{"id":5207,"date":"2023-03-25T18:58:37","date_gmt":"2023-03-25T09:58:37","guid":{"rendered":"http:\/\/shinku.ddo.jp\/wordpress\/?page_id=5207"},"modified":"2023-03-26T04:46:39","modified_gmt":"2023-03-25T19:46:39","slug":"ros2raspberry-os%e3%81%a7ros2%e3%81%a7mbed%e3%81%a8%e9%80%9a%e4%bf%a1%ef%bc%83%ef%bc%91%ef%bc%9a%e8%a8%ad%e5%ae%9ardp%e3%81%a7mbed%e3%81%a8%e9%80%9a%e4%bf%a1%e7%a2%ba%e8%aa%8d%e3%81%be%e3%81%a7","status":"publish","type":"page","link":"http:\/\/shinku.ddo.jp\/wordpress\/?page_id=5207","title":{"rendered":"ROS2:Raspberry OS\u3067ROS2\u3067MBED\u3068\u901a\u4fe1\uff03\uff11\uff1a\u8a2d\u5b9a~RDP\u3067MBED\u3068\u901a\u4fe1\u78ba\u8a8d\u307e\u3067"},"content":{"rendered":"\n

\u984c\u540d\u306f\u5f53\u9762\u306e\u6700\u7d42\u76ee\u6a19\u3002<\/p>\n\n\n\n

\u4eca\u306f\u307e\u3060UDP\u3067\u306eMBED\uff08LPC1768\u304a\u3088\u3073STmicro NUCLEO\u3068\u306e\u901a\u4fe1\u78ba\u8a8d\u307e\u3067\u3057\u304b\u3067\u304d\u3066\u306a\u3044\uff09<\/p>\n\n\n\n

\uff11\uff09RaspberryPi\u306b64bit\u306eblueseye\u3092\u5c0e\u5165<\/p>\n\n\n\n

\u3000\u3000\u932c\u91d1\u8853\u5e2b\u898b\u7fd2\u3044\u306e\u90e8\u5c4b \u00bb RaspberryPi\u3067\u904a\u3076 \uff1aRaspberryPi4\u5316 (ddo.jp)<\/a><\/p>\n\n\n\n

\u3000\u4e0a\u306e\u3068\u304a\u308a\u3001\u666e\u901a\u306b\u516c\u5f0f\u306e\u30a4\u30e1\u30fc\u30b8\u30e3\u30fc\u3067\u5165\u308c\u308c\u3070\u3044\u3044\u3093\u3067\u3059\u304c\u3001\u3072\u3068\u3064\u6ce8\u610f\u70b9\u304c\u3042\u308a\u307e\u3059\u3000\u3000<\/p>\n\n\n\n

\u3000\u3000\u73fe\u72b6\u6700\u65b0\u306eOS\u30d0\u30fc\u30b8\u30e7\u30f3\u300cblueseye\u300d\u304b\u3089\u3001\u4eca\u307e\u3067\u30c7\u30d5\u30a9\u30fc\u30eb\u30c8\u3067\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u305f\u30e6\u30fc\u30b6\u30fc\u540d\uff1api\u3001\u521d\u671f\u30d1\u30b9\u30ef\u30fc\u30c9(\u30c7\u30d5\u30a9\u30eb\u30c8\u30d1\u30b9\u30ef\u30fc\u30c9\uff09\uff1araspberry\u304c\u3001\u5fc5\u305a\u624b\u52d5\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u306b\u306a\u3063\u305f\u3088\u3046\u3067\u3001\u4f8b\u3048\u3070\u8a2d\u5b9a\u305b\u305a\u306b\u9032\u3081\u308b\u3068\u3001\u521d\u671f\u306e\u30e6\u30fc\u30b6\u30fc\u306f\u300cpi\u300d\u306b\u306a\u308b\u3088\u3046\u3067\u3059\u304c\u3001\u30d1\u30b9\u30ef\u30fc\u30c9\u306f\u5f8c\u304b\u3089”sudo raspi-config”>>1 System Options>>S3 Password\u3067\u8a2d\u5b9a\u3057\u306a\u3044\u3068ssh\u3084RDT\u3067\u56f0\u308b\u3053\u3068\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n

<\/p>\n\n\n\n

\uff12\uff09\u57fa\u672c\u7684\u306a\u30a2\u30d7\u30ea\u3092\u5165\u308c\u308b<\/p>\n\n\n\n

\u3000\u3000\u932c\u91d1\u8853\u5e2b\u898b\u7fd2\u3044\u306e\u90e8\u5c4b \u00bb RaspberryPi\u3067\u904a\u3076 \uff1aRaspberryPi4\u5316 (ddo.jp)<\/a><\/p>\n\n\n\n

\uff13\uff09RaspberryPi\u306e\u901a\u4fe1\u8a2d\u5b9a<\/p>\n\n\n\n

\u3000\u3000\u6709\u7ddaLAN\u3092\u30de\u30a4\u30b3\u30f3\u3068\u306e\u901a\u4fe1\u306b\u3001Wifi\u5074\u3092RDT\/SSH\/Inet\u63a5\u7d9a\u306b\u4f7f\u3046\u3088\u3046\u306b\u8a2d\u5b9a\u3059\u308b\u3002<\/p>\n\n\n\n

\uff13\uff0d\uff11\uff09NIC\uff12\u3064\u3092\u8a2d\u5b9a\u3057\u3084\u3059\u3044\u3088\u3046\u306b\u7ba1\u7406\u30bd\u30d5\u30c8\u3092\u5165\u308c\u66ff\u3048\u308b\u3002<\/p>\n\n\n\n

\u3000\u3000\u3000Ubuntu\u306a\u3093\u304b\u3067\u4f7f\u3063\u3066\u3044\u308b\u30bd\u30d5\u30c8\u306b\u5165\u308c\u66ff\u3048\u308b\u3002\u4ee5\u4e0b\u53c2\u7167\u3002<\/p>\n\n\n\n

\u3000\u3000RaspberryPi\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u5468\u308a\u3092NetworkManager\u3067\u69cb\u6210\u3059\u308b – Qiita<\/a><\/p>\n\n\n\n

\u2460\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30de\u30cd\u30fc\u30b8\u30e3\u30fc\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3068dhcpcd5\u306e\u524a\u9664\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n\n\n\n

$ sudo apt-get install -y network-manager\n$ sudo apt-get install -y network-manager-gnome\n$ sudo apt-get remove -y dhcpcd5<\/code><\/pre>\n\n\n\n
\u3000\u305d\u306e\u5f8c\u3001\u9762\u5012\u306a\u3093\u3067\u518d\u8d77\u52d5\u3002<\/p>\n\n\n\n
\u2461\u4eca\u3042\u308b\u8a2d\u5b9a\u306e\u524a\u9664<\/p>\n\n\n\n
\/etc\/network\/interfaces\u3092\u3059\u3079\u3066\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3057\u3001 \/etc\/wpa_supplicant\/wpa_supplicant.conf \u306b\u8ffd\u52a0\u3057\u305f\u3082\u306e\u3092\u3059\u3079\u3066\u524a\u9664\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
<\/p>\n\n\n\n
\u203b\u6700\u8fd1\u306eRaspberrypiOS\u306b\u306f\u6700\u521d\u304b\u3089\u5165\u3063\u3066\u3044\u308b\u306e\u3067\u5207\u308a\u66ff\u3048\u308c\u3070\u3044\u3044\u3089\u3057\u3044<\/p>\n\n\n\n
\u3000\u3000Raspberry Pi OS\u306eWi-Fi\u8a2d\u5b9a\u30c4\u30fc\u30eb\u300cNetwork Manager\u300d\u306e\u8ffd\u52a0 | \u30e9\u30ba\u30d1\u30a4\u30c0 (raspida.com)<\/a><\/p>\n\n\n\n
<\/p>\n\n\n\n
\uff13\uff0d\uff12\uff09\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u8a2d\u5b9a<\/p>\n\n\n\n
\u3000\u6709\u7dda\u8a2d\u5b9a\uff1aIPV4setting\u30bf\u30d6\u3067Method\u3092shared to other comuter\u306b\u3057\u3066\u3001IP\u3068\u30cd\u30c3\u30c8\u30de\u30b9\u30af\u3092\u8a2d\u5b9a<\/p>\n\n\n\n
\u3000\u3000\u3000\u3000\u3000\u3000\u2235\u30de\u30a4\u30b3\u30f3\u3068\u901a\u4fe1\u3059\u308b\u969b\u306f\u5927\u62b5IP\u3092\u30bf\u30fc\u30b2\u30c3\u30c8\u306b\u901a\u4fe1\u3059\u308b\u306e\u3067<\/p>\n\n\n\n
\u3000\u3000\u3000\u3000\u3000\u3000\u3000\u56fa\u5b9a\u3057\u3066\u304a\u3044\u305f\u65b9\u304c\u3044\u3044\u3057\u3001\u56fa\u5b9a\u3059\u308b\u3053\u3068\u304c\u591a\u3044<\/p>\n\n\n\n
\u3000\u7121\u7dda\u8a2d\u5b9a\uff1a\u304a\u4f7f\u3044\u306e\u30eb\u30fc\u30bf\u306b\u5408\u308f\u305b\u3066\u8a2d\u5b9a<\/p>\n\n\n\n
\uff13\uff0d\uff13\uff09\u512a\u5148\u8a2d\u5b9a\uff08\u3053\u3053\u3067\u30d7\u30c1\u60a9\u3093\u3060\uff09<\/p>\n\n\n\n
\u3000\u518d\u8d77\u52d5\u3057\u3066\u307f\u308b<\/p>\n\n\n\n
\u3000\u3053\u306e\u307e\u307e\u3060\u3068\u591a\u5206\u6709\u7ddaLAN\u306e\u65b9\u304c\u512a\u5148\u3055\u308c\u305f\u6319\u53e5\u3001\u30cd\u30c3\u30c8\u304b\u3089\u3044\u308d\u3093\u306a\u3082\u3093\u3092\u304a\u53d6\u308a\u5bc4\u305b\u3067\u304d\u306a\u3044\u4e8b\u614b\u306b\u306a\u308b\u3002<\/p>\n\n\n\n
\u3000ip route<\/p>\n\n\n\n
\u3067\u78ba\u8a8d\u3059\u308b\u3068\u3001\u305f\u3076\u3093\u6709\u7ddaLAN\u306emetric\u306e\u65b9\u304c\u5c0f\u3055\u3044\u5024\u3002\uff08\u306a\u306e\u3067\u3001\u305d\u3046\u306a\u3089\u306a\u3044\u3088\u3046\u306b\u6709\u7dda\u306e\u30c7\u30d5\u30a9\u30eb\u30c8\u30b2\u30fc\u30c8\u30a6\u30a8\u30a4\u3092\u3042\u3048\u3066\u6307\u5b9a\u3057\u3066\u3044\u306a\u3044\u306e\u3067\u3001Wifi\u512a\u5148\u306b\u306a\u3063\u3066\u3044\u305f\u3089\u30e9\u30c3\u30ad\u30fc\u3002\u3053\u3053\u98db\u3070\u3057\u3066\u3088\u3057\u3002\uff09<\/p>\n\n\n\n
\u3000\u306a\u306e\u3067\u3001wifi\u306emetric\u3092\u4e0b\u3052\u3066\u6709\u7dda\u3092\u4e0a\u3052\u3066\u512a\u5148\u9806\u4f4d\u3092\u5909\u3048\u308b<\/p>\n\n\n\n
\u3000\u53c2\u8003\uff1aLinux(Ubuntu) \u3067\u8907\u6570NIC\u3092\u6307\u3057\u3066\u3044\u308b\u5834\u5408\u306b\u3001\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u7d4c\u8def\u306e\u512a\u5148\u5ea6\u3092\u6307\u5b9a\u3059\u308b | \u30d1\u30bd\u30b3\u30f3\u9ce5\u306e\u30d6\u30ed\u30b0 (sarakura.net)<\/a><\/p>\n\n\n\n
\u3000\u4ee5\u4e0b\u306e\u30bd\u30d5\u30c8\u3067\u9806\u4f4d\u5909\u66f4\u3002<\/p>\n\n\n\n
apt-get install ifmetric<\/pre>\n\n\n\n
\uff13\uff0d\uff14\uff09ssh\u3068rdt\u3067wifi\u5074\u304b\u3089\u63a5\u7d9a\u3067\u304d\u308b\u304b\u8a66\u3057\u3066\u307f\u3066\u3002<\/p>\n\n\n\n
\u3000\u3067\u304d\u308c\u3070OK<\/p>\n\n\n\n
\u3000\u3044\u307e\u307e\u3067\u65e7OS\u3092\u4f7f\u3063\u3066\u304d\u305f\u65b9\u3005\u304c\u3088\u304f\u9665\u308b\u306e\u306f\u3001\u305f\u3076\u3093\u30d1\u30b9\u30ef\u30fc\u30c9\u5165\u529b\u3067\u306f\u306d\u3089\u308c\u308b\u4e8b\u614b\u3002<\/p>\n\n\n\n
\u3000\u3053\u306e\u30da\u30fc\u30b8\u306e\u4e00\u756a\u4e0a\u306b\u66f8\u3044\u3066\u3042\u308b\u30c7\u30d5\u30a9\u30eb\u30c8\u30d1\u30b9\u30ef\u30fc\u30c9\u8a2d\u5b9a\u3061\u3083\u3093\u3068\u3084\u3063\u305f\u304b\u3069\u3046\u304b\u78ba\u8a8d\u6c41\u3002<\/p>\n\n\n\n
\u3000\u3000<\/p>\n\n\n\n
\uff14\uff09Pi3\u5ef6\u547d\u63aa\u7f6e<\/p>\n\n\n\n
\uff14\uff0d\uff11\uff09\uff08\u30af\u30ed\u30c3\u30af\u30a2\u30c3\u30d7\uff09\uff08\u7b11\uff09<\/p>\n\n\n\n
\u3000\u3000pi3\u5099\u5fd8\u9332\uff1aRaspberry Pi 3 \u306eCPU\u306e\u30af\u30ed\u30c3\u30af\u30a2\u30c3\u30d7 \uff08\u30aa\u30fc\u30d0\u30fc\u30af\u30ed\u30c3\u30af\uff09\u306b\u6311\u6226\u3057\u3066\u307f\u307e\u3059\u3002 ‘Ive just overclocked my Raspberry Pi 3 Model B to 1.3GHz. Here’s a brief instruction. \u00b7 GitHub<\/a><\/p>\n\n\n\n
\u3000\u3000Pi4\u3001Pi3B+\u306f\u307e\u305f\u4eca\u5ea6<\/p>\n\n\n\n
\uff14\uff0d\uff12\uff09SWAP\u9818\u57df\u8a2d\u5b9a<\/p>\n\n\n\n
\u3000\u3000gparted\u3067\u9818\u57df\u3092\u3054\u306b\u3087\u3054\u306b\u3087\u3084\u3063\u3066\u78ba\u4fdd<\/p>\n\n\n\n
\u3000\u3000gparted\u3067\u7a7a\u3044\u305f\u9818\u57df\u3092linux-swap\u3067\u78ba\u4fdd<\/p>\n\n\n\n
\u3000\u3000sudo nano \/etc\/fstab\u3067\u672b\u5c3e\u306b\u3053\u3093\u306a\u611f\u3058\u3067\u8ffd\u52a0\u3002<\/p>\n\n\n\n
\u3000\u3000\/dev\/\u306e\u90e8\u5206\u306fgparted\u3067swap\u9818\u57df\u306e\u5834\u6240\u306e\u540d\u524d\u3092\u78ba\u8a8d\u3057\u3066\u5165\u529b\u3059\u308b\u3053\u3068<\/p>\n\n\n\n
\/dev\/mmcblk0p3  swap   swap    defaults   0 0<\/pre>\n\n\n\n
\u3000\u3000\u518d\u8d77\u52d5\u3057\u3066swapon -s\u3067\u30b9\u30ef\u30c3\u30d7\u9818\u57df\u3092\u78ba\u8a8d\u3059\u308b\u3068\u3001\u4e0a\u3067\u767b\u9332\u3057\u305f\u306e\u304c\u898b\u3048\u308b\u306f\u305a\u3002<\/p>\n\n\n\n
<\/p>\n\n\n\n
\uff15\uff09\u901a\u4fe1\u8a66\u9a13<\/p>\n\n\n\n
\u3000\u3000\u53c2\u8003HP\uff1aMbed OS 6\u4e0a\u3067NUCLEO-F767ZI\u3067UDP\u901a\u4fe1\u3092\u5b9f\u88c5\u3057\u3001ROS\u3068\u901a\u4fe1\u3059\u308b\uff08\u524d\u7de8\uff09 – Qiita<\/a><\/p>\n\n\n\n
\u3000\uff08\u30cf\u30fc\u30c9\u30a6\u30a8\u30a2\u306e\u63a5\u7d9a\u306f\u3053\u3061\u3089\u3092\u53c2\u7167\u306e\u3053\u3068\uff1ambed\u3067UDP\u901a\u4fe1\u3059\u308b – Re: note (hatenablog.jp)<\/a>\uff09<\/p>\n\n\n\n
\u3000\u3000\u3061\u306a\u307f\u306b\u50d5\u306fWIZnet W7500ECO\u4ed8\u5c5e\u306eshield\u306bLPC1768\u3092\u3076\u3063\u3055\u3057\u3066\u3064\u304b\u3063\u3066\u3044\u307e\u3059\u3002\uff08\u7b11\uff09<\/p>\n\n\n\n
\u3000\u3000\u2235\u5f53\u521d\u3001\u304a\u5b89\u3044w7500\u3067udp\u901a\u4fe1\u3092\u3084\u308d\u3046\u3068\u3057\u305f\u3093\u3060\u3051\u3069\u7656\u304c\u5f37\u304f\u3066\u632b\u6298\u3057\u305f\u3002<\/p>\n\n\n\n
<\/p>\n\n\n\n
\u306a\u308b\u3079\u304f\u62bd\u8c61\u5316\u3057\u3066\u8a71\u3057\u3066\u304d\u305f\u3051\u3069\u305d\u308d\u305d\u308d\u9650\u754c\u306a\u3093\u3067\u4ee5\u4e0b\u306e\u524d\u63d0\u3092\u7f6e\u304d\u307e\u3059<\/p>\n\n\n\n
Raspi\u306e\u6709\u7ddaIP\uff1a192.168.11.3<\/p>\n\n\n\n
MCU\u5074\u306e\u6709\u7ddaIP\uff1a192.168.11.2<\/p>\n\n\n\n
<\/p>\n\n\n\n
\u3000\u3000MCU\u5074\uff08MBED\u5074\uff09\u30b3\u30fc\u30c9\u306f\u4ee5\u4e0b\u3002<\/p>\n\n\n\n
\u3000\u3000\u4ee5\u4e0b\u306fLPC1768\u3067LED\u3060\u3051\u3067\u30b9\u30c6\u30fc\u30c8\u304c\u898b\u308c\u308b\u3088\u3046\u306b\u5fae\u91cf\u5909\u66f4\u3057\u3066\u3044\u308b\u3051\u3069\u3001STMicro\u306eF767ZI\u3084\u3001\u305d\u306e\u30d5\u30a1\u30df\u30ea\u30fc\u306eNIC\u3064\u3044\u3066\u3044\u308b\u5974\u306a\u3089\u4e0a\u8ff0\u306e\u53c2\u8003HP\u306b\u66f8\u3044\u3066\u3042\u308b\u30aa\u30ea\u30b8\u30ca\u30eb\u30b3\u30fc\u30c9\u3092\u305d\u306e\u307e\u307e\u66f8\u3051\u3070\u5168\u90e8\u884c\u3051\u308b\u3068\u601d\u3046\u3002<\/p>\n\n\n\n
<\/p>\n\n\n\n
\u306a\u304a\u3001\u3053\u308c\u304b\u3089\u306e\u6642\u4ee3\u306fMBED\u306fOS6\u3067\u8d77\u50b5\u3092\u524d\u63d0\u306b\u3059\u3079\u304d\u3067\u3059\u3002<\/p>\n\n\n\n
\u904e\u53bb\u306e\u3082\u306e\u306f\u300c\u904e\u53bb\u66f8\u3044\u305f\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3084\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u4f7f\u3044\u307e\u308f\u3057\u305f\u3044\u300d\u6642\u306b\u9650\u5b9a\u3059\u3079\u304d\u3067\u3057\u3087\u3046\u3002\u3068\u3001\u5f37\u304f\u63a8\u5968\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
\u81ea\u5206\u306e\u7d4c\u9a13\u4e0a\u3002\u3048\u3048\u3002<\/p>\n\n\n\n
\u3044\u3064\u304b\u306f\u4f7f\u3048\u306a\u304f\u306a\u308b\u8cc7\u7523\u3092\u5897\u3084\u3057\u3066\u3082\u3057\u3087\u3046\u304c\u306a\u3044\u3063\u3066\u306e\u3068\u3001\u4eca\u5f8cROS2\u306b\u306a\u3063\u3066\u3044\u304f\u3046\u3048\u3067\u3001MBED\u3084\u3063\u3066\u3044\u308b\u4eba\u306f\u307f\u3093\u306aOS\uff16\u524d\u63d0\u3067\u30b3\u30fc\u30c9\u66f8\u3044\u3066\u304f\u308b\u304b\u3089\u3001\u305d\u308c\u306b\u30e9\u30a4\u30c9\u30aa\u30f3\u3057\u305f\u3051\u308c\u3070\u3001\u81ea\u5206\u3082\u5023\u3046\u3057\u304b\u306a\u3044\u3002<\/p>\n\n\n\n
\/* mbed Microcontroller Library\n * Copyright (c) 2019 ARM Limited\n * SPDX-License-Identifier: Apache-2.0\n *\/\n\n#include \"mbed.h\"\n#include \"EthernetInterface.h\"\n#include \"rtos.h\"\n\n\/\/ Blinking rate in milliseconds\n#define BLINKING_RATE     500ms\nDigitalOut led1(LED1);\nDigitalOut led2(LED2);\nDigitalOut led3(LED3);\nDigitalOut led4(LED4);\n\nvoid receive(UDPSocket *receiver);\n\nint main()\n{\n    \/\/ \u9001\u4fe1\u5148\u60c5\u5831\n    const char *destinationIP = \"192.168.11.3\";\/\/raspi\u306e\u6709\u7ddaip\n    const uint16_t destinationPort = 4000;\n\n    \/\/ \u81ea\u6a5f\u60c5\u5831\n    const char *myIP = \"192.168.11.2\";\/\/MBED\u306eIP\n    const char *myNetMask = \"255.255.255.0\";\n    const uint16_t receivePort = 5000;\n\n    \/\/ \u9001\u4fe1\u30c7\u30fc\u30bf\n    const char sendData[100] = \"Hello world!\";\n    led1=1;\n\n    \/\/ \u30a4\u30fc\u30b5\u30cd\u30c3\u30c8\u7d4c\u7531\u3067\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u306b\u63a5\u7d9a\u3059\u308b\u30af\u30e9\u30b9\n    EthernetInterface net;\n    \/\/ IP\u30a2\u30c9\u30ec\u30b9\u3068Port\u306e\u7d44\u307f\u5408\u308f\u305b\u3092\u683c\u7d0d\u3057\u3066\u304a\u304f\u30af\u30e9\u30b9\uff08\u69cb\u9020\u4f53\u3067\u3044\u3044\u306e\u3067\u306f\uff1f\uff09\n    SocketAddress destination, source, myData;\n    \/\/ UDP\u901a\u4fe1\u95a2\u4fc2\u306e\u30af\u30e9\u30b9\n    UDPSocket udp;\n    \/\/ \u53d7\u4fe1\u7528\u30b9\u30ec\u30c3\u30c9\n    Thread receiveThread;\n    led2=1;\n    led1=0;\n\n    \/* \u30de\u30a4\u30b3\u30f3\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u8a2d\u5b9a *\/\n    \/\/ DHCP\u306f\u30aa\u30d5\u306b\u3059\u308b\uff08\u9759\u7684\u306bIP\u306a\u3069\u3092\u8a2d\u5b9a\u3059\u308b\u305f\u3081\uff09\n    net.set_dhcp(false);\n    \/\/ IP\u306a\u3069\u8a2d\u5b9a\n    net.set_network(myIP, myNetMask, \"\");\n\n\/\/    printf(\"start\\n\");\n    led2=1;\n    led1=1;\n\n    \/\/ \u30de\u30a4\u30b3\u30f3\u3092\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306b\u63a5\u7d9a\n    if (net.connect() != 0)\n    {\n\/\/        printf(\"network connection Error\\n\");\n        return -1;\n    }\n    else\n    {\n\/\/        printf(\"network connection success\\n\");\n    }\n\n    led3=1;\n    led2=0;\n    led1=0;\n\n    \/\/ UDP\u30bd\u30b1\u30c3\u30c8\u3092\u30aa\u30fc\u30d7\u30f3\n    udp.open(&net);\n\n    led3=1;\n    led2=0;\n    led1=1;\n\n    \/\/ port\u3092\u30d0\u30a4\u30f3\u30c9\u3059\u308b\n    udp.bind(receivePort);\n\n    \/\/ \u9001\u4fe1\u5148\u306e\u60c5\u5831\u3092\u5165\u529b\n    destination.set_ip_address(destinationIP);\n    destination.set_port(destinationPort);\n    \/\/ \u53d7\u4fe1\u7528\u306e\u30b9\u30ec\u30c3\u30c9\u3092\u30b9\u30bf\u30fc\u30c8\n    receiveThread.start(callback(receive, &udp));\n\n\n\n    while (1)\n    {\n        if (const int result = udp.sendto(destination, sendData, sizeof(sendData)) < 0)\n        {\n\/\/            printf(\"send Error: %d\\n\", result);\n        }\n        ThisThread::sleep_for(1s);\n        led4 = !led4;\n    }\n    receiveThread.join();\n\n    udp.close();\n    net.disconnect();\n    return 0;\n}\n\nvoid receive(UDPSocket *receiver)\n{\n    SocketAddress source;\n    char buffer[100];\n    while (1)\n    {\n        memset(buffer, 0, sizeof(buffer));\n        if (const int result = receiver->recvfrom(&source, buffer, sizeof(buffer)) < 0)\n        {\n\/\/            printf(\"receive Error : %d\", result);\n        }\n        else\n        {\n\/\/            printf(\"from IP:%s port:%d data received:%s\", source.get_ip_address(), source.get_port(), buffer);\n        led2 = !led2;\n        }\n    }\n}\n\n<\/pre>\n\n\n\n
PC\u5074\uff1aMCU\u306eNIC\u3068RaspberryPi\u306eNIC\u3092\u30c0\u30a4\u30ec\u30af\u30c8\u306b\u3064\u306a\u3052\u3066\u3001Raspi\u5074\u304b\u3089<\/p>\n\n\n\n
nc -4lu 192.168.11.3 4000<\/pre>\n\n\n\n
nc\u306a\u3093\u3066\u77e5\u3089\u3093\u3063\u3066\u8a00\u308f\u308c\u305f\u3089\u300csudo apt-get install netcat\u300d\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3002<\/p>\n\n\n\n
\u3053\u308c\u306f\u8d85\u7c21\u6613\u7684\u306a\u30b5\u30fc\u30d0\u3092\u7acb\u3066\u308b\u30bd\u30d5\u30c8\u3002<\/p>\n\n\n\n
\u3053\u308c\u3067udp\u30b5\u30fc\u30d0\u3092\u7acb\u3066\u3066\u4fe1\u53f7\u3092\u805e\u304f\u306a\u308a\u4fe1\u53f7\u3092\u51fa\u3059\u306a\u308a\u3057\u3088\u3046\u3063\u3066\u3053\u3068\u3067\u3059\u3002<\/p>\n\n\n\n
\u4e0a\u306e\u30b3\u30de\u30f3\u30c9\u306f 4\u304cipv4\u3060\u3088\u3063\u3066\u3044\u3046\u660e\u8a18\u3001l\u306flisten\u3059\u308b\u3088\u3063\u3066\u3053\u3068\u3001u\u304cudp\u3060\u3088\u3063\u3066\u3053\u3068\u3001\u3067\u3001\u305d\u306e\u64cd\u4f5c\u3092\u884c\u3046\u5bfe\u8c61\u306eip\u3068\u30dd\u30fc\u30c8\u3002<\/p>\n\n\n\n
\u3053\u308c\u3067\u6b63\u3057\u3051\u308c\u3070MUC\u304c\u9001\u4fe1\u3057\u7d9a\u3051\u3066\u3044\u308b\u300cHello world!\u300d\u3068\u3044\u3046\u6587\u5b57\u304c\u3001\u753b\u9762\u3092\u57cb\u3081\u5c3d\u304f\u3057\u3066\u3044\u304f\u306f\u305a\u3067\u3059\u3002<\/p>\n\n\n\n
\u9006\u306b\u9001\u4fe1\u3092\u3059\u308b\u306b\u306f<\/p>\n\n\n\n
nc -4u 192.168.11.2 5000<\/pre>\n\n\n\n
\u3053\u308c\u3067raspi\u306e\u30b3\u30f3\u30bd\u30fc\u30eb\u3067\u4f55\u304b\u5165\u529b\u3057\u3066\u9001\u4fe1\u3059\u308b\u3068\u3001\u305d\u306e\u305f\u3073LPC1768\u306eLED\uff12\u304c\u70b9\u706f\u6d88\u706f\u7e70\u308a\u8fd4\u3059\u306f\u305a\u3002<\/p>\n\n\n\n
<\/p>\n\n\n\n
<\/p>\n\n\n\n
\u3068\u308a\u3042\u3048\u305a\u3053\u3053\u307e\u3067\u5099\u5fd8\u9332\u3002<\/p>\n\n\n\n
<\/p>\n\n\n\n
\u3042\u3068\u3067\u3061\u3083\u3093\u3068\u66f8\u304f\u3064\u3082\u308a\u3067\u3059\u304c\u3001\u3068\u308a\u3042\u3048\u305a\u91cd\u8981\u306a\u3053\u3068\uff1a<\/p>\n\n\n\n
\u30fbRaspberryPi OS\u300cBluesEye\u300d\u306f\uff16\uff14\u30d3\u30c3\u30c8\u306a\u306e\u3067\u3001ROS\u5165\u308b\u3063\u307d\u3044\u3002<\/p>\n\n\n\n
\u30fbRaspberryPi OS\u3068\u3046\u3068\u3046\u30c7\u30d5\u30a9\u30eb\u30c8\u304cpi \/ raspberry\u3060\u304b\u3089\u4f55\u3082\u3057\u306a\u304f\u3066\u3082\u30fb\u30fb\u30fb\u3067\u306f\u306a\u304f\u306a\u3063\u305f\u3002<\/p>\n\n\n\n
\u30fbMBED\u306fOS\uff16\u3067\u304b\u3051\uff01<\/p>\n\n\n\n
\u30fbWIZnet W7500ECO\u306f\u4e00\u898b\u3088\u3055\u3052\u3060\u304c\u3001\u7656\u304c\u5f37\u304fEthernet\u5468\u308a\u521d\u3081\u3066\u306e\u4eba\u306f\u7121\u7406\u307d\u3002<\/p>\n\n\n\n
\u30fb\u4ffa\u306b\u306f\u7121\u7406\u3060\u3063\u305f\u3093\u3067Shield\u3060\u3051\u6d41\u7528\u30a6\u30de\u30fc\u3057\u305f\u3002<\/p>\n\n\n\n
\u30fb\u305d\u306e\u70b9\u3084\u306f\u308aNUCLEO\u306f\u30b9\u30b2\u30fc\u3002\u4e92\u63db\u6027\u3001\u3068\u3044\u3046\u304bkeil\u3068\u306e\u89aa\u548c\u6027\u534a\u7aef\u306a\u3044\u3002<\/p>\n\n\n\n
\u30fb\u3068\u308a\u3042\u3048\u305aUDP\u901a\u4fe1\u3067\u304d\u305f\u3093\u3067\u6700\u60aa\u3053\u308c\u3067Pi\u304b\u3089MCU\u3092\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3067\u304d\u308b\u306d\uff01\u3002<\/p>\n\n\n\n
<\/p>\n","protected":false},"excerpt":{"rendered":"
\u984c\u540d\u306f\u5f53\u9762\u306e\u6700\u7d42\u76ee\u6a19\u3002 \u4eca\u306f\u307e\u3060UDP\u3067\u306eMBED\uff08LPC1768\u304a\u3088\u3073STmicro NUCLEO\u3068\u306e\u901a\u4fe1\u78ba\u8a8d\u307e\u3067\u3057\u304b\u3067\u304d\u3066\u306a\u3044\uff09 \uff11\uff09RaspberryPi\u306b64bit\u306eblueseye\u3092\u5c0e\u5165 \u3000\u3000\u932c\u91d1\u8853\u5e2b\u898b\u7fd2\u3044\u306e\u90e8 […]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"_links":{"self":[{"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/pages\/5207"}],"collection":[{"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=5207"}],"version-history":[{"count":4,"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/pages\/5207\/revisions"}],"predecessor-version":[{"id":5218,"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/pages\/5207\/revisions\/5218"}],"wp:attachment":[{"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=5207"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}