Merge branch 'main' into iron_wip

Yaskawa-Global · Nov 11, 2024 · b45833c · b45833c
2 parents 19a2ee4 + 225ed07
commit b45833c
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diff --git a/.github/workflows/ci_md_lint.yaml b/.github/workflows/ci_md_lint.yaml
@@ -12,6 +12,6 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
-    - uses: DavidAnson/markdownlint-cli2-action@v16
+    - uses: DavidAnson/markdownlint-cli2-action@v17
       with:
         globs: "**/*.md"
diff --git a/.github/workflows/ci_msbuild.yaml b/.github/workflows/ci_msbuild.yaml
@@ -60,9 +60,9 @@ jobs:
         # officially matrix doesn't support non-scalar values, but it does
         # seem to work, so let's use it.
         uros: [
-          { release: 20240710, codename: foxy     },
-          { release: 20240710, codename: galactic },
-          { release: 20240710, codename: humble   },
+          { release: 20240917, codename: foxy     },
+          { release: 20240917, codename: galactic },
+          { release: 20240917, codename: humble   },
         ]
 
     steps:

diff --git a/.gitignore b/.gitignore
@@ -364,3 +364,4 @@ libmicroros_yrc1000u_iron/
 
 # M+ build output
 *.out
+/libmicroros_yrc1000_iron
diff --git a/README.md b/README.md
@@ -98,11 +98,10 @@ The following general requirements must be met in order to be able to use MotoRO
   - `YAS2.80.00-00` for YRC1000
   - `YBS2.45.00-00` for YRC1000micro
 - the controller must have a correctly configured network connection:
-  - DX200: `LAN`
+  - DX200 and YRC1000micro: `LAN`
   - YRC1000: either `LAN2` or `LAN3`
-  - YRC1000micro: either `LAN2` or `LAN3`
-- ROS 2 version: Foxy, Galactic, Humble or Iron
-  MotoROS2 does not support ROS 2 Iron Irwini, nor Jazzy nor Rolling Ridley.
+- ROS 2 version: Foxy, Galactic, Humble or Iron.
+  MotoROS2 does not support ROS 2 Jazzy nor Rolling Ridley.
 - Docker or a from-source build of the micro-ROS Agent
 - FastDDS as RMW (even when using ROS 2 Galactic)
 

diff --git a/config/motoros2_config.yaml b/config/motoros2_config.yaml
@@ -104,8 +104,8 @@ sync_timeclock_with_agent: true
 # To disable auto-detection, uncomment 'userlan_monitor_port' below and set
 # it to the desired port.
 #
-# NOTE:   this setting only applies to YRC1000 and YRC1000u controllers.
-#         DX200 and FS100 controllers only have a single ethernet port, and any
+# NOTE:   this setting only applies to YRC1000 controllers. YRC1000u, DX200,
+#         and FS100 controllers only have a single ethernet port, and any
 #         value other than 1 will be ignored.
 #
 # NOTE 2: auto-detection is not perfect. It can't determine whether the Agent
@@ -286,3 +286,35 @@ publisher_qos:
 #
 # DEFAULT: false
 #ignore_missing_calib_data: false
+
+#-----------------------------------------------------------------------------
+# 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 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 tools directory
+# https://github.com/Yaskawa-Global/motoros2/tree/main/tools
+#
+# DEFAULT: true
+#debug_broadcast_enabled: true
+
+#-----------------------------------------------------------------------------
+# Which network port(s) should MotoROS2 broadcast debug messages on, if
+# 'debug_broadcast_enabled' is 'true'?
+#
+# If not specified and 'debug_broadcast_enabled' is true, MotoROS2 will
+# send messages over all network ports which are active on the controller.
+#
+# To choose a specific port to broadcast debug messages, uncomment
+# 'debug_broadcast_port' below and set it to the desired port.
+#
+# NOTE 1:   this setting only applies to YRC1000 controllers. YRC1000u,
+#         DX200, and FS100 controllers only have a single ethernet port,
+#         and will always default to USER_LAN1
+#
+# OPTIONS: USER_LAN1, USER_LAN2
+# DEFAULT: (all available network ports)
+#debug_broadcast_port: USER_LAN1
diff --git a/doc/troubleshooting.md b/doc/troubleshooting.md
@@ -725,6 +725,21 @@ 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
+ Enable LAN port 1 for debug
+[64]
+```
+
+*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:*
@@ -932,7 +947,7 @@ ALARM 8013
 The `userlan_monitor_port` key in the `motoros2_config.yaml` configuration file is set to an invalid value.
 LAN port monitoring will be disabled for this session.
 
-On YRC1000 and YRC1000u, this must be set to either `USER_LAN1` or `USER_LAN2`.
+On YRC1000, this must be set to either `USER_LAN1` or `USER_LAN2`.
 
 No other values are supported.
 
@@ -958,7 +973,7 @@ To rule out a transient failure, reboot the controller.
 
 If the alarm is raised again, and if auto-detection is not needed or desired, make sure `userlan_monitor_port` is not commented out (ie: does not have a `#` at the start of the line) and set it to an appropriate value.
 
-On YRC1000 and YRC1000u, set it to either `USER_LAN1` or `USER_LAN2`, depending on which LAN port is used to connect the controller to the PC running the micro-ROS Agent application.
+On YRC1000, set it to either `USER_LAN1` or `USER_LAN2`, depending on which LAN port is used to connect the controller to the PC running the micro-ROS Agent application.
 
 If auto-detection is to be used, verify `agent_ip_address` is set to an IP that can be reached by MotoROS2 over the LAN port which is connected to the PC running the micro-ROS Agent application (either directly, or via a default gateway configured on the controller).
 
@@ -1024,6 +1039,28 @@ 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 `debug_broadcast_port` key in the `motoros2_config.yaml` configuration file is set to an invalid value.
+Debug messages will be sent over all active network ports
+
+On YRC1000, this must be set to either `USER_LAN1` or `USER_LAN2`.
+
+No other values are supported.
+
+Example: `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:*

diff --git a/src/ActionServer_FJT.c b/src/ActionServer_FJT.c
@@ -247,82 +247,26 @@ rcl_ret_t Ros_ActionServer_FJT_Goal_Received(rclc_action_goal_handle_t* goal_han
         if (!bSizeOk)
         {
             motomanErrorCode = INIT_TRAJ_TOO_BIG;
-            rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                "Trajectory contains too many points (Not enough memory).");
+            rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string, 
+                Ros_ErrorHandling_Init_Trajectory_Status_ToString((Init_Trajectory_Status) motomanErrorCode));
         }
         else if (!bMotionReady)
         {
-            motomanErrorCode = Ros_Controller_GetNotReadySubcode();
+            motomanErrorCode = Ros_Controller_GetNotReadySubcode(false);
             rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
                 Ros_ErrorHandling_MotionNotReadyCode_ToString((MotionNotReadyCode)motomanErrorCode));
         }
         else if (!bMotionModeOk)
         {
             motomanErrorCode = INIT_TRAJ_WRONG_MODE;
             rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string, 
-                "Must call " SERVICE_NAME_START_TRAJ_MODE " service.");
+                Ros_ErrorHandling_Init_Trajectory_Status_ToString((Init_Trajectory_Status) motomanErrorCode));
         }
         else if (!bInitOk)
         {
             motomanErrorCode = trajStatus;
-            switch (motomanErrorCode)
-            {
-            case INIT_TRAJ_TOO_SMALL:
-                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                    "Trajectory must contain at least two points.");
-                break;
-            case INIT_TRAJ_INVALID_STARTING_POS:
-                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                    "The first point must match the robot's current position.");
-                break;
-            case INIT_TRAJ_INVALID_VELOCITY:
-                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                    "The commanded velocity is too high.");
-                break;
-            case INIT_TRAJ_ALREADY_IN_MOTION:
-                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                    "Already running a trajectory.");
-                break;
-            case INIT_TRAJ_INVALID_JOINTNAME:
-                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                    "Invalid joint name specified. Check motoros2_config.yaml.");
-                break;
-            case INIT_TRAJ_INCOMPLETE_JOINTLIST:
-                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                    "Trajectory must contain data for all joints.");
-                break;
-            case INIT_TRAJ_INVALID_TIME:
-                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                    "Invalid time in trajectory.");
-                break;
-            case INIT_TRAJ_BACKWARD_TIME:
-                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                    "Trajectory message contains waypoints that are not strictly increasing in time.");
-                break;
-            case INIT_TRAJ_WRONG_NUMBER_OF_POSITIONS:
-                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                    "Trajectory did not contain position data for all axes.");
-                break;
-            case INIT_TRAJ_WRONG_NUMBER_OF_VELOCITIES:
-                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                    "Trajectory did not contain velocity data for all axes.");
-                break;
-            case INIT_TRAJ_INVALID_ENDING_VELOCITY:
-                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                    "The final point in the trajectory must have zero velocity.");
-                break;
-            case INIT_TRAJ_INVALID_ENDING_ACCELERATION:
-                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                    "The final point in the trajectory must have zero acceleration.");
-                break;
-            case INIT_TRAJ_DUPLICATE_JOINT_NAME:
-                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                    "The trajectory contains duplicate joint names.");
-                break;
-            default:
-                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
-                    "Trajectory initialization failed. Generic failure.");
-            }
+            rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string, 
+                Ros_ErrorHandling_Init_Trajectory_Status_ToString(trajStatus));
         }
 
         fjt_result_response.result.error_code = RESULT_REPONSE_ERROR_CODE(control_msgs__action__FollowJointTrajectory_Result__INVALID_GOAL, motomanErrorCode);

diff --git a/src/CommunicationExecutor.c b/src/CommunicationExecutor.c
@@ -74,7 +74,7 @@ void Ros_Communication_ConnectToAgent()
             "Must enable ETHERNET function");
     }
 
-#if defined (YRC1000) || defined (YRC1000u)
+#if defined (YRC1000)
     //Try second interface if first one didn't succeed
     if (status != OK && (status = Ros_GetMacAddress(ROS_USER_LAN2, macId)) != OK)
     {