Merge branch 'main' into MotionControl_error_codes

.github/workflows/ci_msbuild.yaml

@@ -130,9 +130,6 @@ jobs:
       shell: bash
       run: echo "C:/build/mpsdk" >> $GITHUB_PATH
 
-    - name: Register mpBuilder problem matcher
-      run: echo "::add-matcher::motoros2/.github/matchers/mpbuilder.json"
-
     - name: "Build MotoROS2 (config: ${{ steps.uppercaser.outputs.ctrlr }}_${{ matrix.uros.codename }})"
       shell: cmd
       env:

src/ConfigFile.c

@@ -767,14 +767,14 @@ void Ros_ConfigFile_Parse()
 
     Ros_ConfigFile_SetAllDefaultValues();
 
-#if defined (YRC1000) || defined (YRC1000u)
-    //config file always resides on USB for DX200/FS100, so only check
-    //on YRC1000 and micro
-    Ros_ConfigFile_CheckUsbForNewConfigFile();
-#endif
-
     do
     {
+#if defined (FS100) || defined (YRC1000) || defined (YRC1000u)
+        //config file always resides on USB for DX200, so only check
+        //on YRC1000 and micro
+        Ros_ConfigFile_CheckUsbForNewConfigFile();
+#endif
+
         if (!bOkToInit)
             Ros_Sleep(3000);
 

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));

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();

src/ErrorHandling.c

@@ -72,6 +72,8 @@ 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;
     case MOTION_NOT_READY_ECO_MODE:
         return motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_ECO_MODE_STR;
     case MOTION_NOT_READY_SERVO_ON_TIMEOUT:

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,
     MOTION_NOT_READY_ECO_MODE = motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_ECO_MODE,
     MOTION_NOT_READY_SERVO_ON_TIMEOUT = motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_SERVO_ON_TIMEOUT,
 } MotionNotReadyCode;

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
@@ -123,5 +131,5 @@ void Ros_ServiceResetError_Trigger(const void* request_msg, void* response_msg)
     response->result_code.value = MOTION_READY;
 
 DONE:
-    Ros_Debug_BroadcastMsg("reset: %s", response->message);
+    Ros_Debug_BroadcastMsg("reset: %s", response->message.data);
 }

src/main.c

@@ -156,7 +156,7 @@ void RosInitTask()
             if (tickNow > tickBefore)
                 tickDiff = tickNow - tickBefore;
             else //unsigned rollover
-                tickDiff = (UINT_MAX - tickBefore) + tickNow;
+                tickDiff = (ULONG_MAX - tickBefore) + tickNow;
 
             float elapsedMs = tickDiff * mpGetRtc(); //time it took to read and publish data