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Fix Ros_Controller_GetActiveAlarmCodes(..) #105

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merged 3 commits into from
Aug 2, 2023
Merged

Fix Ros_Controller_GetActiveAlarmCodes(..) #105

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483cd61
Define a MAX_ERROR_COUNT
gavanderhoorn Aug 1, 2023
e8e66c7
Don't treat alarmData.usErrorNo as an amount
gavanderhoorn Aug 1, 2023
53f16d2
Re-order includes
gavanderhoorn Aug 1, 2023
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4 changes: 2 additions & 2 deletions src/ControllerStatusIO.c
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Original file line number Diff line number Diff line change
Expand Up @@ -725,7 +725,7 @@ int Ros_Controller_GetAlarmCode()
return -1;
}

int Ros_Controller_GetActiveAlarmCodes(USHORT active_alarms[MAX_ALARM_COUNT + 1])
int Ros_Controller_GetActiveAlarmCodes(USHORT active_alarms[MAX_ALARM_COUNT + MAX_ERROR_COUNT])
{
MP_ALARM_CODE_RSP_DATA alarmData;
bzero(&alarmData, sizeof(alarmData));
Expand All @@ -736,7 +736,7 @@ int Ros_Controller_GetActiveAlarmCodes(USHORT active_alarms[MAX_ALARM_COUNT + 1]

// if the output array is too small, we can't do anything either. This
// should not happen, but best check for it.
if (alarmData.usAlarmNum + alarmData.usErrorNo > MAX_ALARM_COUNT + 1)
if (alarmData.usAlarmNum + MAX_ERROR_COUNT > MAX_ALARM_COUNT + MAX_ERROR_COUNT)
return -2;

// add all alarms to the output array
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2 changes: 1 addition & 1 deletion src/ControllerStatusIO.h
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Expand Up @@ -140,7 +140,7 @@ extern void Ros_Controller_SetIOState(ULONG signal, BOOL status);
extern int Ros_Controller_GetAlarmCode();

//retrieve all active alarms (and a possible error) and store them in 'active_alarms'
extern int Ros_Controller_GetActiveAlarmCodes(USHORT active_alarms[MAX_ALARM_COUNT + 1]);
extern int Ros_Controller_GetActiveAlarmCodes(USHORT active_alarms[MAX_ALARM_COUNT + MAX_ERROR_COUNT]);


//#define DUMMY_SERVO_MODE 1 // Dummy servo mode is used for testing with Yaskawa debug controllers
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7 changes: 7 additions & 0 deletions src/MotoPlusExterns.h
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Expand Up @@ -15,4 +15,11 @@ extern size_t mpNumBytesFree(void);

extern MP_GRP_ID_TYPE mpCtrlGrpNo2GrpId(int grp_no);

//M+ only defines MAX_ALARM_COUNT, but we'd like to avoid magic nrs
//as much as possible, so we define our own here for errors.
//But only if something hasn't been defined already.
#ifndef MAX_ERROR_COUNT
#define MAX_ERROR_COUNT 1
#endif
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#endif // MOTOROS2_MOTOPLUS_EXTERNS_H
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