micro-ROS foxy Library auto-update 31-03-2021 06:26 (#197)

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

Author: github-actions[bot]

built_packages

@@ -6,7 +6,7 @@ https://github.com/micro-ROS/rcl 8eddc13db38bdecdd3089b8c96d13f0df3f5b35d
 https://github.com/micro-ROS/rcutils 6f0e5d7d3da4ab1c1744dfa8452fdd5e01e912d9
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 2b5cc410ac5226dc83fd7ebcd36a7643b7c8fbe3
 https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing d11b87737245b8456bbada44dfa7b1d670b1c4d0
-https://github.com/micro-ROS/rmw-microxrcedds.git 19a8dd0489a22b91720508d43ede4ae58beae129
+https://github.com/micro-ROS/rmw-microxrcedds.git 0828d3833761f11349251750ca3617bd8495caec
 https://github.com/ros2/rmw_implementation.git fb4f55f1129e0e0f047bda6ab26e533a051808de
 https://github.com/ros2/rosidl_defaults.git fa15e8522b4c238b8ea8999fd5528b290794c77a
 https://github.com/ros2/rosidl.git 952e485dd44e64f81f4ebb28ddcbb553341d74b3

src/cortex-m0plus/libmicroros.a

@@ -57,15 +57,30 @@ typedef struct rmw_uxrce_transport_params_t
     uint32_t client_key;
 } rmw_uxrce_transport_params_t;
 
+
+/**
+ * \brief Returns the epoch time in milliseconds taking into account the offset computed during the time synchronization.
+ * \return epoch time in milliseconds.
+ * \return 0 if session is not initialized.
+ * \return -1 if session time is not synchronized.
+ */
+int64_t rmw_uros_epoch_millis();
+
+/**
+ * \brief Returns the epoch time in nanoseconds taking into account the offset computed during the time synchronization.
+ * \return epoch time in nanoseconds.
+ * \return 0 if session is not initialized.
+ * \return -1 if session time is not synchronized.
+ */
+int64_t rmw_uros_epoch_nanos();
+
 /**
  * \brief Synchronizes the session time using the NTP protocol.
- * \param[in, out] result Variable to update with micro-ROS Agent POSIX timestamp in nanoseconds.
  * \param[in] timeout_ms The waiting time in milliseconds.
  * \return RMW_RET_OK when success.
- * \return RMW_RET_INVALID_ARGUMENT If no session is running or the synchronization fails.
+ * \return RMW_RET_ERROR If no session is running or the synchronization fails.
  */
 rmw_ret_t rmw_uros_sync_session(
-        int64_t* result,
         const int timeout_ms);
 
 /**