also added StatusOverview service

CMakeLists.txt

@@ -49,8 +49,9 @@ add_message_files(
 
 add_service_files(
   FILES
-  FieldData.srv
   ConfigMetadata.srv
+  FieldData.srv
+  StatusOverview.srv
 )
 
 generate_messages(

README.md

@@ -128,6 +128,12 @@ Returns all configured protective and warning fields for the sensor
 
 Returns the meta data of the current configuration of the sensor
 
+`
+~/status_overview
+`
+
+Returns the status overview of the sensor
+
 
 ### ROS parameters
 

include/sick_safetyscanners/SickSafetyscannersRos.h

@@ -53,6 +53,7 @@
 #include <sick_safetyscanners/ConfigMetadata.h>
 #include <sick_safetyscanners/OutputPathsMsg.h>
 #include <sick_safetyscanners/RawMicroScanDataMsg.h>
+#include <sick_safetyscanners/StatusOverview.h>
 #include <sick_safetyscanners/SickSafetyscanners.h>
 #include <sick_safetyscanners/SickSafetyscannersConfigurationConfig.h>
 #include <sick_safetyscanners/datastructure/CommSettings.h>
@@ -144,6 +145,7 @@ class SickSafetyscannersRos
 
   ros::ServiceServer m_field_service_server;
   ros::ServiceServer m_config_metadata_server;
+  ros::ServiceServer m_status_overview_server;
 
   bool m_initialised;
 
@@ -228,6 +230,9 @@ class SickSafetyscannersRos
   bool getConfigMetadata(sick_safetyscanners::ConfigMetadata::Request& req,
                          sick_safetyscanners::ConfigMetadata::Response& res);
 
+  bool getStatusOverview(sick_safetyscanners::StatusOverview::Request& req,
+                         sick_safetyscanners::StatusOverview::Response& res);
+
   /**
    * @brief getCheckSumString converts the uint32 value received as checksum such that the hexadecimal
    * representation matches the value in the SafetyDesigner. To do this, we must invert the order of

src/SickSafetyscannersRos.cpp

@@ -69,6 +69,8 @@ SickSafetyscannersRos::SickSafetyscannersRos()
 
   m_config_metadata_server =
     m_nh.advertiseService("config_metadata", &SickSafetyscannersRos::getConfigMetadata, this);
+  m_status_overview_server =
+    m_nh.advertiseService("status_overview", &SickSafetyscannersRos::getStatusOverview, this);
 
   // Diagnostics for frequency
   m_diagnostic_updater.setHardwareID(m_communication_settings.getSensorIp().to_string());
@@ -879,6 +881,36 @@ bool SickSafetyscannersRos::getConfigMetadata(sick_safetyscanners::ConfigMetadat
     return true;
 }
 
+bool SickSafetyscannersRos::getStatusOverview(sick_safetyscanners::StatusOverview::Request &req, sick_safetyscanners::StatusOverview::Response &res)
+{
+    static_cast<void>(req);
+
+    sick::datastructure::StatusOverview status_overview;
+    m_device->requestStatusOverview(m_communication_settings, status_overview);
+
+    res.version_c_version = status_overview.getVersionCVersion();
+    res.version_major_version_number = status_overview.getVersionMajorVersionNumber();
+    res.version_minor_version_number = status_overview.getVersionMinorVersionNumber();
+    res.version_release_number = status_overview.getVersionReleaseNumber();
+
+    res.device_state = status_overview.getDeviceState();
+    res.config_state = status_overview.getConfigState();
+    res.application_state = status_overview.getApplicationState();
+    res.current_time_power_on_count = status_overview.getCurrentTimePowerOnCount();
+
+    res.current_time_date = status_overview.getCurrentTimeDate();
+    res.current_time_time = status_overview.getCurrentTimeTime();
+    res.current_time = getDateString(res.current_time_date, res.current_time_time);
+
+    res.error_info_code = status_overview.getErrorInfoCode();
+
+    res.error_info_time_date = status_overview.getErrorInfoDate();
+    res.error_info_time_time = status_overview.getErrorInfoTime();
+    res.error_info_time = getDateString(res.error_info_time_date, res.error_info_time_time);
+
+    return true;
+}
+
 std::string SickSafetyscannersRos::getCheckSumString(uint32_t checksum)
 {
     std::stringstream ss;

srv/ConfigMetadata.srv

@@ -18,4 +18,4 @@ uint32 transfer_time_time
 string version_c_version
 uint8 version_major_version_number
 uint8 version_minor_version_number
-uint8 version_release_number
+uint8 version_release_number

srv/StatusOverview.srv

@@ -0,0 +1,24 @@
+
+---
+
+string version_c_version
+uint8 version_major_version_number
+uint8 version_minor_version_number
+uint8 version_release_number
+
+uint8 device_state
+uint8 config_state
+uint8 application_state
+uint32 current_time_power_on_count
+
+string current_time
+# for devices without real time clock, also provide the raw time information
+uint32 current_time_time
+uint16 current_time_date
+
+uint32 error_info_code
+
+string error_info_time
+# for devices without real time clock, also provide the raw time information
+uint32 error_info_time_time
+uint16 error_info_time_date