ROS-Aseba: asebaros_msgs reference
==================================

The package *asebaros_msgs* only define interfaces.

Interfaces
----------

You can list of interfaces defined in asebaros_msgs

.. tabs::

   .. code-tab:: console ROS1

      rosmsgs package asebaros_msgs
      rossrv package asebaros_msgs

   .. code-tab:: console ROS2

      ros2 interface package asebaros_msgs

Messages
^^^^^^^^

.. _AnonymousEvent:

AnonymousEvent
""""""""""""""

.. tabs::

   .. code-tab:: IDL ROS1

      time stamp
      uint16 source
      uint16 type
      int16[] data

   .. code-tab:: IDL ROS2

      builtin_interfaces/Time stamp
      uint16 source
      uint16 type
      int16[] data

:stamp: is the time-stamp when the Aseba event is received by ``asebaros``
:source: is the node id that send the Aseba event. Should be set to ``0`` if the client generates the event
:type: is the event id (the rank of the event in the Aseba script)

.. _Constant:

Constant
"""""""""

.. tabs::

   .. code-tab:: IDL ROS1

      string name
      int16 value

   .. code-tab:: IDL ROS2

      string name
      int16 value

:name: the name of the constant
:value: the value of the constant

.. _Event:

Event
"""""

.. tabs::

   .. code-tab:: IDL ROS1

      time stamp
      uint16 source
      int16[] data

   .. code-tab:: IDL ROS2

      builtin_interfaces/Time stamp
      uint16 source
      int16[] data

:stamp: is the time-stamp when the Aseba event is received by ``asebaros``
:source: is the node id that send the Aseba event. Should be set to ``0`` if the client generates the event.
:data: is the event payload. The size of an event payload is specified in the script.


.. _Node:

Node
""""""

.. tabs::

   .. code-tab:: IDL ROS1

      uint16 id
      string name
      string name_space
      bool running
      bool ignored
      bool connected

   .. code-tab:: IDL ROS2

      uint16 id
      string name
      string name_space
      bool running
      bool ignored
      bool connected

:id: the node id
:name: the node name which corresponds to the node type (i.e. ``"thymio-II"`` for all Thymios)
:name_space: the ROS namespace assigned to the Aseba node
:running: whenever the ROS is running a known Aseba script, i.e., a script loaded through ``asebaros``.
:ignored: whenever the Aseba node was ignored (and therefore not bridged to the ROS network)
:connected: if the Aseba node is currently connected

NodeDescription
""""""""""""""""""

.. tabs::

   .. code-tab:: IDL ROS1

      uint16 id
      string name
      asebaros_msgs/Constant[] constants
      string[] events
      string[] variables

   .. code-tab:: IDL ROS2

      uint16 id
      string name
      asebaros_msgs/Constant[] constants
      string[] events
      string[] variables

:id: the node id
:name: the node name which corresponds to the node type (i.e. ``"thymio-II"`` for all Thymios)
:constants: the list of constant of the Aseba script running on the node
:events: the list of event names of the Aseba script running on the node
:variables: the list of variable names of the Aseba script running on the node

.. _NodeList:

NodeList
"""""""""

.. tabs::

   .. code-tab:: IDL ROS1

      asebaros_msgs/Node[] nodes

   .. code-tab:: IDL ROS2

      asebaros_msgs/Node[] nodes

:nodes: a list of Aseba nodes

.. _NodeDescription:



Services
^^^^^^^^^

.. _GetDescription:

GetDescription
""""""""""""""

.. tabs::

   .. code-tab:: IDL ROS1

      ---
      asebaros_msgs/NodeDescription description

   .. code-tab:: IDL ROS2

      ---
      asebaros_msgs/NodeDescription description

:description: the node description


.. _GetNodeList:

GetNodeList
"""""""""""

.. tabs::

   .. code-tab:: IDL ROS1

      bool ignored
      ---
      asebaros_msgs/Node[] nodes

   .. code-tab:: IDL ROS2

      bool ignored false
      ---
      asebaros_msgs/Node[] nodes

:ignored: set to ``true`` to include nodes that are being ignored
:nodes: a list of nodes

.. _GetVariable:

GetVariable
"""""""""""

.. tabs::

   .. code-tab:: IDL ROS1

      string variable
      ---
      int16[] data

   .. code-tab:: IDL ROS2

      string variable
      ---
      int16[] data

:variable: the variable name
:data: the variable value

.. _LoadScript:

LoadScript
"""""""""""

.. tabs::

   .. code-tab:: IDL ROS1

      string file_name
      asebaros_msgs/Constant[] constants
      # Leave empty to load to all nodes
      uint16[] node_ids
      bool set_as_default
      ---

   .. code-tab:: IDL ROS2

      string file_name
      asebaros_msgs/Constant[] constants
      # Leave empty to load to all nodes
      uint16[] node_ids
      bool set_as_default false
      ---

:file_name: the path to the file where the Aseba script is stored
:constants: a list of constants that overwrites the values set in the file
:node_ids: the list of node to which to load the script; leave empty to load it to all nodes
:set_as_default: whenever to load this script to any new discovered nodes (default is ``false``).

.. _SetVariable:

SetVariable
"""""""""""

.. tabs::

   .. code-tab:: IDL ROS1

      string variable
      int16[] data
      ---


   .. code-tab:: IDL ROS2

      string variable
      int16[] data
      ---

:variable: the variable name
:data: the variable value