homed on the status contract + stop/estop/reset replace halt/resume#12
Merged
Conversation
Backends refuse planned motion while unhomed (reported joint positions are unreferenced until homing); the stream now carries the flag so frontends can seed dry-run previews that mirror that gate. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01XbP8n8tzaJXKMjkRxGnoa1
stop() cancels the active move and queue and stays enabled; estop() is the latching protective stop; reset() clears the latch. The old state-wipe reset() becomes reset_state() to free the name — in industrial vocabulary "resume" continues interrupted motion (which this never did), while clearing a latched stop is a reset/acknowledge. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01XbP8n8tzaJXKMjkRxGnoa1
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
StatusBuffer declares
homed; the client ABC replaceshalt()/resume()withstop()(cancel motion, stay enabled),estop()(latching protective stop), andreset()(clear the latch — the old state-wipereset()becomesreset_state()). Breaking pre-1.0 change; parol6 and Waldo-Commander adopt it on their matchingfeat/mcp-serverbranches.Written by Claude on behalf of @Jepson2k.
🤖 Generated with Claude Code
https://claude.ai/code/session_01XbP8n8tzaJXKMjkRxGnoa1