMAKE_CURRENT_LIST_DIR} | ||
| ${CMAKE_CURRENT_LIST_DIR}/include | ||
| ${USB_INCLUDE} | ||
| ) | ||
|
|
||
| add_library(main STATIC main.c) | ||
|
|
||
| target_include_directories(main PRIVATE | ||
| ${CMAKE_CURRENT_LIST_DIR} | ||
| ${CMAKE_CURRENT_LIST_DIR}/include | ||
| ) | ||
| target_link_libraries(main | ||
| pico_stdlib | ||
| pico_rand | ||
| FreeRTOS-Kernel-Heap4 | ||
| ${WIFI_LIB} | ||
| ) | ||
|
|
||
| function(add_example name) | ||
| add_executable(${name} ${name}.c) | ||
| target_link_libraries(${name} | ||
| main | ||
| hardware_uart | ||
| pico_stdlib | ||
| pico_rand | ||
| FreeRTOS-Kernel-Heap4 | ||
| zenohpico::lib | ||
| ${WIFI_LIB} | ||
| ${USB_LIBS} | ||
| ) | ||
| target_include_directories(${name} PRIVATE | ||
| ${CMAKE_CURRENT_LIST_DIR} | ||
| ${CMAKE_CURRENT_LIST_DIR}/include | ||
| ${USB_INCLUDE} | ||
| ) | ||
| if(ZENOH_USB_UART) | ||
| pico_enable_stdio_uart(${name} 1) | ||
| pico_enable_stdio_usb(${name} 0) | ||
| else() | ||
| pico_enable_stdio_uart(${name} 0) | ||
| pico_enable_stdio_usb(${name} 1) | ||
| endif() | ||
| pico_add_extra_outputs(${name}) | ||
| endfunction() | ||
|
|
||
| #add_example(z_get) | ||
| add_example(z_pub) | ||
| #add_example(z_pub_st) | ||
| #add_example(z_pub_thr) | ||
| #add_example(z_pull) | ||
| #add_example(z_put) | ||
| #add_example(z_queryable) | ||
| #add_example(z_scout) | ||
| #add_example(z_sub) | ||
| #add_example(z_sub_st) | ||
| #add_example(z_sub_thr) |
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