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Service and message definitions for reading and writing variables #24

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Service and message definitions for reading and writing variables #24

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75777e6
Create service description for reading byte variables.
yeu-geissdoerfer Sep 9, 2024
8c52ec8
Create service description for reading double variables.
yeu-geissdoerfer Sep 9, 2024
f151fcb
Create service description for reading integer variables.
yeu-geissdoerfer Sep 9, 2024
249d092
Create service description for reading position variables.
yeu-geissdoerfer Sep 9, 2024
2556227
Create service description for reading real variables.
yeu-geissdoerfer Sep 9, 2024
88daff8
Create service description for reading string variables.
yeu-geissdoerfer Sep 9, 2024
b03ead7
Create service description for writing byte variables.
yeu-geissdoerfer Sep 9, 2024
3bb54ad
Create service description for writing double variables.
yeu-geissdoerfer Sep 9, 2024
aba2cef
Create service description for writing integer variables.
yeu-geissdoerfer Sep 9, 2024
690fd66
Create service description for writing position variables.
yeu-geissdoerfer Sep 9, 2024
92b6196
Create service description for writing real variables.
yeu-geissdoerfer Sep 9, 2024
8ed4607
Create service description for writing string variables.
yeu-geissdoerfer Sep 9, 2024
c59b3c4
Changed the message name in which the legal values for the result cod…
yeu-geissdoerfer Sep 9, 2024
5cb974e
Created an initial message by copying the IoResultCodes.msg.
yeu-geissdoerfer Sep 9, 2024
a5dc610
Updated the VarResultCodes.msg for the first MR2 read and write varia…
yeu-geissdoerfer Sep 10, 2024
7be02d1
Added msg and srv files to the CMakeLists.txt so that motoros2_interf…
yeu-geissdoerfer Sep 10, 2024
62d3a1b
Updated copyright information in all new srv and msg.
yeu-geissdoerfer Sep 13, 2024
8bca810
Changed the data types to unsigned, as it should be possible to read …
yeu-geissdoerfer Sep 13, 2024
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13 changes: 13 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@ set(msg_files
msg/ErrorInfo.msg
msg/InformJobCrudResultCodes.msg
msg/IoResultCodes.msg
msg/VarResultCodes.msg
msg/MotionReadyEnum.msg
msg/QueueResultEnum.msg
msg/SelectionResultCodes.msg
Expand All @@ -29,13 +30,25 @@ set(srv_files
srv/ReadMRegister.srv
srv/ReadSingleIO.srv
srv/ReadGroupIO.srv
srv/ReadVarByte.srv
srv/ReadVarDouble.srv
srv/ReadVarInteger.srv
srv/ReadVarPosition.srv
srv/ReadVarReal.srv
srv/ReadVarString.srv
srv/ResetError.srv
srv/SelectMotionTool.srv
srv/StartTrajMode.srv
srv/StartPointQueueMode.srv
srv/WriteMRegister.srv
srv/WriteSingleIO.srv
srv/WriteGroupIO.srv
srv/WriteVarByte.srv
srv/WriteVarDouble.srv
srv/WriteVarInteger.srv
srv/WriteVarPosition.srv
srv/WriteVarReal.srv
srv/WriteVarString.srv
)

if(BUILD_TESTING)
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30 changes: 30 additions & 0 deletions msg/VarResultCodes.msg
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@@ -0,0 +1,30 @@
# SPDX-FileCopyrightText: 2024, Yaskawa Europe, GmbH
# SPDX-FileCopyrightText: 2024, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0

uint32 OK = 0
string OK_STR = "Success"

# The variable number cannot be read on this controller
uint32 READ_VAR_NUMBER_INVALID = 1001
string READ_VAR_NUMBER_INVALID_STR = "Variable number cannot be read from (out of readable range)"

# The variable number cannot be written to on this controller
uint32 WRITE_VAR_NUMBER_INVALID = 1002
string WRITE_VAR_NUMBER_INVALID_STR = "Variable number cannot be written to (out of writable range)"

# The value supplied is not a valid value for the addressed IO element
uint32 WRITE_VALUE_INVALID = 1003
string WRITE_VALUE_INVALID_STR = "Illegal value for the type of IO element addressed"

# mpGetUserVars returned -1
uint32 READ_API_ERROR = 1004
string READ_API_ERROR_STR = "The MotoPlus function mpGetUserVars returned -1, indicating an accessing error. No further information is available"

# mpPutUserVars returned -1
uint32 WRITE_API_ERROR = 1005
string WRITE_API_ERROR_STR = "The MotoPlus function mpPutUserVars returned -1, indicating an accessing error. No further information is available"

# Unknown fallback failure
string UNKNOWN_API_ERROR_STR = "Unknown error accessing I/O. No further information is available"
12 changes: 12 additions & 0 deletions srv/ReadVarByte.srv
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# SPDX-FileCopyrightText: 2024, Yaskawa Europe, GmbH
# SPDX-FileCopyrightText: 2024, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0

uint32 var_number
---
# legal values defined in VarResultCodes.msg
uint32 result_code
string message
bool success
uint8 value
12 changes: 12 additions & 0 deletions srv/ReadVarDouble.srv
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# SPDX-FileCopyrightText: 2024, Yaskawa Europe, GmbH
# SPDX-FileCopyrightText: 2024, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0

uint32 var_number
---
# legal values defined in VarResultCodes.msg
uint32 result_code
string message
bool success
int32 value
12 changes: 12 additions & 0 deletions srv/ReadVarInteger.srv
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# SPDX-FileCopyrightText: 2024, Yaskawa Europe, GmbH
# SPDX-FileCopyrightText: 2024, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0

uint32 var_number
---
# legal values defined in VarResultCodes.msg
uint32 result_code
string message
bool success
int16 value
15 changes: 15 additions & 0 deletions srv/ReadVarPosition.srv
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# SPDX-FileCopyrightText: 2024, Yaskawa Europe, GmbH
# SPDX-FileCopyrightText: 2024, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0

uint32 var_number
---
# legal values defined in VarResultCodes.msg
uint32 result_code
string message
bool success

# always returned in 'base' frame
# NOTE: the ROS-Industrial 'base' frame, not Yaskawa Base frame
geometry_msgs/PoseStamped value
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12 changes: 12 additions & 0 deletions srv/ReadVarReal.srv
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# SPDX-FileCopyrightText: 2024, Yaskawa Europe, GmbH
# SPDX-FileCopyrightText: 2024, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0

uint32 var_number
---
# legal values defined in VarResultCodes.msg
uint32 result_code
string message
bool success
float32 value
12 changes: 12 additions & 0 deletions srv/ReadVarString.srv
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# SPDX-FileCopyrightText: 2024, Yaskawa Europe, GmbH
# SPDX-FileCopyrightText: 2024, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0

uint32 var_number
---
# legal values defined in VarResultCodes.msg
uint32 result_code
string message
bool success
string value
12 changes: 12 additions & 0 deletions srv/WriteVarByte.srv
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# SPDX-FileCopyrightText: 2024, Yaskawa Europe, GmbH
# SPDX-FileCopyrightText: 2024, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0

uint32 var_number
uint8 value
---
# legal values defined in VarResultCodes.msg
uint32 result_code
string message
bool success
12 changes: 12 additions & 0 deletions srv/WriteVarDouble.srv
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# SPDX-FileCopyrightText: 2024, Yaskawa Europe, GmbH
# SPDX-FileCopyrightText: 2024, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0

uint32 var_number
int32 value
---
# legal values defined in VarResultCodes.msg
uint32 result_code
string message
bool success
12 changes: 12 additions & 0 deletions srv/WriteVarInteger.srv
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# SPDX-FileCopyrightText: 2024, Yaskawa Europe, GmbH
# SPDX-FileCopyrightText: 2024, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0

uint32 var_number
int16 value
---
# legal values defined in VarResultCodes.msg
uint32 result_code
string message
bool success
19 changes: 19 additions & 0 deletions srv/WriteVarPosition.srv
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# SPDX-FileCopyrightText: 2024, Yaskawa Europe, GmbH
# SPDX-FileCopyrightText: 2024, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0

uint32 var_number

# only poses defined in 'base' frame will be accepted
#
# NOTE: the ROS-Industrial 'base' frame, not Yaskawa Base frame
#
# NOTE 2: it's the responsibility of the client to transform poses into this
# frame. The server will reject poses not already in 'base' frame.
geometry_msgs/PoseStamped value
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---
# legal values defined in VarResultCodes.msg
uint32 result_code
string message
bool success
12 changes: 12 additions & 0 deletions srv/WriteVarReal.srv
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# SPDX-FileCopyrightText: 2024, Yaskawa Europe, GmbH
# SPDX-FileCopyrightText: 2024, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0

uint32 var_number
float32 value
---
# legal values defined in VarResultCodes.msg
uint32 result_code
string message
bool success
12 changes: 12 additions & 0 deletions srv/WriteVarString.srv
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# SPDX-FileCopyrightText: 2024, Yaskawa Europe, GmbH
# SPDX-FileCopyrightText: 2024, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0

uint32 var_number
string value
---
# legal values defined in VarResultCodes.msg
uint32 result_code
string message
bool success