add ExecuteBtAction.action and SkillCall.msg

src/CMakeLists.txt

@@ -30,6 +30,7 @@ set(msg_files
   msg/ArmActionType.msg
   msg/ArmErrCode.msg
   msg/ArmDataLength.msg
+  msg/SkillCall.msg
 )
 set(action_files
   action/MoveToPosition.action
@@ -44,6 +45,7 @@ set(action_files
   action/MoveLeg.action
   action/MoveWaist.action
   action/MoveWheel.action
+  action/ExecuteBtAction.action
 )
 set(srv_files
   srv/VisionObjectRecognition.srv

src/action/ExecuteBtAction.action

@@ -0,0 +1,47 @@
+###############################################################
+# ExecuteBtAction
+#
+# Goal:
+#   action_name: A skill sequence or single skill name. For a single
+#                skill this is typically the canonical CamelCase name
+#                (e.g. "ArmSpaceControl"). Multiple skills may be
+#                separated by commas/semicolons/spaces.
+#
+# Result:
+#   success:     Overall success flag for the entire (possibly multi)
+#                skill sequence.
+#   message:     Human readable summary (e.g. "Seq{A,B}: A(OK), B(FAIL)[detail]").
+#   total_skills:How many skills were requested (after parsing).
+#   succeeded_skills: Number of skills that finished with success.
+#
+# Feedback (streamed):
+#   stage:        High‑level stage label: START | WAIT | RUN | END.
+#   current_skill:Name of the skill currently being processed.
+#   progress:     Float in [0,1]. START of first skill => 0.0, END of last
+#                 skill => 1.0. Intermediate values are proportional to
+#                 (completed_skills + stage_offset)/total_skills where
+#                 stage_offset is 0 for START/WAIT/RUN and 1 for END of a skill.
+#   detail:       Optional detail (e.g. retry attempt, OK/FAIL, waiting cause).
+###############################################################
+
+# Goal
+# epoch: Sequence epoch (monotonically increasing id assigned by Cerebrum). Used so the
+#        server can reject stale goals and stop publishing feedback from older epochs.
+uint32 epoch
+string action_name
+interfaces/SkillCall[] calls
+
+---
+# Result
+bool success
+string message
+int32 total_skills
+int32 succeeded_skills
+
+---
+# Feedback
+uint32 epoch
+string stage
+string current_skill
+float32 progress
+string detail

src/msg/SkillCall.msg

@@ -0,0 +1,6 @@
+# Generic skill call descriptor for ExecuteBtAction (scheme A)
+string name           # Skill name, e.g., "MoveWaist" / "MoveLeg"
+string interface_type # e.g., "interfaces/action/MoveWaist" or "interfaces/srv/VisionObjectRecognition"
+string call_kind      # "action" | "srv"
+string topic          # optional topic/service override; empty => use defaults/parameters
+string payload_yaml   # YAML string of Goal/Request fields; may be empty for default goal