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task: unhome VOLATILE_HOME joints on any motion-disable edge #4008

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task: unhome VOLATILE_HOME joints on any motion-disable edge #4008

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9 changes: 9 additions & 0 deletions src/emc/task/emctaskmain.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -3295,6 +3295,7 @@ int main(int argc, char *argv[])
}
while (!done) {
static int gave_soft_limit_message = 0;
static int prev_traj_enabled = 0;
task_beat++; // Task's heartbeat

check_ini_hal_items(emcStatus->motion.traj.joints);
Expand All @@ -3314,6 +3315,14 @@ int main(int argc, char *argv[])
// update subordinate status

emcMotionUpdate(&emcStatus->motion);
// On a motion enabled -> disabled edge (limit switch, amp fault,
// following error, etc.) unhome joints marked VOLATILE_HOME. The estop
// and machine-off paths already do their own unhome; this catches the
// remaining drive-disable causes that don't flip task state.
if (prev_traj_enabled && !emcStatus->motion.traj.enabled) {
emcJointUnhome(-2); // only those joints which are volatile_home
}
prev_traj_enabled = emcStatus->motion.traj.enabled;
// synchronize subordinate states
if (emcStatus->io.aux.estop) {
if (emcStatus->motion.traj.enabled) {
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