micro-ROS Library auto-update 17-04-2022 06:08

built_packages

@@ -9,7 +9,7 @@ https://github.com/ros2/ament_cmake_ros.git 60572fa1bec50b9e6fbe64e1b23640d21c15
 https://github.com/ros-controls/control_msgs a555c37f1a3536bb452ea555c58fdd9344d87614
 https://github.com/ros2/common_interfaces.git f3cb4848560e91596e7688e8ac1816828fa460cb
 https://github.com/ros2/rosidl_defaults.git 1f1ee2a6169837b10302ffb2a52fb2f2a57239b2
-https://github.com/ros2/rcl.git 24ad44e984ad36be2be818d558bc0710329a5da7
+https://github.com/ros2/rcl.git 71baed437d9b50c303f46ffe79ca118ad14e1735
 https://github.com/ros2/unique_identifier_msgs.git 27767cefcf8a80da44641dc208c57722c28aa11c
 https://github.com/ros2/rosidl.git de0556a13be36ca62d6a6573da369e3fe2eb204c
 https://github.com/ros2/test_interface_files.git a0c8f5e338490ddf8b98238dce35c06810115e8b
@@ -25,7 +25,7 @@ https://github.com/eProsima/Micro-XRCE-DDS-Client.git 9b9278c0b3a633aa7ad634bda2
 https://github.com/eProsima/Micro-CDR.git cb4403a8780095df94a7b1936b1e00153c90070d
 https://github.com/yaml/libyaml.git 2c891fc7a770e8ba2fec34fc6b545c672beb37e6
 https://github.com/micro-ROS/rcl 067ef1effe7ada177ffa1fc3b58237eaceb0699c
-https://github.com/ros2/rclc 79a2df204ff8f745539d842cf669fadd1dd4ca7e
+https://github.com/ros2/rclc b73a773ca725e67898ece0531849d20077967456
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 28b88ac044e504095fbe9381508925e0aec7bc24
 https://github.com/micro-ROS/rcutils 342c39ce7cbc3d90ea1d4552ddcbb45ae14bec6d
 https://github.com/micro-ROS/rosidl_typesupport.git 0a28c7b07241b2f287c5f6f8090eb6a92cb4519f

libmicroros/include/actionlib_msgs/msg/detail/goal_status__struct.h

@@ -38,7 +38,7 @@ enum
 /// Constant 'PREEMPTED'.
 /**
   * The goal received a cancel request after it started executing
-  * and has since completed its execution (Terminal State).
+  *   and has since completed its execution (Terminal State).
  */
 enum
 {
@@ -78,7 +78,7 @@ enum
 /// Constant 'PREEMPTING'.
 /**
   * The goal received a cancel request after it started executing
-  *    and has not yet completed execution.
+  * and has not yet completed execution.
  */
 enum
 {
@@ -88,7 +88,7 @@ enum
 /// Constant 'RECALLING'.
 /**
   * The goal received a cancel request before it started executing, but
-  *    the action server has not yet confirmed that the goal is canceled.
+  * the action server has not yet confirmed that the goal is canceled.
  */
 enum
 {
@@ -108,7 +108,7 @@ enum
 /// Constant 'LOST'.
 /**
   * An action client can determine that a goal is LOST. This should not
-  *    be sent over the wire by an action server.
+  * be sent over the wire by an action server.
  */
 enum
 {

libmicroros/include/control_msgs/action/detail/follow_joint_trajectory__struct.h

@@ -122,9 +122,9 @@ typedef struct control_msgs__action__FollowJointTrajectory_Result
   /// Human readable description of the error code. Contains complementary
   /// information that is especially useful when execution fails, for instance:
   /// - INVALID_GOAL: The reason for the invalid goal (e.g., the requested
-  ///   trajectory is in the past).
+  /// trajectory is in the past).
   /// - INVALID_JOINTS: The mismatch between the expected controller joints
-  /// and those provided in the goal.
+  ///   and those provided in the goal.
   /// - PATH_TOLERANCE_VIOLATED and GOAL_TOLERANCE_VIOLATED: Which joint
   /// violated which tolerance, and by how much.
   rosidl_runtime_c__String error_string;

libmicroros/include/control_msgs/msg/detail/joint_tolerance__struct.h

@@ -30,8 +30,8 @@ extern "C"
   * abort.
   *
   * There are two special values for tolerances:
-  * * 0 - The tolerance is unspecified and will remain at whatever the default is
-  * * -1 - The tolerance is "erased".  If there was a default, the joint will be
+  *  * 0 - The tolerance is unspecified and will remain at whatever the default is
+  *  * -1 - The tolerance is "erased".  If there was a default, the joint will be
   *         allowed to move without restriction.
  */
 typedef struct control_msgs__msg__JointTolerance

libmicroros/include/geometry_msgs/msg/detail/inertia__struct.h

@@ -31,9 +31,9 @@ typedef struct geometry_msgs__msg__Inertia
   /// Center of mass
   geometry_msgs__msg__Vector3 com;
   /// Inertia Tensor
-  ///     | ixx ixy ixz |
+  /// | ixx ixy ixz |
   /// I = | ixy iyy iyz |
-  ///     | ixz iyz izz |
+  /// | ixz iyz izz |
   double ixx;
   double ixy;
   double ixz;

libmicroros/include/rclc_parameter/rclc_parameter.h

@@ -62,13 +62,43 @@ typedef struct rcl_interfaces__srv__ListParameters_Response ListParameters_Respo
 typedef struct rcl_interfaces__msg__Parameter Parameter;
 typedef struct rcl_interfaces__msg__ParameterValue ParameterValue;
 typedef struct rcl_interfaces__msg__Parameter__Sequence Parameter__Sequence;
+typedef struct rcl_interfaces__msg__ParameterDescriptor ParameterDescriptor;
+typedef struct rcl_interfaces__msg__ParameterDescriptor__Sequence ParameterDescriptor__Sequence;
 typedef struct rcl_interfaces__msg__ParameterEvent ParameterEvent;
 
 // Number of RCLC executor handles required for a parameter server
-#define RCLC_PARAMETER_EXECUTOR_HANDLES_NUMBER 5
+#define RCLC_EXECUTOR_PARAMETER_SERVER_HANDLES 5
+#define RCLC_PARAMETER_MODIFICATION_REJECTED 4001
+#define RCLC_PARAMETER_TYPE_MISMATCH 4002
+#define RCLC_PARAMETER_UNSUPORTED_ON_LOW_MEM 4003
+#define RCLC_PARAMETER_DISABLED_ON_CALLBACK 40004
 
-// On parameter modified callback
-typedef void (* ModifiedParameter_Callback)(Parameter * param);
+/**
+ *  Parameter event callback.
+ *  This callback will allow the user to allow or reject the following events:
+ *  - Parameter value change: Internal and external parameter set on existing parameters.
+ *  - Parameter creation: External parameter set on unexisting parameter if `allow_undeclared_parameters` is set.
+ *  - Parameter delete: External parameter delete on existing parameter.
+ *
+ *  Parameters modifications are disabled while this callback is executed.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] old_param Parameter actual value, `NULL` for new parameter request.
+ * \param[in] new_param Parameter new value, `NULL` for parameter removal request.
+ * \param[in] context Context of the callback.
+ * \return `true` to accept the parameter event. If the operation was rejected, `false` is returned.
+ */
+typedef bool (* rclc_parameter_callback_t)(
+  const Parameter * old_param,
+  const Parameter * new_param,
+  void * context);
 
 // Allowed RCLC parameter types
 typedef enum rclc_parameter_type_t
@@ -84,6 +114,8 @@ typedef struct rclc_parameter_options_t
 {
   bool notify_changed_over_dds;
   size_t max_params;
+  bool allow_undeclared_parameters;
+  bool low_mem_mode;
 } rclc_parameter_options_t;
 
 // Container for RCLC parameter server
@@ -112,12 +144,17 @@ typedef struct rclc_parameter_server_t
   DescribeParameters_Response describe_response;
 
   Parameter__Sequence parameter_list;
+  ParameterDescriptor__Sequence parameter_descriptors;
 
   ParameterEvent event_list;
 
-  ModifiedParameter_Callback on_modification;
+  rclc_parameter_callback_t on_modification;
+  void * context;
+  bool on_callback;
 
   bool notify_changed_over_dds;
+  bool allow_undeclared_parameters;
+  bool low_mem_mode;
 } rclc_parameter_server_t;
 
 /**
@@ -202,10 +239,35 @@ RCLC_PARAMETER_PUBLIC
 rcl_ret_t rclc_executor_add_parameter_server(
   rclc_executor_t * executor,
   rclc_parameter_server_t * parameter_server,
-  ModifiedParameter_Callback on_modification);
+  rclc_parameter_callback_t on_modification);
+
+/**
+ *  Adds a RCLC parameter server to an RCLC executor
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] executor RCLC executor
+ * \param[in] parameter_server preallocated rclc_parameter_server_t
+ * \param[in] on_modification on parameter modification callback
+ * \param[in] context context of the parameter modification callback
+ * \return `RCL_RET_OK` if success
+ */
+RCLC_PARAMETER_PUBLIC
+rcl_ret_t rclc_executor_add_parameter_server_with_context(
+  rclc_executor_t * executor,
+  rclc_parameter_server_t * parameter_server,
+  rclc_parameter_callback_t on_modification,
+  void * context);
 
 /**
  *  Adds a RCLC parameter to a server
+ *  This method is disabled on user callback execution.
  *
  * <hr>
  * Attribute          | Adherence
@@ -228,7 +290,30 @@ rclc_add_parameter(
   rclc_parameter_type_t type);
 
 /**
- *  Sets the value of an existing a RCLC bool parameter
+ *  Deletes a RCLC parameter from the server.
+ *  This method is disabled on user callback execution.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] parameter_server preallocated rclc_parameter_server_t
+ * \param[in] parameter_name name of the parameter
+ * \return `RCL_RET_OK` if success
+ */
+RCLC_PARAMETER_PUBLIC
+rcl_ret_t
+rclc_delete_parameter(
+  rclc_parameter_server_t * parameter_server,
+  const char * parameter_name);
+
+/**
+ *  Sets the value of an existing a RCLC bool parameter.
+ *  This method is disabled on user callback execution.
  *
  * <hr>
  * Attribute          | Adherence
@@ -251,7 +336,8 @@ rclc_parameter_set_bool(
   bool value);
 
 /**
- *  Sets the value of an existing a RCLC integer parameter
+ *  Sets the value of an existing a RCLC integer parameter.
+ *  This method is disabled on user callback execution.
  *
  * <hr>
  * Attribute          | Adherence
@@ -274,7 +360,8 @@ rclc_parameter_set_int(
   int64_t value);
 
 /**
- *  Sets the value of an existing a RCLC double parameter
+ *  Sets the value of an existing a RCLC double parameter.
+ *  This method is disabled on user callback execution.
  *
  * <hr>
  * Attribute          | Adherence
@@ -365,6 +452,117 @@ rclc_parameter_get_double(
   const char * parameter_name,
   double * output);
 
+
+/**
+ * Add a description to a parameter. (This feature is disabled in low memory mode.)
+ * This description will be returned on describe parameters requests.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] parameter_server preallocated rclc_parameter_server_t
+ * \param[in] parameter_name name of the parameter
+ * \param[in] parameter_description description of the parameter
+ * \param[in] additional_constraints constraints description
+ * \param[in] read_only read only flag
+ * \return `RCL_RET_OK` if success
+ */
+RCLC_PARAMETER_PUBLIC
+rcl_ret_t
+rclc_add_parameter_description(
+  rclc_parameter_server_t * parameter_server,
+  const char * parameter_name,
+  const char * parameter_description,
+  const char * additional_constraints);
+
+/**
+ * Sets a parameter read only flag.
+ * Read only parameters can only be modified from the `rclc_parameter_set` API.
+ * This method is disabled on user callback execution.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] parameter_server preallocated rclc_parameter_server_t
+ * \param[in] parameter_name name of the parameter
+ * \param[in] read_only read only flag
+ * \return `RCL_RET_OK` if success
+ */
+RCLC_PARAMETER_PUBLIC
+rcl_ret_t
+rclc_set_parameter_read_only(
+  rclc_parameter_server_t * parameter_server,
+  const char * parameter_name,
+  bool read_only);
+
+/**
+ * Sets a constraint on an integer parameter.
+ * This constraint specification will be returned on describe parameters requests.
+ * This method is disabled on user callback execution.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] parameter_server preallocated rclc_parameter_server_t
+ * \param[in] parameter_name name of the parameter
+ * \param[in] from_value start value for valid values, inclusive.
+ * \param[in] to_value end value for valid values, inclusive.
+ * \param[in] step size of valid steps between the from and to bound.
+ * \return `RCL_RET_OK` if success
+ */
+RCLC_PARAMETER_PUBLIC
+rcl_ret_t
+rclc_add_parameter_constraint_integer(
+  rclc_parameter_server_t * parameter_server,
+  const char * parameter_name,
+  int64_t from_value,
+  int64_t to_value,
+  uint64_t step);
+
+/**
+ * Sets a constraint on an double parameter.
+ * This constraint specification will be returned on describe parameters requests.
+ * This method is disabled on user callback execution.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] parameter_server preallocated rclc_parameter_server_t
+ * \param[in] parameter_name name of the parameter
+ * \param[in] from_value start value for valid values, inclusive.
+ * \param[in] to_value end value for valid values, inclusive.
+ * \param[in] step size of valid steps between the from and to bound.
+ * \return `RCL_RET_OK` if success
+ */
+RCLC_PARAMETER_PUBLIC
+rcl_ret_t
+rclc_add_parameter_constraint_double(
+  rclc_parameter_server_t * parameter_server,
+  const char * parameter_name,
+  double from_value,
+  double to_value,
+  double step);
+
 #if __cplusplus
 }
 #endif  // if __cplusplus