Merge pull request #9 from gavanderhoorn/get_active_alarm_info_srv

Add definitions for `GetActiveAlarmInfo` service

CMakeLists.txt

@@ -7,17 +7,22 @@ cmake_minimum_required(VERSION 3.5)
 project(motoros2_interfaces)
 
 find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(trajectory_msgs REQUIRED)
 
 set(msg_files
+  msg/AlarmInfo.msg
+  msg/AlarmCauseRemedy.msg
+  msg/ErrorInfo.msg
   msg/IoResultCodes.msg
   msg/MotionReadyEnum.msg
   msg/QueueResultEnum.msg
   msg/SelectionResultCodes.msg
 )
 
 set(srv_files
+  srv/GetActiveAlarmInfo.srv
   srv/QueueTrajPoint.srv
   srv/ReadMRegister.srv
   srv/ReadSingleIO.srv
@@ -39,7 +44,7 @@ endif()
 rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files}
   ${srv_files}
-  DEPENDENCIES trajectory_msgs
+  DEPENDENCIES builtin_interfaces trajectory_msgs
   ADD_LINTER_TESTS
 )
 

msg/AlarmCauseRemedy.msg

@@ -0,0 +1,10 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, Delft University of Technology
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# Cause
+string cause
+
+# Remedy
+string remedy

msg/AlarmInfo.msg

@@ -0,0 +1,36 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, Delft University of Technology
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# Alarm Number
+uint32 number
+
+# Alarm Name/Message
+string message
+
+# Sub Code
+int32 sub_code
+
+# reserved for future use
+#
+# Date & time at which this alarm was raised on the controller
+#
+# NOTE: in accordance with the "Clock and Time" ROS 2 design article, this
+# stamp is in ROSTime == (local) SystemTime on Yaskawa Motoman robot
+# controllers, as the latter is the only clock source supported on those
+# platforms.
+#
+# This stamp will not be corrected for Host PC <-> Yaskawa controller clock
+# drift, as it is intended purely for informational purposes (ie: for humans)
+# at this time.
+builtin_interfaces/Time datetime
+
+# reserved for future use: contents (from CSV)
+string contents
+
+# reserved for future use: meaning (from CSV)
+string description
+
+# reserved for future use: potential causes and their potential remedies (from CSV)
+motoros2_interfaces/AlarmCauseRemedy[] help

msg/ErrorInfo.msg

@@ -0,0 +1,27 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, Delft University of Technology
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# Error Number
+uint32 number
+
+# Error Name/Message
+string message
+
+# Sub Code
+int32 sub_code
+
+# reserved for future use
+#
+# Date & time at which this error was raised on the controller
+#
+# NOTE: in accordance with the "Clock and Time" ROS 2 design article, this
+# stamp is in ROSTime == (local) SystemTime on Yaskawa Motoman robot
+# controllers, as the latter is the only clock source supported on those
+# platforms.
+#
+# This stamp will not be corrected for Host PC <-> Yaskawa controller clock
+# drift, as it is intended purely for informational purposes (ie: for humans)
+# at this time.
+builtin_interfaces/Time datetime

package.xml

@@ -22,6 +22,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>builtin_interfaces</depend>
   <depend>trajectory_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>

srv/GetActiveAlarmInfo.srv

@@ -0,0 +1,30 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, Delft University of Technology
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# 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 result_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/ErrorInfo[] errors