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micro-ROS RMW API reference auto-update 08-09-2021 06:25 #338

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Merged
pablogs9 merged 1 commit into from
Sep 8, 2021
Merged

micro-ROS RMW API reference auto-update 08-09-2021 06:25 #338

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67 changes: 65 additions & 2 deletions _includes/rmw_doc/Modules/group__rmw.md
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Original file line number Diff line number Diff line change
Expand Up @@ -5,13 +5,15 @@
| | Name |
| -------------- | -------------- |
| void | **[rmw_uros_set_continous_serialization_callbacks](#function-rmw_uros_set_continous_serialization_callbacks)**(rmw_publisher_t * publisher, rmw_uros_continous_serialization_size size_cb, rmw_uros_continous_serialization serialization_cb)<br>Sets the callback functions for continous serialization for a publisher. |
| rmw_ret_t | **[rmw_uros_set_custom_transport](#function-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)<br>Check if micro-ROS Agent answers to micro-ROS client. |
| rmw_ret_t | **[rmw_uros_set_custom_transport](#function-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)<br>Sets micro-ROS default custom transport. |
| rmw_ret_t | **[rmw_uros_options_set_custom_transport](#function-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)<br>Fills rmw implementation-specific options with the given custom transport. |
| rmw_ret_t | **[rmw_uros_discover_agent](#function-rmw_uros_discover_agent)**(rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the autodicovered address of an micro-ROS Agent. |
| rmw_ret_t | **[rmw_uros_init_options](#function-rmw_uros_init_options)**(int argc, const char *const argv[], rmw_init_options_t * rmw_options)<br>Parses command line args and fills rmw implementation-specific options. |
| rmw_ret_t | **[rmw_uros_options_set_serial_device](#function-rmw_uros_options_set_serial_device)**(const char * dev, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters. |
| rmw_ret_t | **[rmw_uros_options_set_udp_address](#function-rmw_uros_options_set_udp_address)**(const char * ip, const char * port, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters. |
| rmw_ret_t | **[rmw_uros_options_set_client_key](#function-rmw_uros_options_set_client_key)**(uint32_t client_key, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters. |
| rmw_ret_t | **[rmw_uros_ping_agent](#function-rmw_uros_ping_agent)**(const int timeout_ms, const uint8_t attempts)<br>Check if micro-ROS Agent is up and running. |
| rmw_ret_t | **[rmw_uros_ping_agent_options](#function-rmw_uros_ping_agent_options)**(const int timeout_ms, const uint8_t attempts, rmw_init_options_t * rmw_options)<br>Check if micro-ROS Agent is up and running using the transport set on the given rmw options. |
| bool | **[rmw_uros_epoch_synchronized](#function-rmw_uros_epoch_synchronized)**()<br>Returns the time synchronization state of the epoch time. |
| int64_t | **[rmw_uros_epoch_millis](#function-rmw_uros_epoch_millis)**()<br>Returns the epoch time in milliseconds taking into account the offset computed during the time synchronization. |
| int64_t | **[rmw_uros_epoch_nanos](#function-rmw_uros_epoch_nanos)**()<br>Returns the epoch time in nanoseconds taking into account the offset computed during the time synchronization. |
Expand Down Expand Up @@ -55,7 +57,7 @@ rmw_ret_t rmw_uros_set_custom_transport(
)
```

Check if micro-ROS Agent answers to micro-ROS client.
Sets micro-ROS default custom transport.

**Parameters**:

Expand All @@ -73,6 +75,39 @@ Check if micro-ROS Agent answers to micro-ROS client.
* RMW_RET_ERROR If invalid.


### function rmw_uros_options_set_custom_transport

```cpp
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

```cpp
Expand Down Expand Up @@ -220,6 +255,34 @@ Check if micro-ROS Agent is up and running.
This function can be called even when the micro-ROS context has not yet been initialized by the application logics.


### function rmw_uros_ping_agent_options

```cpp
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.


### function rmw_uros_epoch_synchronized

```cpp
Expand Down