Maintain consistency, simplify logic, and change comments

Yaskawa-Global · Sep 6, 2024 · a717abc · a717abc
1 parent dee8820
commit a717abc
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/src/ControllerStatusIO.c b/src/ControllerStatusIO.c
@@ -317,7 +317,7 @@ BOOL Ros_Controller_IsAlarm()
 
 BOOL Ros_Controller_IsMajorAlarm()
 {
-    return (g_Ros_Controller.ioStatus[IO_ROBOTSTATUS_ALARM_MAJOR] != 0);
+    return ((g_Ros_Controller.ioStatus[IO_ROBOTSTATUS_ALARM_MAJOR] != 0));
 }
 
 BOOL Ros_Controller_IsError()

diff --git a/src/ServiceResetError.c b/src/ServiceResetError.c
@@ -83,14 +83,16 @@ 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;
-    } 
-    else if (Ros_Controller_IsAlarm())
+    }
+
+    // Other alarm types can be reset remotely
+    if (Ros_Controller_IsAlarm())
     {
         // Reset alarm
         bzero(&rData, sizeof(rData));