Issue 203 auto switch cycle mode

[yai-rosejo]

#203
A continuation of the discussion and development of the cycle mode. These small changes allow Ros_MotionControl_StartMotionMode() to verify that the system is in a continuous cycle mode, and if it isn't it will try to set the cycle mode to continuous.

[ted-miller]

Just realized that I missed this. I'll validate in the next day or so. But the code changes look OK with a quick glance.

[gavanderhoorn]

I'm still wondering whether it would help raising an alarm if for some reason we can't change the cycle setting, in addition to the debug log statement.

(the service call will of course still fail with an appropriate message)

[ted-miller]

I agree that an alarm is warranted if the set-operation fails and the current cycle is STEP.

[ted-miller]

@yai-rosejo
I just tested and it works great.

Two things:

1. It would nice to implement that alarm.
2. I think it should do a final check to Ros_Controller_IsContinuousCycle to verify the setting was applied. This would require a call to Ros_Controller_IoStatusUpdate to fetch the value.

If you're tied up with Matt, let me know and I'll implement the changes.

[gavanderhoorn]

Friendly ping?

[ted-miller]

Apologies for the delay. I will look at this again later in the week.

[gavanderhoorn]

I've added (a) named constant(s) in a461aee and rebased on top of main as this was otherwise in conflict (due to move of header to the new lib sub dir).

[ted-miller]

build-check was verified locally.