Service and message definitions for reading and writing variables

CMakeLists.txt

@@ -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
@@ -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)

msg/VarResultCodes.msg

@@ -0,0 +1,30 @@
+# SPDX-FileCopyrightText: 2022-2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2022-2023, 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"

srv/ReadVarByte.srv

@@ -0,0 +1,12 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, 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

srv/ReadVarDouble.srv

@@ -0,0 +1,12 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, 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
+uint32 value

srv/ReadVarInteger.srv

@@ -0,0 +1,12 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, 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
+uint16 value

srv/ReadVarPosition.srv

@@ -0,0 +1,15 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, 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

srv/ReadVarReal.srv

@@ -0,0 +1,12 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, 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

srv/ReadVarString.srv

@@ -0,0 +1,12 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, 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

srv/WriteVarByte.srv

@@ -0,0 +1,12 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, 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

srv/WriteVarDouble.srv

@@ -0,0 +1,12 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, Delft University of Technology
+#
+# SPDX-License-Identifier: Apache-2.0
+
+uint32 var_number
+uint32 value
+---
+# legal values defined in VarResultCodes.msg
+uint32 result_code
+string message
+bool success

srv/WriteVarInteger.srv

@@ -0,0 +1,12 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, Delft University of Technology
+#
+# SPDX-License-Identifier: Apache-2.0
+
+uint32 var_number
+uint16 value
+---
+# legal values defined in VarResultCodes.msg
+uint32 result_code
+string message
+bool success

srv/WriteVarPosition.srv

@@ -0,0 +1,19 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, 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
+---
+# legal values defined in VarResultCodes.msg
+uint32 result_code
+string message
+bool success

srv/WriteVarReal.srv

@@ -0,0 +1,12 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, 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

srv/WriteVarString.srv

@@ -0,0 +1,12 @@
+# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
+# SPDX-FileCopyrightText: 2023, 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