smart_device_protocol

The Smart Device Protocol (SDP) Repository.

What is this?

Smart Device Protocol (SDP) is a protocol to communicate between smart devices, wearable devices, and robots. SDP is based on ESP-NOW protocol, which is a protocol to communicate between ESP32 devices.

This package provides firmwares and ROS nodes to communicate with ESP32 devices via Smart Device Protocol.

For more details of Smart Device Protocol, please see Smart Device Protocol Document

How to use

0. Prerequisites

This code is developed under environment below. Other environment is not tested.

• Ubuntu 20.04
• ROS Noetic
• Python 3.8

And you have to install platformio pip package to your environment.

pip3 install platformio

1. Build ROS package

First, clone this repository to your catkin workspace and build it.

cd ~/catkin_ws/src
git clone https://github.com/sktometometo/smart_device_protocol.git
cd ..
catkin build

2. Make Smart Device Protocol interface device

Second, you have to make an ESP32 device which is connected to your PC via USB. This device will be the interface to Smart Device Protocol communication of your PC. Basically, you can use any ESP32 device, but this package is tested with M5Stack-Fire, M5Stack-Core2, and M5Atom-S3.

We will use smart_device_protocol_interface project. This code is developed with PlatformIO. So you can build and burn firmware with it.

You can execute pio command.

~ $ pio
Usage: pio [OPTIONS] COMMAND [ARGS]...

Options:
  --version          Show the version and exit.
  -c, --caller TEXT  Caller ID (service)
  --no-ansi          Do not print ANSI control characters
  -h, --help         Show this message and exit.

Commands:
  access    Manage resource access
  account   Manage PlatformIO account
  boards    Board Explorer
  check     Static Code Analysis
  ci        Continuous Integration
  debug     Unified Debugger
  device    Device manager & Serial/Socket monitor
  home      GUI to manage PlatformIO
  org       Manage organizations
  pkg       Unified Package Manager
  project   Project Manager
  remote    Remote Development
  run       Run project targets (build, upload, clean, etc.)
  settings  Manage system settings
  system    Miscellaneous system commands
  team      Manage organization teams
  test      Unit Testing
  upgrade   Upgrade PlatformIO Core to the latest version

Then, connect M5Stack-Core2 to your PC. You can check which port is connected to it by

~ $ pio device list
/dev/ttyACM0
------------
Hardware ID: USB VID:PID=1A86:55D4 SER=54BB013663 LOCATION=7-1:1.0
Description: USB Single Serial

So let's build firmware and burn it to M5Stack-Core2

roscd smart_device_protocol/sketchbooks/smart_device_protocol_interface/
pio run -e m5stack-core2 --target upload --upload-port /dev/ttyACM0

3. Make an example of Smart Device Protocol device

In this tutorial, you will see your PC can communicate with ESP32 device via Smart Device Protocol. So you have to make another ESP32 Smart Device Protocol device. We will use sdp_example.

Connect M5Stack-Fire to your PC and burn firmware to it.

roscd smart_device_protocol/sketchbooks/sdp_example/
pio run -e m5stack-fire --target upload --upload-port /dev/ttyACM0

4. Run Smart Device Protocol Interface Device

After step 2, you can run Smart Device Protocol interface node.

roslaunch smart_device_protocol demo.launch port:=/dev/ttyACM0

with this, you can see topics below.

$ rostopic list
/diagnostics
/smart_device_protocol/recv
/smart_device_protocol/send
/rosout
/rosout_agg

You can send a ESP-NOW (which is the bottom of Smart Device Protocol) packet directly by sending ROS a message to /smart_device_protocol/send topic.

rostopic pub -1 /smart_device_protocol/send smart_device_protocol/Packet "mac_address: [255, 255, 255, 255, 255, 255]
data: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10]"

5. Run a ROS Node with Smart Device Protocol Interface

Now you can communicate with smart devices, wearable devices, and robots via Smart Device Protocol. You can run an example of Smart Device Protocol Interface node.

rosrun smart_device_protocol sdp_v2_packet_printer.py

With this command, you can see Smart Device Protocol packets from other devices.

TODO

You can also send Smart Device Protocol packets to other devices.

TODO

API for Smart Device Protocol

Python API (for ROS Node)

You can use Smart Device Protocol API in Python for ROS Node. Please see this document for more details.

C++ API (for Arduino)

You can use Smart Device Protocol API in C++ for Arduino. Please see (this document)[./arduino_lib/README.md] for more details.

Examples of Smart Device Protocol Interface Device

There are some examples of Smart Device Protocol Interface Device. For more details, please see this directory.

Notices

Update of ros_lib for Arduino

If you update ros_lib for Arduino, you have to update ros_lib directory in this directory.

cd ~/catkin_ws/src/smart_device_protocol/ros_lib
rm -rf ros_lib
rosrun rosserial_arduino make_libraries.py .