diff --git a/built_packages b/built_packages index a320d2fd7..f9dd0361b 100755 --- a/built_packages +++ b/built_packages @@ -8,10 +8,10 @@ https://github.com/ament/uncrustify_vendor.git 94ed3f68d1d2e44e04398c4538509f5e7 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 2a5d7536e60d9722b261a03d3564c0aa9d25da7d -https://github.com/micro-ROS/micro_ros_utilities f52b2d70472651d5bdc8feb161475aee91bb6c28 +https://github.com/micro-ROS/micro_ros_utilities 5f1cead35a1c4940db60e04e8a73c057ea2449b8 https://github.com/micro-ROS/rcl 98575f8bebad2720373fedacd4172802bd8dddce https://github.com/micro-ROS/rcutils 6505fcc215423cb7b7ef45fdc6e4ad1aca72fe50 -https://github.com/micro-ROS/rmw-microxrcedds.git 439073381b54a2fcaeeeea64c740a7f6077a8513 +https://github.com/micro-ROS/rmw-microxrcedds.git bc4eb312ac4601a4137c35f4a56b9b83b4b18339 https://github.com/micro-ROS/rosidl_dynamic_typesupport.git f94715226667a8b39368e3c4828d5684c8dd8d6d https://github.com/micro-ROS/rosidl_typesupport.git db8394c664e78382647ce6210f2941bb4eb65804 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git c2776855f591388cf8900e3b8df15f9dfd95305b @@ -23,7 +23,7 @@ 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 2648503e3fdcf1308bd1d3748e1f4792285cd1b1 +https://github.com/ros2/rclc f6d86b47e7475c998f3158735ef2871d46e6ea90 https://github.com/ros2/rcpputils.git 39b20134e571ba74baa7c77750eab586da90b7a5 https://github.com/ros2/rmw.git 17e3a94e447cd043dc20aec7dd620b5eb26241c6 https://github.com/ros2/rmw_implementation.git 124a45b2c65df5e69017dec230740c23d937787e diff --git a/src/cortex-m0plus/libmicroros.a b/src/cortex-m0plus/libmicroros.a index 3a8d2334e..278a63ae9 100755 Binary files a/src/cortex-m0plus/libmicroros.a and b/src/cortex-m0plus/libmicroros.a differ diff --git a/src/cortex-m3/libmicroros.a b/src/cortex-m3/libmicroros.a index b7c52e827..258a89b67 100755 Binary files a/src/cortex-m3/libmicroros.a and b/src/cortex-m3/libmicroros.a differ diff --git a/src/cortex-m4/libmicroros.a b/src/cortex-m4/libmicroros.a index b33cf6a98..c82a95705 100755 Binary files a/src/cortex-m4/libmicroros.a and b/src/cortex-m4/libmicroros.a differ diff --git a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a index 07bd38efc..f32597f1e 100755 Binary files a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a and b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a differ diff --git a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a index 67ed59f08..d48004b39 100755 Binary files a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a and b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a differ diff --git a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a index ba8a6e176..8ff30e3e6 100755 Binary files a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a and b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a differ diff --git a/src/esp32/libmicroros.a b/src/esp32/libmicroros.a index 9075217e2..c48066090 100755 Binary files a/src/esp32/libmicroros.a and b/src/esp32/libmicroros.a differ diff --git a/src/imxrt1062/fpv5-d16-hard/libmicroros.a b/src/imxrt1062/fpv5-d16-hard/libmicroros.a index 0cf958d1e..b9bd1e8ad 100755 Binary files a/src/imxrt1062/fpv5-d16-hard/libmicroros.a and b/src/imxrt1062/fpv5-d16-hard/libmicroros.a differ diff --git a/src/mk20dx256/libmicroros.a b/src/mk20dx256/libmicroros.a index 5419f6c10..1eefe030c 100755 Binary files a/src/mk20dx256/libmicroros.a and b/src/mk20dx256/libmicroros.a differ diff --git a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a index c6782f6ca..b7a2ebd6e 100755 Binary files a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a and b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a differ diff --git a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a index c6782f6ca..b7a2ebd6e 100755 Binary files a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a and b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a differ diff --git a/src/rclc_parameter/rclc_parameter.h b/src/rclc_parameter/rclc_parameter.h index 1f4aa2b28..fb89746bb 100755 --- a/src/rclc_parameter/rclc_parameter.h +++ b/src/rclc_parameter/rclc_parameter.h @@ -34,6 +34,7 @@ extern "C" #include #include #include +#include #include #include #include @@ -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;