Added MotionNotReady code for major alarm to differentiate from minor…

… alarms

src/ErrorHandling.c

@@ -71,6 +71,8 @@ const char* const Ros_ErrorHandling_MotionNotReadyCode_ToString(MotionNotReadyCo
         return motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_OTHER_TRAJ_MODE_ACTIVE_STR;
     case MOTION_NOT_READY_NOT_CONT_CYCLE_MODE:
         return motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_NOT_CONT_CYCLE_MODE_STR;
+    case MOTION_NOT_READY_MAJOR_ALARM:
+        return motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_MAJOR_ALARM_STR;
     default:
         return motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_UNSPECIFIED_STR;
     }

src/ErrorHandling.h

@@ -32,6 +32,7 @@ typedef enum
     MOTION_NOT_READY_OTHER_PROGRAM_RUNNING = motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_OTHER_PROGRAM_RUNNING,
     MOTION_NOT_READY_OTHER_TRAJ_MODE_ACTIVE = motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_OTHER_TRAJ_MODE_ACTIVE,
     MOTION_NOT_READY_NOT_CONT_CYCLE_MODE = motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_NOT_CONT_CYCLE_MODE,
+    MOTION_NOT_READY_MAJOR_ALARM = motoros2_interfaces__msg__MotionReadyEnum__NOT_READY_MAJOR_ALARM,
 } MotionNotReadyCode;
 
 typedef enum

src/ServiceResetError.c

@@ -87,7 +87,7 @@ void Ros_ServiceResetError_Trigger(const void* request_msg, void* response_msg)
     if (g_Ros_Controller.ioStatus[IO_ROBOTSTATUS_ALARM_MAJOR] != 0)
     {
         rosidl_runtime_c__String__assign(&response->message, "Major alarm active. Cannot be reset. Check teach pendant");
-        response->result_code.value = MOTION_NOT_READY_ALARM;
+        response->result_code.value = MOTION_NOT_READY_MAJOR_ALARM;
         goto DONE;
     } 
     else if ((g_Ros_Controller.ioStatus[IO_ROBOTSTATUS_ALARM_MINOR] != 0)