micro-ROS galactic Library auto-update 29-07-2021 06:18 (#402)

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

Author: github-actions[bot]

built_packages

@@ -6,14 +6,14 @@ https://github.com/ament/googletest.git 79c4c9db1a7bc8bc5473a280499bf776173653d6
 https://github.com/ament/ament_cmake.git d87b9776e0178f5a31d7e389990b5de6fc3067dd
 https://github.com/ament/ament_lint.git 4bc68c815ce308b3443e3cb38fd71e2b03ffdc40
 https://github.com/ros2/ament_cmake_ros.git 7b6b599c3fc8023806db2a97b344e8610902adac
-https://github.com/micro-ROS/rmw-microxrcedds.git fd1570af6906e6323db2345aa6cd27709514a5af
+https://github.com/micro-ROS/rmw-microxrcedds.git 30658350495ea891301e11c000f9e22d2ebea62a
 https://github.com/micro-ROS/rcl ae6b2abc43f71ad9e7d1fce6da76d0e2cc88578a
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git d41a3103458636d1e9df88508077d657d01d5ccb
 https://github.com/micro-ROS/rosidl_typesupport.git 0e03d18809cb08215877ff856a916ec35a066561
 https://github.com/micro-ROS/rcutils 500ee3fcb16bf6260453c75b50c3d7785d724443
 https://github.com/micro-ROS/micro_ros_utilities c829971bd33ac1f14a94aa722476110b4b59eaf9
 https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git/ 07ae5aa5c456f887f2aa82896e207a3209309a50
-https://github.com/ros2/rclc be7c43c0b0dfd7d5b9ba6026631196ad3a09d447
+https://github.com/ros2/rclc b04e6ca8142ce1edf28d558998507bef5a203ae7
 https://github.com/micro-ROS/micro_ros_msgs.git c8af6d4f246d1b324e6578ec967c8ddc1f4093d5
 https://github.com/ros-controls/control_msgs 11fdcdf76434d8ca9047787d17add4e18f56e9d6
 https://github.com/ros2/rcl_interfaces.git c5d0a20150533a6cb93d5dcbd6e27cea9300aa6e
@@ -31,4 +31,4 @@ https://github.com/ros2/rosidl.git dceaeb91f72a72e3867557690e2cc074e349230c
 https://github.com/ros2/rmw.git f9f4ef46f8dd3ef938526a1140a3c57c155a259f
 https://github.com/ros2/rosidl_defaults.git 6665e8848389f2c67d7c68ce7c53ca957ebcc97e
 https://github.com/eProsima/Micro-CDR.git 21c99e0d8d140c50b45f13c8ed3716cb9fa0fb27
-https://github.com/eProsima/Micro-XRCE-DDS-Client.git 2693d83bd9c37bd4615c38163b9078084fc79730
+https://github.com/eProsima/Micro-XRCE-DDS-Client.git 4ccec07f4089ec1ec49e72c4ed0484ae6515cd75

src/cortex-m0plus/libmicroros.a

@@ -233,7 +233,7 @@ rclc_executor_add_subscription(
   rclc_executor_t * executor,
   rcl_subscription_t * subscription,
   void * msg,
-  rclc_callback_t callback,
+  rclc_subscription_callback_t callback,
   rclc_executor_handle_invocation_t invocation);
 
 /**

src/cortex-m3/libmicroros.a

@@ -31,10 +31,17 @@ extern "C"
 typedef enum
 {
   SUBSCRIPTION,
+  SUBSCRIPTION_WITH_CONTEXT,
   TIMER,
+  // TIMER_WITH_CONTEXT,  // TODO
   CLIENT,
+  CLIENT_WITH_REQUEST_ID,
+  // CLIENT_WITH_CONTEXT,  // TODO
   SERVICE,
+  SERVICE_WITH_REQUEST_ID,
+  SERVICE_WITH_CONTEXT,
   GUARD_CONDITION,
+  // GUARD_CONDITION_WITH_CONTEXT,  //TODO
   NONE
 } rclc_executor_handle_type_t;
 
@@ -46,21 +53,13 @@ typedef enum
   ALWAYS
 } rclc_executor_handle_invocation_t;
 
-typedef enum
-{
-  CB_UNDEFINED,
-  CB_WITHOUT_REQUEST_ID,
-  CB_WITH_REQUEST_ID,
-  CB_WITH_CONTEXT,
-} rclc_executor_handle_callback_type_t;
-
-
-/// Type definition for callback function.
-typedef void (* rclc_callback_t)(const void *);
-
 /// Type definition for subscription callback function
 /// - incoming message
-// typedef void (* rclc_subscription_callback_t)(const void *);
+typedef void (* rclc_subscription_callback_t)(const void *);
+
+/// Type definition (duplicate) for subscription callback function (alias for foxy and galactic).
+/// - incoming message
+typedef rclc_subscription_callback_t rclc_callback_t;
 
 /// Type definition for subscription callback function
 /// - incoming message
@@ -137,7 +136,7 @@ typedef struct
 
   /// Storage for callbacks
   union {
-    rclc_callback_t callback;
+    rclc_subscription_callback_t subscription_callback;
     rclc_subscription_callback_with_context_t subscription_callback_with_context;
     rclc_service_callback_t service_callback;
     rclc_service_callback_with_request_id_t service_callback_with_reqid;
@@ -159,8 +158,6 @@ 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;
-  /// callback type for service/client
-  rclc_executor_handle_callback_type_t callback_type;
 } rclc_executor_handle_t;
 
 /// Information about total number of subscriptions, guard_conditions, timers, subscription etc.