Robot status: in_error considers several error bits

axelschroth · axelschroth · commit a3df2928f9da · 2020-03-31T15:58:42.000+02:00
diff --git a/ur_robot_driver/src/ros/hardware_interface.cpp b/ur_robot_driver/src/ros/hardware_interface.cpp
@@ -674,7 +674,11 @@ void HardwareInterface::extractRobotStatus()
   robot_status_resource_.in_motion = TriState::UNKNOWN;
 
   if (safety_status_bits_[toUnderlying(UrRtdeSafetyStatusBits::IS_PROTECTIVE_STOPPED)] ||
-      safety_status_bits_[toUnderlying(UrRtdeSafetyStatusBits::IS_EMERGENCY_STOPPED)])
+      safety_status_bits_[toUnderlying(UrRtdeSafetyStatusBits::IS_ROBOT_EMERGENCY_STOPPED)] ||
+      safety_status_bits_[toUnderlying(UrRtdeSafetyStatusBits::IS_EMERGENCY_STOPPED)] ||
+      safety_status_bits_[toUnderlying(UrRtdeSafetyStatusBits::IS_VIOLATION)] ||
+      safety_status_bits_[toUnderlying(UrRtdeSafetyStatusBits::IS_FAULT)] ||
+      safety_status_bits_[toUnderlying(UrRtdeSafetyStatusBits::IS_STOPPED_DUE_TO_SAFETY)])
   {
     robot_status_resource_.in_error = TriState::TRUE;
   }

Original file line number	Diff line number	Diff line change
`@@ -674,7 +674,11 @@ void HardwareInterface::extractRobotStatus()`
`674`	`674`	`robot_status_resource_.in_motion = TriState::UNKNOWN;`
`675`	`675`
`676`	`676`	`if (safety_status_bits_[toUnderlying(UrRtdeSafetyStatusBits::IS_PROTECTIVE_STOPPED)] \|\|`
`677`		`- safety_status_bits_[toUnderlying(UrRtdeSafetyStatusBits::IS_EMERGENCY_STOPPED)])`
	`677`	`+ safety_status_bits_[toUnderlying(UrRtdeSafetyStatusBits::IS_ROBOT_EMERGENCY_STOPPED)] \|\|`
	`678`	`+ safety_status_bits_[toUnderlying(UrRtdeSafetyStatusBits::IS_EMERGENCY_STOPPED)] \|\|`
	`679`	`+ safety_status_bits_[toUnderlying(UrRtdeSafetyStatusBits::IS_VIOLATION)] \|\|`
	`680`	`+ safety_status_bits_[toUnderlying(UrRtdeSafetyStatusBits::IS_FAULT)] \|\|`
	`681`	`+ safety_status_bits_[toUnderlying(UrRtdeSafetyStatusBits::IS_STOPPED_DUE_TO_SAFETY)])`
`678`	`682`	`{`
`679`	`683`	`robot_status_resource_.in_error = TriState::TRUE;`
`680`	`684`	`}`