micro-ROS Library auto-update 25-05-2022 13:33

built_packages

@@ -6,14 +6,14 @@ https://github.com/ament/ament_package.git de0e60e3b7370df1e2365f125046c5676daae
 https://github.com/ament/googletest.git 79c4c9db1a7bc8bc5473a280499bf776173653d6
 https://github.com/ament/uncrustify_vendor.git 8945c291fbd36d7980f7e4fd641601c277c178ec
 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/micro_ros_utilities b9086c73c5f58a3bb36826ef6ec886b0441b75d9
 https://github.com/micro-ROS/rcl 563fba39606ed1531a8cff747b5fd5d02fb73380
 https://github.com/micro-ROS/rcutils ca15a22511f839c561666bc844139c457c26fb98
-https://github.com/micro-ROS/rmw-microxrcedds.git 09e77fd1e48ba1b5eb7a7f5d981a02fee9f4b981
+https://github.com/micro-ROS/rmw-microxrcedds.git 7af00239277dde271d148d726be6bcdf5a1c87ec
 https://github.com/micro-ROS/rosidl_typesupport.git 5ce7fdbe412ead8c34906937deb0d72836c1ab2e
-https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git ee17756b33b1cf2edaed257d88395e4f25d147b9
+https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 9e1e51ac0d2e128db265354f0ba56e33ef89f081
 https://github.com/ros-controls/control_msgs a555c37f1a3536bb452ea555c58fdd9344d87614
 https://github.com/ros2/ament_cmake_ros.git 7b6b599c3fc8023806db2a97b344e8610902adac
 https://github.com/ros2/common_interfaces.git 969a56b0b59f7f70b5c4561185ea34aaa2b74e1d

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;