Cryptic error codes from mpStartJob

[ted-miller]

When enabling a motion mode, the software tries to start the INFORM job. If it fails to start that job, it returns a cryptic error code. You would need to reference the MotoPlus documentation to find the definition.

Ex: Can't start 'INIT_ROS' because: 0x3040

We should map the error codes to a lookup table with human-readable strings.

0x0000 Normal end
0x2010 Robot is in operation
0x2030 In HOLD status (PP)
0x2040 In HOLD status (External)
0x2050 In HOLD status (Command)
0x2060 In error/alarm status
0x2070 In SERVO OFF status
0x2080 Wrong operation mode
0x3040 The home position is not registered
0x3050 Out of range (ABSO data)
0x3400 Cannot operate MASTER JOB
0x3410 The JOB name is already registered in another task.
0x4040 Specified JOB not found

[aigallegos]

Hi I would like to be assigned this. I'm pretty sure I can fix the problem I am just new to open source. Thanks!

[ted-miller]

Thanks @aigallegos. We appreciate the help!

When you have a solution worked up, please submit a pull request to the main branch. If you need any info, let us know.

[gavanderhoorn]

This was actually explicitly left as a TODO a couple of versions ago. We might have been too hasty removing those TODOs.

One is still left, here:

motoros2/src/MotionControl.c

Lines 1253 to 1256 in c245327

	//TODO(gavanderhoorn): should this be reported to user, or are causes
	//covered by errors in MotionNotReadyCode?
	Ros_Debug_BroadcastMsg("Can't turn on servo because: 0x%04X", rData.err_no);
	goto updateStatus;

which I believe should also be addressed.

We should map the error codes to a lookup table with human-readable strings.

I believe we already have a function which does this:

motoros2/src/ErrorHandling.c

Lines 11 to 33 in c245327

	//-------------------------------------------------------------------
	// Convert error code to string
	//-------------------------------------------------------------------
	void Ros_ErrorHandling_ErrNo_ToString(int errNo, char* const errMsg, int errMsgSize)
	{
	switch (errNo)
	{
	case 0x2010: strncpy(errMsg, "Robot is in operation", errMsgSize); break;
	case 0x2030: strncpy(errMsg, "In HOLD status (PP)", errMsgSize); break;
	case 0x2040: strncpy(errMsg, "In HOLD status (External)", errMsgSize); break;
	case 0x2050: strncpy(errMsg, "In HOLD status (Command)", errMsgSize); break;
	case 0x2060: strncpy(errMsg, "In ERROR/ALARM status", errMsgSize); break;
	case 0x2070: strncpy(errMsg, "In SERVO OFF status", errMsgSize); break;
	case 0x2080: strncpy(errMsg, "Wrong operation mode", errMsgSize); break;
	case 0x3040: strncpy(errMsg, "The home position is not registered", errMsgSize); break;
	case 0x3050: strncpy(errMsg, "Out of range (ABSO data)", errMsgSize); break;
	case 0x3400: strncpy(errMsg, "Cannot operate MASTER JOB", errMsgSize); break;
	case 0x3410: strncpy(errMsg, "The JOB name is already registered in another task", errMsgSize); break;
	case 0x4040: strncpy(errMsg, "Specified JOB not found", errMsgSize); break;
	case 0x5200: strncpy(errMsg, "Over data range", errMsgSize); break;
	default: strncpy(errMsg, "Unspecified reason", errMsgSize); break;
	}
	}

AFAICT, it maps the status codes you list.