Update TNO interface definition

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

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

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

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
 
 #-------------------------------------------------------------------------------

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