fix(hardware): clear move group from node if move condition is met #12986
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@@ Coverage Diff @@
## internal-release_0.13.0 #12986 +/- ##
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+ Coverage 72.82% 72.83% +0.01%
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Files 2364 2364
Lines 64467 64514 +47
Branches 7191 7191
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+ Hits 46945 46988 +43
- Misses 15842 15847 +5
+ Partials 1680 1679 -1
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I really think this should just clear out the one single node from the move group, and still wait until every node has reported that it's done. The way this is written, other axes could still be moving after the one axis reports its stall, and the robot could move on and start a new move before they stop moving.
| @@ -422,6 +422,17 @@ def _handle_move_completed( | |||
| ) | |||
| self._should_stop = True | |||
| self._event.set() | |||
| if ( | |||
| stop_cond == MoveStopCondition.stall | |||
| and ack_id == MoveAckId.stopped_by_condition | |||
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I think we might want this to just be ack_id == MoveAckId.stopped_by_condition whether or not the stop condition is stall; I think you're going to get similar behavior from home commands, including the home backoffs, and the tip action motors, and definitely the stop-on-sync commands from calibration
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Overview
The expected-stall move group times out whenever a stall is detected before the final move block, even though this is an acceptable behavior. This fixes it by clearing and finishing the move group whenever a move block is completed with a stall.