halui: fix inverted HOME_SEQUENCE polarity for halui.home-all pin creation (regression from 2f57090adb)#3939
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Upstream commit 2f57090 ("ini: Implement a new ini-file parser and adapt the code to use it") ported halui.cc's HOME_SEQUENCE check from the old inifile API to the new one and accidentally flipped the polarity of the condition that gates halui.home-all pin creation. Before 2f57090 (inherited from commit 38d35cd "Add pin home-all to halui pin is created only if HOME_SEQUENCE is properly defined in inifile"): if (inifile.Find("HOME_SEQUENCE", "JOINT_0")) { have_home_all = 1; } Find() returned truthy when the key IS defined, so the pin was created when HOME_SEQUENCE was properly set — matching the commit message's stated intent. After 2f57090: if (!inifile.isSet("HOME_SEQUENCE", "JOINT_0")) { have_home_all = 1; } The "!" was added by mistake — isSet() returns true when the key IS set, so the new condition fires only when HOME_SEQUENCE is NOT set, which is the OPPOSITE of the original behavior and the opposite of what 38d35cd's commit message documents. The practical effect: properly-configured machines (which set HOME_SEQUENCE in [JOINT_0]) no longer get the halui.home-all convenience pin after 2f57090. halcmd lookups fail with "parameter or pin 'halui.home-all' not found", and any tooling or GUI that pulses halui.home-all to trigger home-all cannot trigger homing at all. Restore the original semantics by removing the "!": if (inifile.isSet("HOME_SEQUENCE", "JOINT_0")) { have_home_all = 1; } Also add a source comment documenting the regression and the original semantics so the next person who looks at this code sees the history without having to dig the git log.
BsAtHome
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Apr 16, 2026
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| // Create halui.home-all pin only if [JOINT_0]HOME_SEQUENCE is properly | ||
| // defined (original semantics from commit 38d35cdf8e). Commit 2f57090adb | ||
| // ("ini: Implement a new ini-file parser...") ported the old | ||
| // `inifile.Find("HOME_SEQUENCE", "JOINT_0")` check to the new API as | ||
| // `!inifile.isSet("HOME_SEQUENCE", "JOINT_0")`, inadvertently flipping | ||
| // the polarity — the "!" should not be there. With the polarity | ||
| // inverted, properly-configured machines (which set HOME_SEQUENCE in | ||
| // [JOINT_0]) lose the halui.home-all convenience pin. |
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Superseded by #3940 |
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Summary
Upstream commit 2f57090 ("ini: Implement a new ini-file parser and adapt the code to use it") ported halui.cc's
HOME_SEQUENCEcheck from the oldinifile.Find()API to the newinifile.isSet()API and accidentally flipped the polarity of the condition that gateshalui.home-allpin creation.Originally from commit 38d35cd ("Add pin home-all to halui pin is created only if HOME_SEQUENCE is properly defined in inifile"):
Find()returned truthy when the key was defined, so the pin was created whenHOME_SEQUENCEwas properly set — matching the commit message's stated intent.After 2f57090:
isSet()returns true when the key is set, so with the added!the condition fires only whenHOME_SEQUENCEis NOT set — the opposite of the original semantics.Observable symptom
Properly-configured machines (which define
HOME_SEQUENCEin[JOINT_0]) no longer get thehalui.home-allconvenience pin:This affects any GUI, HAL script, or test harness that triggers home-all via this pin.
Fix
Remove the
!. Added a comment documenting the regression and the original semantics from 38d35cd.Testing
Built against upstream master and verified on a simulation configuration with
[JOINT_0] HOME_SEQUENCE = 0. Before the fix:halcmd show pin halui.home-allreturns nothing. After the fix: the pin exists, and pulsing it correctly triggers home-all.