Make sure motion control returns to main thread before stopping - #490
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When the watchdog times out, we halt in the external_control script and call stopj() just before that. However, ongoing motion will never happen in the main thread, but we always use a motion thread. Thus, calling stopj() here will result in an error that currently another thread is controlling the robot's motion. Since we still want to stop the robot using the predefined deceleration, we have to stop all motion beforehand. Effectively returning motion control to the main thread before calling stopj().
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## master #490 +/- ##
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- Coverage 76.40% 76.28% -0.13%
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Files 113 113
Lines 6603 6603
Branches 2696 2696
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- Hits 5045 5037 -8
- Misses 1209 1215 +6
- Partials 349 351 +2
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urrsk
approved these changes
Apr 23, 2026
urrsk
approved these changes
Apr 23, 2026
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When the watchdog times out, we halt in the external_control script and call stopj() just before that. However, ongoing motion will never happen in the main thread, but we always use a motion thread. Thus, calling stopj() here will result in an error that currently another thread is controlling the robot's motion.
Since we still want to stop the robot using the predefined deceleration, we have to stop all motion beforehand. Effectively returning motion control to the main thread before calling stopj().
Alternatively, we could remove the
stopj()command (it is effectively not doing anything right now, anyway), but that would result in a very sudden stop of the robot.This effectively fixes #479