convert emergency stop watchdog to a more generl trigger watchdog

clearpathrobotics · Dec 3, 2024 · 5bea0ff · 5bea0ff
1 parent 6a9d554
commit 5bea0ff
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Showing 7 changed files with 14 additions and 13 deletions.
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt b/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt
@@ -16,7 +16,6 @@ rosidl_generate_interfaces(
         msg/WatchdogConfigArray.msg
         msg/WatchdogConfigCommon.msg
         msg/WatchdogConfigCommunication.msg
-        msg/WatchdogConfigEmergencyStop.msg
         msg/WatchdogConfigHeartbeat.msg
         msg/WatchdogConfigInclination.msg
         msg/WatchdogConfigNodeletStatus.msg
@@ -25,10 +24,10 @@ rosidl_generate_interfaces(
         msg/WatchdogConfigOdomCovariance.msg
         msg/WatchdogConfigRtkFix.msg
         msg/WatchdogConfigTopicData.msg
+        msg/WatchdogConfigTrigger.msg
         msg/WatchdogStatus.msg
         msg/WatchdogStatusArray.msg
         srv/AddCommunicationWatchdog.srv
-        srv/AddEmergencyStopWatchdog.srv
         srv/AddHeartbeatWatchdog.srv
         srv/AddInclinationWatchdog.srv
         srv/AddNodeletStatusWatchdog.srv
@@ -37,9 +36,9 @@ rosidl_generate_interfaces(
         srv/AddOdomCovarianceWatchdog.srv
         srv/AddRtkFixWatchdog.srv
         srv/AddTopicDataWatchdog.srv
+        srv/AddTriggerWatchdog.srv
         srv/RemoveWatchdog.srv
         srv/UpdateCommunicationWatchdog.srv
-        srv/UpdateEmergencyStopWatchdog.srv
         srv/UpdateHeartbeatWatchdog.srv
         srv/UpdateInclinationWatchdog.srv
         srv/UpdateNodeletStatusWatchdog.srv
@@ -48,6 +47,7 @@ rosidl_generate_interfaces(
         srv/UpdateOdomCovarianceWatchdog.srv
         srv/UpdateRtkFixWatchdog.srv
         srv/UpdateTopicDataWatchdog.srv
+        srv/UpdateTriggerWatchdog.srv
     DEPENDENCIES
         std_msgs
 )

diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigArray.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigArray.msg
@@ -3,7 +3,6 @@
 
 
 WatchdogConfigCommunication[] communication_config
-WatchdogConfigEmergencyStop[] emergency_stop_config
 WatchdogConfigHeartbeat[] heartbeat_config
 WatchdogConfigInclination[] inclination_config
 WatchdogConfigNodeStatus[] node_status_config
@@ -12,3 +11,4 @@ WatchdogConfigNumPoints[] num_points_config
 WatchdogConfigOdomCovariance[] odom_covariance_config
 WatchdogConfigRtkFix[] rtk_fix_config
 WatchdogConfigTopicData[] topic_data_config
+WatchdogConfigTrigger[] trigger_config
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigEmergencyStop.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigEmergencyStop.msg
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigTrigger.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigTrigger.msg
@@ -0,0 +1,4 @@
+WatchdogConfigCommon base_config
+string topic
+float32 timeout
+bool condition # true = trigger on true, false = trigger on false
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddEmergencyStopWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddEmergencyStopWatchdog.srv
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddTriggerWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddTriggerWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigTrigger config
+
+---
+bool success
diff --git a/..._msgs/srv/UpdateEmergencyStopWatchdog.srv → ...safety_msgs/srv/UpdateTriggerWatchdog.srv b/..._msgs/srv/UpdateEmergencyStopWatchdog.srv → ...safety_msgs/srv/UpdateTriggerWatchdog.srv
@@ -1,5 +1,5 @@
 
-WatchdogConfigEmergencyStop new_config
+WatchdogConfigTrigger new_config
 string current_name     # used as a key to find the watchdog in the list of watchdogs
 ---
 bool success