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Update demos after API changes #99

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8 changes: 5 additions & 3 deletions rclc/autodiscover_agent/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -16,9 +16,10 @@
rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
{
(void) last_call_time;
(void) user_data;
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
printf("Sent: %d\n", msg.data);
Expand Down Expand Up @@ -58,11 +59,12 @@ int main()
// create timer,
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
RCCHECK(rclc_timer_init_default2(
&timer,
&support,
RCL_MS_TO_NS(timer_timeout),
timer_callback));
timer_callback,
true));

// create executor
rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
Expand Down
8 changes: 5 additions & 3 deletions rclc/configuration_example/configured_publisher/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -15,9 +15,10 @@
rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
{
(void) last_call_time;
(void) user_data;
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
printf("Sent: %d\n", msg.data);
Expand Down Expand Up @@ -66,11 +67,12 @@ int main(int argc, char * const argv[])
// create timer,
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
RCCHECK(rclc_timer_init_default2(
&timer,
&support,
RCL_MS_TO_NS(timer_timeout),
timer_callback));
timer_callback,
true));

// create executor
rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
Expand Down
8 changes: 5 additions & 3 deletions rclc/configuration_example/custom_transports/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -113,9 +113,10 @@ size_t custom_transport_read(struct uxrCustomTransport* transport, uint8_t* buf,
rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
{
(void) last_call_time;
(void) user_data;
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
printf("Sent: %d\n", msg.data);
Expand Down Expand Up @@ -161,11 +162,12 @@ int main(int argc, char * const argv[])
// create timer,
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
RCCHECK(rclc_timer_init_default2(
&timer,
&support,
RCL_MS_TO_NS(timer_timeout),
timer_callback));
timer_callback,
true));

// create executor
rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
Expand Down
8 changes: 5 additions & 3 deletions rclc/epoch_synchronization/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -15,10 +15,11 @@
rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
{
(void) last_call_time;
(void) timer;
(void) user_data;

RCSOFTCHECK(rmw_uros_sync_session(1000));
int64_t time = rmw_uros_epoch_millis();
Expand Down Expand Up @@ -50,11 +51,12 @@ int main()
// create timer,
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
RCCHECK(rclc_timer_init_default2(
&timer,
&support,
RCL_MS_TO_NS(timer_timeout),
timer_callback));
timer_callback,
true));

// create executor
rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
Expand Down
14 changes: 8 additions & 6 deletions rclc/fragmented_publication/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -16,9 +16,10 @@
rcl_publisher_t publisher;
std_msgs__msg__String msg;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
{
(void) last_call_time;
(void) user_data;
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
printf("I sent an %ld array\n", msg.data.size);
Expand Down Expand Up @@ -47,11 +48,12 @@ int main(int argc, const char * const * argv)
// create timer,
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
RCCHECK(rclc_timer_init_default2(
&timer,
&support,
RCL_MS_TO_NS(timer_timeout),
timer_callback));
timer_callback,
true));

// create executor
rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
Expand All @@ -63,9 +65,9 @@ int main(int argc, const char * const * argv)
msg.data.size = 0;
msg.data.capacity = ARRAY_LEN;

memset(msg.data.data,'z',3500);
msg.data.data[3500] = '\0';
msg.data.size = 3501;
memset(msg.data.data,'z',1800); // Default max buffer size is 2048 bytes
msg.data.data[1800] = '\0';
msg.data.size = 1801;

rclc_executor_spin(&executor);

Expand Down
8 changes: 5 additions & 3 deletions rclc/graph_introspection/publisher_count/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -15,9 +15,10 @@
rcl_subscription_t subscription;
rcl_node_t node;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
{
(void) last_call_time;
(void) user_data;
printf("Publisher count for subscription '/parameter_events':\n");
size_t publisher_count = 0;
RCSOFTCHECK(rcl_subscription_get_publisher_count(&subscription, &publisher_count));
Expand Down Expand Up @@ -48,11 +49,12 @@ int main(int argc, const char * const * argv)
// create timer
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
RCCHECK(rclc_timer_init_default2(
&timer,
&support,
RCL_MS_TO_NS(timer_timeout),
timer_callback));
timer_callback,
true));

// create executor
rclc_executor_t executor;
Expand Down
8 changes: 5 additions & 3 deletions rclc/graph_introspection/subscription_count/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -15,9 +15,10 @@
rcl_publisher_t publisher;
rcl_node_t node;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
{
(void) last_call_time;
(void) user_data;
printf("Subscriptions count for publisher '/parameter_events':\n");
size_t subscription_count = 0;
RCSOFTCHECK(rcl_publisher_get_subscription_count(&publisher, &subscription_count));
Expand Down Expand Up @@ -48,11 +49,12 @@ int main(int argc, const char * const * argv)
// create timer
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
RCCHECK(rclc_timer_init_default2(
&timer,
&support,
RCL_MS_TO_NS(timer_timeout),
timer_callback));
timer_callback,
true));

// create executor
rclc_executor_t executor;
Expand Down
16 changes: 10 additions & 6 deletions rclc/int32_multinode/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -20,9 +20,10 @@ rcl_subscription_t subscriber_2;
std_msgs__msg__Int32 send_msg_2;
std_msgs__msg__Int32 recv_msg_2;

void timer_callback_1(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback_1(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
{
(void) last_call_time;
(void) user_data;
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher_1, &send_msg_1, NULL));
printf("Node 1 -- Sent: %d\n", send_msg_1.data);
Expand All @@ -36,9 +37,10 @@ void subscription_callback_1(const void * msgin)
printf("Node 1 --Received: %d\n", msg->data);
}

void timer_callback_2(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback_2(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
{
(void) last_call_time;
(void) user_data;
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher_2, &send_msg_2, NULL));
printf("Node 2 -- Sent: %d\n", send_msg_2.data);
Expand Down Expand Up @@ -82,11 +84,12 @@ int main(int argc, const char * const * argv)

// create timer,
rcl_timer_t timer_1;
RCCHECK(rclc_timer_init_default(
RCCHECK(rclc_timer_init_default2(
&timer_1,
&support,
RCL_MS_TO_NS(1000),
timer_callback_1));
timer_callback_1,
true));

// create executor
rclc_executor_t executor_1 = rclc_executor_get_zero_initialized_executor();
Expand Down Expand Up @@ -115,11 +118,12 @@ int main(int argc, const char * const * argv)

// create timer,
rcl_timer_t timer_2;
RCCHECK(rclc_timer_init_default(
RCCHECK(rclc_timer_init_default2(
&timer_2,
&support,
RCL_MS_TO_NS(1000),
timer_callback_2));
timer_callback_2,
true));

// create executor
rclc_executor_t executor_2 = rclc_executor_get_zero_initialized_executor();
Expand Down
8 changes: 5 additions & 3 deletions rclc/int32_publisher/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -14,9 +14,10 @@
rcl_publisher_t publisher;
std_msgs__msg__Int32 msg;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
{
(void) last_call_time;
(void) user_data;
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
printf("Sent: %d\n", msg.data);
Expand Down Expand Up @@ -46,11 +47,12 @@ int main()
// create timer,
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
RCCHECK(rclc_timer_init_default2(
&timer,
&support,
RCL_MS_TO_NS(timer_timeout),
timer_callback));
timer_callback,
true));

// create executor
rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
Expand Down
8 changes: 5 additions & 3 deletions rclc/int32_publisher_subscriber/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -15,9 +15,10 @@ rcl_subscription_t subscriber;
std_msgs__msg__Int32 send_msg;
std_msgs__msg__Int32 recv_msg;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
{
(void) last_call_time;
(void) user_data;
if (timer != NULL) {
RCSOFTCHECK(rcl_publish(&publisher, &send_msg, NULL));
printf("Sent: %d\n", send_msg.data);
Expand Down Expand Up @@ -60,11 +61,12 @@ int main(int argc, const char * const * argv)
// create timer,
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
RCCHECK(rclc_timer_init_default2(
&timer,
&support,
RCL_MS_TO_NS(timer_timeout),
timer_callback));
timer_callback,
true));

// create executor
rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
Expand Down
8 changes: 5 additions & 3 deletions rclc/parameter_server/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -20,10 +20,11 @@ rcl_timer_t timer;
bool publish = true;
std_msgs__msg__Int32 msg;

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
{
(void) last_call_time;
(void) timer;
(void) user_data;

if (publish) {
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
Expand Down Expand Up @@ -89,11 +90,12 @@ int main()

// create timer,
RCCHECK(
rclc_timer_init_default(
rclc_timer_init_default2(
&timer,
&support,
RCL_MS_TO_NS(1000),
timer_callback));
timer_callback,
true));

// create executor
rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
Expand Down
5 changes: 3 additions & 2 deletions rclc/ping_pong/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -27,9 +27,10 @@ int device_id;
int seq_no;
int pong_count;

void ping_timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void ping_timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
{
(void) last_call_time;
(void) user_data;

if (timer != NULL) {

Expand Down Expand Up @@ -100,7 +101,7 @@ int main()

// Create a 3 seconds ping timer timer,
rcl_timer_t timer;
RCCHECK(rclc_timer_init_default(&timer, &support, RCL_MS_TO_NS(2000), ping_timer_callback));
RCCHECK(rclc_timer_init_default2(&timer, &support, RCL_MS_TO_NS(2000), ping_timer_callback, true));


// Create executor
Expand Down
8 changes: 5 additions & 3 deletions rclc/ping_uros_agent/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -41,9 +41,10 @@ int usage()
return 1;
}

void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
void timer_callback(rcl_timer_t * timer, int64_t last_call_time, uintptr_t user_data)
{
(void) last_call_time;
(void) user_data;
if (NULL != timer) {
RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
printf("Sent: '%s'\n", msg.data.data);
Expand Down Expand Up @@ -128,11 +129,12 @@ int main(int argc, char ** argv)
// Create timer
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
RCCHECK(rclc_timer_init_default2(
&timer,
&support,
RCL_MS_TO_NS(timer_timeout),
timer_callback));
timer_callback,
true));

// Create executor
rclc_executor_t executor;
Expand Down
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