Explicitly send MODE_STOPPED when returning control to the robot#1678
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urfeex wants to merge 2 commits intoUniversalRobots:mainfrom
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Explicitly send MODE_STOPPED when returning control to the robot#1678urfeex wants to merge 2 commits intoUniversalRobots:mainfrom
urfeex wants to merge 2 commits intoUniversalRobots:mainfrom
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Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #1678 +/- ##
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+ Coverage 3.59% 4.80% +1.21%
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Files 13 34 +21
Lines 947 4076 +3129
Branches 152 473 +321
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+ Hits 34 196 +162
- Misses 843 3878 +3035
+ Partials 70 2 -68
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urrsk
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Mar 19, 2026
Currently, we only exit the main loop when no new command is received anymore (already taking any configured receive timeout into account). However, if we don't receive a new command anymore, that should always be considered an unintentional interruption of the control flow. In that case, we should stop program execution, as interrupting the communication was an unexpected error event. If interrupting the communication in order to continue with the rest of the program was intentional, users will send a stop command. This will end the main control loop at another code branch leading to a clean shutdown of the external_control part in order to be able to continue with the rest of the program. This should be closing #438 but in order to make sense with the ROS drivers, we would need UniversalRobots/Universal_Robots_ROS2_Driver#1678 and potentially UniversalRobots/Universal_Robots_ROS_Driver#767 before merging this.
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Looks good. But please add a test covering this
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Unfortunately, CI currently doesn't work for Rolling. There is work in progress to get it running again (see #1719), but for now all I can say is that the added test ran successfully on my local setup. |
This way, we can distinguish between an intentional hand-back and a communication loss.
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This way, we can distinguish between an intentional hand-back and a communication loss
This is connected to UniversalRobots/Universal_Robots_Client_Library#438