Update msg, srv and action files (#4)

* Update all messages, services and actions to match what will be on the robot controller with Polyscope 10.7
* Unify small case for message group variables
* Add action_msgs dependency in package.xml
  For Humble this is still required.
* Remove dashboard services for now
  As we don't offer those services on the robot controller currently and
  the driver does not immediately switch to this repo, let's remove those
  services for now.

CMakeLists.txt

@@ -6,21 +6,30 @@ project(urinterfaces)
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
-find_package(action_msgs REQUIRED)
 
 set(msg_files
+  "msg/ActiveTCP.msg"
   "msg/Analog.msg"
+  "msg/AnalogStamped.msg"
+  "msg/AnalogIO.msg"
+  "msg/AnalogIOStateStamped.msg"
   "msg/BoolStamped.msg"
   "msg/ControlCycle.msg"
   "msg/Current.msg"
-  "msg/DigitalPort.msg"
+  "msg/Digital.msg"
+  "msg/DigitalIO.msg"
+  "msg/DigitalIOStateStamped.msg"
+  "msg/DigitalStamped.msg"
   "msg/DoubleMultiArrayStamped.msg"
   "msg/Float32Stamped.msg"
   "msg/Float64Stamped.msg"
@@ -41,28 +50,17 @@ set(srv_files
   "srv/SetAnalogOutput.srv"
   "srv/SetDigitalOutput.srv"
   "srv/SetSpeedFraction.srv"
-  "srv/AddToLog.srv"
-  "srv/GetLoadedProgram.srv"
-  "srv/GetProgramState.srv"
-  "srv/GetRobotMode.srv"
-  "srv/SetPayload.srv"
-  "srv/GetSafetyMode.srv"
-  "srv/IsProgramRunning.srv"
-  "srv/IsProgramSaved.srv"
-  "srv/Load.srv"
-  "srv/Popup.srv"
-  "srv/RawRequest.srv"
 )
 
 set(action_files
   "action/SetMode.action"
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  ${action_files}
   ${msg_files}
   ${srv_files}
-  ${action_files}
-  DEPENDENCIES builtin_interfaces std_msgs geometry_msgs sensor_msgs action_msgs
+  DEPENDENCIES builtin_interfaces std_msgs geometry_msgs sensor_msgs
   ADD_LINTER_TESTS
 )
 

action/SetMode.action

@@ -2,7 +2,7 @@
 # non-critical state (e.g. NORMAL or REDUCED), for example after a safety incident happened.
 
 # goal
-int8 target_robot_mode
+RobotMode target_robot_mode
 
 # Stop program execution before restoring the target mode. Can be used together with 'play_program'.
 bool stop_program

msg/ActiveTCP.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+string data

msg/Analog.msg

@@ -1,6 +1,6 @@
-std_msgs/Header header
 uint8 CURRENT = 0
 uint8 VOLTAGE = 1
 
-uint8 domain # can be VOLTAGE or CURRENT, must match SetAnalogOutput.srv
-float32 data
+uint8 pin
+uint8 domain # can be VOLTAGE or CURRENT
+float32 value

msg/AnalogIO.msg

@@ -0,0 +1,3 @@
+# Note: The array indices do not necessarily match the pin number
+Analog[] analog_inputs
+Analog[] analog_outputs

msg/AnalogIOStateStamped.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+AnalogIO io_state

msg/DigitalPort.msg → msg/AnalogStamped.msg

@@ -1,2 +1,2 @@
 std_msgs/Header header
-bool[] data
+Analog data

msg/Digital.msg

@@ -0,0 +1,2 @@
+uint8 pin
+bool state

msg/DigitalIO.msg

@@ -0,0 +1,3 @@
+# Note: The array indices do not necessarily match the pin number
+Digital[] digital_inputs
+Digital[] digital_outputs

msg/DigitalIOStateStamped.msg

@@ -0,0 +1,4 @@
+std_msgs/Header header
+
+DigitalIO configurable_io
+DigitalIO standard_io

msg/DigitalStamped.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+Digital data

msg/ToolOutputMode.msg

@@ -1,7 +1,6 @@
 std_msgs/Header header
-uint8 TOOL_OUPUT=0
+uint8 TOOL_OUTPUT=0
 uint8 TOOL_POWER=1
-uint8 TOOL_SAFE=2
 
 uint8 output_mode
 

package.xml

@@ -17,14 +17,14 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
-  <build_depend>action_msgs</build_depend>
 
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>action_msgs</exec_depend>
+
+  <depend>action_msgs</depend>
 
   <test_depend>ament_lint_common</test_depend>
 

srv/SetAnalogOutput.srv

@@ -1,15 +1,5 @@
-# Note: 'fun' is short for function of the pin to be selected
-uint8 CURRENT = 0
-uint8 VOLTAGE = 1
-
-# The value for pin [0-1]
-
-# Value for 'FUN_CURRENT' must be from [0.002; 0.020] A ;
-# Value for 'FUN_VOLTAGE' must be from [0; 10] V ;
-
-# request fields
-int8 pin
-uint8 output_type # can be VOLTAGE or CURRENT, must match Analog.msg
-float64 data
+# Set an analog output to a given value.
+# Multiple outputs can be set at once by providing more than one entry in the data array
+Analog[] data
 ---
 bool success

srv/SetDigitalOutput.srv

@@ -1,11 +1,5 @@
-# The value for pin [0-7]
-
-# valid values for 'state' when setting digital IO or flags
-bool STATE_OFF = 0
-bool STATE_ON = 1
-
-# request fields
-int8 pin
-bool state
+# Set a digital output to a given value.
+# Multiple outputs can be set at once by providing more than one entry in the data array
+Digital[] data
 ---
 bool success