Merge pull request #568 from EricMarcil/Fix_pendant_mode_switch_issue

Fix pendant mode switch issue
ros-industrial · Dec 20, 2023 · 7601546 · 7601546
2 parents 78471a3 + 0dacd92
commit 7601546
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diff --git a/motoman_driver/MotoPlus/Controller.c b/motoman_driver/MotoPlus/Controller.c
@@ -741,6 +741,18 @@ BOOL Ros_Controller_StatusUpdate(Controller* controller)
 						break;
 					}
 
+					case IO_ROBOTSTATUS_PLAY:
+					case IO_ROBOTSTATUS_TEACH:
+					case IO_ROBOTSTATUS_REMOTE:
+					case IO_ROBOTSTATUS_OPERATING:
+					case IO_ROBOTSTATUS_SERVO:
+						if ((ioStatus[IO_ROBOTSTATUS_REMOTE] != 1) ||
+							(ioStatus[IO_ROBOTSTATUS_PLAY] != 1) ||
+							(ioStatus[IO_ROBOTSTATUS_OPERATING] == 0) ||
+							(ioStatus[IO_ROBOTSTATUS_SERVO] == 0))
+							Ros_MotionServer_ClearQ_All(controller);
+						break;
+
 					case IO_ROBOTSTATUS_WAITING_ROS: // Job input signaling ready for external motion
 					{
 						if(ioStatus[IO_ROBOTSTATUS_WAITING_ROS] == 0)  // signal turned OFF
@@ -753,6 +765,7 @@ BOOL Ros_Controller_StatusUpdate(Controller* controller)
 							controller->bRobotJobReady = TRUE; //job is ready (even if other factors will prevent motion)
 						break;
 					}
+
 #if (YRC1000||YRC1000u)
 					case IO_ROBOTSTATUS_PFL_STOP: // PFL Stop
 					case IO_ROBOTSTATUS_PFL_ESCAPE: //  PFL Escaping

diff --git a/motoman_driver/MotoPlus/output/DX100/MotoRosDX1_/MotoRosDX1_1911.out b/motoman_driver/MotoPlus/output/DX100/MotoRosDX1_/MotoRosDX1_1911.out
diff --git a/motoman_driver/MotoPlus/output/DX200/MotoRosDX2_/MotoRosDX2_1911.out b/motoman_driver/MotoPlus/output/DX200/MotoRosDX2_/MotoRosDX2_1911.out
diff --git a/motoman_driver/MotoPlus/output/FS100/MotoRosFS_/MotoRosFS_1911.out b/motoman_driver/MotoPlus/output/FS100/MotoRosFS_/MotoRosFS_1911.out
diff --git a/motoman_driver/MotoPlus/output/YRC1000/MotoRosYRC1_/MotoRosYRC1_1911.out b/motoman_driver/MotoPlus/output/YRC1000/MotoRosYRC1_/MotoRosYRC1_1911.out
diff --git a/motoman_driver/MotoPlus/output/YRC1000u/MotoRosYRC1u_/MotoRosYRC1u_1911.out b/motoman_driver/MotoPlus/output/YRC1000u/MotoRosYRC1u_/MotoRosYRC1u_1911.out