From f048e517e041881a49f7227d7abff141397b69b6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jos=C3=A9=20Mastrangelo?=
 <jmastrangelo@clearpathrobotics.com>
Date: Thu, 26 Sep 2024 22:00:04 -0400
Subject: [PATCH] added emergency stop watchdog messages

---
 .../clearpath_safety_msgs/CMakeLists.txt                     | 3 +++
 .../clearpath_safety_msgs/msg/WatchdogConfigArray.msg        | 1 +
 .../msg/WatchdogConfigEmergencyStop.msg                      | 3 +++
 .../clearpath_safety_msgs/srv/AddEmergencyStopWatchdog.srv   | 5 +++++
 .../srv/UpdateEmergencyStopWatchdog.srv                      | 5 +++++
 5 files changed, 17 insertions(+)
 create mode 100644 clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigEmergencyStop.msg
 create mode 100644 clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddEmergencyStopWatchdog.srv
 create mode 100644 clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateEmergencyStopWatchdog.srv

diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt b/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt
index a928aad..4952263 100644
--- a/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt
+++ b/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt
@@ -16,6 +16,7 @@ rosidl_generate_interfaces(
         msg/WatchdogConfigArray.msg
         msg/WatchdogConfigCommon.msg
         msg/WatchdogConfigCommunication.msg
+        msg/WatchdogConfigEmergencyStop.msg
         msg/WatchdogConfigHeartbeat.msg
         msg/WatchdogConfigInclination.msg
         msg/WatchdogConfigNodeletStatus.msg
@@ -27,6 +28,7 @@ rosidl_generate_interfaces(
         msg/WatchdogStatus.msg
         msg/WatchdogStatusArray.msg
         srv/AddCommunicationWatchdog.srv
+        srv/AddEmergencyStopWatchdog.srv
         srv/AddHeartbeatWatchdog.srv
         srv/AddInclinationWatchdog.srv
         srv/AddNodeletStatusWatchdog.srv
@@ -37,6 +39,7 @@ rosidl_generate_interfaces(
         srv/AddTopicDataWatchdog.srv
         srv/RemoveWatchdog.srv
         srv/UpdateCommunicationWatchdog.srv
+        srv/UpdateEmergencyStopWatchdog.srv
         srv/UpdateHeartbeatWatchdog.srv
         srv/UpdateInclinationWatchdog.srv
         srv/UpdateNodeletStatusWatchdog.srv
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigArray.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigArray.msg
index 8dc9a70..6566741 100644
--- a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigArray.msg
+++ b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigArray.msg
@@ -3,6 +3,7 @@
 
 
 WatchdogConfigCommunication[] communication_config
+WatchdogConfigEmergencyStop[] emergency_stop_config
 WatchdogConfigHeartbeat[] heartbeat_config
 WatchdogConfigInclination[] inclination_config
 WatchdogConfigNodeStatus[] node_status_config
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigEmergencyStop.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigEmergencyStop.msg
new file mode 100644
index 0000000..882a10d
--- /dev/null
+++ b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigEmergencyStop.msg
@@ -0,0 +1,3 @@
+WatchdogConfigCommon base_config
+string topic
+float32 timeout
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddEmergencyStopWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddEmergencyStopWatchdog.srv
new file mode 100644
index 0000000..459fd2b
--- /dev/null
+++ b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddEmergencyStopWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigEmergencyStop config
+
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateEmergencyStopWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateEmergencyStopWatchdog.srv
new file mode 100644
index 0000000..ca74220
--- /dev/null
+++ b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateEmergencyStopWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigEmergencyStop new_config
+string current_name     # used as a key to find the watchdog in the list of watchdogs
+---
+bool success