migrate to cpp app remove irrelevant parts

README.md

@@ -1,17 +1,19 @@
-| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-S2 | ESP32-S3 |
+| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- |
+| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- | -------- | -------- |
 
-# eth2ap Example
+# Ethernet Example
-(See the README.md file in the upper level 'examples' directory for more information about examples. To try a more complex application about Ethernet to WiFi data forwarding, please go to [iot-solution](https://github.com/espressif/esp-iot-solution/tree/release/v1.0/examples/eth2wifi).)
+(See the README.md file in the upper level 'examples' directory for more information about examples.)
-
-**Note:** This example uses some internal APIs (e.g. `esp_wifi_internal_tx`) which might get changed between minor versions of ESP-IDF.
 
 ## Overview
-![eth2ap](eth2ap.png)
 
-The similarities on MAC layer between Ethernet and Wi-Fi make it easy to forward packets from Ethernet to Wi-Fi and vice versa. This example illustrates how to implement a simple "router" which only supports forwarding packets between Ethernet port and Wi-Fi AP interface. In this case, the Ethernet should play the role of WAN (i.e. it can access outside network) so that a mobile device could get access to the Internet when it gets connected to ESP32 through Wi-Fi.
+This example demonstrates basic usage of `Ethernet driver` together with `esp_netif`. Initialization of the `Ethernet driver` is wrapped in separate [sub-component](./components/ethernet_init/ethernet_init.c) of this project to clearly distinguish between the driver's and `esp_netif` initializations. The work flow of the example could be as follows:
 
-**Note:** In this example, ESP32 works like a *bridge* between Ethernet and Wi-Fi, and it won't perform any actions on Layer3 and higher layer, which means there's no need to initialize the TCP/IP stack.
+1. Install Ethernet driver
+2. Attach the driver to `esp_netif`
+3. Send DHCP requests and wait for a DHCP lease
+4. If get IP address successfully, then you will be able to ping the device
+
+If you have a new Ethernet application to go (for example, connect to IoT cloud via Ethernet), try this as a basic template, then add your own code.
 
 ## How to use example
 
@@ -19,23 +21,26 @@ The similarities on MAC layer between Ethernet and Wi-Fi make it easy to forward
 
 To run this example, it's recommended that you have an official ESP32 Ethernet development board - [ESP32-Ethernet-Kit](https://docs.espressif.com/projects/esp-idf/en/latest/hw-reference/get-started-ethernet-kit.html). This example should also work for 3rd party ESP32 board as long as it's integrated with a supported Ethernet PHY chip. Up until now, ESP-IDF supports up to four Ethernet PHY: `LAN8720`, `IP101`, `DP83848` and `RTL8201`, additional PHY drivers should be implemented by users themselves.
 
-Besides that, `esp_eth` component can drive third-party Ethernet module which integrates MAC and PHY and provides common communication interface (e.g. SPI, USB, etc). This example will take the **DM9051** as an example, illustrating how to install the Ethernet driver in the same manner.
+Besides that, `esp_eth` component can drive third-party Ethernet module which integrates MAC and PHY and provides common communication interface (e.g. SPI, USB, etc). This example will take the `DM9051`, `W5500` or `KSZ8851SNL` SPI modules as an example, illustrating how to install the Ethernet driver in the same manner.
+
+The ESP-IDF supports the usage of multiple Ethernet interfaces at a time when external modules are utilized which is also demonstrated by this example. There are several options you can combine:
+   * Internal EMAC and one SPI Ethernet module.
+   * Two SPI Ethernet modules of the same type connected to single SPI interface and accessed by switching appropriate CS.
+   * Internal EMAC and two SPI Ethernet modules of the same type.
 
 #### Pin Assignment
 
 See common pin assignments for Ethernet examples from [upper level](../README.md#common-pin-assignments).
 
+When using two Ethernet SPI modules at a time, they are to be connected to single SPI interface. Both modules then share data (MOSI/MISO) and CLK signals. However, the CS, interrupt and reset pins need to be connected to separate GPIO for each Ethernet SPI module.
+
 ### Configure the project
 
 ```
 idf.py menuconfig
 ```
 
-In addition to the common configurations for Ethernet examples from [upper level](../README.md#common-configurations), you might also need to update the default value of following configurations:
+See common configurations for Ethernet examples from [upper level](../README.md#common-configurations).
-
-In the `Example Configuration` menu:
-* Set the SSID and password for Wi-Fi ap interface under `Wi-Fi SSID` and `Wi-Fi Password`.
-* Set the maximum connection number under `Maximum STA connections`.
 
 ### Build, Flash, and Run
 
@@ -53,62 +58,23 @@ See the [Getting Started Guide](https://docs.espressif.com/projects/esp-idf/en/l
 
 ## Example Output
 
-### Step 1: Initialize Ethernet and Wi-Fi (AP mode)
-
 ```bash
-I (508) example: Power On Ethernet PHY
+I (394) eth_example: Ethernet Started
-I (518) system_api: Base MAC address is not set, read default base MAC address from BLK0 of EFUSE
+I (3934) eth_example: Ethernet Link Up
-I (518) emac: emac reset done
+I (3934) eth_example: Ethernet HW Addr 30:ae:a4:c6:87:5b
-I (518) example: Ethernet Started
+I (5864) esp_netif_handlers: eth ip: 192.168.2.151, mask: 255.255.255.0, gw: 192.168.2.2
-......
+I (5864) eth_example: Ethernet Got IP Address
-I (538) wifi: wifi driver task: 3ffc7fbc, prio:23, stack:3584, core=0
+I (5864) eth_example: ~~~~~~~~~~~
-I (538) system_api: Base MAC address is not set, read default base MAC address from BLK0 of EFUSE
+I (5864) eth_example: ETHIP:192.168.2.151
-I (538) system_api: Base MAC address is not set, read default base MAC address from BLK0 of EFUSE
+I (5874) eth_example: ETHMASK:255.255.255.0
-I (568) wifi: wifi firmware version: ec61a20
+I (5874) eth_example: ETHGW:192.168.2.2
-I (568) wifi: config NVS flash: enabled
+I (5884) eth_example: ~~~~~~~~~~~
-I (568) wifi: config nano formating: disabled
-I (568) wifi: Init dynamic tx buffer num: 32
-I (568) wifi: Init data frame dynamic rx buffer num: 32
-I (578) wifi: Init management frame dynamic rx buffer num: 32
-I (588) wifi: Init management short buffer num: 32
-I (588) wifi: Init static rx buffer size: 1600
-I (588) wifi: Init static rx buffer num: 10
-I (598) wifi: Init dynamic rx buffer num: 32
 ```
 
-### Step 2: Ethernet Connects to Router/Switch/PC (with DHCP server enabled)
+Now you can ping your ESP32 in the terminal by entering `ping 192.168.2.151` (it depends on the actual IP address you get).
-
-```bash
-I (4518) example: Ethernet Link Up
-```
-
-### Step 3: Start Wi-Fi AP
-
-```bash
-I (4618) phy: phy_version: 4100, 2a5dd04, Jan 23 2019, 21:00:07, 0, 0
-I (4618) wifi: mode : softAP (30:ae:a4:c6:87:5b)
-I (4628) wifi: Total power save buffer number: 16
-I (4628) wifi: Init max length of beacon: 752/752
-I (4628) wifi: Init max length of beacon: 752/752
-```
-
-### Step 4: Wi-Fi station (e.g. mobile phone) connects to ESP32's Wi-Fi
-
-```bash
-I (10168) wifi: new:<1,0>, old:<1,0>, ap:<1,1>, sta:<255,255>, prof:1
-I (10168) wifi: station: c4:0b:cb:ec:9a:84 join, AID=1, bgn, 20
-I (10258) example: AP got a station connected
-```
-
-Now your mobile phone should get access to the Internet.
 
 ## Troubleshooting
 
 See common troubleshooting for Ethernet examples from [upper level](../README.md#common-troubleshooting).
 
-* If you got error message like `WiFi send packet failed` when running the example, you may need to enlarge the value of `FLOW_CONTROL_WIFI_SEND_DELAY_MS` in "ethernet_example_main.c", because Ethernet process packets faster than Wi-Fi on ESP32.
-* If you got error message like `send flow control message failed or timeout` when running the example, you may need to enlarge the value of `FLOW_CONTROL_QUEUE_LENGTH` in "ethernet_example_main".
-* Wi-Fi station doesn't receive any IP via DHCP?
-    * All Layer 3 (TCP/IP functions) on the ESP32 are disabled, including the SoftAP DHCP server. This means that devices must be able to access another DHCP server (for example on a Wi-Fi router connected via ethernet) or should use statically assigned IP addresses.
-
 (For any technical queries, please open an [issue](https://github.com/espressif/esp-idf/issues) on GitHub. We will get back to you as soon as possible.)

main/CMakeLists.txt

@@ -1,2 +1,2 @@
-idf_component_register(SRCS "ethernet_example_main.c"
+idf_component_register(SRCS "watch_main.cpp"
                        INCLUDE_DIRS ".")

main/watch_main.cpp

@@ -31,6 +31,10 @@ static const char *TAG = "Watch";
 static esp_eth_handle_t s_eth_handle = NULL;
 static bool s_ethernet_is_connected = false;
 
+extern "C" { // This switch allows the ROS C-implementation to find this main
+void app_main(void);
+}
+
 /** Event handler for IP_EVENT_ETH_GOT_IP */
 static void got_ip_event_handler(void *arg, esp_event_base_t event_base,
                                  int32_t event_id, void *event_data)