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halui: clear the MDI flag in the same pass that restores the mode #4605

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Merged
BsAtHome merged 1 commit into from
Sep 29, 2026
Merged

halui: clear the MDI flag in the same pass that restores the mode #4605

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8 changes: 6 additions & 2 deletions src/emc/usr_intf/halui.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1932,8 +1932,12 @@ static void modify_hal_pins()
hal_set_bool(halui_data->machine_is_on, emcStatus->task.state == EMC_TASK_STATE::ON);
hal_set_bool(halui_data->estop_is_activated, emcStatus->task.state == EMC_TASK_STATE::ESTOP);

// Decide once whether an ongoing halui MDI command has finished: the mode
// restore below refreshes emcStatus, and Task may echo it while still EXEC.
bool mdi_finished = halui_sent_mdi && emcStatus->status == RCS_STATUS::DONE;

if (halui_sent_mdi) { // we have an ongoing MDI command
if (emcStatus->status == RCS_STATUS::DONE) { //which seems to have finished
if (mdi_finished) { //which seems to have finished
switch (halui_old_mode) {
case EMC_TASK_MODE::MANUAL: sendManual();break;
case EMC_TASK_MODE::MDI: break;
Expand All @@ -1958,7 +1962,7 @@ static void modify_hal_pins()
if (num_mdi_commands>0){
// we wants initialize program_is_idle and mode_is_mdi before halui_sent_mdi
if (halui_sent_mdi) { // we have an ongoing MDI command
if (emcStatus->status == RCS_STATUS::DONE){ //which seems to have finished
if (mdi_finished) { //which seems to have finished
halui_sent_mdi = 0;
esleep(0.02); //sleep for a while
updateStatus();
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