micro-ROS RMW API

Functions

Functions Documentation

function rmw_uros_set_continous_serialization_callbacks

void rmw_uros_set_continous_serialization_callbacks(
    rmw_publisher_t * publisher,
    rmw_uros_continous_serialization_size size_cb,
    rmw_uros_continous_serialization serialization_cb
)

Sets the callback functions for continous serialization for a publisher.

Parameters:

• publisher publisher where continous serialization is being configured
• size_cb callback that should modify the total serialization size
• serialization_cb callback that should serialize the user part of the message

function rmw_uros_set_custom_transport

rmw_ret_t rmw_uros_set_custom_transport(
    bool framing,
    void * args,
    open_custom_func open_cb,
    close_custom_func close_cb,
    write_custom_func write_cb,
    read_custom_func read_cb
)

Sets micro-ROS default custom transport.

Parameters:

• framing Enable XRCE framing.
• args Arguments for open function.
• open_cb Open transport callback.
• close_cb Close transport callback.
• write_cb Write transport callback.
• read_cb Read transport callback.

Return:

• RMW_RET_OK If correct.
• RMW_RET_ERROR If invalid.

function rmw_uros_options_set_custom_transport

rmw_ret_t rmw_uros_options_set_custom_transport(
    bool framing,
    void * args,
    open_custom_func open_cb,
    close_custom_func close_cb,
    write_custom_func write_cb,
    read_custom_func read_cb,
    rmw_init_options_t * rmw_options
)

Fills rmw implementation-specific options with the given custom transport.

Parameters:

• framing Enable XRCE framing.
• args Arguments for open function.
• open_cb Open transport callback.
• close_cb Close transport callback.
• write_cb Write transport callback.
• read_cb Read transport callback.
• rmw_options Updated options with updated transport.

Return:

• RMW_RET_OK If arguments were valid and set in rmw_init_options.
• RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.

function rmw_uros_discover_agent

rmw_ret_t rmw_uros_discover_agent(
    rmw_init_options_t * rmw_options
)

Fills rmw implementation-specific options with the autodicovered address of an micro-ROS Agent.

Parameters:

• rmw_options Updated options with rmw specifics.

Return:

• RMW_RET_OK If arguments were valid and set in rmw_init_options.
• RMW_RET_TIMEOUT If micro-ROS agent autodiscovery is timeout.
• RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.

function rmw_uros_init_options

rmw_ret_t rmw_uros_init_options(
    int argc,
    const char *const argv[],
    rmw_init_options_t * rmw_options
)

Parses command line args and fills rmw implementation-specific options.

Parameters:

• argc Number of arguments.
• argv Arguments.
• rmw_options Updated options with rmw specifics.

Return:

• RMW_RET_OK If arguments were valid and set in rmw_init_options.
• RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.

rmw_init_options allocator is used to allocate the specific rmw options.

function rmw_uros_options_set_serial_device

rmw_ret_t rmw_uros_options_set_serial_device(
    const char * dev,
    rmw_init_options_t * rmw_options
)

Fills rmw implementation-specific options with the given parameters.

Parameters:

• dev Serial device.
• rmw_options Updated options with rmw specifics.

Return:

• RMW_RET_OK If arguments were valid and set in rmw_init_options.
• RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.

function rmw_uros_options_set_udp_address

rmw_ret_t rmw_uros_options_set_udp_address(
    const char * ip,
    const char * port,
    rmw_init_options_t * rmw_options
)

Fills rmw implementation-specific options with the given parameters.

Parameters:

• ip Agent IP address.
• port Agent UDP port.
• rmw_options Updated options with rmw specifics.

Return:

• RMW_RET_OK If arguments were valid and set in rmw_init_options.
• RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.

function rmw_uros_options_set_client_key

rmw_ret_t rmw_uros_options_set_client_key(
    uint32_t client_key,
    rmw_init_options_t * rmw_options
)

Fills rmw implementation-specific options with the given parameters.

Parameters:

• client_key MicroXRCE-DDS client key.
• rmw_options Updated options with rmw specifics.

Return:

• RMW_RET_OK If arguments were valid and set in rmw_init_options.
• RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.

function rmw_uros_ping_agent

rmw_ret_t rmw_uros_ping_agent(
    const int timeout_ms,
    const uint8_t attempts
)

Check if micro-ROS Agent is up and running.

Parameters:

• timeout_ms Timeout in ms (per attempt).
• attempts Number of tries before considering the ping as failed.

Return:

• RMW_RET_OK If micro-ROS Agent is available.
• RMW_RET_ERROR If micro-ROS Agent is not available.

This function can be called even when the micro-ROS context has not yet been initialized by the application logics. This function cannot be called concurrently with rmw_init() or rmw_shutdown().

function rmw_uros_ping_agent_options

rmw_ret_t rmw_uros_ping_agent_options(
    const int timeout_ms,
    const uint8_t attempts,
    rmw_init_options_t * rmw_options
)

Check if micro-ROS Agent is up and running using the transport set on the given rmw options.

Parameters:

• timeout_ms Timeout in ms (per attempt).
• attempts Number of tries before considering the ping as failed.
• rmw_options rmw options with populated transport parameters.

Return:

• RMW_RET_OK If micro-ROS Agent is available.
• RMW_RET_ERROR If micro-ROS Agent is not available.

This function can be called even when the micro-ROS context has not yet been initialized. The transport will be initialized and closed once during the ping process. This function cannot be called concurrently with rmw_init() or rmw_shutdown().

function rmw_uros_epoch_synchronized

bool rmw_uros_epoch_synchronized()

Returns the time synchronization state of the epoch time.

Return: true if last time synchronization succeded and false otherwise

function rmw_uros_epoch_millis

int64_t rmw_uros_epoch_millis()

Returns the epoch time in milliseconds taking into account the offset computed during the time synchronization.

Return:

• epoch time in milliseconds.
• 0 if session is not initialized.

function rmw_uros_epoch_nanos

int64_t rmw_uros_epoch_nanos()

Returns the epoch time in nanoseconds taking into account the offset computed during the time synchronization.

Return:

• epoch time in nanoseconds.
• 0 if session is not initialized.

function rmw_uros_sync_session

rmw_ret_t rmw_uros_sync_session(
    const int timeout_ms
)

Synchronizes the session time using the NTP protocol.

Parameters:

• timeout_ms The waiting time in milliseconds.

Return:

• RMW_RET_OK when success.
• RMW_RET_ERROR If no session is running or the synchronization fails.

function rmw_uros_set_publisher_session_timeout

rmw_ret_t rmw_uros_set_publisher_session_timeout(
    rmw_publisher_t * publisher,
    int session_timeout
)

Sets the DDS-XRCE session spin time in reliable publication.

Parameters:

• publisher publisher where the spin time is configured
• session_timeout time in milliseconds

Return:

• RMW_RET_OK when success.
• RMW_RET_INVALID_ARGUMENT If publisher is not valid or unexpected arguments.

function rmw_uros_set_service_session_timeout

rmw_ret_t rmw_uros_set_service_session_timeout(
    rmw_service_t * service,
    int session_timeout
)

Sets the DDS-XRCE session spin time in reliable service server.

Parameters:

• service service where the spin time is configured
• session_timeout time in milliseconds

Return:

• RMW_RET_OK when success.
• RMW_RET_INVALID_ARGUMENT If service is not valid or unexpected arguments.

function rmw_uros_set_client_session_timeout

rmw_ret_t rmw_uros_set_client_session_timeout(
    rmw_client_t * client,
    int session_timeout
)

Sets the DDS-XRCE session spin time in reliable service client.

Parameters:

• client client where the spin time is configured
• session_timeout time in milliseconds

Return:

• RMW_RET_OK when success.
• RMW_RET_INVALID_ARGUMENT If client is not valid or unexpected arguments.

function rmw_uros_set_context_entity_creation_session_timeout

rmw_ret_t rmw_uros_set_context_entity_creation_session_timeout(
    rmw_context_t * context,
    int session_timeout
)

Sets the DDS-XRCE session spin time for creating entities.

Parameters:

• context RWM context where the spin time is configured
• session_timeout time in milliseconds

Return:

• RMW_RET_OK when success.
• RMW_RET_INVALID_ARGUMENT If client is not valid or unexpected arguments.

function rmw_uros_set_context_entity_destroy_session_timeout

rmw_ret_t rmw_uros_set_context_entity_destroy_session_timeout(
    rmw_context_t * context,
    int session_timeout
)

Sets the DDS-XRCE session spin time for destroying entities.

Parameters:

• context RWM context where the spin time is configured
• session_timeout time in milliseconds

Return:

• RMW_RET_OK when success.
• RMW_RET_INVALID_ARGUMENT If client is not valid or unexpected arguments.

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