Reset robot after protective stop

URJala · URJala · commit 732df8f3e4ac · 2026-05-15T10:43:00.000Z
diff --git a/tests/test_primary_client.cpp b/tests/test_primary_client.cpp
@@ -528,6 +528,9 @@ TEST_F(PrimaryClientTest, test_send_script_blocking_ignore_warnings)
   EXPECT_NO_THROW(client_->commandBrakeRelease());
   // Impossible movement, will trigger an error and protective stop
   EXPECT_TRUE(client_->sendScriptBlocking("movel(p[10,0,0,0,0,0])", "", std::chrono::seconds(1), false));
+  // reset the robot
+  ASSERT_NO_THROW(client_->commandUnlockProtectiveStop());
+  EXPECT_TRUE(client_->sendScriptBlocking("movej([0.5,-0.5,0.5,0,0,0])"));
 }
 
 int main(int argc, char* argv[])

Original file line number	Diff line number	Diff line change
`@@ -528,6 +528,9 @@ TEST_F(PrimaryClientTest, test_send_script_blocking_ignore_warnings)`
`528`	`528`	`EXPECT_NO_THROW(client_->commandBrakeRelease());`
`529`	`529`	`// Impossible movement, will trigger an error and protective stop`
`530`	`530`	`EXPECT_TRUE(client_->sendScriptBlocking("movel(p[10,0,0,0,0,0])", "", std::chrono::seconds(1), false));`
	`531`	`+ // reset the robot`
	`532`	`+ ASSERT_NO_THROW(client_->commandUnlockProtectiveStop());`
	`533`	`+ EXPECT_TRUE(client_->sendScriptBlocking("movej([0.5,-0.5,0.5,0,0,0])"));`
`531`	`534`	`}`
`532`	`535`
`533`	`536`	`int main(int argc, char* argv[])`