Merge 2.8 to master (inhibit task mode set if jogging)

src/emc/motion/control.c

@@ -275,6 +275,16 @@ void emcmotController(void *arg, long period)
    prototypes"
 */
 
+static bool joint_jog_is_active(void) {
+    int jno;
+    for (jno = 0; jno < EMCMOT_MAX_AXIS; jno++) {
+        if ( (&joints[jno])->kb_jjog_active || (&joints[jno])->wheel_jjog_active) {
+            return 1;
+        }
+    }
+    return 0;
+}
+
 static void handle_kinematicsSwitch(void) {
     int joint_num;
     int hal_switchkins_type = 0;
@@ -2114,6 +2124,8 @@ static void update_status(void)
     emcmotStatus->motionType = tpGetMotionType(&emcmotInternal->coord_tp);
     emcmotStatus->queueFull = tcqFull(&emcmotInternal->coord_tp.queue);
 
+    emcmotStatus->jogging_active =  axis_jog_is_active()
+                                 || joint_jog_is_active();
     /* check to see if we should pause in order to implement
        single emcmotStatus->stepping */
 

src/emc/motion/motion.h

@@ -656,6 +656,7 @@ Suggestion: Split this in to an Error and a Status flag register..
 	EmcPose eoffset_pose;
 	int numExtraJoints;
     int stepping;
+    bool jogging_active;
     } emcmot_status_t;
 
 /*********************************

src/emc/nml_intf/emc_nml.hh

@@ -1232,6 +1232,7 @@ class EMC_MOTION_STAT:public EMC_MOTION_STAT_MSG {
     int external_offsets_applied;
     EmcPose eoffset_pose;
     int numExtraJoints;
+    bool jogging_active;
 };
 
 // declarations for EMC_TASK classes

src/emc/task/emctask.cc

@@ -269,6 +269,11 @@ int emcTaskSetMode(int mode)
 {
     int retval = 0;
 
+    if (jogging_is_active()) {
+        emcOperatorError(0, "Ignoring task mode change while jogging");
+        return 0;
+    }
+
     switch (mode) {
     case EMC_TASK_MODE_MANUAL:
 	// go to manual mode

src/emc/task/emctaskmain.cc

@@ -152,6 +152,10 @@ int all_homed(void) {
     return 1;
 }
 
+bool jogging_is_active(void) {
+    return emcStatus->motion.jogging_active;
+}
+
 void emctask_quit(int sig)
 {
     // set main's done flag

src/emc/task/task.hh

@@ -27,6 +27,7 @@ extern int emcRunHalFiles(const char *filename);
 
 // Returns 0 if all joints are homed, 1 if any joints are un-homed.
 int all_homed(void);
+bool jogging_is_active(void);
 
 int emcTaskInit();
 int emcTaskHalt();

src/emc/task/taskintf.cc

@@ -2060,7 +2060,8 @@ int emcMotionUpdate(EMC_MOTION_STAT * stat)
       stat->misc_error[num_error] = emcmotStatus.misc_error[num_error];
     }
 
-    stat->numExtraJoints=emcmotStatus.numExtraJoints;
+    stat->jogging_active = emcmotStatus.jogging_active;
+    stat->numExtraJoints = emcmotStatus.numExtraJoints;
 
     // set the status flag
     error = 0;