From e3d2ced6d3194affa796e2c66603cfc5bd8b99fa Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Thu, 15 Aug 2024 12:55:26 +0200 Subject: [PATCH] temp: wip --- srv/GetInformJob.srv | 8 ++++++-- srv/PutInformJob.srv | 22 ++++++++++++++-------- 2 files changed, 20 insertions(+), 10 deletions(-) diff --git a/srv/GetInformJob.srv b/srv/GetInformJob.srv index 50b02d3..979fa9f 100644 --- a/srv/GetInformJob.srv +++ b/srv/GetInformJob.srv @@ -20,5 +20,9 @@ uint32 result_code # string representation of the value in 'result_code', for humans string message -# this field may be left uninitialised in case result_code != 1 -byte[] contents +# The contents of the job file as raw bytes. This will contain the complete +# file, including the full job header and the instruction section. MotoROS2 has +# not processed the data in any way, so this is a verbatim copy of the job file. +# +# NOTE: this field may be left uninitialised in case result_code != 1. +uint8[] contents diff --git a/srv/PutInformJob.srv b/srv/PutInformJob.srv index ab3cf2b..f43755c 100644 --- a/srv/PutInformJob.srv +++ b/srv/PutInformJob.srv @@ -3,16 +3,22 @@ # # SPDX-License-Identifier: Apache-2.0 -# NOTE: -# - do not include the file extension (JBI), only the name of the job -# - character encodings other than ASCII are only partially supported -# - a job with this name must NOT exist on the controller -string name +# The request does not provide a 'name' field as MotoROS2 will use the job name +# specified in the job header (ie: "//NAME ") -# complete job file (ie: JBI) contents, including job header +# The (binary) contents of the job file as bytes. This should contain the +# complete file, including the full job header and the instruction section. # -# note: use Windows EOLs -byte[] contents +# Pay extra attention to encoding the job file contents, it should be in the +# encoding expected by the Yaskawa controller and should use Windows +# line-endings. MotoROS2 will not process the submitted data in any way, so +# it has to be valid job (JBI) content already. +# +# Loading the job will fail if it's not in a format supported by the controller. +# +# NOTE: as mentioned above, the name of the job to create on the controller +# will be taken from the job header. +uint8[] contents ---