From 6e8141a5ed9ba498c44f1949f2e947f67f9973a3 Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Tue, 23 Apr 2024 13:47:06 +0200 Subject: [PATCH 1/6] Update message definitions from TNO --- penelope_aerospace_pl_msgs/CMakeLists.txt | 1 + penelope_aerospace_pl_msgs/action/DvmInspect.action | 11 ++++++++++- penelope_aerospace_pl_msgs/msg/ModuleState.msg | 1 + penelope_aerospace_pl_msgs/msg/ResultCodes.msg | 3 ++- penelope_aerospace_pl_msgs/msg/TriggersState.msg | 13 +++++++++++++ 5 files changed, 27 insertions(+), 2 deletions(-) create mode 100644 penelope_aerospace_pl_msgs/msg/TriggersState.msg diff --git a/penelope_aerospace_pl_msgs/CMakeLists.txt b/penelope_aerospace_pl_msgs/CMakeLists.txt index aa072ea..cdd1886 100644 --- 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 index 87f1cbb..47b3381 100644 --- 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) @@ -57,6 +57,15 @@ float32[] time_to_completion # Refer to penelope_aerospace_pl_msgs/msg/DvmState for the definition DvmState[] measurement_state +# Triggers state +TriggersState triggers_state + +# speed between movements +float32 movement_speed + +# increment of the triggers +float32 increment_between_triggers + # 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 index 1fbc69a..ebfbb1f 100644 --- a/penelope_aerospace_pl_msgs/msg/ModuleState.msg +++ b/penelope_aerospace_pl_msgs/msg/ModuleState.msg @@ -16,5 +16,6 @@ uint8 ACCEPTED=1 uint8 EXECUTING=2 uint8 PAUSED=7 uint8 CANCELING=3 +uint8 INITIALIZING=4 uint8 data diff --git a/penelope_aerospace_pl_msgs/msg/ResultCodes.msg b/penelope_aerospace_pl_msgs/msg/ResultCodes.msg index 51571d5..4edf25e 100644 --- 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 #------------------------------------------------------------------------------- diff --git a/penelope_aerospace_pl_msgs/msg/TriggersState.msg b/penelope_aerospace_pl_msgs/msg/TriggersState.msg new file mode 100644 index 0000000..6d90794 --- /dev/null +++ b/penelope_aerospace_pl_msgs/msg/TriggersState.msg @@ -0,0 +1,13 @@ +#------------------------------------------------------------------------------- +# DVM Triggers State (TNO) +#------------------------------------------------------------------------------- + +# Description of the DVM process states: +# GIVE_TRIGGERS +# ... +# STOP_GIVING_TRIGGERS +# ... + +uint8 GIVE_TRIGGERS = 0 +uint8 STOP_GIVING_TRIGGERS = 1 +uint8 data From 1666a88228a6ef8ba15566d7ec7a924c1744b2d9 Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Thu, 2 May 2024 14:49:59 +0200 Subject: [PATCH 2/6] Update names to better reflect their meaning. Data values are changed to prevent default initialized values (zero) to be valid. --- penelope_aerospace_pl_msgs/msg/TriggersState.msg | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/penelope_aerospace_pl_msgs/msg/TriggersState.msg b/penelope_aerospace_pl_msgs/msg/TriggersState.msg index 6d90794..93aee81 100644 --- a/penelope_aerospace_pl_msgs/msg/TriggersState.msg +++ b/penelope_aerospace_pl_msgs/msg/TriggersState.msg @@ -3,11 +3,13 @@ #------------------------------------------------------------------------------- # Description of the DVM process states: -# GIVE_TRIGGERS -# ... -# STOP_GIVING_TRIGGERS -# ... +# 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 GIVE_TRIGGERS = 0 -uint8 STOP_GIVING_TRIGGERS = 1 +uint8 TRIGGERS_ACTIVE = 1 +uint8 NO_TRIGGERS = 2 uint8 data From a27078eded8bf0170255a11779c0378c84d9644b Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Thu, 2 May 2024 14:51:06 +0200 Subject: [PATCH 3/6] Add DVM status codes --- penelope_aerospace_pl_msgs/msg/ResultCodes.msg | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/penelope_aerospace_pl_msgs/msg/ResultCodes.msg b/penelope_aerospace_pl_msgs/msg/ResultCodes.msg index 4edf25e..ac647c6 100644 --- a/penelope_aerospace_pl_msgs/msg/ResultCodes.msg +++ b/penelope_aerospace_pl_msgs/msg/ResultCodes.msg @@ -26,3 +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 From de6b34b89af11cee6add704f5400eacb3ca0952d Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Thu, 2 May 2024 14:52:30 +0200 Subject: [PATCH 4/6] Remove added INITIALIZING state and renumber --- penelope_aerospace_pl_msgs/msg/ModuleState.msg | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/penelope_aerospace_pl_msgs/msg/ModuleState.msg b/penelope_aerospace_pl_msgs/msg/ModuleState.msg index ebfbb1f..9f302a8 100644 --- a/penelope_aerospace_pl_msgs/msg/ModuleState.msg +++ b/penelope_aerospace_pl_msgs/msg/ModuleState.msg @@ -14,8 +14,7 @@ uint8 ACCEPTED=1 uint8 EXECUTING=2 -uint8 PAUSED=7 -uint8 CANCELING=3 -uint8 INITIALIZING=4 +uint8 PAUSED=3 +uint8 CANCELING=4 uint8 data From 9e00fb46cb663e9bd42b663470d4b41219ddf180 Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Thu, 2 May 2024 14:59:35 +0200 Subject: [PATCH 5/6] Clarify use of variables in DVMInspect --- penelope_aerospace_pl_msgs/action/DvmInspect.action | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/penelope_aerospace_pl_msgs/action/DvmInspect.action b/penelope_aerospace_pl_msgs/action/DvmInspect.action index 47b3381..e88082b 100644 --- a/penelope_aerospace_pl_msgs/action/DvmInspect.action +++ b/penelope_aerospace_pl_msgs/action/DvmInspect.action @@ -51,7 +51,7 @@ 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 @@ -60,11 +60,11 @@ DvmState[] measurement_state # Triggers state TriggersState triggers_state -# speed between movements -float32 movement_speed +# Requested speed for the current movement +float32 movement_speed # m/s -# increment of the triggers -float32 increment_between_triggers +# Increment of the triggers for the current scan +float32 increment_between_triggers # mm # Processing and approval state information bool[] processed_data_available From f54401c8ff82fd2021126aa34db555bcb92e874d Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Thu, 2 May 2024 15:59:43 +0200 Subject: [PATCH 6/6] bump version to 1.0.1 --- penelope_aerospace_pl_interfaces_examples/package.xml | 2 +- penelope_aerospace_pl_msgs/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/penelope_aerospace_pl_interfaces_examples/package.xml b/penelope_aerospace_pl_interfaces_examples/package.xml index 93b9704..5134277 100644 --- a/penelope_aerospace_pl_interfaces_examples/package.xml +++ b/penelope_aerospace_pl_interfaces_examples/package.xml @@ -2,7 +2,7 @@ penelope_aerospace_pl_interfaces_examples - 1.0.0 + 1.0.1 Simple example of a ROS2 action server and client for the PeneloPe specific interfaces Eugenio Bernardi BSD-3-Clause diff --git a/penelope_aerospace_pl_msgs/package.xml b/penelope_aerospace_pl_msgs/package.xml index 75d0d06..2ba0053 100644 --- a/penelope_aerospace_pl_msgs/package.xml +++ b/penelope_aerospace_pl_msgs/package.xml @@ -2,7 +2,7 @@ penelope_aerospace_pl_msgs - 1.0.0 + 1.0.1 Message and action definition of the PeneloPe interfaces used by the Digital Thread. D. Kroezen BSD-3-Clause