Succeed power on command on PolyScope 5 when robot is running

urfeex · urfeex · commit 2f2c82d08c5d · 2025-10-25T07:30:54.000Z
We check for the robot state being IDLE and retry that with a very high
timeout by default. This commit also accepts the robot to be in RUNNING
in order to succeed.
diff --git a/src/ur/dashboard_client_implementation_g5.cpp b/src/ur/dashboard_client_implementation_g5.cpp
@@ -438,7 +438,7 @@ DashboardResponse DashboardClientImplG5::commandPowerOn(const std::chrono::durat
   DashboardResponse response;
   try
   {
-    response.message = retryCommandString("power on", "Powering on", "robotmode", "Robotmode: IDLE", timeout);
+    response.message = retryCommandString("power on", "Powering on", "robotmode", "Robotmode: (IDLE|RUNNING)", timeout);
     response.ok = true;
   }
   catch (const UnexpectedResponse& e)

Original file line number	Diff line number	Diff line change
`@@ -438,7 +438,7 @@ DashboardResponse DashboardClientImplG5::commandPowerOn(const std::chrono::durat`
`438`	`438`	`DashboardResponse response;`
`439`	`439`	`try`
`440`	`440`	`{`
`441`		`- response.message = retryCommandString("power on", "Powering on", "robotmode", "Robotmode: IDLE", timeout);`
	`441`	`+ response.message = retryCommandString("power on", "Powering on", "robotmode", "Robotmode: (IDLE\|RUNNING)", timeout);`
`442`	`442`	`response.ok = true;`
`443`	`443`	`}`
`444`	`444`	`catch (const UnexpectedResponse& e)`