micro-ROS galactic Library auto-update 16-07-2021 06:18 (#377)

Co-authored-by: pablogs9 <pablogs9@users.noreply.github.com>

Author: github-actions[bot]

built_packages

@@ -13,7 +13,7 @@ https://github.com/micro-ROS/rosidl_typesupport.git 0e03d18809cb08215877ff856a91
 https://github.com/micro-ROS/rcutils 500ee3fcb16bf6260453c75b50c3d7785d724443
 https://github.com/micro-ROS/micro_ros_utilities c829971bd33ac1f14a94aa722476110b4b59eaf9
 https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git/ 07ae5aa5c456f887f2aa82896e207a3209309a50
-https://github.com/ros2/rclc 2668550d040fe70906a37232c2a5f689970c2d8d
+https://github.com/ros2/rclc 86399a7eed78a583043c5b620a55655976240d05
 https://github.com/micro-ROS/micro_ros_msgs.git c8af6d4f246d1b324e6578ec967c8ddc1f4093d5
 https://github.com/ros-controls/control_msgs 11fdcdf76434d8ca9047787d17add4e18f56e9d6
 https://github.com/ros2/rcl_interfaces.git c5d0a20150533a6cb93d5dcbd6e27cea9300aa6e

src/cortex-m0plus/libmicroros.a

@@ -221,6 +221,39 @@ rclc_executor_add_subscription(
   rclc_callback_t callback,
   rclc_executor_handle_invocation_t invocation);
 
+/**
+ *  Adds a subscription to an executor.
+ * * An error is returned, if {@link rclc_executor_t.handles} array is full.
+ * * The total number_of_subscriptions field of {@link rclc_executor_t.info}
+ *   is incremented by one.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param [inout] executor pointer to initialized executor
+ * \param [in] subscription pointer to an allocated subscription
+ * \param [in] msg pointer to an allocated message
+ * \param [in] callback    function pointer to a callback
+ * \param [in] context     type-erased ptr to additional callback context
+ * \param [in] invocation  invocation type for the callback (ALWAYS or only ON_NEW_DATA)
+ * \return `RCL_RET_OK` if add-operation was successful
+ * \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
+ */
+rcl_ret_t
+rclc_executor_add_subscription_with_context(
+  rclc_executor_t * executor,
+  rcl_subscription_t * subscription,
+  void * msg,
+  rclc_subscription_callback_with_context_t callback,
+  void * context,
+  rclc_executor_handle_invocation_t invocation);
+
 /**
  *  Adds a timer to an executor.
  * * An error is returned, if {@link rclc_executor_t.handles} array is full.

src/cortex-m3/libmicroros.a

@@ -58,6 +58,15 @@ typedef enum
 /// 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 *);
+
+/// Type definition for subscription callback function
+/// - incoming message
+/// - additional callback context
+typedef void (* rclc_subscription_callback_with_context_t)(const void *, void *);
+
 /// Type definition for client callback function
 /// - request message
 /// - response message
@@ -114,8 +123,8 @@ typedef struct
   /// only for service - ptr to response message
   void * data_response_msg;
 
-  /// only for service - ptr to additional service context
-  void * service_context;
+  /// ptr to additional callback context
+  void * callback_context;
 
   // TODO(jst3si) new type to be stored as data for
   //              service/client objects
@@ -129,6 +138,7 @@ typedef struct
   /// Storage for callbacks
   union {
     rclc_callback_t 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;
     rclc_service_callback_with_context_t service_callback_with_context;