Merge pull request #106 from aigallegos/fix-cryptic-err-codes

Fixed Cryptic Error Codes in mpStartJob
Yaskawa-Global · Aug 3, 2023 · 5a2c6ee · 5a2c6ee
2 parents 258372a + ff2e138
commit 5a2c6ee
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Showing 3 changed files with 23 additions and 18 deletions.
diff --git a/src/ErrorHandling.c b/src/ErrorHandling.c
@@ -11,24 +11,26 @@
 //-------------------------------------------------------------------
 // Convert error code to string
 //-------------------------------------------------------------------
-void Ros_ErrorHandling_ErrNo_ToString(int errNo, char* const errMsg, int errMsgSize)
+const char* const Ros_ErrorHandling_ErrNo_ToString(int errNo)
 {
     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;
+    //Note: returning literals here as 'const char*' is OK, as they are stored
+    //in an anonymous array with static storage.
+    case 0x2010: return "Robot is in operation";
+    case 0x2030: return "In HOLD status (PP)";
+    case 0x2040: return "In HOLD status (External)";
+    case 0x2050: return "In HOLD status (Command)";
+    case 0x2060: return "In ERROR/ALARM status";
+    case 0x2070: return "In SERVO OFF status";
+    case 0x2080: return "Wrong operation mode";
+    case 0x3040: return "The home position is not registered";
+    case 0x3050: return "Out of range (ABSO data)";
+    case 0x3400: return "Cannot operate MASTER JOB";
+    case 0x3410: return "The JOB name is already registered in another task";
+    case 0x4040: return "Specified JOB not found";
+    case 0x5200: return "Over data range";
+    default:     return "Unspecified reason";
     }
 }
 

diff --git a/src/ErrorHandling.h b/src/ErrorHandling.h
@@ -205,7 +205,7 @@ typedef enum
 extern void motoRosAssert(BOOL mustBeTrue, ASSERTION_SUBCODE subCodeIfFalse);
 extern void motoRosAssert_withMsg(BOOL mustBeTrue, ASSERTION_SUBCODE subCodeIfFalse, char* msgFmtIfFalse, ...);
 
-extern void Ros_ErrorHandling_ErrNo_ToString(int errNo, char* const errMsg, int errMsgSize);
+extern const char* const Ros_ErrorHandling_ErrNo_ToString(int errNo);
 extern const char* const Ros_ErrorHandling_MotionNotReadyCode_ToString(MotionNotReadyCode code);
 
 #endif  // MOTOROS2_ERROR_HANDLING_H
diff --git a/src/MotionControl.c b/src/MotionControl.c
@@ -1252,7 +1252,9 @@ BOOL Ros_MotionControl_StartMotionMode(MOTION_MODE mode)
         {
             //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);
+            Ros_Debug_BroadcastMsg(
+                "Can't turn on servo because: '%s' (0x%04X)",
+                Ros_ErrorHandling_ErrNo_ToString(rData.err_no), rData.err_no);
             goto updateStatus;
         }
     }
@@ -1287,7 +1289,8 @@ BOOL Ros_MotionControl_StartMotionMode(MOTION_MODE mode)
     {
         //TODO(gavanderhoorn): special check for "job is not loaded"
         Ros_Debug_BroadcastMsg(
-            "Can't start '%s' because: 0x%04X", g_nodeConfigSettings.inform_job_name, rData.err_no);
+            "Can't start '%s' because: '%s' (0x%04X)", g_nodeConfigSettings.inform_job_name,
+            Ros_ErrorHandling_ErrNo_ToString(rData.err_no), rData.err_no);
         goto updateStatus;
     }