Feat/embedded rtps merge espp

.gitignore

@@ -34,6 +34,9 @@
 # build folder for ESP-IDF
 build/
 
+# submodule configuration
+components/rtps_embedded/thirdparty/Micro-CDR/include/ucdr/config.h
+
 # we only version sdkconfig.defaults
 sdkconfig
 sdkconfig.old

.gitmodules

@@ -37,3 +37,6 @@
 [submodule "components/gfps_service/detail/nearby"]
 	path = components/gfps_service/detail/nearby
 	url = https://github.com/esp-cpp/nearby
+[submodule "components/rtps_embedded/thirdparty/Micro-CDR"]
+	path = components/rtps_embedded/thirdparty/Micro-CDR
+	url = git@github.com:esp-cpp/Micro-CDR.git

components/rtps_embedded/CMakeLists.txt

@@ -0,0 +1,30 @@
+idf_component_register(
+  SRCS
+    "src/ThreadPool.cpp"
+    "src/communication/EsppTransport.cpp"
+    "src/discovery/ParticipantProxyData.cpp"
+    "src/discovery/SEDPAgent.cpp"
+    "src/discovery/SPDPAgent.cpp"
+    "src/discovery/TopicData.cpp"
+    "src/entities/Domain.cpp"
+    "src/entities/Participant.cpp"
+    "src/entities/Reader.cpp"
+    "src/entities/StatelessReader.cpp"
+    "src/entities/Writer.cpp"
+    "src/messages/MessageReceiver.cpp"
+    "src/messages/MessageTypes.cpp"
+    "src/utils/Diagnostics.cpp"
+    "thirdparty/Micro-CDR/src/c/common.c"
+    "thirdparty/Micro-CDR/src/c/types/array.c"
+    "thirdparty/Micro-CDR/src/c/types/basic.c"
+    "thirdparty/Micro-CDR/src/c/types/sequence.c"
+    "thirdparty/Micro-CDR/src/c/types/string.c"
+  INCLUDE_DIRS
+    "include"
+    "thirdparty/Micro-CDR/include"
+  REQUIRES
+    base_component cdr task thread_pool socket
+)
+
+# target_compile_features(${COMPONENT_LIB} PUBLIC cxx_std_17)
+# target_compile_definitions(${COMPONENT_LIB} PUBLIC RTPS_CONFIG_HEADER=\"rtps/config_esp32.h\")

components/rtps_embedded/README.md

@@ -0,0 +1,162 @@
+# rtps_embedded
+
+ESPP component that integrates the [embeddedRTPS](https://github.com/embedded-software-laboratory/embeddedRTPS)
+RTPS/DDS stack into the ESPP ecosystem.  
+Any platform that can build ESPP — including ESP32, Linux, and desktop PCs —
+can use this component to discover and exchange typed messages with ROS 2 nodes
+or any other DDS participant on the same network using the standard RTPS wire
+protocol.
+
+The original embeddedRTPS library has hard dependencies on FreeRTOS and lwIP.
+`rtps_embedded` removes those dependencies by replacing all socket, task, and
+synchronisation calls with ESPP's platform-agnostic `UdpSocket`, `Task`, and
+`ThreadPool` primitives.  When built for ESP32, ESPP uses FreeRTOS and lwIP
+under the hood; on other platforms it uses the host OS equivalents — the RTPS
+code itself is unchanged in either case.
+
+---
+
+## Architecture
+
+```
+user code
+    │
+    ▼
+rtps::Domain          — routes packets to participants; owns discovery threads
+    │
+    ├── rtps::Participant   — groups writers and readers
+    │       ├── rtps::Writer  — publishes CacheChange samples
+    │       └── rtps::Reader  — delivers samples to a user callback
+    │
+    ├── rtps::ThreadPool    — espp::ThreadPool workers that drain the four
+    │                         incoming/outgoing meta/user traffic queues
+    │
+    └── rtps::EsppTransport — one espp::UdpSocket per open UDP port,
+                              each with its own receive task
+```
+
+`EsppTransport` is the sole platform-specific adapter.  It wraps ESPP's
+`UdpSocket` and `Task`, which in turn map to:
+
+| Build target | Socket backend | Task backend |
+|---|---|---|
+| ESP32 | lwIP (via ESP-IDF) | FreeRTOS |
+| Linux / PC | POSIX sockets | `std::thread` |
+
+---
+
+## Quick-start
+
+```cpp
+#include "rtps/entities/Domain.h"
+
+// 1. Construct the domain with the local interface IP.
+rtps::Domain domain(local_ip);
+
+// 2. Create a participant *before* completeInit().
+rtps::Participant *part = domain.createParticipant();
+
+// 3. Add user-defined writer and reader endpoints.
+rtps::Writer *writer = domain.createWriter(*part, "my/topic",
+                                           "std_msgs::msg::String", false);
+rtps::Reader *reader = domain.createReader(*part, "my/topic",
+                                           "std_msgs::msg::String", false);
+
+// 4. Register a receive callback on the reader.
+reader->registerCallback(
+    [](void *, const rtps::ReaderCacheChange &change) {
+        // process change.getData() / change.copyInto(...)
+    }, nullptr);
+
+// 5. Start discovery (SPDP/SEDP) and worker threads.
+domain.completeInit();
+
+// 6. Publish a sample.
+const char *payload = "hello";
+writer->newChange(rtps::ChangeKind_t::ALIVE,
+                  reinterpret_cast<const uint8_t *>(payload),
+                  static_cast<rtps::DataSize_t>(strlen(payload) + 1));
+```
+
+> **Note**: `createParticipant()` **must** be called before `completeInit()`.
+> No new participants can be added after init is complete.
+
+---
+
+## Configuration
+
+Two built-in config headers are provided. Select one by defining
+`RTPS_CONFIG_HEADER`, or let `include/rtps/config.h` pick automatically based
+on the build target.
+
+| Header | Target |
+|---|---|
+| [`include/rtps/config_esp32.h`](include/rtps/config_esp32.h) | ESP32 (ESP-IDF) |
+| [`include/rtps/config_desktop.h`](include/rtps/config_desktop.h) | Linux / PC |
+
+All tunable constants follow the same layout in both files:
+
+| Constant | Default | Description |
+|---|---|---|
+| `DOMAIN_ID` | 0 | RTPS domain number (0–230 with UDP) |
+| `MAX_NUM_PARTICIPANTS` | 1 | Participant pool size |
+| `NUM_STATEFUL_WRITERS` | 5 | User writer endpoint pool |
+| `NUM_STATEFUL_READERS` | 5 | User reader endpoint pool |
+| `NUM_STATELESS_WRITERS` | 5 | Discovery writer endpoint pool |
+| `NUM_STATELESS_READERS` | 5 | Discovery reader endpoint pool |
+| `NUM_WRITERS_PER_PARTICIPANT` | 10 | Max writers per participant |
+| `NUM_READERS_PER_PARTICIPANT` | 10 | Max readers per participant |
+| `HISTORY_SIZE_STATEFUL` | 10 | Per-endpoint history depth |
+| `THREAD_POOL_NUM_WRITERS` | 2 | Writer worker threads |
+| `THREAD_POOL_NUM_READERS` | 2 | Reader worker threads |
+| `THREAD_POOL_WRITER_STACKSIZE` | 4096 B | Writer task stack |
+| `THREAD_POOL_READER_STACKSIZE` | 6144 B | Reader / UDP-receive task stack |
+| `MAX_NUM_UDP_CONNECTIONS` | 10 | UDP socket pool size |
+| `SPDP_RESEND_PERIOD_MS` | 2000 | Discovery announce period |
+| `SF_WRITER_HB_PERIOD_MS` | 4000 | Reliable-writer heartbeat period |
+
+The `OVERALL_HEAP_SIZE` constant at the bottom of that file estimates the
+total stack RAM consumed by all internal tasks.
+
+---
+
+## ESPP component dependencies
+
+| Component | Purpose |
+|---|---|
+| `base_component` | ESPP base class with integrated `espp::Logger` |
+| `socket` | ESPP `UdpSocket` used by `EsppTransport` |
+| `task` | ESPP `Task` for per-port UDP receive loops |
+| `thread_pool` | ESPP `ThreadPool` for writer/reader workers |
+| `cdr` | CDR serialization helpers |
+
+These components abstract away all OS and network-stack details, so
+`rtps_embedded` itself has no direct dependency on FreeRTOS, lwIP, or any
+other platform library.
+
+Third-party (vendored in `thirdparty/`):
+
+| Library | Purpose |
+|---|---|
+| `Micro-CDR` | eProsima CDR (de)serialization for discovery messages |
+
+---
+
+## Example
+
+See [`example/`](example/) for a two-node **initiator / responder** demo.
+
+The same logic runs on any ESPP-supported platform. For ESP32, flash one board
+as *Initiator* and a second as *Responder* via menuconfig
+(`idf.py menuconfig → RTPS Example Configuration`). The initiator periodically
+publishes numbered request messages; the responder echoes each message back on
+the response topic.
+
+Key menuconfig options (ESP32 example):
+
+| Option | Description |
+|---|---|
+| `RTPS_EXAMPLE_ROLE` | `Initiator` or `Responder` |
+| `RTPS_EXAMPLE_TOPIC_PREFIX` | Shared topic prefix (e.g. `espp/rtps_example`) |
+| `RTPS_EXAMPLE_PUBLISH_PERIOD_MS` | Initiator publish interval |
+| `ESP_WIFI_SSID` / `ESP_WIFI_PASSWORD` | Wi-Fi credentials |

components/rtps_embedded/example/CMakeLists.txt

@@ -0,0 +1,21 @@
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.20)
+
+set(ENV{IDF_COMPONENT_MANAGER} "0")
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+set(EXTRA_COMPONENT_DIRS
+  "../../../components/"
+)
+
+set(
+  COMPONENTS
+  "main esptool_py logger rtps_embedded wifi"
+  CACHE STRING
+  "List of components to include"
+  )
+
+project(rtps_embedded_example)
+
+set(CMAKE_CXX_STANDARD 20)

components/rtps_embedded/example/main/CMakeLists.txt

@@ -0,0 +1,3 @@
+idf_component_register(SRC_DIRS "."
+                       INCLUDE_DIRS "."
+                       REQUIRES logger rtps_embedded wifi)

components/rtps_embedded/example/main/Kconfig.projbuild

@@ -0,0 +1,109 @@
+menu "RTPS Example Configuration"
+
+    choice RTPS_EXAMPLE_ROLE
+        prompt "Example Role"
+        default RTPS_EXAMPLE_ROLE_INITIATOR
+        help
+            Build one board as the initiator and a second board as the responder
+            to verify RTPS discovery and end-to-end UInt32 sample exchange.
+
+        config RTPS_EXAMPLE_ROLE_INITIATOR
+            bool "Initiator"
+            help
+                Publishes incrementing request samples after it discovers a
+                responder, then logs the matching responses.
+
+        config RTPS_EXAMPLE_ROLE_RESPONDER
+            bool "Responder"
+            help
+                Waits for request samples and echoes the same value back on the
+                response topic.
+
+    endchoice
+
+    config RTPS_EXAMPLE_NODE_NAME
+        string "Participant node name"
+        default "espp_rtps_initiator" if RTPS_EXAMPLE_ROLE_INITIATOR
+        default "espp_rtps_responder" if RTPS_EXAMPLE_ROLE_RESPONDER
+        help
+            Logical RTPS participant name announced during discovery.
+
+    config RTPS_EXAMPLE_DOMAIN_ID
+        int "RTPS domain ID"
+        range 0 231
+        default 0
+        help
+            Both boards must use the same domain ID to discover each other.
+
+    config RTPS_EXAMPLE_PARTICIPANT_ID
+        int "RTPS participant ID"
+        range 0 119
+        default 1 if RTPS_EXAMPLE_ROLE_INITIATOR
+        default 2 if RTPS_EXAMPLE_ROLE_RESPONDER
+        help
+            Each board should use a unique participant ID within the same domain.
+
+    config RTPS_EXAMPLE_TOPIC_PREFIX
+        string "Topic prefix"
+        default "espp/rtps_example"
+        help
+            Prefix used to derive the request and response topics.
+
+    config RTPS_EXAMPLE_ANNOUNCE_PERIOD_MS
+        int "Discovery announce period (ms)"
+        range 200 10000
+        default 1500
+        help
+            Period between periodic SPDP/SEDP discovery announcements.
+
+    config RTPS_EXAMPLE_PUBLISH_PERIOD_MS
+        int "Initiator publish period (ms)"
+        range 250 60000
+        default 2000
+        depends on RTPS_EXAMPLE_ROLE_INITIATOR
+        help
+            Period between request messages sent by the initiator after a
+            responder has been discovered.
+
+    config RTPS_EXAMPLE_USE_USER_MULTICAST
+        bool "Use best-effort user-data multicast"
+        default n
+        help
+            If enabled, the example advertises and uses topic-specific
+            multicast groups for the request and response topics instead of
+            per-participant unicast delivery.
+
+    config RTPS_EXAMPLE_REQUEST_MULTICAST_GROUP
+        string "Request topic multicast group"
+        default "239.255.0.11"
+        depends on RTPS_EXAMPLE_USE_USER_MULTICAST
+        help
+            IPv4 multicast group used for the <topic-prefix>/request topic.
+
+    config RTPS_EXAMPLE_RESPONSE_MULTICAST_GROUP
+        string "Response topic multicast group"
+        default "239.255.0.12"
+        depends on RTPS_EXAMPLE_USE_USER_MULTICAST
+        help
+            IPv4 multicast group used for the <topic-prefix>/response topic.
+
+    config ESP_WIFI_SSID
+        string "WiFi SSID"
+        default ""
+        help
+            SSID (network name) for the example to connect to.
+
+    config ESP_WIFI_PASSWORD
+        string "WiFi Password"
+        default ""
+        help
+            WiFi password (WPA or WPA2) for the example to use.
+
+    config ESP_MAXIMUM_RETRY
+        int "Maximum retry"
+        default 5
+        help
+            Set the maximum retry count to avoid reconnecting forever when the
+            network is unavailable.
+
+endmenu