micro-ROS rolling Library auto-update 02-11-2023 06:17

micro-ROS · Nov 2, 2023 · 0e5a28b · 0e5a28b
1 parent d0a4fc8
commit 0e5a28b
Show file tree

Hide file tree

Showing 13 changed files with 7 additions and 55 deletions.
diff --git a/built_packages b/built_packages
@@ -9,7 +9,7 @@ https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f
 https://github.com/eProsima/Micro-XRCE-DDS-Client.git b8dbfaa775d0d842edfa9a0eb2ebc8ebdb1a0c14
 https://github.com/micro-ROS/micro_ros_msgs.git 02dd8456ede8ae75ba4c706231e1ff9e55758221
 https://github.com/micro-ROS/micro_ros_utilities 4757528454cb0386ec0a18fcbd7ce3627fcca60d
-https://github.com/micro-ROS/rcl 4f79b47cba4d06fd7af3c5b691d7bc82565e6f94
+https://github.com/micro-ROS/rcl a9c2a585d984df938d7fa32088c63c40095bce86
 https://github.com/micro-ROS/rcutils 6d5476a89727fab17a9b94ba77264a6251024a25
 https://github.com/micro-ROS/rmw-microxrcedds.git 6833232797d1034860125e949f34067a850eeb43
 https://github.com/micro-ROS/rosidl_typesupport.git 9e3abf7effcbee61fe9b57712220e22e093b22b5

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/rcl/node.h b/src/rcl/node.h
@@ -564,7 +564,8 @@ rcl_get_disable_loaned_message(bool * disable_loaned_message);
  * must register rcl_node_type_description_service_handle_request or a custom callback
  * to handle incoming requests, via that client's executor/waitset capabilities.
  *
- * This will initialize the node's type cache, if it has not been initialized already.
+ * Note that the returned service must be cleaned up by the caller by calling
+ * rcl_service_fini.
  *
  * <hr>
  * Attribute          | Adherence
@@ -574,6 +575,7 @@ rcl_get_disable_loaned_message(bool * disable_loaned_message);
  * Uses Atomics       | No
  * Lock-Free          | Yes
  *
+ * \param[in] service the handle to the type description service to be initialized
  * \param[in] node handle to the node for which to initialize the service
  * \return #RCL_RET_OK if the service was successfully initialized, or
  * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
@@ -583,59 +585,9 @@ rcl_get_disable_loaned_message(bool * disable_loaned_message);
  */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_node_type_description_service_init(rcl_node_t * node);
-
-/// Finalizes the node's ~/get_type_description service.
-/**
- * This function finalizes the node's private ~/get_type_description service.
- *
- * <hr>
- * Attribute          | Adherence
- * ------------------ | -------------
- * Allocates Memory   | No
- * Thread-Safe        | No
- * Uses Atomics       | No
- * Lock-Free          | Yes
- *
- * \param[in] node the handle to the node whose type cache should be initialized
- * \return #RCL_RET_OK if service was deinitialized successfully, or
- * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
- * \return #RCL_RET_SERVICE_INVALID if the service is invalid, or
- * \return #RCL_RET_NODE_INVALID if the node is invalid, or
- * \return #RCL_RET_ERROR if an unspecified error occurs.
- */
-RCL_PUBLIC
-RCL_WARN_UNUSED
-rcl_ret_t rcl_node_type_description_service_fini(rcl_node_t * node);
-
-
-/// Returns a pointer to the node's ~/get_type_description service.
-/**
- * On success, sets service_out to the initialized service.
- * rcl_node_type_description_service_init must be called before this.
- *
- * <hr>
- * Attribute          | Adherence
- * ------------------ | -------------
- * Allocates Memory   | No
- * Thread-Safe        | No
- * Uses Atomics       | No
- * Lock-Free          | Yes
- *
- * \param[in] node the handle to the node
- * \param[out] service_out Handle to pointer that will be set
- * \return #RCL_RET_OK if valid service was returned successfully, or
- * \return #RCL_RET_NODE_INVALID if node is invalid, or
- * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
- * \return #RCL_RET_NOT_INIT if the service hasn't yet been initialized, or
- * \return #RCL_RET_ERROR if an unspecified error occurs.
- */
-RCL_PUBLIC
-RCL_WARN_UNUSED
-rcl_ret_t rcl_node_get_type_description_service(
-  const rcl_node_t * node,
-  rcl_service_t ** service_out);
-
+rcl_ret_t rcl_node_type_description_service_init(
+  rcl_service_t * service,
+  const rcl_node_t * node);
 
 /// Process a single pending request to the GetTypeDescription service.
 /**