set_robot_mode(ROBOT_MODE::ROBOT_MODE_MANUAL) doesn't seem to work after drl_stop

[gabri202]

Hi,
I write because we found that after endind the program with drl_stop(), and sending set_robot_mode(ROBOT_MODE::ROBOT_MODE_MANUAL), the robot remains in in autonomous mode with the white led.

The api version is the latest available GL010118_20230324A.

I attach below an example for testing:

#include "DRFC.h"
#include "DRFL.h"
#include "DRFLEx.h"
#include "DRFS.h"
#include
#include <unistd.h>

static DRAFramework::CDRFLEx drfl;

int main(int argc, char *argv[]){

  /****************************/
  /*    OPEN CONNECTION       */
  /****************************/
  std::cout << "Open connection..." << endl;
  
  bool robotConnected = drfl.open_connection("192.168.0.100");
  

  if(robotConnected == 1){
      cout << "\tOpening done" << endl;
  }
  else{
      cout << "\tOpening failed" << endl;
      return -1;
  }

  usleep(1000000); 

  /****************************/
  /*       GET CONTROL	    */
  /****************************/
  std::cout << "Send robot control request... ";
  drfl.manage_access_control(MANAGE_ACCESS_CONTROL::MANAGE_ACCESS_CONTROL_FORCE_REQUEST);
  std::cout << "OK!" << std::endl;
  usleep(1000000);

  /****************************/
  /*		  SERVO ON	        */
  /****************************/
      std::cout << "Servo on" << std::endl;
  drfl.set_robot_control(ROBOT_CONTROL::CONTROL_RESET_SAFET_OFF);
  std::cout << "OK!" << std::endl;
  usleep(1000000);
  
  /****************************/
  /*		 SEND PROGRAM 		*/
  /****************************/
  std::cout << "Send program to robot" << endl;
  LPROBOT_POSE currentPose;
  currentPose = drfl.get_current_pose(ROBOT_SPACE::ROBOT_SPACE_TASK);

  std::string drlProgram  = "wait(1) \r\n";
  
  std::cout << "Program to send: " << std::endl << drlProgram << std::endl;

  // set robot in autonomous mode
  drfl.set_robot_mode(ROBOT_MODE::ROBOT_MODE_AUTONOMOUS); 
  usleep(1000000);
  
  ROBOT_SYSTEM targetSystem = ROBOT_SYSTEM::ROBOT_SYSTEM_REAL;
  
  
  std::cout << "Start program" << std::endl;
  drfl.drl_start(targetSystem, drlProgram);

  /****************************/
  /*  SEND STOP				*/
  /****************************/
  // after a sleep, send a stop command
  usleep(3000000);
  if (drfl.get_program_state() == DRL_PROGRAM_STATE::DRL_PROGRAM_STATE_PLAY) { 
    bool stop = drfl.drl_stop();
    if(stop)
  	  std::cout << "Stop sent correctly" << std::endl;
    else
  	  std::cout << "Error sending stop" << std::endl;
  }
  else{
      std::cout << "program not in execution" << std::endl;
  }

  while(drfl.get_program_state() == DRL_PROGRAM_STATE::DRL_PROGRAM_STATE_PLAY) {
      usleep(1000000);
  }
  std::cout << "Program state stop" << std::endl;
  drfl.set_robot_mode(ROBOT_MODE::ROBOT_MODE_MANUAL); 

  // Here we expect to change to manual mode
  // But we noticed that the robot remains in automatic mode
  // despite the set_robot_mode return  (success) 
  while (drfl.get_robot_mode() != ROBOT_MODE::ROBOT_MODE_MANUAL) {
      int mode = drfl.get_robot_mode(); 
      std::cout << "Robot mode: " << mode << std::endl;  // 0: MANUAL, 1: AUTONOMOUS
      int manual = drfl.set_robot_mode(ROBOT_MODE::ROBOT_MODE_MANUAL); 
      std::cout << "Changing robot mode: " << manual << std::endl;  // 0: Success, 1: error
      usleep(1000000);
  }
  std::cout << "Robot mode manual" << std::endl;

  while (1) { usleep(1000000); }

  return 0