micro-ROS Library auto-update 29-07-2021 06:18

built_packages

@@ -6,14 +6,14 @@ https://github.com/ament/googletest.git 79c4c9db1a7bc8bc5473a280499bf776173653d6
 https://github.com/ament/ament_cmake.git d87b9776e0178f5a31d7e389990b5de6fc3067dd
 https://github.com/ament/ament_lint.git 4bc68c815ce308b3443e3cb38fd71e2b03ffdc40
 https://github.com/ros2/ament_cmake_ros.git 7b6b599c3fc8023806db2a97b344e8610902adac
-https://github.com/micro-ROS/rmw-microxrcedds.git fd1570af6906e6323db2345aa6cd27709514a5af
+https://github.com/micro-ROS/rmw-microxrcedds.git 30658350495ea891301e11c000f9e22d2ebea62a
 https://github.com/micro-ROS/rcl ae6b2abc43f71ad9e7d1fce6da76d0e2cc88578a
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git d41a3103458636d1e9df88508077d657d01d5ccb
 https://github.com/micro-ROS/rosidl_typesupport.git 0e03d18809cb08215877ff856a916ec35a066561
 https://github.com/micro-ROS/rcutils 500ee3fcb16bf6260453c75b50c3d7785d724443
 https://github.com/micro-ROS/micro_ros_utilities c829971bd33ac1f14a94aa722476110b4b59eaf9
 https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git/ 07ae5aa5c456f887f2aa82896e207a3209309a50
-https://github.com/ros2/rclc be7c43c0b0dfd7d5b9ba6026631196ad3a09d447
+https://github.com/ros2/rclc b04e6ca8142ce1edf28d558998507bef5a203ae7
 https://github.com/micro-ROS/micro_ros_msgs.git c8af6d4f246d1b324e6578ec967c8ddc1f4093d5
 https://github.com/ros-controls/control_msgs 11fdcdf76434d8ca9047787d17add4e18f56e9d6
 https://github.com/ros2/rcl_interfaces.git c5d0a20150533a6cb93d5dcbd6e27cea9300aa6e
@@ -31,4 +31,4 @@ https://github.com/ros2/rosidl.git dceaeb91f72a72e3867557690e2cc074e349230c
 https://github.com/ros2/rmw.git f9f4ef46f8dd3ef938526a1140a3c57c155a259f
 https://github.com/ros2/rosidl_defaults.git 6665e8848389f2c67d7c68ce7c53ca957ebcc97e
 https://github.com/eProsima/Micro-CDR.git 21c99e0d8d140c50b45f13c8ed3716cb9fa0fb27
-https://github.com/eProsima/Micro-XRCE-DDS-Client.git 2693d83bd9c37bd4615c38163b9078084fc79730
+https://github.com/eProsima/Micro-XRCE-DDS-Client.git 4ccec07f4089ec1ec49e72c4ed0484ae6515cd75

src/rclc/executor.h

@@ -233,7 +233,7 @@ rclc_executor_add_subscription(
   rclc_executor_t * executor,
   rcl_subscription_t * subscription,
   void * msg,
-  rclc_callback_t callback,
+  rclc_subscription_callback_t callback,
   rclc_executor_handle_invocation_t invocation);
 
 /**

src/rclc/executor_handle.h

@@ -31,10 +31,17 @@ extern "C"
 typedef enum
 {
   SUBSCRIPTION,
+  SUBSCRIPTION_WITH_CONTEXT,
   TIMER,
+  // TIMER_WITH_CONTEXT,  // TODO
   CLIENT,
+  CLIENT_WITH_REQUEST_ID,
+  // CLIENT_WITH_CONTEXT,  // TODO
   SERVICE,
+  SERVICE_WITH_REQUEST_ID,
+  SERVICE_WITH_CONTEXT,
   GUARD_CONDITION,
+  // GUARD_CONDITION_WITH_CONTEXT,  //TODO
   NONE
 } rclc_executor_handle_type_t;
 
@@ -46,21 +53,13 @@ typedef enum
   ALWAYS
 } rclc_executor_handle_invocation_t;
 
-typedef enum
-{
-  CB_UNDEFINED,
-  CB_WITHOUT_REQUEST_ID,
-  CB_WITH_REQUEST_ID,
-  CB_WITH_CONTEXT,
-} rclc_executor_handle_callback_type_t;
-
-
-/// Type definition for callback function.
-typedef void (* rclc_callback_t)(const void *);
-
 /// Type definition for subscription callback function
 /// - incoming message
-// typedef void (* rclc_subscription_callback_t)(const void *);
+typedef void (* rclc_subscription_callback_t)(const void *);
+
+/// Type definition (duplicate) for subscription callback function (alias for foxy and galactic).
+/// - incoming message
+typedef rclc_subscription_callback_t rclc_callback_t;
 
 /// Type definition for subscription callback function
 /// - incoming message
@@ -137,7 +136,7 @@ typedef struct
 
   /// Storage for callbacks
   union {
-    rclc_callback_t callback;
+    rclc_subscription_callback_t subscription_callback;
     rclc_subscription_callback_with_context_t subscription_callback_with_context;
     rclc_service_callback_t service_callback;
     rclc_service_callback_with_request_id_t service_callback_with_reqid;
@@ -159,8 +158,6 @@ typedef struct
   /// Interval variable. Flag, which is true, if new data is available from DDS queue
   /// (is set after calling rcl_take)
   bool data_available;
-  /// callback type for service/client
-  rclc_executor_handle_callback_type_t callback_type;
 } rclc_executor_handle_t;
 
 /// Information about total number of subscriptions, guard_conditions, timers, subscription etc.

src/rmw_microros/timing.h

@@ -0,0 +1,79 @@
+// Copyright 2021 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * @file
+ */
+
+#ifndef RMW_MICROROS__TIMING_H_
+#define RMW_MICROROS__TIMING_H_
+
+#include <rmw/rmw.h>
+#include <rmw/ret_types.h>
+#include <rmw/init_options.h>
+#include <rmw/error_handling.h>
+#include <uxr/client/util/time.h>
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif  // if defined(__cplusplus)
+
+/** \addtogroup rmw micro-ROS RMW API
+ *  @{
+ */
+
+/**
+ * \brief Sets the DDS-XRCE session spin time in reliable publication
+ *
+ * \param[in] publisher publisher where the spin time is configured
+ * \param[in] session_timeout time in milliseconds
+ * \return RMW_RET_OK when success.
+ * \return RMW_RET_INVALID_ARGUMENT If publisher is not valid or unexpected arguments.
+ */
+rmw_ret_t rmw_uros_set_publisher_session_timeout(
+  rmw_publisher_t * publisher,
+  int session_timeout);
+
+/**
+ * \brief Sets the DDS-XRCE session spin time in reliable service server
+ *
+ * \param[in] service service where the spin time is configured
+ * \param[in] session_timeout time in milliseconds
+ * \return RMW_RET_OK when success.
+ * \return RMW_RET_INVALID_ARGUMENT If service is not valid or unexpected arguments.
+ */
+rmw_ret_t rmw_uros_set_service_session_timeout(
+  rmw_service_t * service,
+  int session_timeout);
+
+/**
+ * \brief Sets the DDS-XRCE session spin time in reliable service client
+ *
+ * \param[in] client client where the spin time is configured
+ * \param[in] session_timeout time in milliseconds
+ * \return RMW_RET_OK when success.
+ * \return RMW_RET_INVALID_ARGUMENT If client is not valid or unexpected arguments.
+ */
+rmw_ret_t rmw_uros_set_client_session_timeout(
+  rmw_client_t * client,
+  int session_timeout);
+
+/** @}*/
+
+#if defined(__cplusplus)
+}
+#endif  // if defined(__cplusplus)
+
+#endif  // RMW_MICROROS__TIMING_H_

src/uxr/client/core/session/session.h

@@ -138,7 +138,8 @@ typedef void (* uxrOnReplyFunc) (
  * @param session   Session structure related to the buffer to be flushed.
  */
 typedef bool (* uxrOnBuffersFull) (
-        struct uxrSession* session);
+        struct uxrSession* session,
+        void* args);
 
 #ifdef PERFORMANCE_TESTING
 /**
@@ -156,6 +157,7 @@ typedef void (* uxrOnPerformanceFunc) (
 typedef struct uxrContinuousArgs
 {
     uxrOnBuffersFull flush_callback;
+    void* flush_callback_args;
     uxrStreamId stream_id;
     size_t data_size;
 } uxrContinuousArgs;

src/uxr/client/core/session/write_access.h

@@ -116,12 +116,13 @@ UXRDLLAPI uint16_t uxr_prepare_output_stream(
  *        The submessage will be sent when `uxr_flash_output_stream` or `uxr_run_session` function are called.
  *        This function handles the buffer flush by means of  `uxrOnBuffersFull` callback.
  *        As a result of the reception of this submessage, the Agent will write a topic into the DDS Global-Data-Space.
- * @param session           A uxrSession structure previously initialized.
- * @param stream_id         The output stream identifier where the WRITE_DATA submessage will be buffered.
- * @param datawriter_id     The identifier of the XRCE DataWriter that will write the topic into the DDS GDS.
- * @param ub                The ucdrBuffer structure used for serializing the topic.
- * @param data_size         The size of the topic in bytes.
- * @param flush_callback    Callback that is call by the library when user should flush output buffers.
+ * @param session              A uxrSession structure previously initialized.
+ * @param stream_id            The output stream identifier where the WRITE_DATA submessage will be buffered.
+ * @param datawriter_id        The identifier of the XRCE DataWriter that will write the topic into the DDS GDS.
+ * @param ub                   The ucdrBuffer structure used for serializing the topic.
+ * @param data_size            The size of the topic in bytes.
+ * @param flush_callback       Callback that is call by the library when user should flush output buffers.
+ * @param flush_callback_args  Arguments passed to flush callback.
  * @return A `request_id` that identifies the XRCE request made by the Entity.
  *         This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions.
  *  */
@@ -132,7 +133,8 @@ UXRDLLAPI uint16_t uxr_prepare_output_stream_fragmented(
         uxrObjectId datawriter_id,
         ucdrBuffer* ub,
         size_t data_size,
-        uxrOnBuffersFull flush_callback);
+        uxrOnBuffersFull flush_callback,
+        void* flush_callback_args);
 
 /** @}*/