micro-ROS foxy Library auto-update 25-05-2022 13:33 (#1019)

Co-authored-by: Acuadros95 <Acuadros95@users.noreply.github.com>

built_packages

@@ -6,13 +6,13 @@ https://github.com/ament/ament_package.git 3397bb0ae1cc93d93e1e27da31c0bcb0f4fe0
 https://github.com/ament/googletest.git 7c20e2597a2d1503cf9afa159206ab8e9b233830
 https://github.com/ament/uncrustify_vendor.git 0291bc988c45846400aca50cb973bf04a4de3d56
 https://github.com/eProsima/Micro-CDR.git cb4403a8780095df94a7b1936b1e00153c90070d
-https://github.com/eProsima/Micro-XRCE-DDS-Client.git 9b9278c0b3a633aa7ad634bda2fd2c4f04093dcf
+https://github.com/eProsima/Micro-XRCE-DDS-Client.git e3f6439013a1a9ecb0d4011d19d7a4cec2c84655
 https://github.com/micro-ROS/micro_ros_msgs.git e3664463e78ae5d0c34d86be92d707b3d9dfd27d
 https://github.com/micro-ROS/rcl 2132f688d46f1fc850bfc3d4a09b7145f0f2eee6
 https://github.com/micro-ROS/rcutils a8dd9189045a01212850264938f9973cb94ca6ae
-https://github.com/micro-ROS/rmw-microxrcedds.git bde5c13ab5f1cf37a659d490e93914bc5f62a9ab
+https://github.com/micro-ROS/rmw-microxrcedds.git d30a81fd9b3f0221ee0851d798b3a8f6d4489166
 https://github.com/micro-ROS/rosidl_typesupport.git 007649631c321081d5ccce1173c7079565d95596
-https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 862f0758b2b45623fce9d66c1f39e690f6299dad
+https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git b02e3d342228e9f041515c270e7497208fff7a17
 https://github.com/ros-controls/control_msgs 338ef98b4a4d763fe5df39e86a1967844ceb506e
 https://github.com/ros2/ament_cmake_ros.git 7b6b599c3fc8023806db2a97b344e8610902adac
 https://github.com/ros2/common_interfaces.git 6356bc82f3a034f5d2c61c6760df0007a6cadfb0

src/uxr/client/config.h

@@ -67,5 +67,18 @@
 
 #define UCLIENT_TWEAK_XRCE_WRITE_LIMIT
 
+/* #undef UCLIENT_HARD_LIVELINESS_CHECK */
+
+#ifdef UCLIENT_HARD_LIVELINESS_CHECK
+#define UXR_CONFIG_HARD_LIVELINESS_CHECK_TIMEOUT_STR     "10000"
+#endif
+
+
+// Version checks
+#if UXR_CLIENT_VERSION_MAJOR >= 3
+#error UCLIENT_HARD_LIVELINESS_CHECK shall be included in session API
+#error MTU must be included in CREATE_CLIENT_Payload properties
+#error Reorder ObjectInfo https://github.com/eProsima/Micro-XRCE-DDS/issues/137
+#endif
 
 #endif // _UXR_CLIENT_CONFIG_H_

src/uxr/client/core/type/xrce_types.h

@@ -24,6 +24,7 @@ extern "C"
 #endif // ifdef __cplusplus
 
 #include <uxr/client/defines.h>
+#include <uxr/client/config.h>
 
 #include <ucdr/microcdr.h>
 #include <stdint.h>
@@ -40,7 +41,24 @@ extern "C"
 #define UXR_SAMPLE_DELTA_SEQUENCE_MAX      8
 #define UXR_PACKED_SAMPLES_SEQUENCE_MAX    8
 #define UXR_TRANSPORT_LOCATOR_SEQUENCE_MAX 4
+
+#ifdef UCLIENT_PROFILE_SHARED_MEMORY
+#define PROFILE_SHARED_MEMORY_SEQ_COUNT 1
+#else
+#define PROFILE_SHARED_MEMORY_SEQ_COUNT 0
+#endif // ifdef UCLIENT_PROFILE_SHARED_MEMORY
+
+#ifdef UCLIENT_HARD_LIVELINESS_CHECK
+#define HARD_LIVELINESS_CHECK_SEQ_COUNT 1
+#else
+#define HARD_LIVELINESS_CHECK_SEQ_COUNT 0
+#endif // ifdef UCLIENT_HARD_LIVELINESS_CHECK
+
+#if  (PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT) == 0
 #define UXR_PROPERTY_SEQUENCE_MAX          1
+#else
+#define UXR_PROPERTY_SEQUENCE_MAX          PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT
+#endif // if  (PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT) == 0
 
 typedef struct Time_t
 {

src/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h

@@ -0,0 +1,32 @@
+// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// 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 UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_
+#define UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif // ifdef __cplusplus
+
+typedef struct uxrTCPPlatform
+{
+    int fd;
+} uxrTCPPlatform;
+
+#ifdef __cplusplus
+}
+#endif // ifdef __cplusplus
+
+#endif // UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_

src/uxr/client/transport.h

@@ -33,7 +33,9 @@
 #endif //UCLIENT_PROFILE_UDP
 
 #ifdef UCLIENT_PROFILE_TCP
-#if defined(UCLIENT_PLATFORM_POSIX)
+#if defined(UCLIENT_PLATFORM_POSIX_NOPOLL)
+#include <uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h>
+#elif defined(UCLIENT_PLATFORM_POSIX)
 #include <uxr/client/profile/transport/ip/tcp/tcp_transport_posix.h>
 #elif defined(UCLIENT_PLATFORM_WINDOWS)
 #include <uxr/client/profile/transport/ip/tcp/tcp_transport_windows.h>

src/uxr/client/util/ping.h

@@ -33,7 +33,7 @@ extern "C"
 #define UXR_PING_BUF 16 // 4 (HEADER SIZE) + 4 (SUBHEADER_SIZE) + 8 (GET_Info payload)
 
 #define GET_INFO_MSG_SIZE   8
-#define GET_INFO_REQUEST_ID 9
+#define GET_INFO_REQUEST_PING_ID 10
 
 struct uxrSession;