micro-ROS Library auto-update 04-04-2024 06:17

built_packages

@@ -9,17 +9,17 @@ https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f
 https://github.com/eProsima/Micro-XRCE-DDS-Client.git 83f129a80770a09aac9e823896ecbf6a0eddf0fc
 https://github.com/micro-ROS/micro_ros_msgs.git cefbf4883654083d195671971d3bf9a290e7917c
 https://github.com/micro-ROS/micro_ros_utilities 4757528454cb0386ec0a18fcbd7ce3627fcca60d
-https://github.com/micro-ROS/rcl 510e1a5537da2f93878902a97a9d1ed45d47ba0a
+https://github.com/micro-ROS/rcl 7b4d0fd9bc0bd58c8caf3a477f8d20a082d41e06
 https://github.com/micro-ROS/rcutils a2cbd84e5b88a04b9b116dc7e8d6217fff3563d1
 https://github.com/micro-ROS/rmw-microxrcedds.git 6833232797d1034860125e949f34067a850eeb43
 https://github.com/micro-ROS/rosidl_typesupport.git 9e3abf7effcbee61fe9b57712220e22e093b22b5
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 3d4589be60981c24aef5f8926d40125a80878961
 https://github.com/ros-controls/control_msgs 1416954c31432c192ff95a06559847e87386cf60
 https://github.com/ros2/ament_cmake_ros.git 15f835d0e31354c4ac958a32b5f1caa4246596a5
-https://github.com/ros2/common_interfaces.git d407bd0d0cfc172f960fd4e199a7e8018994e250
+https://github.com/ros2/common_interfaces.git 5b8223134c79642e86057d7444e65a2c3cd54b70
 https://github.com/ros2/example_interfaces.git 4d7d086e4791e1839fecb9c50a1291d4056b916f
 https://github.com/ros2/libyaml_vendor.git cca2f1431f37a70bde64716632b8979c0b89a5f1
-https://github.com/ros2/rcl.git b7ed9ab378fe135984dc37bb747c97f5d7a27bee
+https://github.com/ros2/rcl.git db366ac9c59021f14d776f7eb78cf8c772294563
 https://github.com/ros2/rcl_interfaces.git 66ba4f12eb21a9a28d5227df2bbb2f236560a63a
 https://github.com/ros2/rcl_logging.git 128d88e6e4ad6df97405564afbdffa2ebc167814
 https://github.com/ros2/rclc 169b246f738a1b5604423f6187d27dc770781871

src/rcl/timer.h

@@ -319,7 +319,7 @@ rcl_timer_call_with_info(rcl_timer_t * timer, rcl_timer_call_info_t * call_info)
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_timer_clock(rcl_timer_t * timer, rcl_clock_t ** clock);
+rcl_timer_clock(const rcl_timer_t * timer, rcl_clock_t ** clock);
 
 /// Calculates whether or not the timer should be called.
 /**
@@ -387,6 +387,30 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_until_next_call);
 
+/// Retrieve the time when the next call to rcl_timer_call() shall occur.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | Yes
+ * Lock-Free          | Yes [1]
+ * <i>[1] if `atomic_is_lock_free()` returns true for `atomic_int_least64_t`</i>
+ *
+ * \param[in] timer the handle to the timer that is being queried
+ * \param[out] next_call_time the output variable for the result
+ * \return #RCL_RET_OK if the timer until next call was successfully calculated, or
+ * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ * \return #RCL_RET_TIMER_INVALID if the timer->impl is invalid, or
+ * \return #RCL_RET_TIMER_CANCELED if the timer is canceled, or
+ * \return #RCL_RET_ERROR an unspecified error occur.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_timer_get_next_call_time(const rcl_timer_t * timer, int64_t * next_call_time);
+
 /// Retrieve the time since the previous call to rcl_timer_call() occurred.
 /**
  * This function calculates the time since the last call and copies it into