From 8fcf8a8a06273303814a8d6b5422b8ce27cb422f Mon Sep 17 00:00:00 2001
From: Brice Denoun <44160426+bdenoun@users.noreply.github.com>
Date: Mon, 15 May 2023 09:57:16 +0100
Subject: [PATCH] Update MST-related ROS msgs to accomodate status checks and
 palm firmware (#164)

* update MST-related messages to include status

* ignore vscode config
---
 .gitignore                       |  3 +++
 sr_robot_msgs/CMakeLists.txt     | 10 ++++------
 sr_robot_msgs/msg/MST.msg        | 10 ++++++++++
 sr_robot_msgs/msg/MSTAll.msg     |  2 ++
 sr_robot_msgs/msg/MSTFinger.msg  |  2 --
 sr_robot_msgs/msg/MSTPalm.msg    |  2 --
 sr_robot_msgs/msg/MSTReading.msg |  5 -----
 sr_robot_msgs/msg/MSTSensor.msg  | 11 -----------
 8 files changed, 19 insertions(+), 26 deletions(-)
 create mode 100644 sr_robot_msgs/msg/MST.msg
 create mode 100644 sr_robot_msgs/msg/MSTAll.msg
 delete mode 100644 sr_robot_msgs/msg/MSTFinger.msg
 delete mode 100644 sr_robot_msgs/msg/MSTPalm.msg
 delete mode 100644 sr_robot_msgs/msg/MSTReading.msg
 delete mode 100644 sr_robot_msgs/msg/MSTSensor.msg

diff --git a/.gitignore b/.gitignore
index 7742349e4..e805c38a5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -33,6 +33,9 @@
 #PyCharm IDE
 .idea
 
+# VSCode
+.vscode
+
 #QtCreator files
 CMakeLists.txt.user
 
diff --git a/sr_robot_msgs/CMakeLists.txt b/sr_robot_msgs/CMakeLists.txt
index ce8499b3f..88b1b6d08 100644
--- a/sr_robot_msgs/CMakeLists.txt
+++ b/sr_robot_msgs/CMakeLists.txt
@@ -27,6 +27,7 @@ add_message_files(
   EthercatDebug.msg
   FromMotorDataType.msg
   GraspArray.msg
+  HybridControllerStatus.msg
   JointControllerState.msg
   joint.msg
   JointMusclePositionControllerState.msg
@@ -38,21 +39,18 @@ add_message_files(
   MidProxDataAll.msg
   MidProxData.msg
   MotorSystemControls.msg
-  MSTReading.msg
+  MST.msg
+  MSTAll.msg
   reverseKinematics.msg
   sendupdate.msg
+  ShadowContactStateStamped.msg
   ShadowPST.msg
   TactileArray.msg
   Tactile.msg
   UBI0All.msg
   UBI0.msg
-  MSTSensor.msg
-  MSTFinger.msg
-  MSTPalm.msg
-  ShadowContactStateStamped.msg
   WrenchWithModelGroupName.msg
   WrenchArray.msg
-  HybridControllerStatus.msg
 )
 
 add_service_files(
diff --git a/sr_robot_msgs/msg/MST.msg b/sr_robot_msgs/msg/MST.msg
new file mode 100644
index 000000000..388691420
--- /dev/null
+++ b/sr_robot_msgs/msg/MST.msg
@@ -0,0 +1,10 @@
+# Stamp when sent
+time timestamp
+# Fields gathering both the magnetic and temperature data
+geometry_msgs/Point[] magnetic_data
+float32[] temperature_data
+# Fields gathering status information
+# -1 --> the sensor does not provide this information
+# 0 --> all good
+# > 0 values --> error codes (please refer to documentation)
+int8 status
\ No newline at end of file
diff --git a/sr_robot_msgs/msg/MSTAll.msg b/sr_robot_msgs/msg/MSTAll.msg
new file mode 100644
index 000000000..1626f0549
--- /dev/null
+++ b/sr_robot_msgs/msg/MSTAll.msg
@@ -0,0 +1,2 @@
+Header header
+MST[5] tactiles
\ No newline at end of file
diff --git a/sr_robot_msgs/msg/MSTFinger.msg b/sr_robot_msgs/msg/MSTFinger.msg
deleted file mode 100644
index a9d5982ed..000000000
--- a/sr_robot_msgs/msg/MSTFinger.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-# Each finger has 7 sensors
-MSTSensor[7] sensors
diff --git a/sr_robot_msgs/msg/MSTPalm.msg b/sr_robot_msgs/msg/MSTPalm.msg
deleted file mode 100644
index f683103fe..000000000
--- a/sr_robot_msgs/msg/MSTPalm.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-Header header
-MSTFinger[5] fingers
diff --git a/sr_robot_msgs/msg/MSTReading.msg b/sr_robot_msgs/msg/MSTReading.msg
deleted file mode 100644
index dc606da24..000000000
--- a/sr_robot_msgs/msg/MSTReading.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# Stamp when sent
-time timestamp
-# Fields gathering the different kind of data collected by the sensor
-geometry_msgs/Point[] magnetic_data
-float32[] temperature_data
\ No newline at end of file
diff --git a/sr_robot_msgs/msg/MSTSensor.msg b/sr_robot_msgs/msg/MSTSensor.msg
deleted file mode 100644
index cb5c116f1..000000000
--- a/sr_robot_msgs/msg/MSTSensor.msg
+++ /dev/null
@@ -1,11 +0,0 @@
-# Magnetic induction along x axis in gauss
-int16 magnetic_induction_x
-
-# Magnetic induction along y axis in gauss
-int16 magnetic_induction_y
-
-# Magnetic induction along z axis in gauss
-int16 magnetic_induction_z
-
-# PCB temperature in 1/100 degrees Celsius (100 = 1 degree Celsius)
-int16 temperature