micro-ROS galactic Library auto-update 20-08-2021 06:17 (#426)

Co-authored-by: pablogs9 <[email protected]>

Author: github-actions[bot]

built_packages

@@ -4,7 +4,7 @@ https://github.com/eProsima/Micro-CDR.git 21c99e0d8d140c50b45f13c8ed3716cb9fa0fb
 https://github.com/eProsima/Micro-XRCE-DDS-Client.git 4ccec07f4089ec1ec49e72c4ed0484ae6515cd75
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 35b1212db08f67c0af727dcb1803cb417b84dcba
 https://github.com/micro-ROS/rcutils 500ee3fcb16bf6260453c75b50c3d7785d724443
-https://github.com/ros2/rclc a540329f97e8910efd0151c8528f40d53ade9e9e
+https://github.com/ros2/rclc a26bbe52097497048c424d530af3ba36a5127725
 https://github.com/micro-ROS/rosidl_typesupport.git 0e03d18809cb08215877ff856a916ec35a066561
 https://github.com/micro-ROS/rmw-microxrcedds.git 30658350495ea891301e11c000f9e22d2ebea62a
 https://github.com/micro-ROS/rcl ae6b2abc43f71ad9e7d1fce6da76d0e2cc88578a

src/cortex-m0plus/libmicroros.a

@@ -260,6 +260,7 @@ rclc_executor_add_subscription(
  * \return `RCL_RET_INVALID_ARGUMENT` if any parameter is a null pointer (NULL context is ignored)
  * \return `RCL_RET_ERROR` if any other error occured
  */
+RCLC_PUBLIC
 rcl_ret_t
 rclc_executor_add_subscription_with_context(
   rclc_executor_t * executor,
@@ -504,6 +505,7 @@ rclc_executor_add_guard_condition(
  * \return `RCL_RET_INVALID_ARGUMENT` if any parameter is a null pointer
  * \return `RCL_RET_ERROR` if any other error occured
  */
+RCLC_PUBLIC
 rcl_ret_t
 rclc_executor_remove_subscription(
   rclc_executor_t * executor,
@@ -531,6 +533,7 @@ rclc_executor_remove_subscription(
  * \return `RCL_RET_INVALID_ARGUMENT` if any parameter is a null pointer
  * \return `RCL_RET_ERROR` if any other error occured
  */
+RCLC_PUBLIC
 rcl_ret_t
 rclc_executor_remove_timer(
   rclc_executor_t * executor,
@@ -558,6 +561,7 @@ rclc_executor_remove_timer(
  * \return `RCL_RET_INVALID_ARGUMENT` if any parameter is a null pointer
  * \return `RCL_RET_ERROR` if any other error occured
  */
+RCLC_PUBLIC
 rcl_ret_t
 rclc_executor_remove_client(
   rclc_executor_t * executor,
@@ -585,6 +589,7 @@ rclc_executor_remove_client(
  * \return `RCL_RET_INVALID_ARGUMENT` if any parameter is a null pointer
  * \return `RCL_RET_ERROR` if any other error occured
  */
+RCLC_PUBLIC
 rcl_ret_t
 rclc_executor_remove_service(
   rclc_executor_t * executor,
@@ -611,6 +616,7 @@ rclc_executor_remove_service(
  * \return `RCL_RET_INVALID_ARGUMENT` if any parameter is a null pointer
  * \return `RCL_RET_ERROR` if any other error occured
  */
+RCLC_PUBLIC
 rcl_ret_t
 rclc_executor_remove_guard_condition(
   rclc_executor_t * executor,

src/cortex-m3/libmicroros.a

@@ -23,7 +23,12 @@
 #include <rcl/error_handling.h>
 #include <rcl_lifecycle/rcl_lifecycle.h>
 
-#include "rclc/node.h"
+#include <lifecycle_msgs/srv/change_state.h>
+#include <lifecycle_msgs/srv/get_state.h>
+#include <lifecycle_msgs/srv/get_available_states.h>
+
+#include <rclc/node.h>
+#include <rclc/executor.h>
 #include "rclc_lifecycle/visibility_control.h"
 
 typedef struct rclc_lifecycle_callback_map_t
@@ -38,8 +43,61 @@ typedef struct rclc_lifecycle_node_t
   rcl_node_t * node;
   rcl_lifecycle_state_machine_t * state_machine;
   rclc_lifecycle_callback_map_t callbacks;
+  bool publish_transitions;
+
+  lifecycle_msgs__srv__ChangeState_Request cs_req;
+  lifecycle_msgs__srv__ChangeState_Response cs_res;
+  lifecycle_msgs__srv__GetState_Request gs_req;
+  lifecycle_msgs__srv__GetState_Response gs_res;
+  lifecycle_msgs__srv__GetAvailableStates_Request gas_req;
+  lifecycle_msgs__srv__GetAvailableStates_Response gas_res;
 } rclc_lifecycle_node_t;
 
+/// Structure which encapsulates a ROS Lifecycle Node.
+typedef struct rclc_lifecycle_service_context_t
+{
+  rclc_lifecycle_node_t * lifecycle_node;
+} rclc_lifecycle_service_context_t;
+
+RCLC_LIFECYCLE_PUBLIC
+rcl_ret_t
+rclc_lifecycle_init_get_state_server(
+  rclc_lifecycle_node_t * lifecycle_node,
+  rclc_executor_t * executor);
+
+RCLC_LIFECYCLE_PUBLIC
+rcl_ret_t
+rclc_lifecycle_init_get_available_states_server(
+  rclc_lifecycle_node_t * lifecycle_node,
+  rclc_executor_t * executor);
+
+RCLC_LIFECYCLE_PUBLIC
+rcl_ret_t
+rclc_lifecycle_init_change_state_server(
+  rclc_lifecycle_node_t * lifecycle_node,
+  rclc_executor_t * executor);
+
+RCLC_LIFECYCLE_PUBLIC
+void
+rclc_lifecycle_get_state_callback(
+  const void * req,
+  void * res,
+  void * context);
+
+RCLC_LIFECYCLE_PUBLIC
+void
+rclc_lifecycle_get_available_states_callback(
+  const void * req,
+  void * res,
+  void * context);
+
+RCLC_LIFECYCLE_PUBLIC
+void
+rclc_lifecycle_change_state_callback(
+  const void * req,
+  void * res,
+  void * context);
+
 RCLC_LIFECYCLE_PUBLIC
 rcl_ret_t
 rclc_make_node_a_lifecycle_node(
@@ -95,7 +153,7 @@ rclc_lifecycle_execute_callback(
 
 RCLC_LIFECYCLE_PUBLIC
 rcl_ret_t
-rcl_lifecycle_node_fini(
+rclc_lifecycle_node_fini(
   rclc_lifecycle_node_t * node,
   rcl_allocator_t * allocator);