Explicitly send MODE_STOPPED when returning control to the robot#767
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urfeex wants to merge 1 commit into
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Explicitly send MODE_STOPPED when returning control to the robot#767urfeex wants to merge 1 commit into
urfeex wants to merge 1 commit into
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This way, we can distinguish between an intentional hand-back and a communication loss
urrsk
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Mar 19, 2026
Currently, we only exit the main loop when no new command is received anymore (already taking any configured receive timeout into account). However, if we don't receive a new command anymore, that should always be considered an unintentional interruption of the control flow. In that case, we should stop program execution, as interrupting the communication was an unexpected error event. If interrupting the communication in order to continue with the rest of the program was intentional, users will send a stop command. This will end the main control loop at another code branch leading to a clean shutdown of the external_control part in order to be able to continue with the rest of the program. This should be closing #438 but in order to make sense with the ROS drivers, we would need UniversalRobots/Universal_Robots_ROS2_Driver#1678 and potentially UniversalRobots/Universal_Robots_ROS_Driver#767 before merging this.
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Mar 23, 2026
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Looks good. But please add a test covering this
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This way, we can distinguish between an intentional hand-back and a communication loss
This is connected to UniversalRobots/Universal_Robots_Client_Library#438