command.c: EMCMOT_JOINT_ABORT set joint jog inactive

Forum users using probe_basic (not in-tree) and a
pendant vc-4ps (not in-tree) reported unexpected
messages: "Ignoring task mode change while jogging"
after activating mdi mode even though they were not
jogging.  This message was introduced by changes for
commit 87f66fe

The problem was not duplicated using in-tree qtvcp
qtdragon.ini sim config(s).

1) User vc-4ps hal configurations typically connect
halui plus/minus jog pins for each axis letter with the
corresponding identity joint number (e.g.,
halui.joint.0.plus == halui.axis.x.plus, ... etc)

2) halui plus/minus jogging issues EMCMOT_JOINT_ABORT
to terminate an axis *or* a joint jog but formerly joint
jogging pins were not set to indicate jogging inactive
when the message was specifying a joint number.

Note: EMCMOT_JOINT_ABORT is a misnomer, the message is
issued for both joints (using a joint number) and for
axis coordinates (using an axis number)

This commit ensures that EMCMOT_JOINT_ABORT properly
sets joint jogging as inactive (kb, wheel) if message
refers to a valid joint number.

https://forum.linuxcnc.org/qtvcp/46031-a-couple-of-errors-during-update-2-8-2-130-g87f66feaf#247599

diff --git a/src/emc/motion/command.c b/src/emc/motion/command.c
index 2386784..81d8e38 100644
--- a/src/emc/motion/command.c
+++ b/src/emc/motion/command.c
@@ -480,6 +480,7 @@ void emcmotCommandHandler(void *arg, long servo_period)
                     return;
                 }
            }
+           if (GET_MOTION_COORD_FLAG()) return; //silently ignore
         }
         if (abort) {
           switch (emcmotCommand->command) {

Author: dngarrett

src/emc/motion/command.c

@@ -570,27 +570,27 @@ void emcmotCommandHandler(void *arg, long servo_period)
 	    break;
 
 	case EMCMOT_JOINT_ABORT:
-	    /* abort one joint */
+	    /* abort one joint number or axis number */
 	    /* can happen at any time */
-	    rtapi_print_msg(RTAPI_MSG_DBG, "JOINT_ABORT");
-	    rtapi_print_msg(RTAPI_MSG_DBG, " %d", joint_num);
 	    if (GET_MOTION_TELEOP_FLAG()) {
-		/* tell teleop planner to stop */
-		if (axis != 0) axis->teleop_tp.enable = 0;
-		/* do nothing in teleop mode */
-	    } else if (GET_MOTION_COORD_FLAG()) {
-		/* do nothing in coord mode */
+	        /* tell teleop planner to stop */
+	        if (axis) {
+	             axis->teleop_tp.enable  = 0;
+	             axis->kb_ajog_active    = 0;
+	             axis->wheel_ajog_active = 0;
+	        }
 	    } else {
-		/* tell joint planner to stop */
-		if (joint != 0) joint->free_tp.enable = 0;
-		/* validate joint */
-		if (joint == 0) { break; }
-		/* stop homing if in progress */
-		if ( joint->home_state != HOME_IDLE ) {
-		    joint->home_state = HOME_ABORT;
-		}
-		/* update status flags */
-		SET_JOINT_ERROR_FLAG(joint, 0);
+	        if (joint == 0) { break; }
+	        /* tell joint planner to stop */
+	        joint->free_tp.enable    = 0;
+	        joint->kb_jjog_active    = 0;
+	        joint->wheel_jjog_active = 0;
+	        /* stop homing if in progress */
+	        if ( joint->home_state != HOME_IDLE ) {
+	            joint->home_state = HOME_ABORT;
+	        }
+	        /* update status flags */
+	        SET_JOINT_ERROR_FLAG(joint, 0);
 	    }
 	    break;