If no new commands are received, halt#440
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urfeex wants to merge 1 commit intoUniversalRobots:masterfrom
Open
If no new commands are received, halt#440urfeex wants to merge 1 commit intoUniversalRobots:masterfrom
urfeex wants to merge 1 commit intoUniversalRobots:masterfrom
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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 considerd 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.
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## master #440 +/- ##
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- Coverage 75.34% 75.07% -0.28%
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Files 102 102
Lines 5123 5115 -8
Branches 544 543 -1
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- Hits 3860 3840 -20
- Misses 980 990 +10
- Partials 283 285 +2
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urrsk
approved these changes
Feb 18, 2026
urrsk
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Feb 18, 2026
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Sounds good, I also have an idea for that in mind. It's a bit more complicated, as we need to generate a PolyScope program and require the EC URCap to run that, but it should be possible to do. I just don't know when I will have the time to spend on this. |
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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.