Add clarifying comment

Yaskawa-Global · Oct 8, 2024 · 9455de6 · 9455de6
1 parent e6217bf
commit 9455de6
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diff --git a/.gitignore b/.gitignore
@@ -361,3 +361,4 @@ libmicroros_dx200_foxy/
 
 # M+ build output
 *.out
+/libmicroros_yrc1000_iron
diff --git a/src/MotionControl.c b/src/MotionControl.c
@@ -1392,7 +1392,10 @@ MotionNotReadyCode Ros_MotionControl_StartMotionMode(MOTION_MODE mode, rosidl_ru
         case MOTION_NOT_READY_NOT_REMOTE:
         case MOTION_NOT_READY_HOLD:
             return motion_readiness_code;
-        case MOTION_NOT_READY_ERROR:
+        case MOTION_NOT_READY_ERROR: 
+            //the responseMessage gets populated only in this case or for other MOTION_NOT_READY_ERROR
+            //returns because it has the most information about the error in this situtation. 
+            //in other cases, the responseMessage is populated upstream/with only the MotionNotReadyCode
             alarmcode = Ros_Controller_GetAlarmCode();
             snprintf(output, MOTION_START_ERROR_MESSAGE_LENGTH, "%s: '%s' (0x%04X)",
                 Ros_ErrorHandling_MotionNotReadyCode_ToString(MOTION_NOT_READY_ERROR),