fix(rcl_action): Allow to pass the timer to action during initialization #1201
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This pull request has been mentioned on ROS Discourse. There might be relevant details there: https://discourse.ros.org/t/next-client-library-wg-meeting-friday-6th-december-2024-8am-pt/40954/2 |
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@alsora @mjcarroll @wjwwood can one of you do a review, and start the CI ? This commit is the precursor to ros2/rclcpp#2699 |
alsora
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Jan 10, 2025
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ahcorde
requested changes
Jan 10, 2025
added 3 commits
January 10, 2025 11:03
The interface description does not explicitly state that a rcl_timer_t may not be copied around. Therefore users may do this. By using a known never changing pointer in the callbacks, we avoid segfaults, even if the 'user' decides to copy the rcl_timer_t around. Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
…ases Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
This change is needed in order to expose the timer to event based executors. Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
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rebased. @ahcorde can you rerun the CI ? |
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fujitatomoya
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Jan 10, 2025
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@jmachowinski do you want to merge this to rolling now? or we can wait for ros2/rclcpp#2699, and merge them all together. (i think we usually the latter procedure)
| @@ -161,7 +162,8 @@ rcl_action_get_zero_initialized_server(void); | |||
| * \param[out] action_server handle to a preallocated, zero-initialized action server structure | |||
| * to be initialized. | |||
| * \param[in] node valid node handle | |||
| * \param[in] clock valid clock handle | |||
| * \param[in] expire_timer An initialized and canceled timer. The caller must guarantee the lifetime of the | |||
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this is weird, uncrustify should warn this because maximum line length is 100 characters...
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This change is needed in order to expose the timer to event based executors.
Precursor to ros2/rclcpp#2699