Update jazzy

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.14.4)
 
 project(urinterfaces)
 
@@ -27,9 +27,9 @@ set(msg_files
   "msg/ControlCycle.msg"
   "msg/Current.msg"
   "msg/Digital.msg"
+  "msg/DigitalStamped.msg"
   "msg/DigitalIO.msg"
   "msg/DigitalIOStateStamped.msg"
-  "msg/DigitalStamped.msg"
   "msg/DoubleMultiArrayStamped.msg"
   "msg/Float32Stamped.msg"
   "msg/Float64Stamped.msg"
@@ -44,12 +44,17 @@ set(msg_files
   "msg/ToolOutputMode.msg"
   "msg/VoltageCurrentStamped.msg"
   "msg/WorldModelNames.msg"
+  "msg/JsonStringType.msg"
+  "msg/VariableUpdate.msg"
+  "msg/SharedVariablesEditResponse.msg"
 )
 
 set(srv_files
   "srv/SetAnalogOutput.srv"
   "srv/SetDigitalOutput.srv"
   "srv/SetSpeedFraction.srv"
+  "srv/SharedVariablesEditor.srv"
+  "srv/VariablesViewer.srv"
 )
 
 set(action_files

action/SetMode.action

@@ -13,7 +13,7 @@ bool stop_program
 # faulty motion, etc.) If you want to be safe, set the 'stop_program' flag below and manually play
 # the program after robot state is returned to normal.
 # This flag will only be used when requesting mode RUNNING
-bool play_program
+bool play_program false
 
 ---
 # result

msg/JsonStringType.msg

@@ -0,0 +1 @@
+std_msgs/String json_string

msg/SharedVariablesEditResponse.msg

@@ -0,0 +1,2 @@
+bool success
+std_msgs/String result_message # contains the error message if 'success' is False

msg/ToolOutputMode.msg

@@ -1,6 +1,7 @@
 std_msgs/Header header
 uint8 TOOL_OUTPUT=0
 uint8 TOOL_POWER=1
+uint8 TOOL_SAFE=2
 
 uint8 output_mode
 

msg/VariableUpdate.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+JsonStringType data

srv/SharedVariablesEditor.srv

@@ -0,0 +1,3 @@
+JsonStringType request # json string with new values, null will delete the variable
+---
+SharedVariablesEditResponse response

srv/VariablesViewer.srv

@@ -0,0 +1,3 @@
+# empty request
+---
+VariableUpdate response # a full variables update