micro-ROS iron Library auto-update 15-06-2023 06:17 (#1419)

Co-authored-by: pablogs9 <[email protected]>
micro-ROS · Jun 15, 2023 · b9f5955 · b9f5955
1 parent ae19fc6
commit b9f5955
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Showing 14 changed files with 22 additions and 4 deletions.
diff --git a/built_packages b/built_packages
@@ -23,12 +23,12 @@ https://github.com/ros2/libyaml_vendor.git 0c814892fe8c31aeb20688a8b43906aeefda0
 https://github.com/ros2/rcl.git 5b41c481936f3e07e6c6792acdff45e8655a7dfa
 https://github.com/ros2/rcl_interfaces.git 6d28b16a6f74485af03a2c4f043dd568e576c25e
 https://github.com/ros2/rcl_logging.git 2bc49ab7ff557a45d4fa152e2f400e9ad2bb6a68
-https://github.com/ros2/rclc f6d86b47e7475c998f3158735ef2871d46e6ea90
+https://github.com/ros2/rclc 32d6ad6cd22720021afe396b62b4296725a4e7aa
 https://github.com/ros2/rcpputils.git 39b20134e571ba74baa7c77750eab586da90b7a5
 https://github.com/ros2/rmw.git 17e3a94e447cd043dc20aec7dd620b5eb26241c6
 https://github.com/ros2/rmw_implementation.git 124a45b2c65df5e69017dec230740c23d937787e
 https://github.com/ros2/ros2_tracing.git fb240709fda0e0cc6c08f12ae8052d3a32221d29
-https://github.com/ros2/rosidl.git a57baea5dee6108246db9991e39d28a10a7ee2b0
+https://github.com/ros2/rosidl.git 364f916623fc87e438baf967aafd9b12123cb482
 https://github.com/ros2/rosidl_core.git 83df4c6574f90a8479d0b0211a463a7806ad6179
 https://github.com/ros2/rosidl_dds.git f074b295c316e9bbb9845344cc6ab882339e9305
 https://github.com/ros2/rosidl_defaults.git 34a204f3ce0528c6ec3bb89d33404422eb879995

diff --git a/src/cortex-m0plus/libmicroros.a b/src/cortex-m0plus/libmicroros.a
diff --git a/src/cortex-m3/libmicroros.a b/src/cortex-m3/libmicroros.a
diff --git a/src/cortex-m4/libmicroros.a b/src/cortex-m4/libmicroros.a
diff --git a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a
diff --git a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a
diff --git a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a
diff --git a/src/esp32/libmicroros.a b/src/esp32/libmicroros.a
diff --git a/src/imxrt1062/fpv5-d16-hard/libmicroros.a b/src/imxrt1062/fpv5-d16-hard/libmicroros.a
diff --git a/src/mk20dx256/libmicroros.a b/src/mk20dx256/libmicroros.a
diff --git a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a
diff --git a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a
diff --git a/src/rclc/executor.h b/src/rclc/executor.h
@@ -50,15 +50,29 @@ typedef enum
   LET
 } rclc_executor_semantics_t;
 
+typedef enum
+{
+  NONE,
+  SINGLE_THREADED,
+  MULTI_THREADED,
+  NON_POSIX,
+} rclc_executor_type_t;
+
 /// Type definition for trigger function. With the parameters:
 /// - array of executor_handles
 /// - size of array
 /// - application specific struct used in the trigger function
 typedef bool (* rclc_executor_trigger_t)(rclc_executor_handle_t *, unsigned int, void *);
 
+/// function pointer specification
+typedef struct rclc_executor_t_s rclc_executor_t;
+typedef rcl_ret_t (* rclc_executor_func_t)(rclc_executor_t *);
+
 /// Container for RCLC-Executor
-typedef struct
+struct rclc_executor_t_s
 {
+  /// Type of Executor
+  rclc_executor_type_t type;
   /// Context (to get information if ROS is up-and-running)
   rcl_context_t * context;
   /// Container for dynamic array for DDS-handles
@@ -83,7 +97,9 @@ typedef struct
   void * trigger_object;
   /// data communication semantics
   rclc_executor_semantics_t data_comm_semantics;
-} rclc_executor_t;
+  /// pointer to custom executor data structure
+  void * custom;
+};
 
 /**
  *  Return a rclc_executor_t struct with pointer members initialized to `NULL`

diff --git a/src/rclc/executor_handle.h b/src/rclc/executor_handle.h
@@ -165,6 +165,8 @@ 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;
+  /// pointer to custom handle
+  void * custom;
 } rclc_executor_handle_t;
 
 /// Information about total number of subscriptions, guard_conditions, timers, subscription etc.