micro-ROS foxy Library auto-update 29-07-2021 06:18 (#401)

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

Author: github-actions[bot]

built_packages

@@ -6,13 +6,13 @@ https://github.com/ament/googletest.git 059029afcd06de344ad0ef72dc4554ada268060c
 https://github.com/ament/ament_cmake.git 589cf00e21b100f2844b127bb53743b7bf29ee7b
 https://github.com/ament/ament_lint.git 418a69c7e0f922adc889ac1bc2a7dcf721bf7060
 https://github.com/ros2/ament_cmake_ros.git 7b6b599c3fc8023806db2a97b344e8610902adac
-https://github.com/micro-ROS/rmw-microxrcedds.git e483ca62ff3d0843748b4aa8008bdc6de61abba7
+https://github.com/micro-ROS/rmw-microxrcedds.git 8594729864049188151136e74cb859b5bba01ecc
 https://github.com/micro-ROS/rcl fc14a9a73f5e0579ec0c902a1a4375c9a013cabf
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git acb2fb6f7b5bde21b47fd7e8c03d84f20b302887
 https://github.com/micro-ROS/rosidl_typesupport.git 5d974dbee4cd6988ce33923246eb404db327fad8
 https://github.com/micro-ROS/rcutils 0fd0c442dfa343dcfd0cb3674012039bed0c9389
 https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing d11b87737245b8456bbada44dfa7b1d670b1c4d0
-https://github.com/ros2/rclc 1ac4a28dbe4b788ae9a05b7a001c717fb304f183
+https://github.com/ros2/rclc 5ad7f6b3bdd3f63075e2092a4a0bda1a81420a18
 https://github.com/micro-ROS/micro_ros_msgs.git c8af6d4f246d1b324e6578ec967c8ddc1f4093d5
 https://github.com/ros-controls/control_msgs 338ef98b4a4d763fe5df39e86a1967844ceb506e
 https://github.com/ros2/rcl_interfaces.git ee04e046132be9d9fdcdaeff8dd54a5d0d9aa022
@@ -31,4 +31,4 @@ https://github.com/ros2/rosidl.git 75964cbdb3ba13854e749dcd2dd8274b73a5360c
 https://github.com/ros2/rmw.git 6d23f9fc6bfe4616e1efeeefee7a927635a83afe
 https://github.com/ros2/rosidl_defaults.git cbc7ffd38d98c5b15823fc62b0891d2264ae4472
 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/cortex-m0plus/libmicroros.a

@@ -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/cortex-m3/libmicroros.a

@@ -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.