micro-ROS · Acuadros95 · Jun 14, 2023 · Jun 14, 2023
diff --git a/built_packages b/built_packages
@@ -8,10 +8,10 @@ https://github.com/ament/uncrustify_vendor.git fafded5cb059d5055d6d5def44fe18b03
 https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f04
 https://github.com/eProsima/Micro-XRCE-DDS-Client.git 5cd43eb0ba97c7ec21949492344b8bf05e04572c
 https://github.com/micro-ROS/micro_ros_msgs.git 6169930ea21b4deb9b400ac479475d1efb3853a8
-https://github.com/micro-ROS/micro_ros_utilities f1d9a0ac76f7bed299621016e2777824eef485cb
-https://github.com/micro-ROS/rcl d3b91f8c7711cdfb15e90a9fb627bfeea4771b74
+https://github.com/micro-ROS/micro_ros_utilities 726d95d22c8688d1b71bb41e873e2ee134996706
+https://github.com/micro-ROS/rcl c471b2fcbe20c6ebe8194f151f20217e6bd9f593
 https://github.com/micro-ROS/rcutils 6f2c2f8550c34ad4dcc2ca90605b5f2789c64243
-https://github.com/micro-ROS/rmw-microxrcedds.git 7c44d9d384a867a4225bf1910bb7f49aeae84963
+https://github.com/micro-ROS/rmw-microxrcedds.git 6833232797d1034860125e949f34067a850eeb43
 https://github.com/micro-ROS/rosidl_dynamic_typesupport.git 9dcea0491f208e2935c52edd32f279c1267826d7
 https://github.com/micro-ROS/rosidl_typesupport.git 9e3abf7effcbee61fe9b57712220e22e093b22b5
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 3d4589be60981c24aef5f8926d40125a80878961
@@ -20,15 +20,15 @@ https://github.com/ros2/ament_cmake_ros.git 15f835d0e31354c4ac958a32b5f1caa42465
 https://github.com/ros2/common_interfaces.git 366eea24ffce6c87f8860cbcd27f4863f46ad822
 https://github.com/ros2/example_interfaces.git 108037a8216a6c39be5ecc9f7c18e79a95445805
 https://github.com/ros2/libyaml_vendor.git db9428a3012ac09ee0cfe59443508fe13aaacd86
-https://github.com/ros2/rcl.git 993132380fe02784c1f9be813a12fc8c4e2788da
+https://github.com/ros2/rcl.git 230ae2f55167e789f2e15c81b79a49a63ddbc3ec
 https://github.com/ros2/rcl_interfaces.git f03ee90089b96e9d6aa699019f43f17e1b0ac291
 https://github.com/ros2/rcl_logging.git e9f237d29cfa9651eb96273e7e1fefb978faa1dc
-https://github.com/ros2/rclc 2648503e3fdcf1308bd1d3748e1f4792285cd1b1
+https://github.com/ros2/rclc 555192cd831eb9974018d5191fa52c0c6238c603
 https://github.com/ros2/rcpputils.git 47ad866332d307a9f6a9fe46391efcd1c9a2de54
 https://github.com/ros2/rmw.git e523e4706ae6e20134fb835a91d18b74a134175e
 https://github.com/ros2/rmw_implementation.git 29640b9f2b480a3e6c13126203714d4bb6d5e7d2
 https://github.com/ros2/ros2_tracing.git 4f545019b5db0c452033f64d56035f73b64cd692
-https://github.com/ros2/rosidl.git fcf7b5f84d4bfc285ab9ff17c5ee7413804c82be
+https://github.com/ros2/rosidl.git 69efae078fd3a4c4122ff695de99f69e4dcd5dbc
 https://github.com/ros2/rosidl_core.git 84fa73d3974fe31fbe397e41e4449a31c2fb6ce4
 https://github.com/ros2/rosidl_dds.git 16a3503d7694917f0c968e3918351e8d2f7fdb38
 https://github.com/ros2/rosidl_defaults.git 65d0e79a6f477e22b7213590bc8d2465e16cedbf

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.

diff --git a/src/rclc_parameter/rclc_parameter.h b/src/rclc_parameter/rclc_parameter.h
@@ -34,6 +34,7 @@ extern "C"
 #include <rcl_interfaces/msg/set_parameters_result.h>
 #include <rcl_interfaces/srv/list_parameters.h>
 #include <rcl_interfaces/srv/set_parameters.h>
+#include <rcl_interfaces/srv/set_parameters_atomically.h>
 #include <rcl_interfaces/srv/describe_parameters.h>
 #include <rcl_interfaces/msg/parameter_descriptor.h>
 #include <rosidl_runtime_c/string_functions.h>
@@ -53,6 +54,10 @@ typedef struct rcl_interfaces__srv__SetParameters_Request SetParameters_Request;
 typedef struct rcl_interfaces__srv__SetParameters_Response SetParameters_Response;
 typedef struct rcl_interfaces__msg__SetParametersResult SetParameters_Result;
 
+typedef struct rcl_interfaces__srv__SetParametersAtomically_Request SetParametersAtomically_Request;
+typedef struct rcl_interfaces__srv__SetParametersAtomically_Response
+  SetParametersAtomically_Response;
+
 typedef struct rcl_interfaces__srv__DescribeParameters_Request DescribeParameters_Request;
 typedef struct rcl_interfaces__srv__DescribeParameters_Response DescribeParameters_Response;
 
@@ -67,7 +72,7 @@ typedef struct rcl_interfaces__msg__ParameterDescriptor__Sequence ParameterDescr
 typedef struct rcl_interfaces__msg__ParameterEvent ParameterEvent;
 
 // Number of RCLC executor handles required for a parameter server
-#define RCLC_EXECUTOR_PARAMETER_SERVER_HANDLES 5
+#define RCLC_EXECUTOR_PARAMETER_SERVER_HANDLES 6
 #define RCLC_PARAMETER_MODIFICATION_REJECTED 4001
 #define RCLC_PARAMETER_TYPE_MISMATCH 4002
 #define RCLC_PARAMETER_UNSUPORTED_ON_LOW_MEM 4003
@@ -124,6 +129,7 @@ typedef struct rclc_parameter_server_t
   rcl_service_t get_service;
   rcl_service_t get_types_service;
   rcl_service_t set_service;
+  rcl_service_t set_atomically_service;
   rcl_service_t list_service;
   rcl_service_t describe_service;
   rcl_publisher_t event_publisher;
@@ -137,6 +143,9 @@ typedef struct rclc_parameter_server_t
   SetParameters_Request set_request;
   SetParameters_Response set_response;
 
+  SetParametersAtomically_Request set_atomically_request;
+  SetParametersAtomically_Response set_atomically_response;
+
   ListParameters_Request list_request;
   ListParameters_Response list_response;