Halt bit not reset on pos->vel mode change

[PeterBowman]

Steps:

• Start launchCanBus, enter pos mode
• Set one joint to vel mode, leave others unchanged:
  • set icmd cmod 5 vel
  • get icmd cmds -> [pos] [pos] [pos] [pos] [pos] [vel]
• Control that single joint with vel commands via RPC, e.g.: set vmos (0 0 0 0 0 2)
• Try to command any other joint with pos commands, e.g. set pos 4 -5 -> FAILS

Implementation:

https://github.com/roboticslab-uc3m/yarp-devices/blob/31a33617549dcc5f2715b63876e95a3076bf87a1/libraries/YarpPlugins/TechnosoftIpos/IPositionControlRawImpl.cpp#L15-L25

Debug output tells absolutely nothing on return, so I presume this is caused by the "check halt bit" condition. See also:

https://github.com/roboticslab-uc3m/yarp-devices/blob/00187c32798536c0ea0ae2249b151c170b8c5493/libraries/YarpPlugins/TechnosoftIpos/IControlModeRawImpl.cpp#L97-L101

And:

https://github.com/roboticslab-uc3m/yarp-devices/blob/00187c32798536c0ea0ae2249b151c170b8c5493/libraries/YarpPlugins/TechnosoftIpos/TechnosoftIpos.cpp#L279-L285

[PeterBowman]

I'm introducing halt commands in legacy IP mode, so perhaps it should be reviewed once again in a broader context: https://github.com/roboticslab-uc3m/yarp-devices/commit/99b7f4119ff91fddcb91b1bf6d0194cda0f037cd.

[PeterBowman]

I don't understand this issue anymore, one joint should not affect others regarding their internal state. I tried to reproduced the steps today and failed, everything works nicely. For now, I'm going to close this as invalid.