Add INFORM CRUD service definitions

CMakeLists.txt

@@ -23,8 +23,11 @@ set(msg_files
 )
 
 set(srv_files
+  srv/DeleteInformJob.srv
   srv/GetActiveAlarmInfo.srv
+  srv/GetInformJob.srv
   srv/ListInformJobs.srv
+  srv/PutInformJob.srv
   srv/QueueTrajPoint.srv
   srv/ReadMRegister.srv
   srv/ReadSingleIO.srv

srv/DeleteInformJob.srv

@@ -0,0 +1,21 @@
+# SPDX-FileCopyrightText: 2024, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2024, Delft University of Technology
+#
+# 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 exist on the controller
+# - a job with this name must not be currently running on the controller
+string name
+
+---
+
+# 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

srv/GetInformJob.srv

@@ -0,0 +1,28 @@
+# SPDX-FileCopyrightText: 2024, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2024, Delft University of Technology
+#
+# 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 exist on the controller
+# - a job with this name must not be currently running on the controller
+string name
+
+---
+
+# 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
+
+# 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

srv/PutInformJob.srv

@@ -0,0 +1,31 @@
+# SPDX-FileCopyrightText: 2024, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2024, Delft University of Technology
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# The request does not provide a 'name' field as MotoROS2 will use the job name
+# specified in the job header (ie: "//NAME <JOB_NAME>")
+
+# The (binary) contents of the job file as bytes. This should contain the
+# complete file, including the full job header and the instruction section.
+#
+# 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
+
+---
+
+# 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