Major alarm now has unique failure message when user calls /reset_err…

…or, and add MotionNotReady code for major alarm to differentiate from minor alarms
Yaskawa-Global · Sep 10, 2024 · aef5d3b · aef5d3b
1 parent d249d85
commit aef5d3b
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Showing 5 changed files with 18 additions and 1 deletion.
diff --git a/src/ControllerStatusIO.c b/src/ControllerStatusIO.c
@@ -315,6 +315,11 @@ BOOL Ros_Controller_IsAlarm()
         || (g_Ros_Controller.ioStatus[IO_ROBOTSTATUS_ALARM_USER]!=0) );
 }
 
+BOOL Ros_Controller_IsMajorAlarm()
+{
+    return ((g_Ros_Controller.ioStatus[IO_ROBOTSTATUS_ALARM_MAJOR] != 0));
+}
+
 BOOL Ros_Controller_IsError()
 {
     return ((g_Ros_Controller.ioStatus[IO_ROBOTSTATUS_ERROR]!=0));

diff --git a/src/ControllerStatusIO.h b/src/ControllerStatusIO.h
@@ -111,6 +111,7 @@ extern void Ros_Controller_StatusInit();
 extern BOOL Ros_Controller_StatusRead(USHORT ioStatus[IO_ROBOTSTATUS_MAX]);
 extern BOOL Ros_Controller_IoStatusUpdate();
 extern BOOL Ros_Controller_IsAlarm();
+extern BOOL Ros_Controller_IsMajorAlarm();
 extern BOOL Ros_Controller_IsError();
 extern BOOL Ros_Controller_IsPlay();
 extern BOOL Ros_Controller_IsTeach();

diff --git a/src/ErrorHandling.c b/src/ErrorHandling.c
@@ -71,6 +71,8 @@ const char* const Ros_ErrorHandling_MotionNotReadyCode_ToString(MotionNotReadyCo
         return motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_OTHER_TRAJ_MODE_ACTIVE_STR;
     case MOTION_NOT_READY_NOT_CONT_CYCLE_MODE:
         return motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_NOT_CONT_CYCLE_MODE_STR;
+    case MOTION_NOT_READY_MAJOR_ALARM:
+        return motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_MAJOR_ALARM_STR;
     default:
         return motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_UNSPECIFIED_STR;
     }

diff --git a/src/ErrorHandling.h b/src/ErrorHandling.h
@@ -32,6 +32,7 @@ typedef enum
     MOTION_NOT_READY_OTHER_PROGRAM_RUNNING = motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_OTHER_PROGRAM_RUNNING,
     MOTION_NOT_READY_OTHER_TRAJ_MODE_ACTIVE = motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_OTHER_TRAJ_MODE_ACTIVE,
     MOTION_NOT_READY_NOT_CONT_CYCLE_MODE = motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_NOT_CONT_CYCLE_MODE,
+    MOTION_NOT_READY_MAJOR_ALARM = motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_MAJOR_ALARM,
 } MotionNotReadyCode;
 
 typedef enum

diff --git a/src/ServiceResetError.c b/src/ServiceResetError.c
@@ -83,7 +83,15 @@ void Ros_ServiceResetError_Trigger(const void* request_msg, void* response_msg)
         }
     }
 
-    // Check for condition that can be fixed remotely
+    // Major alarms cannot be reset remotely
+    if (Ros_Controller_IsMajorAlarm())
+    {
+        rosidl_runtime_c__String__assign(&response->message, "Major alarm active. Cannot be reset. Check teach pendant");
+        response->result_code.value = MOTION_NOT_READY_MAJOR_ALARM;
+        goto DONE;
+    }
+
+    // Other alarm types can be reset remotely
     if (Ros_Controller_IsAlarm())
     {
         // Reset alarm