micro-ROS Library auto-update 11-02-2022 08:31

built_packages

@@ -1,7 +1,7 @@
 
-https://github.com/micro-ROS/micro_ros_utilities d9d01643b3fa3c2272299821da2c922f552194aa
+https://github.com/micro-ROS/micro_ros_utilities ba1c537f4b5c25a9335dfa5c1439d63111e24122
 https://github.com/micro-ROS/rmw-microxrcedds.git 2eee1a22a1c7a14c2ced4714f9bf1484f10ed7c6
-https://github.com/micro-ROS/rcl e83aa1aac7974bec3bb92f6eb984c3a60b7fed36
+https://github.com/micro-ROS/rcl 7816f59d27c64b147e52c5bf046ec84b2ddfafb9
 https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git/ 0c9092cffcfaf78ce02e10cf465ae7737bd7c7f6
 https://github.com/micro-ROS/rosidl_typesupport.git acaa92b845e418d67dd364fc612a7647c1b4a9ec
 https://github.com/ros2/rclc ce4296879a08794ff701978fac45eb885ab9e40c
@@ -13,9 +13,9 @@ https://github.com/eProsima/Micro-XRCE-DDS-Client.git 243b16b659f1b46e6678db21c3
 https://github.com/eProsima/Micro-CDR.git cb4403a8780095df94a7b1936b1e00153c90070d
 https://github.com/ros2/rmw.git 5c822d1f0d15132a983080527e2e3cebbfceb2cc
 https://github.com/ros2/test_interface_files.git 96d65b61e9acdb9480075ffdc00dadddd67ff832
-https://github.com/ros2/rcl.git 0be33d25522a904eeade91984cb979fde34ff37e
+https://github.com/ros2/rcl.git 83ac5b0c38c65b05a80f74f4a8a11665f3506735
 https://github.com/ros2/example_interfaces.git 2977bbe4e5e30c74d3594d31a8212193f5c27761
-https://github.com/ros2/rosidl.git fa8da35735a2b77e3b96f3daedc1d9490ca148b8
+https://github.com/ros2/rosidl.git 0c48c48f7d98e30b1817dae589cdd9b58e44d5f2
 https://github.com/ros2/rcpputils.git b8fe7a3e91c7e1a940120bfb7466d3e1df1d25a8
 https://github.com/ros2/rosidl_dds.git 664a9daadce12d02d35091d1bfde7acabe829354
 https://github.com/ros2/common_interfaces.git fa1d0093db5df80c886093f27810d09c46f5111e

libmicroros/include/rcl/node.h

@@ -35,6 +35,8 @@ extern "C"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
 
+extern const char * const RCL_DISABLE_LOANED_MESSAGES_ENV_VAR;
+
 typedef struct rcl_node_impl_s rcl_node_impl_t;
 
 /// Structure which encapsulates a ROS Node.
@@ -535,6 +537,20 @@ rcl_node_resolve_name(
   bool only_expand,
   char ** output_name);
 
+/// Check if loaned message is disabled, according to the environment variable.
+/**
+ * If the `ROS_DISABLE_LOANED_MESSAGES` environment variable is set to "1",
+ * `disable_loaned_message` will be set to true.
+ *
+ * \param[out] disable_loaned_message Must not be NULL.
+ * \return #RCL_RET_INVALID_ARGUMENT if an argument is not valid, or
+ * \return #RCL_RET_ERROR if an unexpected error happened, or
+ * \return #RCL_RET_OK.
+ */
+RCL_PUBLIC
+rcl_ret_t
+rcl_get_disable_loaned_message(bool * disable_loaned_message);
+
 #ifdef __cplusplus
 }
 #endif

libmicroros/include/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c/field_types.h

@@ -0,0 +1,82 @@
+// Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSIDL_TYPESUPPORT_INTROSPECTION_C__FIELD_TYPES_H_
+#define ROSIDL_TYPESUPPORT_INTROSPECTION_C__FIELD_TYPES_H_
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// Possible types for message fields on a ROS message
+/// The equivalent OMG IDL and C types of the different fields can be found
+/// at http://design.ros2.org/articles/idl_interface_definition.html#type-mapping
+enum rosidl_typesupport_introspection_c_field_types
+{
+  /// Equivalent to float in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT = 1,
+  /// Equivalent to double in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_DOUBLE = 2,
+  /// Equivalent to long double in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_LONG_DOUBLE = 3,
+  /// Equivalent to unsigned char in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_CHAR = 4,
+  /// Equivalent to char16_t in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_WCHAR = 5,
+  /// Equivalent to _Bool in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_BOOLEAN = 6,
+  /// Equivalent to unsigned char in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_OCTET = 7,
+  /// Equivalent to uint8_t in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_UINT8 = 8,
+  /// Equivalent to int8_t in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_INT8 = 9,
+  /// Equivalent to uint16_t in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_UINT16 = 10,
+  /// Equivalent to int16_t in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_INT16 = 11,
+  /// Equivalent to uint32_t in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_UINT32 = 12,
+  /// Equivalent to int32_t in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_INT32 = 13,
+  /// Equivalent to uint64_t in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_UINT64 = 14,
+  /// Equivalent to int64_t in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_INT64 = 15,
+  /// Equivalent to char * in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_STRING = 16,
+  /// Equivalent to char16_t * in C types.
+  rosidl_typesupport_introspection_c__ROS_TYPE_WSTRING = 17,
+
+  /// An embedded message type.
+  rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE = 18,
+
+  /// For backward compatibility only.
+  rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT32 = 1,
+  /// For backward compatibility only.
+  rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT64 = 2,
+  /// For backward compatibility only.
+  rosidl_typesupport_introspection_c__ROS_TYPE_BOOL = 6,
+  /// For backward compatibility only.
+  rosidl_typesupport_introspection_c__ROS_TYPE_BYTE = 7
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ROSIDL_TYPESUPPORT_INTROSPECTION_C__FIELD_TYPES_H_

libmicroros/include/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c/identifier.h

@@ -0,0 +1,33 @@
+// Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSIDL_TYPESUPPORT_INTROSPECTION_C__IDENTIFIER_H_
+#define ROSIDL_TYPESUPPORT_INTROSPECTION_C__IDENTIFIER_H_
+
+#include "rosidl_typesupport_introspection_c/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// String identifying the typesupport introspection implementation in use.
+ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC
+extern const char * rosidl_typesupport_introspection_c__identifier;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ROSIDL_TYPESUPPORT_INTROSPECTION_C__IDENTIFIER_H_

libmicroros/include/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c/message_introspection.h

@@ -0,0 +1,100 @@
+// Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSIDL_TYPESUPPORT_INTROSPECTION_C__MESSAGE_INTROSPECTION_H_
+#define ROSIDL_TYPESUPPORT_INTROSPECTION_C__MESSAGE_INTROSPECTION_H_
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+#include "rosidl_runtime_c/message_initialization.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
+
+#include "rosidl_typesupport_introspection_c/visibility_control.h"
+
+/// Structure used to describe a single field of an interface type.
+typedef struct rosidl_typesupport_introspection_c__MessageMember_s
+{
+  /// The name of the field.
+  const char * name_;
+  /// The type of the field as a value of the field types enum
+  /// rosidl_typesupport_introspection_c_field_types.
+  /// e.g. rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT
+  uint8_t type_id_;
+  /// If the field is a string, the upper bound on the length of the string.
+  size_t string_upper_bound_;
+  /// If the type_id_ value is rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE,
+  /// this points to an array describing the fields of the sub-interface.
+  const rosidl_message_type_support_t * members_;
+  /// True if this field is an array type, false if it is any other type. An
+  /// array has the same value for / type_id_.
+  bool is_array_;
+  /// If is_array_ is true, this contains the number of members in the array.
+  size_t array_size_;
+  /// If is_array_ is true, this specifies if the array has a maximum size. If it is true, the
+  /// value in array_size_ is the maximum size.
+  bool is_upper_bound_;
+  /// The bytes into the interface's in-memory representation that this field can be found at.
+  uint32_t offset_;
+  /// If the interface has a default value, this points to it.
+  const void * default_value_;
+  /// If is_array_ is true, a pointer to a function that gives the size of one member of the array.
+  size_t (* size_function)(const void *);
+  /// If is_array_ is true, a pointer to a function that gives a const pointer to the member of the
+  /// array indicated by index.
+  const void * (*get_const_function)(const void *, size_t index);
+  /// If is_array_ is true, a pointer to a function that gives a pointer to the member of the
+  /// array indicated by index.
+  void * (*get_function)(void *, size_t index);
+  /// Pointer to a function that fetches (i.e. copies) an item from
+  /// an array or sequence member. It takes a pointer to the member,
+  /// an index (which is assumed to be valid), and a pointer to a
+  /// pre-allocated value (which is assumed to be of the correct type).
+  ///
+  /// Available for array and sequence members.
+  void (* fetch_function)(const void *, size_t index, void *);
+  /// Pointer to a function that assigns (i.e. copies) a value to an
+  /// item in an array or sequence member. It takes a pointer to the
+  /// member, an index (which is assumed to be valid), and a pointer
+  /// to an initialized value (which is assumed to be of the correct
+  /// type).
+  ///
+  /// Available for array and sequence members.
+  void (* assign_function)(void *, size_t index, const void *);
+  /// If is_array_ is true, a pointer to a function that resizes the array.
+  bool (* resize_function)(void *, size_t size);
+} rosidl_typesupport_introspection_c__MessageMember;
+
+/// Structure used to describe all fields of a single interface type.
+typedef struct rosidl_typesupport_introspection_c__MessageMembers_s
+{
+  /// The namespace in which the interface resides, e.g. "example_messages__msg" for
+  /// example_messages/msg
+  const char * message_namespace_;
+  /// The name of the interface, e.g. "Int16"
+  const char * message_name_;
+  /// The number of fields in the interface
+  uint32_t member_count_;
+  /// The size of the interface structure in memory
+  size_t size_of_;
+  /// A pointer to the array that describes each field of the interface
+  const rosidl_typesupport_introspection_c__MessageMember * members_;
+  /// The function used to initialise the interface's in-memory representation
+  void (* init_function)(void *, enum rosidl_runtime_c__message_initialization);
+  /// The function used to clean up the interface's in-memory representation
+  void (* fini_function)(void *);
+} rosidl_typesupport_introspection_c__MessageMembers;
+
+#endif  // ROSIDL_TYPESUPPORT_INTROSPECTION_C__MESSAGE_INTROSPECTION_H_

libmicroros/include/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c/service_introspection.h

@@ -0,0 +1,41 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSIDL_TYPESUPPORT_INTROSPECTION_C__SERVICE_INTROSPECTION_H_
+#define ROSIDL_TYPESUPPORT_INTROSPECTION_C__SERVICE_INTROSPECTION_H_
+
+#include <stddef.h>
+#include <stdint.h>
+
+#include "rosidl_runtime_c/service_type_support_struct.h"
+#include "rosidl_runtime_c/visibility_control.h"
+
+#include "rosidl_typesupport_introspection_c/message_introspection.h"
+
+/// This struct provides introspection information for one service definition.
+/// A service is comprised of two interfaces: the request and the response.
+typedef struct rosidl_typesupport_introspection_c__ServiceMembers_s
+{
+  /// The namespace in which the service resides, e.g. "example_messages__srv" for
+  /// example_messages/srv
+  const char * service_namespace_;
+  /// The name of the service, e.g. "AddTwoInts"
+  const char * service_name_;
+  /// A pointer to the introspection information structure for the request interface.
+  const rosidl_typesupport_introspection_c__MessageMembers * request_members_;
+  /// A pointer to the introspection information structure for the response interface.
+  const rosidl_typesupport_introspection_c__MessageMembers * response_members_;
+} rosidl_typesupport_introspection_c__ServiceMembers;
+
+#endif  // ROSIDL_TYPESUPPORT_INTROSPECTION_C__SERVICE_INTROSPECTION_H_

libmicroros/include/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c/visibility_control.h

@@ -0,0 +1,56 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_
+#define ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT __attribute__ ((dllexport))
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT __attribute__ ((dllimport))
+  #else
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT __declspec(dllexport)
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef ROSIDL_TYPESUPPORT_INTROSPECTION_C_BUILDING_DLL
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT
+  #else
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT
+  #endif
+  #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_LOCAL
+#else
+  #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_EXPORT __attribute__ ((visibility("default")))
+  #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_IMPORT
+  #if __GNUC__ >= 4
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC __attribute__ ((visibility("default")))
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC
+    #define ROSIDL_TYPESUPPORT_INTROSPECTION_C_LOCAL
+  #endif
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ROSIDL_TYPESUPPORT_INTROSPECTION_C__VISIBILITY_CONTROL_H_