port to ESP-IDF 6.0 and open62541 v1.5.4

.gitignore

@@ -72,4 +72,9 @@ fabric.properties
 .idea/httpRequests
 
 # Android studio 3.1+ serialized cache file
-.idea/caches/build_file_checksums.ser
+.idea/caches/build_file_checksums.ser
+managed_components/
+
+*.lock
+
+.cache/

CMakeLists.txt

@@ -1,6 +1,6 @@
 # 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 3.2)
+cmake_minimum_required(VERSION 3.22)
 
 set(SUPPORTED_TARGETS esp32)
 

components/ethernet_helper/CMakeLists.txt

@@ -1,4 +1,4 @@
 idf_component_register(SRCS "connect.c"
                     INCLUDE_DIRS "include"
-                       REQUIRES lwip mdns
+                       REQUIRES lwip mdns esp_wifi esp_eth
                        )

components/ethernet_helper/connect.c

@@ -203,7 +203,7 @@ static void start(void)
     };
     ESP_LOGI(TAG, "Connecting to %s...", wifi_config.sta.ssid);
     ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
-    ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_config));
+    ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config));
     ESP_ERROR_CHECK(esp_wifi_start());
 
 #ifdef CONFIG_ETHERNET_HELPER_CUSTOM_HOSTNAME

components/open62541/CMakeLists.txt

@@ -9,43 +9,60 @@ endif()
 idf_component_register(
         SRCS custom_getaddrinfo.c
         REQUIRES lwip vfs freertos ${ADDITIONAL_REQUIRES}
-        PRIV_INCLUDE_DIRS ${IDF_PATH}/components/freertos/include/freertos
 )
 
 set_property(SOURCE ${CMAKE_BINARY_DIR}/open62541/open62541.c PROPERTY GENERATED 1)
+set_source_files_properties(${CMAKE_BINARY_DIR}/open62541/open62541.c
+    PROPERTIES COMPILE_FLAGS "-w")
 target_sources(${COMPONENT_LIB} PRIVATE ${CMAKE_BINARY_DIR}/open62541/open62541.c)
-target_include_directories(${COMPONENT_LIB} PUBLIC ${CMAKE_BINARY_DIR}/open62541)
+target_include_directories(${COMPONENT_LIB} BEFORE PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/compat_includes
+    ${CMAKE_BINARY_DIR}/open62541)
 
 set(open62541_OPTIONS
-    "-DUA_ARCHITECTURE=freertosLWIP"
+    "-DUA_ARCHITECTURE=freertos-lwip"
+    "-DFREERTOS_KERNEL_PATH=${CMAKE_CURRENT_SOURCE_DIR}/freertos_stub"
+    "-DFREERTOS_PORT_PATH=${CMAKE_CURRENT_SOURCE_DIR}/freertos_stub"
     "-DUA_ENABLE_AMALGAMATION=ON"
     "-DUA_NAMESPACE_ZERO=FULL"
     "-DUA_ENABLE_SUBSCRIPTIONS_EVENTS=ON"
     "-DUA_ENABLE_DISCOVERY=ON"
     "-DUA_ENABLE_DISCOVERY_MULTICAST=ON"
-    "-DUA_ENABLE_TYPEDESCRIPTION=OFF"
+    "-DUA_ENABLE_TYPEDESCRIPTION=ON"
     "-DUA_ENABLE_STATUSCODE_DESCRIPTIONS=ON"
     "-DUA_LOGLEVEL=300"
     "-DUA_ENABLE_NODESET_COMPILER_DESCRIPTIONS=OFF"
-    "-DUA_FILE_NS0_BLACKLIST=${CMAKE_CURRENT_SOURCE_DIR}/../../nodes_blacklist.txt"
+    "-DUA_NS0_BLACKLIST=${CMAKE_CURRENT_SOURCE_DIR}/../../nodes_blacklist.txt"
     "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}"
+    "-DLWIP_LIBRARIES=${CMAKE_BINARY_DIR}/esp-idf/lwip/liblwip.a"
+    "-DCMAKE_PROJECT_INCLUDE_BEFORE=${CMAKE_CURRENT_SOURCE_DIR}/no_install.cmake"
 )
 
 
 if (USE_ENCRYPTION)
     set(open62541_OPTIONS ${open62541_OPTIONS} "-DUA_ENABLE_ENCRYPTION=ON")
 endif()
 
+set(open62541_CONFIG_H "${CMAKE_BINARY_DIR}/open62541/src_generated/open62541/config.h")
+
 externalproject_add(open62541_build
                     SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/repo
                     #GIT_REPOSITORY https://github.com/open62541/open62541.git
                     # Latest tested commit on master branch. Newer may work. You can also use 'master' directly as GIT_TAG value
                     #GIT_TAG 76a6cab604fb5309c91a8849183417da1383d3d9
                     BINARY_DIR "${CMAKE_BINARY_DIR}/open62541"
+                    LIST_SEPARATOR "|"
                     CMAKE_ARGS  ${open62541_OPTIONS}
-                    BUILD_COMMAND cmake --build . --target open62541-code-generation
+                        "-DLWIP_INCLUDE_DIRS=${IDF_PATH}/components/lwip/lwip/src/include|${IDF_PATH}/components/lwip/port/include|${IDF_PATH}/components/lwip/include"
+                    PATCH_COMMAND ${CMAKE_COMMAND} -E echo "Patching config.h for ESP32 target"
+                    BUILD_COMMAND
+                        ${CMAKE_COMMAND} -DCONFIG_H=${open62541_CONFIG_H} -P
+                            ${CMAKE_CURRENT_SOURCE_DIR}/patch_config.cmake
+                        && cmake --build . --target open62541-amalgamation
                     INSTALL_COMMAND ""
                     )
 
 add_dependencies(${COMPONENT_TARGET} open62541_build)
-target_compile_options(${COMPONENT_LIB} PUBLIC -DUA_getaddrinfo=custom_getaddrinfo -DUA_ENABLE_AMALGAMATION -DUA_ARCHITECTURE_FREERTOSLWIP -DUA_ARCHITECTURE_FREERTOSLWIP_POSIX_CLOCK)
+# Note: UA_getaddrinfo is internally mapped to lwip_getaddrinfo in open62541 v1.5.4.
+# The custom_getaddrinfo workaround for ESP32 hostname resolution would need
+# a linker-level override (--wrap=lwip_getaddrinfo) if still required.

components/open62541/compat_includes/FreeRTOS.h

@@ -0,0 +1 @@
+#include <freertos/FreeRTOS.h>

components/open62541/compat_includes/task.h

@@ -0,0 +1 @@
+#include <freertos/task.h>

components/open62541/custom_getaddrinfo.c

@@ -2,6 +2,18 @@
 
 #include <lwip/netdb.h>
 #include <esp_log.h>
+#include <string.h>
+#include "sdkconfig.h"
+
+int gethostname(char *name, size_t len) {
+#ifdef CONFIG_ETHERNET_HELPER_CUSTOM_HOSTNAME
+    strncpy(name, CONFIG_ETHERNET_HELPER_CUSTOM_HOSTNAME_STR, len - 1);
+#else
+    strncpy(name, CONFIG_LWIP_LOCAL_HOSTNAME, len - 1);
+#endif
+    name[len - 1] = '\0';
+    return 0;
+}
 
 int
 custom_getaddrinfo(const char *nodename, const char *servname,

components/open62541/freertos_stub/CMakeLists.txt

@@ -0,0 +1,4 @@
+# Stub for FreeRTOS kernel used during open62541 amalgamation generation.
+# The real FreeRTOS is provided by ESP-IDF when cross-compiling for ESP32.
+cmake_minimum_required(VERSION 3.16)
+add_library(freertos_kernel INTERFACE)

components/open62541/no_install.cmake

@@ -0,0 +1,6 @@
+# Override install() and export() for the open62541 ExternalProject build.
+# We only need the amalgamation, not a proper CMake install.
+macro(install)
+endmacro()
+macro(export)
+endmacro()

components/open62541/patch_config.cmake

@@ -0,0 +1,7 @@
+# Patch open62541 config.h to remove host-detected defines not available on ESP32/FreeRTOS
+if(EXISTS "${CONFIG_H}")
+    file(READ "${CONFIG_H}" config_content)
+    string(REPLACE "#define UA_HAS_GETIFADDR 1" "/* #undef UA_HAS_GETIFADDR (not available on FreeRTOS/ESP32) */" config_content "${config_content}")
+    file(WRITE "${CONFIG_H}" "${config_content}")
+    message(STATUS "Patched ${CONFIG_H}: disabled UA_HAS_GETIFADDR")
+endif()

main/CMakeLists.txt

@@ -1,15 +1,12 @@
 
 idf_component_register(SRCS "main.c"
-                       PRIV_INCLUDE_DIRS ${IDF_PATH}/components/freertos/include/freertos
-                       REQUIRES open62541 ethernet_helper nvs_flash esp_adc_cal)
+                       REQUIRES open62541 ethernet_helper nvs_flash esp_adc spi_flash)
 
 # Build static library, do not build test executables
 option(BUILD_SHARED_LIBS OFF)
 option(BUILD_TESTING OFF)
 
 # ESP32 is little endian
-#add_definitions(-DUA_ENABLE_AMALGAMATION -DUA_ARCHITECTURE_FREERTOSLWIP -DUA_ARCHITECTURE_FREERTOSLWIP_POSIX_CLOCK)
-#add_definitions(-Wno-ignored-qualifiers)
 
 # Unfortunately the library performs install and export. Would
 # have been nice if devs made that an option like BUILD_SHARED_LIBS

main/idf_component.yml

@@ -0,0 +1,4 @@
+dependencies:
+  espressif/mdns:
+    version: ^1.0.0
+  idf: '>=5.0'

main/main.c

@@ -10,6 +10,7 @@
 #include <esp_event.h>
 #include <esp_log.h>
 #include <esp_system.h>
+#include <esp_flash.h>
 #include <sys/param.h>
 #include <nvs_flash.h>
 
@@ -19,7 +20,11 @@
 #include "freertos/task.h"
 
 #include "esp_netif.h"
+#include "esp_chip_info.h"
 #include "ethernet_helper.h"
+#ifdef CONFIG_ETHERNET_HELPER_WIFI
+#include "esp_wifi.h"
+#endif
 
 #ifdef CONFIG_IDF_TARGET_ESP32
 #define CHIP_NAME "ESP32"
@@ -29,12 +34,12 @@
 #define CHIP_NAME "ESP32-S2 Beta"
 #endif
 
-#ifndef UA_ARCHITECTURE_FREERTOSLWIP
-#error UA_ARCHITECTURE_FREERTOSLWIP needs to be defined
-#endif
-
 #include <open62541.h>
 
+#if !defined(UA_ARCHITECTURE_LWIP) || !defined(UA_ARCHITECTURE_FREERTOS)
+#error UA_ARCHITECTURE_LWIP and UA_ARCHITECTURE_FREERTOS need to be defined
+#endif
+
 #include <esp_task_wdt.h>
 #include <esp_sntp.h>
 
@@ -54,16 +59,16 @@ RTC_DATA_ATTR static int boot_count = 0;
 static UA_StatusCode
 UA_ServerConfig_setUriName(UA_ServerConfig *uaServerConfig, const char *uri, const char *name) {
     // delete pre-initialized values
-    UA_String_deleteMembers(&uaServerConfig->applicationDescription.applicationUri);
-    UA_LocalizedText_deleteMembers(&uaServerConfig->applicationDescription.applicationName);
+    UA_String_clear(&uaServerConfig->applicationDescription.applicationUri);
+    UA_LocalizedText_clear(&uaServerConfig->applicationDescription.applicationName);
 
     uaServerConfig->applicationDescription.applicationUri = UA_String_fromChars(uri);
     uaServerConfig->applicationDescription.applicationName.locale = UA_STRING_NULL;
     uaServerConfig->applicationDescription.applicationName.text = UA_String_fromChars(name);
 
     for (size_t i = 0; i < uaServerConfig->endpointsSize; i++) {
-        UA_String_deleteMembers(&uaServerConfig->endpoints[i].server.applicationUri);
-        UA_LocalizedText_deleteMembers(
+        UA_String_clear(&uaServerConfig->endpoints[i].server.applicationUri);
+        UA_LocalizedText_clear(
                 &uaServerConfig->endpoints[i].server.applicationName);
 
         UA_String_copy(&uaServerConfig->applicationDescription.applicationUri,
@@ -103,30 +108,21 @@ static void opcua_task(void *arg) {
     caps[1] = UA_String_fromChars("NA");
     config->mdnsConfig.serverCapabilities = caps;
 
-    // We need to set the default IP address for mDNS since internally it's not able to detect it.
-    tcpip_adapter_ip_info_t default_ip;
-    esp_err_t ret = tcpip_adapter_get_ip_info(TCPIP_ADAPTER_IF_STA, &default_ip);
-    if ((ESP_OK == ret) && (default_ip.ip.addr != INADDR_ANY)) {
-        config->mdnsIpAddressListSize = 1;
-        config->mdnsIpAddressList = (uint32_t *)UA_malloc(sizeof(uint32_t)*config->mdnsIpAddressListSize);
-        memcpy(config->mdnsIpAddressList, &default_ip.ip.addr, sizeof(uint32_t));
-    } else {
-        ESP_LOGI(TAG_OPC, "Could not get default IP Address!");
-    }
     #endif
     UA_ServerConfig_setUriName(config, appUri, "open62541 ESP32 Demo");
 
     #ifndef CONFIG_ETHERNET_HELPER_CUSTOM_HOSTNAME
-        #ifndef ETHERNET_HELPER_STATIC_IP4
+        #ifndef CONFIG_ETHERNET_HELPER_STATIC_IP4
             #error You need to set a static IP or a custom hostname with menuconfig
         #else
-        UA_String str = UA_STRING(CONFIG_ETHERNET_HELPER_STATIC_IP4_ADDRESS);
+            #define UA_SERVER_HOSTNAME CONFIG_ETHERNET_HELPER_STATIC_IP4_ADDRESS
         #endif
     #else
-    UA_String str = UA_STRING(CONFIG_ETHERNET_HELPER_CUSTOM_HOSTNAME_STR);
+        #define UA_SERVER_HOSTNAME CONFIG_ETHERNET_HELPER_CUSTOM_HOSTNAME_STR
     #endif
-    UA_String_clear(&config->customHostname);
-    UA_String_copy(&str, &config->customHostname);
+    config->serverUrls = (UA_String *)UA_Array_new(1, &UA_TYPES[UA_TYPES_STRING]);
+    config->serverUrlsSize = 1;
+    config->serverUrls[0] = UA_STRING_ALLOC("opc.tcp://" UA_SERVER_HOSTNAME ":4840");
 
     printf("xPortGetFreeHeapSize before create = %d bytes\n", xPortGetFreeHeapSize());
 
@@ -168,10 +164,10 @@ void time_sync_notification_cb(struct timeval *tv)
 static void initialize_sntp(void)
 {
     ESP_LOGI(TAG, "Initializing SNTP");
-    sntp_setoperatingmode(SNTP_OPMODE_POLL);
-    sntp_setservername(0, "pool.ntp.org");
-    sntp_set_time_sync_notification_cb(time_sync_notification_cb);
-    sntp_init();
+    esp_sntp_setoperatingmode(SNTP_OPMODE_POLL);
+    esp_sntp_setservername(0, "pool.ntp.org");
+    esp_sntp_set_time_sync_notification_cb(time_sync_notification_cb);
+    esp_sntp_init();
 }
 
 static bool obtain_time(void)
@@ -185,7 +181,7 @@ static bool obtain_time(void)
     memset(&timeinfo, 0, sizeof(struct tm));
     int retry = 0;
     const int retry_count = 10;
-    while (sntp_get_sync_status() == SNTP_SYNC_STATUS_RESET && ++retry <= retry_count) {
+    while (esp_sntp_get_sync_status() == SNTP_SYNC_STATUS_RESET && ++retry <= retry_count) {
         ESP_LOGI(TAG, "Waiting for system time to be set... (%d/%d)", retry, retry_count);
         vTaskDelay(2000 / portTICK_PERIOD_MS);
         ESP_ERROR_CHECK(esp_task_wdt_reset());
@@ -239,11 +235,11 @@ void app_main(void)
            (chip_info.features & CHIP_FEATURE_BT) ? "/BT" : "",
            (chip_info.features & CHIP_FEATURE_BLE) ? "/BLE" : "");
 
-    spi_flash_init();
-
     printf("silicon revision %d, ", chip_info.revision);
 
-    printf("%dMB %s flash\n", spi_flash_get_chip_size() / (1024 * 1024),
+    uint32_t flash_size = 0;
+    esp_flash_get_size(NULL, &flash_size);
+    printf("%dMB %s flash\n", (int)(flash_size / (1024 * 1024)),
            (chip_info.features & CHIP_FEATURE_EMB_FLASH) ? "embedded" : "external");
 
     printf("Heap Info:\n");
@@ -259,10 +255,12 @@ void app_main(void)
     esp_netif_init();
     ESP_ERROR_CHECK(esp_event_loop_create_default());
 
-    ESP_ERROR_CHECK(esp_task_wdt_init(10, true));
-    // Remove idle tasks from watchdog
-    ESP_ERROR_CHECK(esp_task_wdt_delete(xTaskGetIdleTaskHandleForCPU(0)));
-    ESP_ERROR_CHECK(esp_task_wdt_delete(xTaskGetIdleTaskHandleForCPU(1)));
+    const esp_task_wdt_config_t wdt_config = {
+        .timeout_ms = 10000,
+        .idle_core_mask = 0,
+        .trigger_panic = true,
+    };
+    ESP_ERROR_CHECK(esp_task_wdt_init(&wdt_config));
 
     /* Register event handlers to stop the server when Wi-Fi or Ethernet is disconnected,
      * and re-start it upon connection.
@@ -280,4 +278,4 @@ void app_main(void)
 
     ESP_ERROR_CHECK(ethernet_helper_connect());
 
-}
+}