micro-ROS foxy Library auto-update 03-03-2021 06:25 (#151)

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

Author: github-actions[bot]

built_packages

@@ -1,7 +1,7 @@
 
 https://github.com/ros2/rclc 1b8d45a0bb63704e5aab91f3eeb7530cff414318
 https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing d11b87737245b8456bbada44dfa7b1d670b1c4d0
-https://github.com/micro-ROS/rmw-microxrcedds.git a8f2a227e35c7ae42796a12505f9af6071e7edf1
+https://github.com/micro-ROS/rmw-microxrcedds.git 68adec19d27ad7d1ede92d475d59f040b4c05b6c
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git f917106cd82ad17853e48ea2641b50563cd473dd
 https://github.com/micro-ROS/rcl 8eddc13db38bdecdd3089b8c96d13f0df3f5b35d
 https://github.com/micro-ROS/rcutils 6f0e5d7d3da4ab1c1744dfa8452fdd5e01e912d9
@@ -22,7 +22,7 @@ https://github.com/ros2/test_interface_files.git c4d710e3394ad09a71a257f54906886
 https://github.com/ros2/common_interfaces.git 3927af17998a4f59f77f67d8ced4ec94a4f1589f
 https://github.com/ros2/tinydir_vendor.git f1ee71b2fb02b24ee40123a905b16922938ca80a
 https://github.com/ros2/example_interfaces.git 5e6f2e03a4dc6383383fe107fe0fa8f7019d23cb
-https://github.com/eProsima/Micro-XRCE-DDS-Client.git 185b0e6b89a7cb5be2044c465d5e5201a69e956b
+https://github.com/eProsima/Micro-XRCE-DDS-Client.git 6054d81812f12546e420b27f32295787f2f6862c
 https://github.com/eProsima/Micro-CDR.git 2f1a688a9f7ca8379e64a8941bf5ce27bd7b1f94
 https://github.com/ros-controls/control_msgs 653b646ba34d2166149cc02269bac0f48beb72b0
 https://github.com/ros2/ament_cmake_ros.git edfb3adf52694fddd4e47970bc7e600cf6176081

src/cortex-m0plus/libmicroros.a

@@ -63,6 +63,25 @@ uint16_t uxr_buffer_reply(
         uint8_t* buffer,
         size_t len);
 
+/**
+ * @brief Buffers into the stream identified by `stream_id` an XRCE WRITE_DATA submessage.
+ *        As a consequence, an XRCE request is generated associated to the WRITE_DATA submessage.
+ * 
+ * @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 buffer        The pointer to the topic data. 
+ * @param len           The length of the topic data.
+ * @return A `request_id` that identifies the XRCE request made by the Publisher.
+ *         This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions.
+ */
+uint16_t uxr_buffer_topic(
+    uxrSession* session,
+    uxrStreamId stream_id,
+    uxrObjectId datawriter_id,
+    uint8_t* buffer,
+    size_t len);
+
 /**
  * @brief Buffers into the stream identified by `stream_id` an XRCE WRITE_DATA submessage.
  *        The submessage will be sent when `uxr_flash_output_stream` or `uxr_run_session` function are called.
@@ -72,12 +91,13 @@ uint16_t uxr_buffer_reply(
  * @param datawriter_id     The identifier of the XRCE DataWriter that will write the topic into the DDS GDS.
  * @param ub_topic          The ucdrBuffer structure used for serializing the topic.
  * @param topic_size        The size of the topic in bytes.
- * @return A `bool` that identifies the request made by the Client, if the message can be serialized
- */
-UXRDLLAPI bool uxr_prepare_output_stream(
+ * @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.
+ *  */
+UXRDLLAPI uint16_t uxr_prepare_output_stream(
         uxrSession* session,
         uxrStreamId stream_id,
-        uxrObjectId datawriter_id,
+        uxrObjectId entity_id,
         struct ucdrBuffer* ub_topic,
         uint32_t topic_size);
 
@@ -93,10 +113,11 @@ UXRDLLAPI bool uxr_prepare_output_stream(
  * @param ub                The ucdrBuffer structure used for serializing the topic.
  * @param topic_size        The size of the topic in bytes.
  * @param flush_callback    Callback that is call by the library when user should flush output buffers.
- * @return A `bool` that identifies the request made by the Clientif the message can be serialized
- */
+ * @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.
+ *  */
 
-UXRDLLAPI bool uxr_prepare_output_stream_fragmented(
+UXRDLLAPI uint16_t uxr_prepare_output_stream_fragmented(
     uxrSession* session, 
     uxrStreamId stream_id, 
     uxrObjectId datawriter_id,