Add Raspberry Pi Pico platform

.github/workflows/rpi_pico.yaml

@@ -0,0 +1,63 @@
+#
+# 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}}

CMakeLists.txt

@@ -45,6 +45,7 @@ include(GNUInstallDirs)
 option(BUILD_SHARED_LIBS "Build shared libraries if ON, otherwise build static libraries" ON)
 option(WITH_ZEPHYR "Build for Zephyr RTOS" OFF)
 option(WITH_FREERTOS_PLUS_TCP "Build for FreeRTOS RTOS and FreeRTOS-Plus-TCP network stack" OFF)
+option(WITH_RPI_PICO "Build for Raspberry Pi Pico" OFF)
 set(ZENOH_DEBUG 0 CACHE STRING "Use this to set the ZENOH_DEBUG variable")
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE INTERNAL "")
 if(CMAKE_EXPORT_COMPILE_COMMANDS)
@@ -90,7 +91,9 @@ if(CMAKE_BUILD_TYPE MATCHES "RELEASE" OR "Release")
     add_compile_options(-pipe -O3)
   endif()
 else()
-  if(UNIX)
+  if(CMAKE_SYSTEM_NAME MATCHES "PICO")
+    add_compile_options(-c -Wall -Wextra -Wno-unused -Wno-strict-prototypes -pipe -g -O0)
+  elseif(UNIX)
     add_compile_options(-c -Wall -Wextra -Werror -Wshadow -Wunused -Wstrict-prototypes -pipe -g -O0)
     # C99 pedantic doesn't like struct anonymous in unix header
     if (NOT CMAKE_C_STANDARD STREQUAL "99")
@@ -182,6 +185,9 @@ elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
   elseif(WITH_FREERTOS_PLUS_TCP)
     pico_add_compile_definition(ZENOH_FREERTOS_PLUS_TCP)
   endif()
+elseif(CMAKE_SYSTEM_NAME MATCHES "PICO") # Raspberry Pi Pico Series
+  pico_add_compile_definition(ZENOH_RPI_PICO)
+  set(CHECK_THREADS "OFF")
 else()
   message(FATAL_ERROR "zenoh-pico is not yet available on ${CMAKE_SYSTEM_NAME} platform")
   return()
@@ -226,6 +232,7 @@ set(Z_FEATURE_LINK_TCP 1 CACHE STRING "Toggle TCP links")
 set(Z_FEATURE_LINK_BLUETOOTH 0 CACHE STRING "Toggle Bluetooth links")
 set(Z_FEATURE_LINK_WS 0 CACHE STRING "Toggle WebSocket links")
 set(Z_FEATURE_LINK_SERIAL 0 CACHE STRING "Toggle Serial links")
+set(Z_FEATURE_LINK_SERIAL_USB 0 CACHE STRING "Toggle Serial USB links")
 set(Z_FEATURE_SCOUTING_UDP 1 CACHE STRING "Toggle UDP scouting")
 set(Z_FEATURE_LINK_UDP_MULTICAST 1 CACHE STRING "Toggle UDP multicast links")
 set(Z_FEATURE_LINK_UDP_UNICAST 1 CACHE STRING "Toggle UDP unicast links")
@@ -244,6 +251,12 @@ if(Z_FEATURE_LIVELINESS AND NOT Z_FEATURE_UNSTABLE_API)
   set(Z_FEATURE_LIVELINESS 0 CACHE STRING "Toggle liveliness feature" FORCE)
 endif()
 
+# Add a warning message if someone tries to enable Z_FEATURE_LINK_SERIAL_USB directly
+if(Z_FEATURE_LINK_SERIAL_USB AND NOT Z_FEATURE_UNSTABLE_API)
+  message(WARNING "Z_FEATURE_LINK_SERIAL_USB can only be enabled when Z_FEATURE_UNSTABLE_API is also enabled. Disabling Z_FEATURE_LINK_SERIAL_USB.")
+  set(Z_FEATURE_LINK_SERIAL_USB 0 CACHE STRING "Toggle Serial USB links" FORCE)
+endif()
+
 add_compile_definitions("Z_BUILD_DEBUG=$<CONFIG:Debug>")
 message(STATUS "Building with feature confing:\n\
 * UNSTABLE_API: ${Z_FEATURE_UNSTABLE_API}\n\
@@ -277,6 +290,7 @@ message(STATUS "Unicast batch max size: ${BATCH_UNICAST_SIZE}")
 message(STATUS "Multicast batch max size: ${BATCH_MULTICAST_SIZE}")
 message(STATUS "Build for Zephyr RTOS: ${WITH_ZEPHYR}")
 message(STATUS "Build for FreeRTOS-Plus-TCP: ${WITH_FREERTOS_PLUS_TCP}")
+message(STATUS "Build for Raspberry Pi Pico: ${WITH_RPI_PICO}")
 message(STATUS "Configuring for ${CMAKE_SYSTEM_NAME}")
 
 if(SKBUILD)
@@ -338,6 +352,9 @@ if(WITH_ZEPHYR)
 elseif(WITH_FREERTOS_PLUS_TCP)
   file (GLOB Sources_Freertos_Plus_TCP "src/system/freertos_plus_tcp/*.c")
   list(APPEND Sources ${Sources_Freertos_Plus_TCP})
+elseif(WITH_RPI_PICO)
+  file (GLOB Sources_RPI_Pico "src/system/rpi_pico/*.c")
+  list(APPEND Sources ${Sources_RPI_Pico})
 elseif(CMAKE_SYSTEM_NAME MATCHES "Linux" OR CMAKE_SYSTEM_NAME MATCHES "Darwin" OR CMAKE_SYSTEM_NAME MATCHES "BSD" OR POSIX_COMPATIBLE)
   file (GLOB Sources_Unix "src/system/unix/*.c" "src/system/unix/link/*.c")
   list(APPEND Sources ${Sources_Unix})

README.md

@@ -34,6 +34,7 @@ Currently, zenoh-pico provides support for the following (RT)OSs and protocols:
 |      **OpenCR**       | UDP (unicast and multicast), TCP |         IPv4        |                        WiFi                        |
 |    **Emscripten**     |             Websocket            |      IPv4, IPv6     |                   WiFi, Ethernet                   |
 | **FreeRTOS-Plus-TCP** |         UDP (unicast), TCP       |         IPv4        |                      Ethernet                      |
+| **Raspberry Pi Pico** | UDP (unicast and multicast), TCP |         IPv4        |      WiFi (for "W" version), Serial, USB (CDC)     |
 
 Check the website [zenoh.io](http://zenoh.io) and the [roadmap](https://github.com/eclipse-zenoh/roadmap) for more detailed information.
 
@@ -329,6 +330,92 @@ To build and upload the code into the board, run the following command:
   platformio run -t upload
   ```
 
+#### 2.2.6. Raspberry Pi Pico 
+Note: tested with `Raspberry Pi Pico W` and `Raspberry Pi Pico 2 W` boards
+
+Ensure your system has the necessary tools and libraries installed. Run the following commands:
+
+```bash
+sudo apt update
+sudo apt install -y cmake gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential g++ libstdc++-arm-none-eabi-newlib
+```
+
+Set up the Raspberry Pi Pico SDK by cloning the repository:
+
+```bash
+export PICO_SDK_PATH=$HOME/src/pico-sdk
+mkdir -p $PICO_SDK_PATH
+cd $PICO_SDK_PATH
+git clone https://github.com/raspberrypi/pico-sdk.git .
+git submodule update --init
+```
+
+Clone the FreeRTOS Kernel repository for the project:
+
+```bash
+export FREERTOS_KERNEL_PATH=$HOME/src/FreeRTOS-Kernel/
+mkdir -p $FREERTOS_KERNEL_PATH
+cd $FREERTOS_KERNEL_PATH
+git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git .
+git submodule update --init
+```
+
+Setup and build the examples:
+- `PICO_BOARD` - Pico board type: pico, pico_w, pico2, pico2_w (default: pico_w) 
+- `WIFI_SSID` - Wi-Fi network SSID
+- `WIFI_PASSWORD` - Wi-Fi password
+- `ZENOH_CONFIG_MODE` - client or peer mode (default: client)
+- `ZENOH_CONFIG_CONNECT` - connect endpoint (only for client mode, optional)
+- `ZENOH_CONFIG_LISTEN` - listen endpoint (only for peer mode, optional)
+
+```bash
+cd examples/rpi_pico
+cmake -Bbuild -DPICO_BOARD="pico" -DWIFI_SSID=wifi_network_ssid -DWIFI_PASSWORD=wifi_network_password -DZENOH_CONFIG_MODE=[client|peer] -DZENOH_CONFIG_CONNECT=connect -DZENOH_CONFIG_LISTEN=listen
+cmake --build ./build
+```
+
+To flash the Raspberry Pi Pico board, connect it in bootloader mode (it will appear as a removable drive) and copy the generated .uf2 file onto it.
+
+**Serial connection**:
+
+To connect via UART specify pins or predefined device name and baud rate:
+
+e.g.
+```
+-DZENOH_CONFIG_CONNECT="serial/0.1#baudrate=38400"
+-DZENOH_CONFIG_CONNECT="serial/uart1_0#baudrate=38400"
+```
+
+Valid PIN combinations and associated device names:
+
+| **PINS** | **Device name** |
+|---------:|:---------------:|
+|  0.1     |     uart0_0     |
+|  4.5     |     uart1_0     |
+|  8.9     |     uart1_1     |
+|  12.13   |     uart0_1     |
+|  16.17   |     uart0_2     |
+
+
+**USB Serial connection (experemental)**:
+
+
+To enable this feature, zenoh-pico should be compiled with `Z_FEATURE_LINK_SERIAL_USB` and `Z_FEATURE_UNSTABLE_API` enabled.
+
+To connect via USB CDC, specify `usb` device:
+
+e.g.
+```
+-DZENOH_CONFIG_CONNECT="serial/usb#baudrate=112500"
+```
+
+On the host Zenoh, specify the USB CDC device:
+
+e.g.
+```
+zenohd -l serial//dev/ttyACM1#baudrate=112500
+```
+
 ## 3. Running the Examples
 The simplest way to run some of the example is to get a Docker image of the **zenoh** router (see [http://zenoh.io/docs/getting-started/quick-test/](http://zenoh.io/docs/getting-started/quick-test/)) and then to run the examples on your machine.
 

examples/rpi_pico/CMakeLists.txt

@@ -0,0 +1,163 @@
+cmake_minimum_required(VERSION 3.13)
+
+set(PICO_BOARD "pico_w" CACHE STRING "Raspberry Pi Pico board: pico, pico_w, pico2, pico2_w")
+
+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")
+
+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"
+  "${CMAKE_CURRENT_SOURCE_DIR}/include/config.h"
+)
+
+set(CMAKE_C_STANDARD 11)
+
+# Include Raspberry Pi Pico SDK
+if(NOT DEFINED ENV{PICO_SDK_PATH})
+  message(FATAL_ERROR "PICO_SDK_PATH environment variable is not set. Please set it to the location of the Pico SDK.")
+endif()
+include($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()
+
+# 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)
+
+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)