home sequence

Hi , I am finishing new GUI , that is writen completely in C++
it is intended for retrofiting and new instalations

but I have and issue with the homing sequence. at startup I am using the folowing with parameter -1 ( all axes)

//

---

int sendHome(int joint)
{
EMC_JOINT_HOME emc_joint_home_msg;

emc_joint_home_msg.serial_number = ++emcCommandSerialNumber;
emc_joint_home_msg.joint = joint;
emcCommandBuffer->write(&emc_joint_home_msg);

return emcCommandSerialNumber;
} // sendHome

---

Then , to home independent axes on need I use the folowing

{
sendHome(activeAxis);
}
But that dos not work anymore as the machine after initial home enters in "world"mode
any idea what should I use?

But that dos not work anymore as the machine
after initial home enters in "world" mode any idea what
should I use?

In the master branch with joints_axes updates
(2.8~pre), once all joints are homed, the motion mode
is *automatically* switched from joint mode to teleop
(world) mode.

Homing is a joint activity not an axis (world
coordinate) activity so once succesfully homed (all
joints), you must switch out of teleop mode first in order
to unhome and rehome a joint in joint mode.

There may be unexpected behavior if the motion mode is
returned to teleop while one (or more) joints is (are)
unhomed.

If you are using shcom (shcom.hh,shcom.cc), you can use
sendSetTeleopEnable() (shcom.hh,shcom.cc) to return to
joint mode in order to unhome or rehome a joint.

Well , thar was verry usefulk , problem solved. manny thanks.