Merge pull request #4 from sam-xl/feature/tno_integration_p1

Update TNO interface definition
sam-xl · May 2, 2024 · bc8ec1e · bc8ec1e
2 parents 930b5d5 + f54401c
commit bc8ec1e
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Showing 7 changed files with 37 additions and 7 deletions.
diff --git a/penelope_aerospace_pl_interfaces_examples/package.xml b/penelope_aerospace_pl_interfaces_examples/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>penelope_aerospace_pl_interfaces_examples</name>
-  <version>1.0.0</version>
+  <version>1.0.1</version>
   <description>Simple example of a ROS2 action server and client for the PeneloPe specific interfaces</description>
   <maintainer email="[email protected]">Eugenio Bernardi</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/penelope_aerospace_pl_msgs/CMakeLists.txt b/penelope_aerospace_pl_msgs/CMakeLists.txt
@@ -29,6 +29,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/ResultCodes.msg"
   "msg/SolidPrimitiveStamped.msg"
   "msg/StringerPlaceState.msg"
+  "msg/TriggersState.msg"
 
   DEPENDENCIES # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
     geometry_msgs

diff --git a/penelope_aerospace_pl_msgs/action/DvmInspect.action b/penelope_aerospace_pl_msgs/action/DvmInspect.action
@@ -37,7 +37,7 @@ bool[] processed_data_available
 bool[] ndt_approved
 
 # Action success/failure indicator.
-# Refer to penelope_aerospace_pl_msgs/msg/ResultCodes for defined error codes. 
+# Refer to penelope_aerospace_pl_msgs/msg/ResultCodes for defined error codes.
 uint16 result_code
 
 # Status message (empty if action succeeded)
@@ -51,12 +51,21 @@ string message
 
 # Completion information
 float32[] percent_complete
-float32[] time_to_completion
+float32[] time_to_completion # seconds
 
 # Module specific state
 # Refer to penelope_aerospace_pl_msgs/msg/DvmState for the definition
 DvmState[] measurement_state
 
+# Triggers state
+TriggersState triggers_state
+
+# Requested speed for the current movement
+float32 movement_speed # m/s
+
+# Increment of the triggers for the current scan
+float32 increment_between_triggers # mm
+
 # Processing and approval state information
 bool[] processed_data_available
 bool[] ndt_approved

diff --git a/penelope_aerospace_pl_msgs/msg/ModuleState.msg b/penelope_aerospace_pl_msgs/msg/ModuleState.msg
@@ -14,7 +14,7 @@
 
 uint8 ACCEPTED=1
 uint8 EXECUTING=2
-uint8 PAUSED=7
-uint8 CANCELING=3
+uint8 PAUSED=3
+uint8 CANCELING=4
 
 uint8 data
diff --git a/penelope_aerospace_pl_msgs/msg/ResultCodes.msg b/penelope_aerospace_pl_msgs/msg/ResultCodes.msg
@@ -10,7 +10,8 @@ string SUCCES=""
 uint16 RC_SUCCES=1
 
 # Generic failure message
-string FAILED="Action/Service failed.. See module log for more details."
+string FAILED_BY_USER="Action/Service failed scan, terminated by operator."
+string FAILED="Action/Service failed scan with errors."
 uint16 RC_FAILED=2
 
 #-------------------------------------------------------------------------------
@@ -25,3 +26,7 @@ uint16 RC_FAILED=2
 # sucessful. The generic failure message should only be used to indicate events
 # that were not anticipated.
 #-------------------------------------------------------------------------------
+
+# DVM status messages (Range between 100 and 199)
+string DVM_FAILED_BY_USER="DVM scan failed, terminated by operator."
+uint16 RC_DVM_FAILED_BY_USER=100
diff --git a/penelope_aerospace_pl_msgs/msg/TriggersState.msg b/penelope_aerospace_pl_msgs/msg/TriggersState.msg
@@ -0,0 +1,15 @@
+#-------------------------------------------------------------------------------
+# DVM Triggers State (TNO)
+#-------------------------------------------------------------------------------
+
+# Description of the DVM process states:
+#   TRIGGERS_ACTIVE
+#     A motion request with triggers for the DVM system is sent to the manipulator
+#     and is being processed.
+#   NO_TRIGGERS
+#     No motion request with triggers is active or being processed. This is a valid
+#     state for motions without triggers or while no motion is requested.
+
+uint8 TRIGGERS_ACTIVE = 1
+uint8 NO_TRIGGERS = 2
+uint8 data
diff --git a/penelope_aerospace_pl_msgs/package.xml b/penelope_aerospace_pl_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>penelope_aerospace_pl_msgs</name>
-  <version>1.0.0</version>
+  <version>1.0.1</version>
   <description>Message and action definition of the PeneloPe interfaces used by the Digital Thread.</description>
   <maintainer email="[email protected]">D. Kroezen</maintainer>
   <license>BSD-3-Clause</license>