Fix incorrect alarm main code, add new alarm info to troubleshooting …

…guide, and remove extra whitespace in yaml file to pass linter.

config/motoros2_config.yaml

@@ -286,31 +286,31 @@ publisher_qos:
 #ignore_missing_calib_data: false
 
 #-----------------------------------------------------------------------------
-# Should MotoROS2 broadcast debug messages? 
+# Should MotoROS2 broadcast debug messages?
 #
 # If enabled, this will broadcast log messages on the network on port UDP 21789.
-# the user can use the debug script provided in the distribution of MotoROS2 to 
+# the user can use the debug script provided in the distribution of MotoROS2 to
 # monitor the state of the robot, identify problems, and debug their code.
 #
-# The debug script is available under the Yaskawa-Global/motoros2 repository in 
+# The debug script is available under the Yaskawa-Global/motoros2 repository in
 # the tools directory
 # https://github.com/Yaskawa-Global/motoros2/tree/main/tools
 #
 # DEFAULT: true
 #userlan_debug_broadcast_enabled: true
 
 #-----------------------------------------------------------------------------
-# Which network port should MotoROS2 broadcast the debug messages to, if 
+# Which network port should MotoROS2 broadcast the debug messages to, if
 # 'userlan_debug_broadcast_enabled' is 'true'?
 #
-# If not specified and 'userlan_debug_broadcast_enabled' is true, MotoROS2 will 
-# send the broadcast to all network ports which are enabled on the controller. 
+# If not specified and 'userlan_debug_broadcast_enabled' is true, MotoROS2 will
+# send the broadcast to all network ports which are enabled on the controller.
 #
-# To choose a specific port to broadcast debug messages, uncomment 
+# To choose a specific port to broadcast debug messages, uncomment
 # 'userlan_debug_broadcast_port' below and set it to the desired port.
 #
 # NOTE 1:   this setting only applies to YRC1000 and YRC1000u controllers.
-#         DX200 and FS100 controllers only have a single ethernet port, and will 
+#         DX200 and FS100 controllers only have a single ethernet port, and will
 #         always default to USER_LAN1
 #
 # OPTIONS: USER_LAN1, USER_LAN2

doc/troubleshooting.md

@@ -725,6 +725,35 @@ Save a copy of the output of the [debug-listener script](#debug-log-client) and
 Open a new issue on the [Issue tracker](https://github.com/yaskawa-global/motoros2/issues), describe the problem and attach `PANELBOX.LOG` and the debug log to the issue.
 Include a verbatim copy of the alarm text as seen on the teach pendant (alarm number and `[subcode]`).
 
+### Alarm: 8011[64]
+
+*Example:*
+
+```text
+ALARM 8011
+ Must enable ETHERNET function
+[64]
+```
+
+*Solution:*
+The ETHERNET function must be enabled for one (or both) LAN interface in the robot controller.
+Please contact your local Yaskawa representative to request this function.
+
+### Alarm: 8011[65]
+
+*Example:*
+
+```text
+ALARM 8011
+ Enable LAN port 1 for debug
+[65]
+```
+
+*Solution:*
+The ETHERNET function must be enabled for the LAN interface that was specified in the config file. 
+Either change the interface specified in the config file to a LAN interface that is enabled, or enable the corresponding LAN interface on the controller. 
+Please contact your local Yaskawa representative to request the ETHERNET function if it is not enabled. 
+
 ### Alarm: 8012[xx]
 
 *Example:*
@@ -1024,6 +1053,28 @@ In case the alarm is still raised after calibration was performed, TF broadcasti
 Open a new issue on the [Issue tracker](https://github.com/yaskawa-global/motoros2/issues), describe the problem and attach `PANELBOX.LOG`, `RBCALIB.DAT` and the debug log to the issue.
 Include a verbatim copy of the alarm text as seen on the teach pendant (alarm number and `[subcode]`).
 
+### Alarm: 8013[17]
+
+*Example:*
+
+```text
+ALARM 8013
+ Bad UserLan debug port in cfg
+[17]
+```
+
+*Solution:*
+The `userlan_debug_broadcast_port` key in the `motoros2_config.yaml` configuration file is set to an invalid value.
+Debug broadcasting will be disabled for this session.
+
+On YRC1000 and YRC1000u, this must be set to either `USER_LAN1` or `USER_LAN2`.
+
+No other values are supported.
+
+Example: `userlan_debug_broadcast_port: USER_LAN1`.
+
+After correcting the configuration, the [changes will need to be propagated to the Yaskawa controller](../README.md#updating-the-configuration).
+
 ### Alarm: 8014[0]
 
 *Example:*

src/Debug.c

@@ -55,7 +55,7 @@ void Ros_Debug_Init()
     debugPorts.enabledPortCount = count;
     if (count < 1)
     {
-        mpSetAlarm(ALARM_CONFIGURATION_FAIL, "Must enable ETHERNET function", SUBCODE_DEBUG_INIT_FAIL_MP_NICDATA_ALL);
+        mpSetAlarm(ALARM_ASSERTION_FAIL, "Must enable ETHERNET function", SUBCODE_DEBUG_INIT_FAIL_MP_NICDATA_ALL);
         g_nodeConfigSettings.userlan_debug_broadcast_enabled = FALSE;
     }
 }
@@ -91,9 +91,9 @@ void Ros_Debug_SetFromConfig()
     {
         int ret = snprintf(message, ERROR_MSG_MAX_SIZE, "Enable LAN port %d for debug", g_nodeConfigSettings.userlan_debug_broadcast_port);
         if (0 < ret && ret <= 32)
-            mpSetAlarm(ALARM_CONFIGURATION_FAIL, message, SUBCODE_DEBUG_INIT_FAIL_MP_NICDATA_SPECIFIC);
+            mpSetAlarm(ALARM_ASSERTION_FAIL, message, SUBCODE_DEBUG_INIT_FAIL_MP_NICDATA_SPECIFIC);
         else
-            mpSetAlarm(ALARM_CONFIGURATION_FAIL, "Enable debug LAN port from cfg", SUBCODE_DEBUG_INIT_FAIL_MP_NICDATA_SPECIFIC);
+            mpSetAlarm(ALARM_ASSERTION_FAIL, "Enable debug LAN port from cfg", SUBCODE_DEBUG_INIT_FAIL_MP_NICDATA_SPECIFIC);
         g_nodeConfigSettings.userlan_debug_broadcast_enabled = FALSE;
     }
 }