From 0c7f4fc40f227b9f8266724616436227454b1be6 Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Thu, 31 Aug 2023 12:32:57 +0200
Subject: [PATCH] Add skeleton for GetActiveAlarmInfo

---
 CMakeLists.txt             |  2 ++
 msg/AlarmInfo.msg          | 25 +++++++++++++++++++++++++
 srv/GetActiveAlarmInfo.srv | 25 +++++++++++++++++++++++++
 3 files changed, 52 insertions(+)
 create mode 100644 msg/AlarmInfo.msg
 create mode 100644 srv/GetActiveAlarmInfo.srv

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 52ec279..936d0bc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,6 +11,7 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(trajectory_msgs REQUIRED)
 
 set(msg_files
+  msg/AlarmInfo.msg
   msg/IoResultCodes.msg
   msg/MotionReadyEnum.msg
   msg/QueueResultEnum.msg
@@ -18,6 +19,7 @@ set(msg_files
 )
 
 set(srv_files
+  srv/GetActiveAlarmInfo.srv
   srv/QueueTrajPoint.srv
   srv/ReadMRegister.srv
   srv/ReadSingleIO.srv
diff --git a/msg/AlarmInfo.msg b/msg/AlarmInfo.msg
new file mode 100644
index 0000000..b06d24a
--- /dev/null
+++ b/msg/AlarmInfo.msg
@@ -0,0 +1,25 @@
+# Alarm Number
+int32 number
+
+# Sub Code
+int32 sub_code
+
+# Alarm Name/Message
+string name
+
+# Contents
+string contents
+
+# Meaning
+string description
+
+# Cause, Remedy and Notes for Cause-Remedy pairs
+#motoros2_interfaces/msg/CauseRemedyPair[] cause_remedy
+#  # Cause
+#  string cause
+#
+#  # Remedy
+#  string remedy
+#
+#  # Notes
+#  string notes
diff --git a/srv/GetActiveAlarmInfo.srv b/srv/GetActiveAlarmInfo.srv
new file mode 100644
index 0000000..747adae
--- /dev/null
+++ b/srv/GetActiveAlarmInfo.srv
@@ -0,0 +1,25 @@
+# empty request (service returns information about all active alarms & errors).
+
+---
+
+# Result of the service invocation. Values other than one (1) signal failure.
+#
+# NOTE: future versions of this service may use a different set of result codes
+uint32 result_code
+
+# string representation of the value in 'result_code', for humans
+string message
+
+# Each entry in this list provides detailed information about all currently
+# active alarms. If this list is empty, there are no active alarms.
+#
+# Note: order of entries in this list does not encode for any specific severity
+# or priority of active alarms.
+motoros2_interfaces/AlarmInfo[] alarms
+
+# Each entry in this list provides detailed information about all currently
+# active errors. If this list is empty, there are no active errors.
+#
+# Note: order of entries in this list does not encode for any specific severity
+# or priority of active errors.
+motoros2_interfaces/AlarmInfo[] errors