add message definitions for State and ActionState

CMakeLists.txt

@@ -14,30 +14,39 @@ add_message_files(
     AGVPosition.msg
     Action.msg
     ActionParameter.msg
+    ActionState.msg
+    ActionStates.msg
     BatteryState.msg
     BoundingBoxReference.msg
     Connection.msg
     ControlPoint.msg
-    CurrentAction.msg
     Edge.msg
     EdgeState.msg
+    EdgeStates.msg
     Error.msg
+    Errors.msg
     ErrorReference.msg
-    Header.msg
     InstantActions.msg
     Info.msg
     InfoReference.msg
+    Information.msg
     Load.msg
     LoadDimensions.msg
+    Loads.msg
     Node.msg
     NodePosition.msg
     NodeState.msg
+    NodeStates.msg
     Order.msg
-    OrderInformation.msg
     SafetyState.msg
+    State.msg
     Trajectory.msg
     Velocity.msg
     Visualization.msg
+    Zone.msg
+    ZoneParameter.msg
+    ZonePolygonPoint.msg
+    ZoneUpdate.msg
    )
 generate_messages(
   DEPENDENCIES

msg/AGVPosition.msg

@@ -1,11 +1,14 @@
 # Defines the position on a map in world coordinates. Each floor has its own map.
 
-bool positionInitialized      # False: position is not initialized True: position is initialized
+bool positionInitialized      # True: position is initialized
+                              # False: position is not initialized 
 
-float64 localizationScore       # Range: [0.0 … 1.0] Describes the quality of the localization and therefore, can be used 
+float64 localizationScore     # Range: [0.0 … 1.0] Describes the quality of the localization and therefore, can be used 
                               # e. g. by SLAMAGVs to describe how accurate the current position information is. 
                               # 0.0: position unknown 1.0: position known
-float64 deviationRange          # Value for the deviation range of the position in meters.
+
+float64 deviationRange        # Value for the deviation range of the position in meters.
+
 float64 x                     # [m] X-position on the map in reference to the map coordinate system. Precision is up to
                               # the specific implementation
 

msg/Action.msg

@@ -25,7 +25,7 @@ vda5050_msgs/ActionParameter[] actionParameters                 # Array of actio
                                                                 # serialization is always a json dictionary with "key"
                                                                 # and "value" we decided to serialize the value as 
                                                                 # string. This way the (de-)serialization has to be done by 
-                                                                # the user depending on the key, but the protocol is met
+                                                                # the user depending on the key, but the protocol is met.
 
 
 # Enums for blockingType

msg/ActionParameter.msg

@@ -1,2 +1,3 @@
 string key
+
 string value

msg/ActionState.msg

@@ -0,0 +1,24 @@
+# CONTENTS
+string actionID	                # action_ID
+
+string actionType               # actionType of the action.
+                                # Optional: Only for informational or visualization purposes. Order knows the type.
+
+string actionDescription        # Additional information on the current action. 
+
+string actionStatus             # Waiting: waiting for trigger (passing the node, entering the edge)
+                                # Paused: paused by instantAction or external trigger
+                                # failed: action could not be performed.
+
+string resultDescription        # Description of the result, e.g. the result of a RFID-read.
+                                # Errors will be transmitted in errors. Examples for results are given in 6.5
+
+
+# Enums for actionStatus
+string waiting=waiting
+string initializing=initializing
+string running=running
+string paused=paused
+string finished=finished
+string failed=failed
+

msg/ActionStates.msg

@@ -0,0 +1 @@
+vda5050_msgs/ActionState[] actionStates

msg/BatteryState.msg

@@ -1,6 +1,11 @@
 float64 batteryCharge     # [%] State of Charge: if AGV only provides values for good or bad battery levels, these will
                           # be indicated as 20% (bad) and 80% (good).
+
 float64 batteryVoltage    # [V] Battery Voltage 
+
 int8 batteryHealth        # [%] State of Health 
-bool charging             # True: charging in progress False: AGV is currently not charging
+
+bool charging             # True: Charging in progress 
+                          # False: AGV is currently not charging
+
 uint32 reach              # Estimated reach with current SoC

msg/BoundingBoxReference.msg

@@ -2,6 +2,9 @@
 # box’s bottom surface (at height = 0) and is described in coordinates of the AGV’s coordinate system.
 
 float64 x     # x-coordinate of the point of reference.
+
 float64 y     # y-coordinate of the point of reference.
+
 float64 z     # z-coordinate of the point of reference.
+
 float64 theta # Orientation of the loads bounding box. Important for tugger trains etc

msg/Connection.msg

@@ -2,15 +2,16 @@
 int32 headerId          # header ID of the message. The headerId is defined per topic and incremented by 1 with each sent
                         # (but not necessarily received) message.
 
-string timestamp        # Timestamp after ISO8601 in the format YYYY-MM-DDTHH:mm:ss.ssZ (e.g.“2017-04-15T11:40:03.12Z”)
+string timeStamp        # Timestamp after ISO8601 in the format YYYY-MM-DDTHH:mm:ss.ssZ (e.g.“2017-04-15T11:40:03.12Z”)
 
 string version          # Version of the protocol [Major].[Minor].[Patch] (e.g. 1.3.2)
 
 string manufacturer     # Manufacturer of the AGV
 
 string serialNumber     # Serial Number of the AGV
+
 # CONTENTS
-string connectionState  # Enum{ONLINE, OFFLINE, CONNECTIONBROKEN}
+string connectionState  # Enum {ONLINE, OFFLINE, CONNECTIONBROKEN}
                         # ONLINE: connection between AGV and broker is active.
                         # OFFLINE: connection between AGV and broker has gone offline in a coordinated way.
                         # CONNECTIONBROKEN: The connection between  AGV and  broker  has unexpectedly ended.

msg/ControlPoint.msg

@@ -2,9 +2,5 @@ float64 x           # X coordinate described in the world coordinate system.
 
 float64 y           # Y coordinate described in the world coordinate system.
 
-float64 orientation # [rad] Range [-pi...pi] Orientation of the AGV on this position of the curve.
-                    # The orientation is in world coordinates.
-                    # When not defined the orientation of the AGV will be tangential to the curve.
-
 float64 weight      # Range [0..infinity) The weight with which this control point pulls on the curve.
                     # When not defined, the default will be 1.0

msg/Edge.msg

@@ -12,12 +12,16 @@ bool released                       # True indicates that the edge is part of th
                                     # part of the horizon.
 
 string startNodeId                  # nodeID of startNode
+
 string endNodeId                    # nodeID of endNode
+
 float64 maxSpeed                    # [m/s] Permitted maximum speed on the edge. Speed is defined by the fastest point of the
                                     # vehicle.
 
 float64 maxHeight                   # [m] Permitted maximum height of the vehicle, including the load, on edge
+
 float64 minHeight                   # [m] Permitted minimal height of the edge measured at the bottom of the load
+
 float64 orientation                 # [rad] Orientation of the AGV on the edge relative to the global project specific
                                     # map coordinate origin (for holonomic vehicles with more than one driving
                                     # direction).
@@ -30,19 +34,29 @@ float64 orientation                 # [rad] Orientation of the AGV on the edge r
                                     # If a trajectory without orientation and the orientation field here is defined,
                                     # apply the orientation to the tangent of the trajectory.
 
+string orientationType              # Sets the orientation type of the edge.
+
 string direction                    # Sets direction at junctions for line-guided vehicles, to be defined initially 
                                     # (vehicle individual) Example: left, right, straight, 433MHz
 
 bool rotationAllowed                # “true”: rotation is allowed on the edge. “false”: rotation is not allowed on the edge.
                                     # Optional: Default to “false”. If this value is set, rotation is allowed on the edge.
+
 float64 maxRotationSpeed            # [rad/s] Maximum rotation speed Optional: No limit if not set
+
 vda5050_msgs/Trajectory trajectory  # Trajectory JSON-object for this edge as a NURBS. Defines the curve on which the 
                                     # AGV should move between startNode and endNode. Optional: Can be omitted if AGV 
                                     # cannot process trajectories or if AGV plans its own trajectory.
+
 float64 length                      # [m] Length of the path from startNode to endNode. Optional: This value is used
                                     # by lineguided AGVs to decrease their speed before reaching a stop position.
 
 vda5050_msgs/Action[] actions       # Array of actionIds to be executed on the edge. An action triggered by an edge will
                                     # only be active for the time that the AGV is traversing the edge which triggered
                                     # the action. When the AGV leaves the edge, the action will stop and the state
                                     # before entering the edge will be restored.
+
+
+# Enum for orientationType
+string GLOBAL=GLOBAL
+string TANGENTIAL=TANGENTIAL

msg/EdgeState.msg

@@ -1,11 +1,12 @@
 string edgeId                       # Unique edge identification
 
-int32 sequenceId                    # sequenceId to differentiate between multiple edges with
+uint32 sequenceId                   # sequenceId to differentiate between multiple edges with
 
 string edgeDescription              # Additional information on the edge
 
 bool released                       # True indicates that the edge is part of the base. False indicates that the edge is
                                     # part of the horizon.
-vda5050_msgs/Trajectory trajectory  # The trajectory is to be communicated as a NURBS and is defined in chapter6.4
+
+vda5050_msgs/Trajectory trajectory  # The trajectory is to be communicated as a NURBS.
                                     # Trajectory segments are from the point where the AGV starts to enter the edge
                                     # until the point where it reports that the next node was traversed.

msg/EdgeStates.msg

@@ -0,0 +1 @@
+vda5050_msgs/EdgeState[] edgeStates

msg/Error.msg

@@ -1,12 +1,14 @@
-string errorType                              # Type / name of error
+string errorType                                # Type / Name of the error
+
 vda5050_msgs/ErrorReference[] errorReferences   # Array of references to identify the source of the error (e. g. headerId,
-                                              # orderId, actionId, …). For additional information see best practice
-                                              # chapter 6.3
-string errorDescription                       # Error description 
-string errorLevel                             # Enum {warning, fatal} warning: AGV is ready to start (e.g. maintenance
-                                              # cycle expiration warning) fatal: AGV is not in running condition, user
-                                              # intervention required (e.g. laser scanner is contaminated)
+                                                # orderId, actionId, …). 
+
+string errorDescription                         # Error description.
+
+string errorLevel                               # Enum {WARNING, FATAL} 
+                                                # WARNING: AGV is ready to start (e.g. maintenance cycle expiration WARNING) 
+                                                # FATAL: AGV is not in running condition, user intervention required (e.g. laser scanner is contaminated)
 
 # Enums for errorLevel
-string WARNING=warning
-string FATAL=fatal
+string WARNING=WARNING
+string FATAL=FATAL

msg/ErrorReference.msg

@@ -1,2 +1,3 @@
 string referenceKey       # References the type of reference (e. g. headerId, orderId, actionId, …).
+
 string referenceValue     # References the value the reference key.

msg/Errors.msg

@@ -0,0 +1 @@
+vda5050_msgs/Error[] errors

msg/Info.msg

@@ -1,8 +1,11 @@
-string infoType                             # Type / name of information
-vda5050_msgs/InfoReference[] infoReferences # array of references
-string infoDescription                      # Info description
-string infoLevel                            # Enum {DEBUG, INFO} DEBUG: used for debugging, INFO: used for visualization
+string infoType                             # Type / Name of information.
 
+vda5050_msgs/InfoReference[] infoReferences # Array of references.
 
+string infoDescription                      # Info description.
+
+string infoLevel                            # Enum {DEBUG, INFO} DEBUG: used for debugging, INFO: used for visualization.
+
+# Enum for infoLevel
 string DEBUG=DEBUG
 string INFO=INFO

msg/InfoReference.msg

@@ -1,2 +1,3 @@
 string referenceKey       # References the type of reference (e. g. headerId, orderId, actionId, …).
+
 string referenceValue     # References the value the reference key.

msg/Information.msg

@@ -0,0 +1 @@
+vda5050_msgs/Info[] information

msg/InstantActions.msg

@@ -1,12 +1,12 @@
-int32 headerId      # header ID of the message. The headerId is defined per topic and incremented by 1 with each sent 
-                    # (but not necessarily received) message.
+int32 headerId          # header ID of the message. The headerId is defined per topic and incremented by 1 with each sent 
+                        # (but not necessarily received) message.
 
-string timestamp    # Timestamp after ISO8601 in the format YYYY-MM-DDTHH:mm:ss.ssZ (e.g.“2017-04-15T11:40:03.12Z”)
+string timeStamp        # Timestamp after ISO8601 in the format YYYY-MM-DDTHH:mm:ss.ssZ (e.g.“2017-04-15T11:40:03.12Z”)
 
-string version      # Version of the protocol [Major].[Minor].[Patch] (e.g. 1.3.2)
+string version          # Version of the protocol [Major].[Minor].[Patch] (e.g. 1.3.2)
 
-string manufacturer # Manufacturer of the AGV
+string manufacturer     # Manufacturer of the AGV
 
-string serialNumber # Serial Number of the AGV
+string serialNumber     # Serial Number of the AGV
 
 Action[] instantActions # List of actions to execute

msg/Load.msg

@@ -1,7 +1,7 @@
 string loadId                                           # Unique identification number of the load (e. g. barcode or
                                                         # RFID)
 
-string loadType                                         # Type of load 
+string loadType                                         # Type of load.
 
 string loadPosition                                     # Indicates which load handling/carrying unit of the AGV is
                                                         # used, e. g. in case the AGV has multiple spots/positions to
@@ -14,4 +14,4 @@ vda5050_msgs/BoundingBoxReference boundingBoxReference  # Point of reference for
 
 vda5050_msgs/LoadDimensions loadDimensions              # Dimensions of the load’s bounding box in meters.
 
-uint32 weight                                           # Absolute weight of the load measured in kg.
+float64 weight                                          # [Kg] Absolute weight of the load measured.

msg/LoadDimensions.msg

@@ -1,5 +1,7 @@
 # Dimensions of the load’s bounding box in meters.
 
 float64 length  # Absolute length of the load’s bounding box.
+
 float64 width  # Absolute width of the load’s bounding box.
+
 float64 height  # Absolute height of the load’s bounding box. Optional: Set value only if known.

msg/Loads.msg

@@ -0,0 +1 @@
+vda5050_msgs/Load[] loads

msg/Node.msg

@@ -12,7 +12,7 @@ string nodeDescription                            # Additional information on th
 bool released                                     # True indicates that the node is part of the base. False indicates
                                                   # that the node is part of the horizon.
 
-vda5050_msgs/NodePosition nodePosition                # Node position
+vda5050_msgs/NodePosition nodePosition            # Node position
 
 
 vda5050_msgs/Action[] actions                     # Array of actions to be executed in node. Empty array if no actions 

msg/NodePosition.msg

@@ -5,13 +5,6 @@ float64 y                                         # [m] Y-position on the map in
 
 float64 theta                                     # [rad] The angular dimension
 
-string mapId                                      # Unique identification of the map in which the position is referenced. Each map has the same
-                                                  # origin of coordinates. When an AGV uses an elevator, e. g. leading from a departure floor to a
-                                                  # target floor, it will disappear off the map of the departure floor and spawn in the related
-                                                  # lift node on the map of the target floor.
-
-string mapDescription                             # Additional information on the map
-
 float32 allowedDeviationXY                        # Indicates how exact an AGV has to drive over a node in order for it
                                                   # to count as traversed.
                                                   #
@@ -26,3 +19,10 @@ float32 allowedDeviationTheta                     # Range: [0 ... Pi]
                                                   # Indicates how big the deviation of theta angle can be.
                                                   # The lowest acceptable angle  is theta -allowedDevaitionTheta and
                                                   # the  highest acceptable angle is theta + allowedDeviationTheta
+
+string mapId                                      # Unique identification of the map in which the position is referenced. Each map has the same
+                                                  # origin of coordinates. When an AGV uses an elevator, e. g. leading from a departure floor to a
+                                                  # target floor, it will disappear off the map of the departure floor and spawn in the related
+                                                  # lift node on the map of the target floor.
+
+string mapDescription                             # Additional information on the map