Add debug broadcast enable/disable option and debug broadcast port option to config file

config/motoros2_config.yaml

@@ -284,3 +284,35 @@ 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 and YRC1000u controllers.
+#         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

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:*
@@ -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 and YRC1000u, 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:*

src/ConfigFile.c

@@ -121,6 +121,8 @@ Configuration_Item Ros_ConfigFile_Items[] =
     { "userlan_monitor_enabled", &g_nodeConfigSettings.userlan_monitor_enabled, Value_Bool },
     { "userlan_monitor_port", &g_nodeConfigSettings.userlan_monitor_port, Value_UserLanPort },
     { "ignore_missing_calib_data", &g_nodeConfigSettings.ignore_missing_calib_data, Value_Bool },
+    { "debug_broadcast_enabled", &g_nodeConfigSettings.debug_broadcast_enabled, Value_Bool },
+    { "debug_broadcast_port", &g_nodeConfigSettings.debug_broadcast_port, Value_UserLanPort },
 };
 
 void Ros_ConfigFile_SetAllDefaultValues()
@@ -130,6 +132,10 @@ void Ros_ConfigFile_SetAllDefaultValues()
     //TODO(gavanderhoorn): make this an unsigned int
     g_nodeConfigSettings.ros_domain_id = DEFAULT_ROS_DOMAIN_ID;
 
+    //userlan debug broadcast
+    g_nodeConfigSettings.debug_broadcast_enabled = DEFAULT_ULAN_DEBUG_BROADCAST_ENABLED;
+    g_nodeConfigSettings.debug_broadcast_port = DEFAULT_ULAN_DEBUG_BROADCAST_PORT;
+
     //=========
     //node_name
     UCHAR macId[6];
@@ -327,7 +333,7 @@ void Ros_ConfigFile_CheckYamlEvent(yaml_event_t* event)
                 case Value_UserLanPort:
 #if defined (FS100) || defined (DX200)
                     // single port, override whatever was configured
-                    *(Ros_UserLan_Port_Setting*)activeItem->valueToSet = CFG_ROS_USER_LAN1;
+                    * (Ros_UserLan_Port_Setting*)activeItem->valueToSet = CFG_ROS_USER_LAN1;
                     Ros_Debug_BroadcastMsg("DX200 or FS100: override to 'USER_LAN1'");
 
 #elif defined (YRC1000) || defined (YRC1000u)
@@ -337,20 +343,20 @@ void Ros_ConfigFile_CheckYamlEvent(yaml_event_t* event)
                         *(Ros_UserLan_Port_Setting*)activeItem->valueToSet = CFG_ROS_USER_LAN2;
                     else
                     {
-                        //Note: ideally, we'd disable user lan monitoring here. However, we can't
-                        //guarantee the 'userlan_monitor_enabled' setting won't be parsed after
-                        //this one. If it were to be parsed after 'userlan_monitor_port', we'd
-                        //be disabling it here, only to have it re-enabled later.
-                        //Set the config value to the 'disabled' sentinel value and let the
-                        //validation code below handle the fallout.
+                        // Note: ideally, we'd disable user lan monitoring or set user lan debug
+                        // broadcast to all here. However, we can't guarantee that the 'userlan_monitor_enabled' 
+                        // or the 'debug_broadcast_enabled' setting won't be parsed after
+                        // this one. If it were to be parsed after the corresponding port setting, we'd
+                        // be setting it here, only to have it re-set later. Set the config value to the 
+                        // 'malformed' sentinel value and let the validation code below handle the fallout.
                         Ros_Debug_BroadcastMsg(
-                            "Unrecognised value for '%s': '%s'. Port monitoring will be disabled",
-                            (char*)event->data.scalar.value,
-                            (char*)activeItem->yamlKey);
-                        *(Ros_UserLan_Port_Setting*)activeItem->valueToSet = CFG_ROS_USER_LAN_DISABLED;
+                            "Unrecognised value for '%s': '%s'.",
+                            (char*)activeItem->yamlKey,
+                            (char*)event->data.scalar.value);
+                        *(Ros_UserLan_Port_Setting*)activeItem->valueToSet = CFG_ROS_USER_LAN_MALFORMED;
                     }
 #else
-    #error Unsupported platform
+#error Unsupported platform
 #endif
                     //Note: this logs whatever was in the .yaml, NOT the verified/parsed value above
                     Ros_Debug_BroadcastMsg("Config: %s = %s", (char*)activeItem->yamlKey,
@@ -690,7 +696,7 @@ void Ros_ConfigFile_ValidateNonCriticalSettings()
             if (g_nodeConfigSettings.userlan_monitor_port != CFG_ROS_USER_LAN1)
 #endif
             {
-                mpSetAlarm(ALARM_CONFIGURATION_FAIL, "Invalid UserLan port in cfg",
+                mpSetAlarm(ALARM_CONFIGURATION_FAIL, "Bad UserLan monitor port in cfg",
                     SUBCODE_CONFIGURATION_INVALID_USERLAN_MONITOR_PORT);
                 g_nodeConfigSettings.userlan_monitor_enabled = FALSE;
                 Ros_Debug_BroadcastMsg(
@@ -699,6 +705,28 @@ void Ros_ConfigFile_ValidateNonCriticalSettings()
             }
         }
     }
+
+    if (g_nodeConfigSettings.debug_broadcast_enabled)
+    {
+        Ros_Debug_BroadcastMsg("UserLan debug broadcast enabled, checking port setting...");
+        //Check if the port setting is valid only if the debug broadcast is enabled
+#if defined (YRC1000) || defined (YRC1000u)
+        if (g_nodeConfigSettings.debug_broadcast_port != CFG_ROS_USER_LAN1 &&
+            g_nodeConfigSettings.debug_broadcast_port != CFG_ROS_USER_LAN2 && 
+            g_nodeConfigSettings.debug_broadcast_port != CFG_ROS_USER_LAN_ALL)
+#elif defined (FS100) || defined (DX200)
+        if (g_nodeConfigSettings.debug_broadcast_port != CFG_ROS_USER_LAN1)
+#endif
+        {
+            mpSetAlarm(ALARM_CONFIGURATION_FAIL, "Bad UserLan debug port in cfg",
+                SUBCODE_CONFIGURATION_INVALID_DEBUG_BROADCAST_PORT);
+            Ros_Debug_BroadcastMsg(
+                "debug_broadcast_port value %d is invalid, broadcasting to all enabled ports instead",
+                g_nodeConfigSettings.debug_broadcast_port);
+        }
+    }
+
+
 }
 
 const char* const Ros_ConfigFile_Rmw_Qos_ProfileSetting_ToString(Ros_QoS_Profile_Setting val)
@@ -758,15 +786,15 @@ void Ros_ConfigFile_PrintActiveConfiguration(Ros_Configuration_Settings const* c
     Ros_Debug_BroadcastMsg("Config: userlan_monitor_enabled = %d", config->userlan_monitor_enabled);
     Ros_Debug_BroadcastMsg("Config: userlan_monitor_port = %d", config->userlan_monitor_port);
     Ros_Debug_BroadcastMsg("Config: ignore_missing_calib_data = %d", config->ignore_missing_calib_data);
+    Ros_Debug_BroadcastMsg("Config: debug_broadcast_enabled = %d", config->debug_broadcast_enabled);
+    Ros_Debug_BroadcastMsg("Config: debug_broadcast_port = %d", config->debug_broadcast_port);
 }
 
 void Ros_ConfigFile_Parse()
 {
     BOOL bAlarmOnce = TRUE;
     BOOL bOkToInit = TRUE;
 
-    Ros_ConfigFile_SetAllDefaultValues();
-
     do
     {
 #if defined (FS100) || defined (YRC1000) || defined (YRC1000u)
@@ -862,6 +890,16 @@ void Ros_ConfigFile_Parse()
 
     Ros_ConfigFile_ValidateCriticalSettings();
     Ros_ConfigFile_ValidateNonCriticalSettings();
+#if defined(YRC1000) || defined(YRC1000u)
+    // If the debug broadcast is enabled and the user chose a specific port, then 
+    // we can no longer broadcast over ALL, we have to change it to only broadcast over one port
+    if (g_nodeConfigSettings.debug_broadcast_enabled &&
+        (g_nodeConfigSettings.debug_broadcast_port == CFG_ROS_USER_LAN1 ||
+            g_nodeConfigSettings.debug_broadcast_port == CFG_ROS_USER_LAN2)) 
+    {
+        Ros_Debug_SetFromConfig();
+    }
+#endif
     Ros_ConfigFile_PrintActiveConfiguration(&g_nodeConfigSettings);
 }
 

src/ConfigFile.h

@@ -88,17 +88,20 @@ typedef enum
 
 typedef enum
 {
-    CFG_ROS_USER_LAN_DISABLED = -2,  //sentinel
+    CFG_ROS_USER_LAN_MALFORMED = -3,  //sentinel
+    CFG_ROS_USER_LAN_ALL = -2,  //sentinel
     CFG_ROS_USER_LAN_AUTO = -1,  //sentinel
     CFG_ROS_USER_LAN1 = ROS_USER_LAN1,
     CFG_ROS_USER_LAN2 = ROS_USER_LAN2,
 } Ros_UserLan_Port_Setting;
 
-#define DEFAULT_ULAN_MON_ENABLED        TRUE
-#define DEFAULT_ULAN_MON_LINK           CFG_ROS_USER_LAN_AUTO
+#define DEFAULT_ULAN_MON_ENABLED                TRUE
+#define DEFAULT_ULAN_MON_LINK                   CFG_ROS_USER_LAN_AUTO
 
-#define DEFAULT_IGNORE_MISSING_CALIB    FALSE
+#define DEFAULT_IGNORE_MISSING_CALIB            FALSE
 
+#define DEFAULT_ULAN_DEBUG_BROADCAST_ENABLED     TRUE
+#define DEFAULT_ULAN_DEBUG_BROADCAST_PORT        CFG_ROS_USER_LAN_ALL
 typedef struct
 {
     //TODO(gavanderhoorn): add support for unsigned types
@@ -141,10 +144,15 @@ typedef struct
     Ros_UserLan_Port_Setting userlan_monitor_port;
 
     BOOL ignore_missing_calib_data;
+
+    BOOL debug_broadcast_enabled;
+    Ros_UserLan_Port_Setting debug_broadcast_port;
 } Ros_Configuration_Settings;
 
 extern Ros_Configuration_Settings g_nodeConfigSettings;
 
+extern void Ros_ConfigFile_SetAllDefaultValues();
+
 extern void Ros_ConfigFile_Parse();
 
 extern rmw_qos_profile_t const* const Ros_ConfigFile_To_Rmw_Qos_Profile(Ros_QoS_Profile_Setting val);