wip: testing

src/main.cpp

@@ -1,25 +1,32 @@
-#include <zephyr/kernel.h>
-#include <zephyr/device.h>
-#include <zephyr/sys/printk.h>
-#include <zephyr/devicetree.h>
-#include <zephyr/drivers/gpio.h>
-
 #include <rcl/rcl.h>
+#include <rclc/rclc.h>
+#include <uxr/client/config.h>
+#include <uxr/client/client.h>
+#include <zephyr/kernel.h>
 
-#if defined(CONFIG_BOARD_NATIVE_SIM)
-#include "gpio_visualizer.hpp"
-#endif
+// IP and port of the PC running XRCE-DDS agent
+#define AGENT_IP "192.168.1.100"
+#define AGENT_PORT 8888
 
 int main(void)
-{ 
-    #if defined(CONFIG_BOARD_NATIVE_SIM)
-    spawn_gpio_visualizer_thread();
-    #endif
+{
+    // Initialize micro-ROS support for Zephyr UDP transport
+    rmw_uros_set_custom_transport(
+        true,  // enable
+        NULL,  // user data (none)
+        zephyr_transport_open,
+        zephyr_transport_close,
+        zephyr_transport_write,
+        zephyr_transport_read);
 
-	while (1) {
-		printk("Hello World! %s\n", CONFIG_BOARD_TARGET);
-		k_sleep(K_SECONDS(2));
-	}
+    // Initialize rcl context, node, publisher, subscriber, etc...
 
-	return 0;
+    // Your app code here
+
+    while (1) {
+        // Spin or sleep
+        k_sleep(K_MSEC(100));
+    }
+
+    return 0;
 }